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公开(公告)号：US11478308B2
公开(公告)日：2022-10-25
申请号：US16910818
申请日：2020-06-24
IPC分类号： A61B34/20 , A61B5/06 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/10 , A61B5/00
摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US11116578B2
公开(公告)日：2021-09-14
申请号：US15371154
申请日：2016-12-06
IPC分类号： A61B34/20 , A61B5/06 , A61B34/30 , A61B90/00 , A61B34/37 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/10 , A61B5/00
摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US20210256749A1
公开(公告)日：2021-08-19
申请号：US17213924
申请日：2021-03-26
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian David Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
摘要： A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.
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公开(公告)号：US10959607B2
公开(公告)日：2021-03-30
申请号：US15660673
申请日：2017-07-26
IPC分类号： A61B1/005 , A61B1/01 , A61B1/008 , A61B1/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B1/018 , A61B34/20 , A61B17/29 , A61B17/00 , A61B17/34
摘要： An apparatus comprises a flexible entry guide tube comprising one or more lumens, wherein at least one lumen is an instrument lumen; and a rigidizing cable to lock a shape of the guide tube within a body cavity with a distal end of the guide tube near a medical site. The rigidizing cable can steer the guide tube. The apparatus comprises a flexible tool insertable into the instrument lumen. The tool can perform a medical procedure near the distal end of the guide tube. The tool comprises an end effector, a steerable tip portion, and a steering cable for steering the tip portion. While the tip portion remains within the instrument lumen, articulation of the tip portion causes corresponding articulation of a distal portion of the guide tube. The tool can extend away from the distal end while the shape of the guide tube is locked by the rigidizing cable.
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公开(公告)号：US20200368915A1
公开(公告)日：2020-11-26
申请号：US16932373
申请日：2020-07-17
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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公开(公告)号：US10695136B2
公开(公告)日：2020-06-30
申请号：US15862880
申请日：2018-01-05
发明人： David Q. Larkin
IPC分类号： A61B34/20 , B25J9/16 , A61B90/00 , A61B34/30 , A61B34/37 , A61B1/00 , A61B1/04 , A61B17/00 , A61B34/10 , G06T7/00
摘要： Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.
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87.发明申请公开(公告)号：US20200170725A1
公开(公告)日：2020-06-04
申请号：US16779564
申请日：2020-01-31
摘要： A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.
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公开(公告)号：US10537397B2
公开(公告)日：2020-01-21
申请号：US16234227
申请日：2018-12-27
发明人： David Q. Larkin , Vincent Duindam
摘要： A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with mechanical property data for the surgical instrument and material property data for the surgical instrument to determine external force information for the surgical instrument.
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公开(公告)号：US20190231462A1
公开(公告)日：2019-08-01
申请号：US16379314
申请日：2019-04-09
发明人： Thomas G. Cooper , David Q. Larkin , David J. Rosa
CPC分类号： A61B34/35 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00327 , A61B2017/00477 , A61B2034/301
摘要： An instrument chassis for a robotic surgical system includes a bridge member, a first instrument guide member configured to receive a first surgical instrument, a second instrument guide member configured to receive a second surgical instrument, wherein each of the first instrument guide member and the second instrument guide member is moveably coupled to the bridge member such that each of the first instrument guide member and the second instrument guide member is moveable in at least one degree of freedom relative to the bridge member, and a central instrument guide member coupled to the bridge member between the first instrument guide member and the second instrument guide member, the central instrument guide member configured to receive a third surgical instrument.
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公开(公告)号：US20190192240A1
公开(公告)日：2019-06-27
申请号：US16290239
申请日：2019-03-01
发明人： David S. Mintz , Tracey Ann Morley , Theodore C. Walker , David Q. Larkin , Michael L. Hanuschik
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00477 , A61B2017/00734 , A61B2034/252 , A61B2034/305 , A61B2090/0807 , B25J3/04 , B25J9/0084 , B25J9/1689
摘要： Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
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