公开(公告)号：US12089901B2

公开(公告)日：2024-09-17

申请号：US18218159

申请日：2023-07-05

Applicant: Stryker Corporation

Inventor： José Luis Moctezuma de la Barrera

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  G06F3/0484 ,  G06T19/00 ,  A61B17/00 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  G06F3/0484 ,  G06T19/006 ,  A61B2017/00216 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2068 ,  A61B2034/2074 ,  A61B2034/252 ,  A61B2090/365 ,  A61B2090/372 ,  A61B2090/3983 ,  A61B2090/502 ,  A61M2205/507 ,  G06T2210/41

Abstract: A surgical system, method and CAD program are provided. The surgical system includes a digitization device including a pointer tip to contact a target site and actuatable control input(s). A surgical tool can manipulate the target site. A navigation system tracks a state of the digitization device. Controller(s) receive the tracked state of the digitization device and display, within a virtual reference frame, a virtual representation of the pointer tip. In response to actuation of the control input(s), the controller(s) register virtual reference points within the virtual reference frame based on the pose of the virtual representation of the pointer tip and enable arrangement of one or more geometrical design objects within the virtual reference frame relative to the registered virtual reference points to generate a virtual boundary that defines a region of the target site to be avoided by the surgical tool.

公开(公告)号：US12082888B2

公开(公告)日：2024-09-10

申请号：US17198380

申请日：2021-03-11

Applicant: Memic Innovative Surgery Ltd.

Inventor： Dvir Cohen ,  Yaron Levinson

IPC: A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00 ,  A61B34/30 ,  A61B90/60

CPC classification number: A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00022 ,  A61B2017/00199 ,  A61B2017/00216 ,  A61B2017/00292 ,  A61B2017/003 ,  A61B2017/00353 ,  A61B2017/00398 ,  A61B2017/00424 ,  A61B2017/00477 ,  A61B2017/00973 ,  A61B34/30 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/742 ,  A61B2090/067 ,  A61B2090/0808 ,  A61B90/60

Abstract: A control console for control of a medical surgical device comprising at least one surgical mechanical arm, which control console comprising: a control console base; at least one user support coupled to said control console base; a processor configured to receive data regarding a selected surgical configuration of said at least one surgical mechanical arm and at least one camera; an input arm support coupled to said control console base; at least one input arm comprising a plurality of sections sequentially coupled by joints, coupled to and extending from said input arm support where a direction of extension of said input arm, with respect to said at least one user support is adjustable to match an input arm configuration to said selected surgical configuration, a camera view of said at least one surgical mechanical arm thereby corresponding to a user view of said input arm.

公开(公告)号：US12080184B2

公开(公告)日：2024-09-03

申请号：US17048962

申请日：2019-04-18

Applicant: ARIZONA BOARD OF REGENTS ON BEHALF OF THE UNIVERSITY OF ARIZONA

Inventor： Samuel Barber ,  Saurabh Jain ,  Young-Jun Son ,  Eugene Chang

IPC: G09B23/28 ,  A61B17/24 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  B33Y80/00 ,  G06F3/01 ,  G06F3/0346 ,  G06T7/11 ,  G09B23/30 ,  G16H20/40 ,  G16H40/63 ,  G16H50/50 ,  A61B17/00 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/00 ,  A61B18/14 ,  A61B90/50

CPC classification number: G09B23/285 ,  A61B17/24 ,  A61B34/10 ,  A61B34/20 ,  A61B90/36 ,  B33Y80/00 ,  G06F3/011 ,  G06F3/012 ,  G06F3/016 ,  G06F3/0346 ,  G06T7/11 ,  G09B23/30 ,  G16H20/40 ,  G16H40/63 ,  G16H50/50 ,  A61B2017/00119 ,  A61B2017/00216 ,  A61B2017/00707 ,  A61B2017/00716 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/3201 ,  A61B2018/00297 ,  A61B18/14 ,  A61B2034/101 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/365 ,  A61B2090/372 ,  A61B2090/502 ,  G06T2207/10068 ,  G06T2207/10072 ,  G06T2207/30004

Abstract: An apparatus has a device representing an endoscope, the device being either an endoscope or a dummy endoscope having shape and feel resembling an endoscope, and includes a tracker adapted to operate with a three-dimensional tracking system to track location and orientation of the device in three dimensions in a simulated operating-room environment. The apparatus also has a physical head model comprising hard and soft components, the device representing an endoscope configured to be inserted into the physical head model to provide a haptic feedback of endoscopic surgery.

公开(公告)号：US12079944B2

公开(公告)日：2024-09-03

申请号：US18325922

申请日：2023-05-30

Applicant: Align Technology, Inc.

Inventor： Pavel Pokotilov ,  Anton Lapshin ,  Evgeniy Malashkin ,  Sergei Ozerov ,  Yury Slynko ,  Andrey Sergeevich Nekrasov ,  Leonid Vyacheslavovich Grechishnikov ,  Anna Orlova ,  Yingjie Li ,  Phillip Thomas Harris ,  Maurice K. Carrier

IPC: G06T19/00 ,  A61B34/10 ,  A61B90/00 ,  A61C7/00 ,  A61C9/00 ,  G02B27/00 ,  G02B27/01 ,  G06F3/01 ,  G06V40/16 ,  A61B17/00 ,  A61B34/20 ,  A61B90/50

CPC classification number: G06T19/006 ,  A61B34/10 ,  A61B90/36 ,  A61C7/002 ,  A61C9/008 ,  G02B27/0093 ,  G02B27/017 ,  G06F3/011 ,  G06V40/168 ,  A61B2017/00216 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2065 ,  A61B2090/3612 ,  A61B2090/365 ,  A61B2090/371 ,  A61B2090/372 ,  A61B2090/502 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0141 ,  G02B2027/0178 ,  G02B2027/0181

Abstract: A mobile device comprises a display, an image capture device that generates image data of a face of a viewer of the display, and a processing device. The processing device receives the image data and sends the image data to a computing device. The computing device processes the image data to identify a position of a dental arch in the image data; determines a treatment outcome for the dental arch; generates a post-treatment image of the dental arch that shows the treatment outcome; generates updated image data comprising a superimposition of the post-treatment image of the dental arch over the received image data; and sends the updated image data to the mobile device. The mobile device outputs the updated image data to the display, wherein the post-treatment image of the dental arch is superimposed over the dental arch in the received image data such that the post-treatment image is visible in the display rather than a true depiction of the dental arch.

公开(公告)号：US20240252252A1

公开(公告)日：2024-08-01

申请号：US18629339

申请日：2024-04-08

Applicant: Philipp K. Lang

Inventor： Philipp K. Lang

IPC: A61B34/10 ,  A61B17/00 ,  A61B17/15 ,  A61B17/16 ,  A61B17/17 ,  A61B17/56 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  A61B90/50 ,  A61F2/32 ,  A61F2/38 ,  A61F2/40 ,  A61F2/42

CPC classification number: A61B34/10 ,  A61B17/155 ,  A61B17/157 ,  A61B17/1703 ,  A61B17/1742 ,  A61B17/1764 ,  A61B17/1775 ,  A61B17/1778 ,  A61B34/74 ,  A61B90/36 ,  A61B90/37 ,  A61F2/32 ,  A61F2/3859 ,  A61F2/389 ,  A61B2017/00216 ,  A61B17/15 ,  A61B17/1666 ,  A61B17/17 ,  A61B2017/568 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2090/365 ,  A61B2090/368 ,  A61B2090/372 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762 ,  A61B2090/502 ,  A61F2002/4018 ,  A61F2002/4205 ,  A61F2002/4207

Abstract: Devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display are disclosed.

公开(公告)号：US20240180636A1

公开(公告)日：2024-06-06

申请号：US18408809

申请日：2024-01-10

Applicant: PRECEYES B.V.

Inventor： Maarten Joannes BEELEN ,  Gerrit Jacobus Lambertus NAUS ,  Hildebert Christiaan Matthijs MEENINK ,  Marc Joseph Dominique DE SMET

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/74 ,  A61B34/77 ,  B25J9/1676 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00973 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B90/03 ,  A61B2090/062 ,  A61B2090/08021 ,  G05B2219/39082

Abstract: Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

公开(公告)号：US11969226B2

公开(公告)日：2024-04-30

申请号：US16672579

申请日：2019-11-04

Applicant: Momentis Surgical Ltd

Inventor： Dvir Cohen ,  Yaron Levinson

IPC: A61B34/00 ,  A61B17/00 ,  A61B17/28 ,  A61B34/30 ,  A61B90/00 ,  A61B90/50 ,  A61B17/29 ,  A61B90/57

CPC classification number: A61B34/70 ,  A61B17/00234 ,  A61B17/28 ,  A61B34/30 ,  A61B34/72 ,  A61B34/74 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/00216 ,  A61B2017/003 ,  A61B2017/00314 ,  A61B2017/00353 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/00991 ,  A61B2017/2906 ,  A61B2034/302 ,  A61B2090/0808 ,  A61B2090/571

Abstract: A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.

公开(公告)号：US20240081911A1

公开(公告)日：2024-03-14

申请号：US18509998

申请日：2023-11-15

Applicant: Philipp K. Lang

Inventor： Philipp K. Lang

IPC: A61B34/10 ,  A61B17/15 ,  A61B17/17 ,  A61B34/00 ,  A61B90/00 ,  A61F2/32 ,  A61F2/38

CPC classification number: A61B34/10 ,  A61B17/155 ,  A61B17/157 ,  A61B17/1703 ,  A61B17/1742 ,  A61B17/1764 ,  A61B17/1775 ,  A61B17/1778 ,  A61B34/74 ,  A61B90/36 ,  A61B90/37 ,  A61F2/32 ,  A61F2/3859 ,  A61F2/389 ,  H05K999/99 ,  A61B2017/00216

Abstract: Devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display are disclosed.

公开(公告)号：US20240008942A1

公开(公告)日：2024-01-11

申请号：US18037896

申请日：2021-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mohammad Sina PARASTEGARI ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Goran A. LYNCH

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B90/06 ,  A61B17/00 ,  A61B2017/00216 ,  A61B2017/00973 ,  A61B2090/065

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

公开(公告)号：US11701196B2

公开(公告)日：2023-07-18

申请号：US17723326

申请日：2022-04-18

Applicant: Verb Surgical Inc.

Inventor： Charles J. Scheib ,  Jaime Hernandez

IPC: B32B3/10 ,  A61B46/10 ,  A61B90/00 ,  B25J15/04 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/40 ,  A61B17/00 ,  A61B46/00 ,  B29C45/00 ,  B29C65/02 ,  G01V8/16 ,  B29L31/00

CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B46/40 ,  A61B90/06 ,  A61B90/40 ,  B25J15/0466 ,  B29C45/0053 ,  B29C65/02 ,  A61B34/25 ,  A61B34/74 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00115 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/00477 ,  A61B2017/00486 ,  A61B2017/00876 ,  A61B2034/302 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/0811 ,  A61B2090/0812 ,  A61B2090/0813 ,  B29L2031/7546 ,  G01V8/16 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47 ,  Y10S901/49

Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.