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公开(公告)号：US11219494B2
公开(公告)日：2022-01-11
申请号：US16815150
申请日：2020-03-11
申请人： Covidien LP
发明人： Jaimeen Kapadia , Josiah Rosmarin
摘要： A surgical assembly for use with and for selective connection to a robotic arm includes an electromechanical instrument and an instrument drive unit. The instrument drive unit includes a motor and a feedback assembly. The motor is configured to effect rotation of the electromechanical instrument. The feedback assembly includes control circuitry and first and second annular members. The control circuitry is configured to sense a change in a condition of the motor. The first annular member has a surface feature projecting therefrom. The second annular member is disposed adjacent the first annular member and has a first surface feature projecting therefrom, circumferentially aligned with the surface feature of the first annular member. Upon a threshold amount of rotation of the first annular member, the surface feature of the first annular member abuts the first surface feature of the second annular member to change the condition of the motor.
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公开(公告)号：US11213356B2
公开(公告)日：2022-01-04
申请号：US16746728
申请日：2020-01-17
申请人： Auris Health, Inc.
IPC分类号： A61B34/20 , A61B34/35 , A61B34/00 , A61B46/10 , A61B6/12 , A61B8/00 , G06T19/00 , A61B34/37 , A61B6/00 , A61B8/12 , A61B34/30 , A61B34/10 , A61B90/00 , A61B17/00 , A61B8/08
摘要： Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
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公开(公告)号：US20210401538A1
公开(公告)日：2021-12-30
申请号：US17472827
申请日：2021-09-13
摘要： A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.
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公开(公告)号：US20210401517A1
公开(公告)日：2021-12-30
申请号：US17469027
申请日：2021-09-08
摘要： A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.
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公开(公告)号：US20210401516A1
公开(公告)日：2021-12-30
申请号：US17468241
申请日：2021-09-07
发明人： Michael Hanuschik , Joseph Arsanious , Julie L. Berry , Paul G. Griffiths , Brandon D. Itkowitz , Paul W. Mohr
摘要： A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.
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公开(公告)号：US20210401515A1
公开(公告)日：2021-12-30
申请号：US17288961
申请日：2019-10-29
申请人： Covidien LP
发明人： Brian Rockrohr , Eric Taylor , Matthew Hartzsch , Colin Murphy
摘要： A robotic surgical system and method of selectively binding articulation limits to a surgical instrument includes detecting a proximal or a distal linear movement of the surgical instrument, calculating a distance between a tool center point of the surgical instrument after the proximal or the distal linear movement and a remote center of motion, assigning and binding an articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement, and assigning a non-binding articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is proximal a linear movement.
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公开(公告)号：US11207144B2
公开(公告)日：2021-12-28
申请号：US16320911
申请日：2017-12-15
申请人： RIVERFIELD INC.
发明人： Daisuke Haraguchi , Koki Shindo , Hiroki Ujiie
摘要： A motive power transmission adapter includes a casing and at least one power transmission portion. The casing is disposed between a surgical tool and a power unit for driving the surgical tool. In addition, the casing includes a clean surface which is a surface facing the surgical tool disposed in a clean region and an unclean surface which is a surface facing the power unit disposed in an unclean region. At least one power transmission portion is movable relative to the casing and transmits a movement of the drive portion to the driven portion. In addition, at least one power transmission portion is disposed to be movable in a direction in which the clean surface and the unclean surface extend and is disposed between the drive portion and the driven portion in a direction intersecting a linear motion direction of the drive portion.
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88.发明授权公开(公告)号：US11202685B2
公开(公告)日：2021-12-21
申请号：US15776480
申请日：2016-11-14
申请人： CUREXO, INC.
发明人： Yonghee Han , Donggi Woo , Junwoo Park
摘要： The present invention relates to a system and method for identifying position of marker for orthopedic surgery, wherein the system comprises a main sensor and an auxiliary sensor having different sensing schemes, so that during orthopedic surgery, it is possible to flexibly handle a situation where a single sensor fails or a sensing signal cannot be received, thereby accurately identifying the position and posture of a marker.
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公开(公告)号：US20210386496A1
公开(公告)日：2021-12-16
申请号：US17459372
申请日：2021-08-27
IPC分类号： A61B34/37 , B25J9/16 , A61B34/00 , A61B90/20 , B25J3/04 , B25J9/10 , B25J15/00 , A61B17/062 , A61B90/00 , A61B34/30 , A61B34/35 , A61B1/313 , A61B10/04 , A61B17/00 , G05B19/402 , A61B90/25
摘要： A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.
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公开(公告)号：US20210386487A1
公开(公告)日：2021-12-16
申请号：US17412705
申请日：2021-08-26
IPC分类号： A61B34/20 , A61B1/267 , G06T19/00 , A61B1/005 , A61B1/00 , G06T19/20 , G06T7/33 , A61B5/06 , A61B34/00 , A61B34/35 , A61B34/37 , G06T7/10 , A61B1/05 , A61B10/04
摘要： A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position into for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.
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