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公开(公告)号：US12064826B2
公开(公告)日：2024-08-20
申请号：US17375679
申请日：2021-07-14
CPC分类号： B23H7/02 , A61B17/00 , A61B34/30 , A61B34/71 , A61B34/72 , B23H11/003 , A61B2017/00526 , A61B2034/305 , B23H2200/00
摘要： A method of manufacturing a jointed device of a medical instrument includes providing a machining fixture on a wire electrical discharge machine having an electrical discharge wire. The fixture includes member holes each adapted to accommodate at least one workpiece, the workpiece being adapted to form a portion of the jointed device of the medical instrument. At least two workpieces each include a first workpiece and a second workpiece, accommodated within at least two member holes of the member holes. The fixture is associated with the wire electrical discharge machine so that the electrical discharge wire can cut at most one workpiece at a time. The machining fixture is rotated around a fixture rotation axis at a predetermined angle, which is chosen to provide that the electrical discharge wire can cut only one workpiece at a time. The workpieces are cut by the electrical discharge wire.
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公开(公告)号：US20240230707A9
公开(公告)日：2024-07-11
申请号：US18546182
申请日：2022-02-14
摘要： A method for identifies an anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting and/or calculating, by sensors, the acceleration vector of a point belonging to or integral with a master device, or of a virtual point uniquely and rigidly associated with the master device; and then identifying a detectable anomaly condition based on a component or modulus of the detected and/or calculated acceleration vector. The detectable anomalies include one or more of the following: involuntary drop of the master device and/or excessive acceleration of the master device, and/or sudden and/or involuntary opening of the master device. Each of the detectable anomalies is associated with a system state change to be performed if the anomaly is detected. A master-slave robotic system for medical or surgical teleoperation is equipped to perform the method.
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公开(公告)号：US20240133916A1
公开(公告)日：2024-04-25
申请号：US18546182
申请日：2022-02-14
摘要： A method for identifies an anomaly condition in using a hand-held, mechanically unconstrained master device to control a robotic system for medical or surgical teleoperation. The method includes detecting and/or calculating, by sensors, the acceleration vector of a point belonging to or integral with a master device, or of a virtual point uniquely and rigidly associated with the master device; and then identifying a detectable anomaly condition based on a component or modulus of the detected and/or calculated acceleration vector. The detectable anomalies include one or more of the following: involuntary drop of the master device and/or excessive acceleration of the master device, and/or sudden and/or involuntary opening of the master device. Each of the detectable anomalies is associated with a system state change to be performed if the anomaly is detected. A master-slave robotic system for medical or surgical teleoperation is equipped to perform the method.
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公开(公告)号：US20240065788A1
公开(公告)日：2024-02-29
申请号：US18495436
申请日：2023-10-26
IPC分类号： A61B34/37 , A61B1/313 , A61B10/04 , A61B17/00 , A61B17/062 , A61B34/00 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/20 , A61B90/25 , B25J3/04 , B25J9/10 , B25J9/16 , B25J15/00 , G05B19/402
CPC分类号： A61B34/37 , A61B1/3132 , A61B10/04 , A61B17/00234 , A61B17/062 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/72 , A61B90/20 , A61B90/25 , A61B90/361 , B25J3/04 , B25J9/1015 , B25J9/1669 , B25J15/0052 , G05B19/402 , A61B2034/2048 , A61B2034/301 , A61B2034/715 , A61B2090/061 , A61B2090/064 , G05B2219/45117
摘要： A robotic surgical assembly (100) includes a support (104), one macro-positioning arm (30), connected to the support (104) and having a plurality of degrees of freedom. The macro-positioning arm (30) includes a support member (38), at least two micro-positioning devices (41, 141, 241, 341), each having a plurality of motorized degrees of freedom, connected in cascade to the support member (38) of the macro-positioning arm (30), and at least two medical instruments (60, 160, 260, 360). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device (70, 170, 270) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments (60, 160, 260, 360) has a shaft (65), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).
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公开(公告)号：US20240277433A1
公开(公告)日：2024-08-22
申请号：US18570404
申请日：2022-06-16
CPC分类号： A61B34/37 , A61B34/71 , A61B2034/715
摘要： A method conditions a surgical instrument of a robotic surgery system prior to use. An articulated end-effector has degree(s) of freedom, and a tendon, operatively connects with a motorized actuator of the robotic surgery system. The tendon mounts to the surgical instrument to connect to both a respective motorized actuator, among transmission elements, and degree(s) of freedom of the end-effector. The degree(s) of freedom are activated by respective motorized actuator action by the connected tendon. The method includes locking a degree(s) of freedom of the end-effector; tensile-stressing the respective tendon, operatively connecting the locked degree of freedom, by applying force, according to a time cycle, to the tendon. The time cycle includes a low-load period, in which a low conditioning force Flow is applied, which results in a low tensile load on the tendon; and a high-load period, in which force is applied, which results in high tensile load.
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6.发明公开公开(公告)号：US20240277432A1
公开(公告)日：2024-08-22
申请号：US18570447
申请日：2022-06-16
CPC分类号： A61B34/35 , A61B2034/305 , A61B2034/715
摘要： A method of teleoperation preparation in a teleoperated robotic surgery system is performed during a non-operating step. The applicable robotic system includes motorized actuators, and a surgical instrument. The surgical instrument includes an articulated end-effector having a degree/degrees of freedom. The surgical instrument includes a pair of antagonistic tendons, mounted in the surgical instrument operatively connected/connectable to the motorized actuators and to the respective end-effector links. The antagonistic tendons actuate degree/degrees of freedom associated therewith, between the degree/degrees of freedom thus determining antagonistic effects. The method includes establishing a univocal correlation motorized actuators' movements and articulated end-effector movements. A holding step includes tensile-stressing a pair of antagonistic tendons, and holding the tendons in a tensile-stressed state, by applying a holding force to the tendons, adapted to determine a loaded state of the tendons. A command is given to enter teleoperation. A corresponding teleoperated robotic surgery system performs the method.
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公开(公告)号：US20240225761A9
公开(公告)日：2024-07-11
申请号：US18546196
申请日：2022-02-15
CPC分类号： A61B34/35 , A61B34/20 , A61B34/37 , A61B90/06 , A61B2034/2059 , A61B2560/0276
摘要： A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.
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公开(公告)号：US20240130813A1
公开(公告)日：2024-04-25
申请号：US18546196
申请日：2022-02-15
CPC分类号： A61B34/35 , A61B34/20 , A61B34/37 , A61B90/06 , A61B2034/2059 , A61B2560/0276
摘要： A method identifies an anomaly condition in operating a hand-held, mechanically unconstrained master device for controlling a robotic system for medical or surgical teleoperation. The method includes detecting or calculating the velocity vector of a point belonging to or integral with the master device, or of a virtual point uniquely and rigidly associated with the master device. A detectable anomaly condition is identified and recognized and/or discriminated based on the detected velocity vector, or based on a vector component. The detectable anomalies include master device excessive angular or linear velocity, inability to follow by the slave device, excessive vibrations or involuntary or abnormal opening of the master device. Each detectable anomaly is associated with a system state change to be performed if the anomaly is detected. The state change includes exiting or suspension from the teleoperation state. A robotic system for medical or surgical teleoperation performs the method.
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公开(公告)号：US20230114346A1
公开(公告)日：2023-04-13
申请号：US17929012
申请日：2021-02-09
摘要： A sterile master input handle assembly includes a non-sterile manipulandum; a sterile surgical drape draping the non-sterile manipulandum; and at least one sterile accessory, suitable to form a sterile interface of the sterile master input handle assembly for the surgeon’s fingers. The at least one sterile accessory mechanically engages with the non-sterile manipulandum across the sterile surgical drape, the at least one sterile accessory covers at least one portion of the outer surface of the surgical drape, and the at least one sterile accessory includes at least one surface forming the sterile interface for the surgeon’s fingers to manipulate the non-sterile manipulandum across the sterile surgical drape.
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公开(公告)号：US20240307140A1
公开(公告)日：2024-09-19
申请号：US18670308
申请日：2024-05-21
IPC分类号： A61B34/37 , A61B17/00 , A61B34/00 , A61B34/20 , A61B34/30 , A61B50/13 , A61B90/20 , A61B90/50
CPC分类号： A61B34/37 , A61B34/20 , A61B34/74 , A61B50/13 , A61B90/20 , A61B90/50 , A61B2017/00345 , A61B2017/00398 , A61B2017/00477 , A61B2034/2051 , A61B2034/2055 , A61B2034/305
摘要： Described herein is a robotic surgery assembly for robotic-aided microsurgery including a macro-positioning passive arm having a plurality of arm links connected one another in series and articulated through rotational joints. The assembly also includes two motorized manipulators both attached to a same link of the macro-positioning passive arm. The macro-positioning passive arm includes at least one handle for the hand manipulation of the macro-positioning arm by an operator.
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