公开(公告)号：US08944070B2

公开(公告)日：2015-02-03

申请号：US11093372

申请日：2005-03-30

申请人： Gary S. Guthart ,  David Q. Larkin ,  David J. Rosa ,  Paul W. Mohr ,  Giuseppe Prisco

发明人： Gary S. Guthart ,  David Q. Larkin ,  David J. Rosa ,  Paul W. Mohr ,  Giuseppe Prisco

IPC分类号： A61B19/00 ,  A61B1/04 ,  A61B8/12 ,  A61B17/00 ,  A61B1/00 ,  A61B1/313

CPC分类号： A61B34/30 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B17/00234 ,  A61B18/20 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/506

摘要： Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

摘要翻译： 使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息， 以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。

公开(公告)号：US08816628B2

公开(公告)日：2014-08-26

申请号：US13175519

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： B25J15/02

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US08786241B2

公开(公告)日：2014-07-22

申请号：US13175458

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： B25J15/02

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US08749189B2

公开(公告)日：2014-06-10

申请号：US13175477

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： B25J15/02

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US08624537B2

公开(公告)日：2014-01-07

申请号：US13175498

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： B25J15/02

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US20110270271A1

公开(公告)日：2011-11-03

申请号：US13175550

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： A61B19/00 ,  B25J13/06

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US20090192524A1

公开(公告)日：2009-07-30

申请号：US12415354

申请日：2009-03-31

申请人： Brandon D. Itkowitz ,  Daniel J. Halabe ,  Tao Zhao ,  Simon Dimaio ,  Christopher J. Hasser ,  Catherine J. Mohr ,  Paul W. Mohr ,  David Q. Larkin ,  Wenyi Zhao ,  Brian D. Hoffman

发明人： Brandon D. Itkowitz ,  Daniel J. Halabe ,  Tao Zhao ,  Simon Dimaio ,  Christopher J. Hasser ,  Catherine J. Mohr ,  Paul W. Mohr ,  David Q. Larkin ,  Wenyi Zhao ,  Brian D. Hoffman

IPC分类号： A61B19/00

CPC分类号： B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

摘要翻译： 用于在机器人系统的用户界面上显示的机器人工具的合成表示。 合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。 合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。

公开(公告)号：US08823308B2

公开(公告)日：2014-09-02

申请号：US13175550

申请日：2011-07-01

申请人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

发明人： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC分类号： B25J15/02

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

公开(公告)号：US08583274B2

公开(公告)日：2013-11-12

申请号：US13654631

申请日：2012-10-18

申请人： Paul W. Mohr ,  David W. Robinson

发明人： Paul W. Mohr ,  David W. Robinson

IPC分类号： A61B17/00

CPC分类号： A61B19/5225 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/37 ,  A61B2090/0811 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39024 ,  G05B2219/45123 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09

摘要： Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

摘要翻译： 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。

公开(公告)号：US08508173B2

公开(公告)日：2013-08-13

申请号：US13356952

申请日：2012-01-24

申请人： Randal P. Goldberg ,  Michael Hanuschik ,  Paul Millman ,  John W. Zabinski ,  David Robinson ,  David W. Weir ,  Paul W. Mohr ,  Thomas R. Nixon ,  David W. Bailey

发明人： Randal P. Goldberg ,  Michael Hanuschik ,  Paul Millman ,  John W. Zabinski ,  David Robinson ,  David W. Weir ,  Paul W. Mohr ,  Thomas R. Nixon ,  David W. Bailey

IPC分类号： B64C13/20

CPC分类号： A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00973 ,  Y10T74/20

摘要： A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.

摘要翻译： 公开了一种用于遥控医疗设备的控制台，具有具有人体工程学可调节踏板系统的基座。 基座还具有接收踏板系统的开口。 踏板系统包括具有踏板底座的可动踏板盘。 托盘包括第一左踏板组件和第一右踏板组件，以及上层，其具有分别与第一左踏板组件和第一右踏板组件对准并升高的第二左踏板组件和第二右踏板组件。 辊可旋转地联接到可移动的踏板盘，以允许其在地板上滚动。 驱动组件联接在可动踏板盘和基座之间。 驱动组件向基座的开口内的地板上施加力以将可动踏板托盘滚动。