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公开(公告)号：US12121316B2
公开(公告)日：2024-10-22
申请号：US17513933
申请日：2021-10-29
申请人： Titan Medical Inc.
发明人： Timothy Brandon Hunt
CPC分类号： A61B34/71 , A61B34/30 , A61B90/11 , A61B2017/00477 , A61B2034/301 , A61B2034/302 , A61B2034/306
摘要： In some embodiments, an insertion device for a robotic surgery apparatus can include one or more guides configured to receive and/or engage a plurality of control links. The one or more guides can each include a plurality of channels. The insertion device can include a tool interface configured to engage one or more surgical tools for performing a surgical procedure. At least one control link of the first, second, or third pluralities of control links can be overlapping, coaxially aligned, or otherwise placed in a nested configuration with respect to another control link of the first, second, or third pluralities of control links. One or more of the plurality of first, second, or third control links can be configured to be actuated to adjust spatial position of the tool interface to facilitate repositioning of the surgical tool.
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公开(公告)号：US12089874B2
公开(公告)日：2024-09-17
申请号：US18149791
申请日：2023-01-04
申请人： Titan Medical Inc.
CPC分类号： A61B17/3423 , A61B17/29 , A61B17/3474 , A61B2017/00557 , A61B2017/3419 , A61B2017/3454 , A61B2017/3486 , A61B2018/00595 , A61B2018/00601 , A61B2217/005 , A61B2217/007
摘要： In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.
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公开(公告)号：US12070291B2
公开(公告)日：2024-08-27
申请号：US18050429
申请日：2022-10-27
申请人： Titan Medical Inc.
CPC分类号： A61B34/74 , A61B18/1445 , A61B34/30 , A61B34/37 , A61B2017/0042 , A61B2018/00595 , A61B90/361
摘要： A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.
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公开(公告)号：US11957429B2
公开(公告)日：2024-04-16
申请号：US17332155
申请日：2021-05-27
申请人： Titan Medical Inc.
发明人： Brandon Michael Kelly , Michael Darter Collins , Zachary Kevin Durand , William Jacob Ward , Mark Curtis Rector
CPC分类号： A61B34/74 , A61B34/30 , B25J11/00 , B25J15/0028 , B25J17/02 , A61B2034/742 , A61B2090/067 , A61B2562/0223
摘要： In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body with a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can additionally include a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever.
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公开(公告)号：US11779419B2
公开(公告)日：2023-10-10
申请号：US17530912
申请日：2021-11-19
申请人： Titan Medical Inc.
发明人： Joseph Kralicky , Peter Cameron
CPC分类号： A61B34/37 , A61B17/29 , A61B34/35 , A61B34/74 , B25J3/04 , B25J9/1689 , B25J11/008 , A61B2034/301 , A61B2034/306 , G05B2219/39024 , G05B2219/40195 , Y10S901/06 , Y10S901/31
摘要： In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.
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公开(公告)号：US11779418B2
公开(公告)日：2023-10-10
申请号：US17227617
申请日：2021-04-12
申请人： Titan Medical Inc.
发明人： Perry A. Genova , David McNally
IPC分类号： G06K9/00 , A61B34/37 , G06T7/70 , A61B34/20 , A61B90/00 , A61B1/00 , A61B1/313 , A61B34/00 , A61B17/02 , G06T7/73 , A61B34/30 , A61B34/10 , A61B90/30
CPC分类号： A61B34/37 , A61B1/0005 , A61B1/000094 , A61B1/000096 , A61B1/00149 , A61B1/313 , A61B17/02 , A61B34/20 , A61B34/74 , A61B90/37 , G06T7/70 , G06T7/73 , A61B34/10 , A61B34/25 , A61B90/03 , A61B2034/2057 , A61B2034/2065 , A61B2034/302 , A61B2090/306 , A61B2090/309 , A61B2090/371 , G06T2207/10021 , G06T2207/30004
摘要： Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed. In some embodiments, a method involves receiving body cavity image data representing an interior view of the body cavity captured by a camera inserted into the body cavity, determining, by the processor circuit, instrument parameters associated with physical extents of the instrument to be inserted, determining, by the processor circuit, an instrument envelope identifying a region through which the instrument is capable of moving in the body cavity, and generating, by the processor circuit, display signals operable to display a composite view of the interior of the body cavity on a display, the composite view being based on the body cavity image data and including an envelope overlay image generated to represent the instrument envelope.
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公开(公告)号：US20230301737A1
公开(公告)日：2023-09-28
申请号：US18188737
申请日：2023-03-23
申请人： Titan Medical Inc.
发明人： Ryan Goffrid Springer , Matthew Alexander Morales , Hans Christian Pflaumer , Jessica Alzamora , Sukie Whitehall
IPC分类号： A61B34/00
CPC分类号： A61B34/74 , A61B2034/743
摘要： An instrument manipulator for a robotic surgery system can include a housing configured to support a surgical instrument. The instrument manipulator can include an actuator configured to move the housing forward and backward. The instrument manipulator can include a release connected to the housing and configured to engage with the actuator in a first configuration to allow the housing and the at least one surgical instrument to move forward responsive to activation of the actuator. The release can be configured to disengage from the actuator in a second configuration to allow a user to manually retract the housing and the at least one surgical instrument. The instrument manipulator can include a user interface positioned at least partially on an exterior surface of the housing and configured to permit the user to transition the release from the first configuration to the second configuration.
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公开(公告)号：US20230248390A1
公开(公告)日：2023-08-10
申请号：US18149791
申请日：2023-01-04
申请人： Titan Medical Inc.
CPC分类号： A61B17/3423 , A61B17/3474 , A61B17/29 , A61B2017/00557
摘要： In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.
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公开(公告)号：US11642188B2
公开(公告)日：2023-05-09
申请号：US17062654
申请日：2020-10-05
申请人： Titan Medical Inc.
发明人： Rene Robert , David Allen Zitnick
CPC分类号： A61B34/70 , A61B17/00234 , A61B34/30 , F16C1/12 , A61B2017/00305 , A61B2017/00318 , A61B2017/00367 , A61B2017/00371 , A61B2017/00398 , A61B2017/00477 , F16H25/20
摘要： A tool apparatus and a method for actuating a tool apparatus are disclosed. The tool apparatus includes an actuator housing, and an elongate tool manipulator extending outwardly from the actuator housing and having a plurality of control links extending along a length of the tool manipulator. The control links are operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator. The apparatus also includes a plurality of actuators, each actuator being associated with at least one of the control links and being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction, and a plurality of linkages.
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公开(公告)号：US20230085222A1
公开(公告)日：2023-03-16
申请号：US18050429
申请日：2022-10-27
申请人： Titan Medical Inc.
摘要： A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.
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