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公开(公告)号：US20170290631A1
公开(公告)日：2017-10-12
申请号：US15438589
申请日：2017-02-21
Applicant: Auris Surgical Robotics, Inc.
Inventor： Jason Lee , Christopher Sramek , Gregory J. Kintz , David S. Mintz , Alan Yu
CPC classification number: A61B34/20 , A61B2034/2051 , A61B2090/376 , A61G13/08 , A61G13/107 , A61G13/1235
Abstract: Floating electromagnetic field generator systems and methods are provided. The system comprises a surgical bed portion. The system also comprises a brace component disposed within the surgical bed portion. Additionally, the system comprises a first arm that is attached to the brace component. The first arm is positioned adjacent to the surgical bed portion. Additionally, the first arm has at least one field generator coil embedded therein. The system also comprises a second arm that is attached to the brace component. The second arm is positioned adjacent to the surgical bed portion. Additionally, the second arm has at least one field generator coil embedded therein. The second arm is positioned parallel to the first arm.
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公开(公告)号：US09763741B2
公开(公告)日：2017-09-19
申请号：US14523760
申请日：2014-10-24
Applicant: Auris Surgical Robotics, Inc.
Inventor： Jeffery B. Alvarez , Gregory J. Kintz , David S. Mintz , Enrique Romo , Jian Zhang , Steve Burion , Serena Wong , Joseph Daniel Bogusky , Katherine A. Bender , Alan Yu
IPC: A61B1/00 , A61B19/00 , A61B1/005 , A61B1/018 , A61M25/00 , A61B34/37 , A61B1/04 , A61B1/05 , A61B17/00 , A61B34/00 , A61B34/20 , A61B34/30 , A61B90/30 , A61B90/00
CPC classification number: A61B90/30 , A61B1/00045 , A61B1/00071 , A61B1/00149 , A61B1/0016 , A61B1/0057 , A61B1/018 , A61B1/05 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2017/00526 , A61B2034/2048 , A61B2034/2051 , A61B2034/301 , A61B2034/306 , A61B2034/742 , A61M25/0009 , A61M25/0012 , Y10T29/49815
Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.
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公开(公告)号：US20170065364A1
公开(公告)日：2017-03-09
申请号：US15261754
申请日：2016-09-09
Applicant: Auris Surgical Robotics, Inc.
Inventor： Travis Schuh , Joseph Bogusky , Matthew Williams , David S. Mintz , Alan Yu , Gregory Kintz , Yoichiro Dan
CPC classification number: A61B90/50 , A61B34/00 , A61B34/30 , A61B34/70 , A61B46/00 , A61B46/10 , A61B2017/00477 , A61B2034/305
Abstract: An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.
Abstract translation: 仪器装置操纵器（IDM）附接到机器人系统的手术臂，并且包括手术工具保持器和外壳。 手术工具架包括附接接口，其可以将外科手术工具固定在前部安装配置中（其中附接界面在与外科手术工具的近端延伸部相对的表面上）或背部安装配置（附接接口 在与外科手术工具的近端延伸部相同的面上）。 手术工具保持器可以在外壳内连续旋转。 在背部安装配置中，手术工具保持器可以具有容纳工具的近端延伸的通道，并允许近端延伸部围绕旋转轴线自由旋转。 外科手术盖将IDM和机器臂与工具分开，同时允许电和/或光信号通过。
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公开(公告)号：US20180025666A1
公开(公告)日：2018-01-25
申请号：US15657051
申请日：2017-07-21
Applicant: Auris Surgical Robotics, Inc.
Inventor： Michael Shyh-Yen Ho , David S. Mintz , Edward Joseph Menard , Mark A. Lown , Jason Tomas Wilson , Yanan Huang
CPC classification number: G09B23/28 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/50 , A61B2017/00207 , A61B2034/741 , A61B2090/508 , A61B2090/571 , G09B5/02 , G09B9/00
Abstract: The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system may comprise an emulator representing a medical device. The system may comprise at least one detector configured to track the emulator. The system may further comprise an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.
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公开(公告)号：US20170202627A1
公开(公告)日：2017-07-20
申请号：US15406599
申请日：2017-01-13
Applicant: Auris Surgical Robotics, Inc.
Inventor： Christopher Sramek , Gregory J. Kintz , David S. Mintz , Alan Yu
CPC classification number: A61B34/20 , A61B34/30 , A61B2034/2051 , A61G7/05 , A61G13/04 , A61G13/06 , A61G13/08 , A61G2203/30
Abstract: An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.
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Patent Agency Ranking
公开(公告)号：US20170367782A1
公开(公告)日：2017-12-28
申请号：US15650653
申请日：2017-07-14
Applicant: AURIS SURGICAL ROBOTICS, INC.
Inventor： Travis Schuh , Matthew Reagan Williams , Joseph Daniel Bogusky , David S. Mintz , Alan Yu , Yoichiro Dan
CPC classification number: A61B90/50 , A61B1/00149 , A61B1/0016 , A61B1/3132 , A61B34/00 , A61B34/30 , A61B34/37 , A61B34/70 , A61B46/00 , A61B46/10 , A61B2017/00477 , A61B2034/301 , A61B2034/305 , H05K999/99
Abstract: An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of an elongated body of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the elongated body of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the elongated body of the tool and allows free rotation of the elongated body about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.
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公开(公告)号：US20170340396A1
公开(公告)日：2017-11-30
申请号：US15681051
申请日：2017-08-18
Applicant: AURIS SURGICAL ROBOTICS, INC.
Inventor： Enrique Romo , Frederic H. Moll , David S. Mintz , Mark Lown , Siddharth Oli , Allen Jiang
IPC: A61B34/30 , A61B34/32 , B25J13/08 , G01L5/00 , B25J9/16 , A61B10/04 , A61B17/00 , A61B34/37 , A61B90/00
Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.
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公开(公告)号：US09737371B2
公开(公告)日：2017-08-22
申请号：US14871253
申请日：2015-09-30
Applicant: AURIS SURGICAL ROBOTICS, INC.
Inventor： Enrique Romo , Frederic H. Moll , David S. Mintz , Mark Lown , Siddarth Oli , Allen Jiang
IPC: B25J9/16 , B25J13/08 , A61B34/30 , A61B10/04 , A61B34/32 , G01L5/00 , A61B34/37 , A61B17/00 , A61B90/00
CPC classification number: A61B34/30 , A61B10/04 , A61B34/32 , A61B34/37 , A61B2017/00477 , A61B2034/301 , A61B2034/305 , A61B2090/064 , B25J9/1676 , B25J9/1694 , B25J13/085 , G01L5/0052 , G05B2219/39109 , G05B2219/39319 , Y10S901/09 , Y10S901/46
Abstract: Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.
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公开(公告)号：US09727963B2
公开(公告)日：2017-08-08
申请号：US15268238
申请日：2016-09-16
Applicant: Auris Surgical Robotics, Inc.
Inventor： David S. Mintz , Atiyeh Ghoreyshi , Prasanth Jeevan , Yiliang Xu , Gehua Yang , Matthew Joseph Leotta , Charles V. Stewart
CPC classification number: G06T7/0012 , A61B1/00009 , A61B1/00147 , A61B1/00149 , A61B1/0016 , A61B1/005 , A61B1/04 , A61B1/2676 , A61B5/061 , A61B6/032 , A61B34/20 , A61B34/25 , A61B90/30 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2048 , A61B2034/2051 , A61B2034/252 , A61B2034/301 , A61B2090/3614 , G06T7/149 , G06T7/248 , G06T7/32 , G06T7/73 , G06T15/205 , G06T17/00 , G06T2207/10068 , G06T2207/10081 , G06T2207/30061 , G06T2207/30196
Abstract: Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
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公开(公告)号：US09713509B2
公开(公告)日：2017-07-25
申请号：US15261753
申请日：2016-09-09
Applicant: Auris Surgical Robotics, Inc.
Inventor： Travis Schuh , Matthew Reagan Williams , Joseph Daniel Bogusky , David S. Mintz , Alan Yu , Yoichiro Dan
CPC classification number: A61B90/50 , A61B34/00 , A61B34/30 , A61B34/70 , A61B46/00 , A61B46/10 , A61B2017/00477 , A61B2034/305
Abstract: An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of an elongated body of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the elongated body of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the elongated body of the tool and allows free rotation of the elongated body about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.
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