公开(公告)号：US08600551B2

公开(公告)日：2013-12-03

申请号：US12755889

申请日：2010-04-07

申请人： Brandon D. Itkowitz ,  Stephen J. Blumenkranz ,  Brian E. Miller ,  Frederic H. Moll ,  Andris D. Ramans ,  David J. Rosa

发明人： Brandon D. Itkowitz ,  Stephen J. Blumenkranz ,  Brian E. Miller ,  Frederic H. Moll ,  Andris D. Ramans ,  David J. Rosa

IPC分类号： G06F19/00 ,  G05B19/18

CPC分类号： G09B23/285 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506

摘要： A medical robotic system has a surgeon console which is operatively couplable to a patient side unit for performing medical procedures or operatively couplable to a simulator unit for training purposes. The surgeon console has a monitor, input devices and foot pedals. The patient side unit has robotic arm assemblies coupled to instruments and an endoscope. When the surgeon console is coupled to the patient side unit, the instruments move in response to movement of the input devices to perform a medical procedure while captured images of the instruments are displayed on the monitor. When the surgeon console is coupled to the simulator unit, virtual instruments move in response to movement of the input devices to perform a user selected virtual procedure while virtual images of the virtual instruments are displayed on the monitor.

摘要翻译： 医疗机器人系统具有外科医生控制台，其可操作地耦合到患者侧单元，用于执行医疗程序或可操作地耦合到用于训练目的的模拟器单元。 外科医生控制台有一个监视器，输入设备和脚踏板。 患者侧单元具有耦合到器械和内窥镜的机器人手臂组件。 当外科医生控制台耦合到患者侧单元时，仪器响应于输入设备的移动而移动以执行医疗过程，同时将仪器的捕获图像显示在监视器上。 当外科医生控制台耦合到模拟器单元时，虚拟仪器响应于输入设备的移动而移动以执行用户选择的虚拟过程，同时虚拟仪器的虚拟图像显示在监视器上。

公开(公告)号：US20100234857A1

公开(公告)日：2010-09-16

申请号：US12755889

申请日：2010-04-07

申请人： Brandon D. Itkowitz ,  Stephen J. Blumenkranz ,  Brian E. Miller ,  Frederic H. Moll ,  Andris D. Ramans ,  David J. Rosa

发明人： Brandon D. Itkowitz ,  Stephen J. Blumenkranz ,  Brian E. Miller ,  Frederic H. Moll ,  Andris D. Ramans ,  David J. Rosa

IPC分类号： A61B19/00 ,  G05B15/00 ,  G06F19/00

CPC分类号： G09B23/285 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506

摘要： A medical robotic system has a surgeon console which is operatively couplable to a patient side unit for performing medical procedures or operatively couplable to a simulator unit for training purposes. The surgeon console has a monitor, input devices and foot pedals. The patient side unit has robotic arm assemblies coupled to instruments and an endoscope. When the surgeon console is coupled to the patient side unit, the instruments move in response to movement of the input devices to perform a medical procedure while captured images of the instruments are displayed on the monitor. When the surgeon console is coupled to the simulator unit, virtual instruments move in response to movement of the input devices to perform a user selected virtual procedure while virtual images of the virtual instruments are displayed on the monitor.

摘要翻译： 医疗机器人系统具有外科医生控制台，其可操作地耦合到患者侧单元，用于执行医疗程序或可操作地耦合到用于训练目的的模拟器单元。 外科医生控制台有一个监视器，输入设备和脚踏板。 患者侧单元具有耦合到器械和内窥镜的机器人手臂组件。 当外科医生控制台耦合到患者侧单元时，仪器响应于输入设备的移动而移动以执行医疗过程，同时将仪器的捕获图像显示在监视器上。 当外科医生控制台耦合到模拟器单元时，虚拟仪器响应于输入设备的移动而移动以执行用户选择的虚拟过程，同时虚拟仪器的虚拟图像显示在监视器上。

公开(公告)号：US06837883B2

公开(公告)日：2005-01-04

申请号：US09972322

申请日：2001-10-05

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney ,  David S. Mintz

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney ,  David S. Mintz

IPC分类号： A61B19/00 ,  A61B17/00 ,  B25J19/02

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.

摘要翻译： 改进的机器人手术系统，装置和方法通常包括第一组件，其具有通过第一机器人连杆相对于第一基座而被支撑和操纵的手术末端执行器，而第二手术末端执行器通过相对于第二独立底座操纵和支撑， 第二个机器人联动。 这些机器人组件中的一个或多个可以相对于另一个移动。 为了协调末端执行器运动与由外科医生相对于手术工作场所的显示器操纵的输入装置的运动，导出机器人联动装置运动的命令的处理器可以利用指示基底的相对取向的信号 机器臂组件。 令人惊奇的是，机器人臂组件可能不向处理器发送指示基座的相对平移位置的信号。

公开(公告)号：US07865266B2

公开(公告)日：2011-01-04

申请号：US10424536

申请日：2003-04-24

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

IPC分类号： G06F19/00 ,  G05B19/18 ,  G05B15/02 ,  B25J1/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

公开(公告)号：US20110137322A1

公开(公告)日：2011-06-09

申请号：US12959704

申请日：2010-12-03

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

公开(公告)号：US06858003B2

公开(公告)日：2005-02-22

申请号：US10214286

申请日：2002-08-06

申请人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

发明人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

IPC分类号： A61B17/00 ,  A61B17/04 ,  A61B19/00

CPC分类号： A61B34/32 ,  A61B17/04 ,  A61B17/0469 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00703 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/064

摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

公开(公告)号：US06659939B2

公开(公告)日：2003-12-09

申请号：US09433120

申请日：1999-11-03

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury ,  Michael Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury ,  Michael Tierney

IPC分类号： A61B100

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

公开(公告)号：US06468265B1

公开(公告)日：2002-10-22

申请号：US09436982

申请日：1999-11-09

申请人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

发明人： Philip C. Evans ,  Frederic H. Moll ,  Gary S. Guthart ,  William C. Nowlin ,  Rand P. Pendleton ,  Christopher P. Wilson ,  Andris D. Ramans ,  David J. Rosa ,  Volkmar Falk ,  Robert G. Younge

IPC分类号： A61B1700

CPC分类号： A61B34/32 ,  A61B17/04 ,  A61B17/0469 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00703 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/064

摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

公开(公告)号：US08504201B2

公开(公告)日：2013-08-06

申请号：US13299548

申请日：2011-11-18

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

IPC分类号： G06F19/00 ,  G05B19/04

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

公开(公告)号：US08489235B2

公开(公告)日：2013-07-16

申请号：US12959704

申请日：2010-12-03

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

IPC分类号： G06F19/00 ,  G05B15/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.