公开(公告)号：US20110224688A1

公开(公告)日：2011-09-15

申请号：US13049035

申请日：2011-03-16

申请人： David Q Larkin ,  David C. Shafer

发明人： David Q Larkin ,  David C. Shafer

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

摘要： A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

公开(公告)号：US20110224689A1

公开(公告)日：2011-09-15

申请号：US13049041

申请日：2011-03-16

申请人： David Q Larkin ,  David C. Shafer

发明人： David Q Larkin ,  David C. Shafer

IPC分类号： A61B19/00 ,  B25J13/08 ,  B25J17/00 ,  B25J19/04 ,  B25J18/02

CPC分类号： A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

摘要： A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

公开(公告)号：US07453227B2

公开(公告)日：2008-11-18

申请号：US11613962

申请日：2006-12-20

申请人： Giuseppe M. Prisco ,  David Q Larkin

发明人： Giuseppe M. Prisco ,  David Q Larkin

IPC分类号： B25J13/08

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/305 ,  B25J9/1646 ,  B25J9/1689 ,  G05B2219/42347 ,  G05B2219/42351 ,  G05B2219/42352 ,  G05B2219/45123 ,  A61B19/2203 ,  A61B19/5212

摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

公开(公告)号：US09216243B2

公开(公告)日：2015-12-22

申请号：US13443852

申请日：2012-04-10

申请人： Paul Millman ,  David Bailey ,  Dean Hoornaert ,  David Stephen Mintz ,  David Q Larkin ,  John Magnasco ,  Gary Guthurt ,  Nitish Swarup ,  Salvatore Brogna

发明人： Paul Millman ,  David Bailey ,  Dean Hoornaert ,  David Stephen Mintz ,  David Q Larkin ,  John Magnasco ,  Gary Guthurt ,  Nitish Swarup ,  Salvatore Brogna

IPC分类号： A61M1/00 ,  A61B19/00 ,  A61M13/00 ,  A61M39/24 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00203 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  A61B2217/005 ,  A61B2217/007 ,  A61M1/0035 ,  A61M1/0039 ,  A61M1/0058 ,  A61M13/003 ,  A61M2039/2473

摘要： In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.

摘要翻译： 在本发明的一个实施例中，提供了包括主控制台和手术操纵器的机器人手术系统。 主控制台产生控制信号以使一个或多个流体流入或流出外科手术部位。 手术操纵器联接到控制台以接收控制信号，并且包括至少一个机器人臂和与其耦合的外科器械。 手术操纵器响应于控制信号控制外科器械，以控制一个或多个流体流入或流出手术部位的流动。 外科器械具有响应于手术操纵器的第一机器人控制的阀，以及中空管，其具有联接到第一机械手控制阀的第一端，在第二端具有开口以引导一个或多个流体的流动。

公开(公告)号：US08241271B2

公开(公告)日：2012-08-14

申请号：US11341155

申请日：2006-01-27

申请人： Paul Millman ,  David Bailey ,  Dean Hoornaert ,  David Stephen Mintz ,  David Q Larkin

发明人： Paul Millman ,  David Bailey ,  Dean Hoornaert ,  David Stephen Mintz ,  David Q Larkin

IPC分类号： A61B17/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B2017/00203 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  A61B2217/005 ,  A61B2217/007 ,  A61M1/0035 ,  A61M1/0039 ,  A61M1/0058 ,  A61M13/003 ,  A61M2039/2473

摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.

摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。

公开(公告)号：US08100133B2

公开(公告)日：2012-01-24

申请号：US11478416

申请日：2006-06-28

申请人： David Mintz ,  Tracey Ann Morley ,  Theodeore Charles Walker ,  David Q Larkin ,  Michael Lee Hanuschik

发明人： David Mintz ,  Tracey Ann Morley ,  Theodeore Charles Walker ,  David Q Larkin ,  Michael Lee Hanuschik

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00734 ,  A61B2034/252 ,  A61B2034/305 ,  A61B2090/0807 ,  B25J9/0084 ,  B25J9/1689

摘要： Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

摘要翻译： 医疗和/或机器人装置，系统和方法可以提供与多臂远程外科或远程外科系统的每个操纵器组件相关联的指示器。 示例性指示器包括安装到操纵器的多色发光二极管（LED），移动相关联的手术器械，允许指示器显示各种各样的信号。 本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。