公开(公告)号：US20090024142A1

公开(公告)日：2009-01-22

申请号：US12162902

申请日：2007-02-02

Applicant: Emilio Ruiz Morales

Inventor： Emilio Ruiz Morales

IPC: A61B19/00

CPC classification number: B25J9/041 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2034/305

Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIAs which includes a seat with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanisms cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.

Abstract translation: 用于执行微创医疗程序的机器人手术系统包括机器人操纵器，用于机器人辅助处理具有操纵臂的腹腔镜器械，由臂支撑的操纵器手腕和由手腕支撑的效应器单元，其中所述操纵臂提供三度 通过第一关节，第二关节和第三关节，每个具有相关联的致动器，用于机械地定位手腕，手腕通过第四关节和第五旋转提供两个自由度 关节具有相关联的致动器，用于分别机器人地设置效应器单元的偏航角和俯仰角; 效应器单元包括腹腔镜仪器致动器，并且通过具有相关联的致动器的旋转第六关节提供一个自由度，所述致动器用于机械地设置包括具有联接联接机构的座椅的LIA的侧倾角，用于安装仪器杆 适配器到效应器单元，以及与仪器杆适配器协作的致动机构，用于致动连接到适配器的腹腔镜器械。 效应器单元构造成使得旋转第六关节的旋转轴线与安装到效应器单元的腹腔镜器械的纵向轴线重合，并且效应器单元包括具有6自由度（DOF）力/ 扭矩传感器和6自由度加速度计。 传感器组件将LIA连接到第六旋转接头。

公开(公告)号：US09855662B2

公开(公告)日：2018-01-02

申请号：US12447335

申请日：2007-10-25

Applicant: Emilio Ruiz Morales ,  Carlos Correcher Salvador

Inventor： Emilio Ruiz Morales ,  Carlos Correcher Salvador

IPC: A61B19/00 ,  A61B17/00 ,  B25J9/16 ,  B25J13/08 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B34/10

CPC classification number: B25J13/085 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/76 ,  A61B2090/062 ,  A61B2090/064

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: —determining a position of the instrument relative to the fulcrum; —measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and —calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

公开(公告)号：US09360934B2

公开(公告)日：2016-06-07

申请号：US13639809

申请日：2011-04-01

Applicant: Emilio Ruiz Morales ,  Damien Brasset ,  Paolo Invernizzi

Inventor： Emilio Ruiz Morales ,  Damien Brasset ,  Paolo Invernizzi

IPC: A61B19/00 ,  A61B3/113 ,  G06F3/01 ,  G06K9/00 ,  A61B5/11 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B3/113 ,  A61B5/11 ,  A61B17/00 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00216 ,  G06F3/013 ,  G06F3/0482 ,  G06F3/04842 ,  G06F3/04847 ,  G06K9/00604

Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.

Abstract translation: 机器人手术系统（10）包括至少一个机器人臂（11），其在用于外科医生的控制台（12）的控制下起作用。 控制台（12）包括用于检测外科医生凝视的方向并根据检测到的注视方向输入命令的眼睛跟踪系统（21）。 控制台（22）有利地包括具有用于观察操作区域的至少一个区域（23）的屏幕（23），并且可以根据注视方向执行的命令之中，有利地是用于启用或禁用的自动命令 当检测到落在屏幕的所述区域（23）内或之外的注视方向时，机器人手臂（11）的移动。

公开(公告)号：US09707684B2

公开(公告)日：2017-07-18

申请号：US13546057

申请日：2012-07-11

Applicant: Emilio Ruiz Morales ,  Carlos Correcher Salvador

Inventor： Emilio Ruiz Morales ,  Carlos Correcher Salvador

IPC: B25J13/08 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B34/10

CPC classification number: B25J13/085 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/76 ,  A61B2090/062 ,  A61B2090/064

Abstract: A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

公开(公告)号：US08506555B2

公开(公告)日：2013-08-13

申请号：US12162902

申请日：2007-02-02

Applicant: Emilio Ruiz Morales

Inventor： Emilio Ruiz Morales

IPC: A61B19/00

CPC classification number: B25J9/041 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2034/305

Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.

Abstract translation: 用于执行微创医疗程序的机器人手术系统包括机器人操纵器，用于机器人辅助处理具有操纵臂的腹腔镜器械，由臂支撑的操纵器手腕和由手腕支撑的效应器单元，其中所述操纵臂提供三度 通过第一关节，第二关节和第三关节，每个具有相关联的致动器，用于机械地定位手腕，手腕通过第四关节和第五旋转提供两个自由度 关节具有相关联的致动器，用于分别机器人地设置效应器单元的偏航角和俯仰角; 效应器单元包括腹腔镜仪器致动器，并通过具有相关致动器的旋转第六关节提供一个自由度，用于机械地设置包括座椅的LIA的侧倾角，以及用于安装仪器的相关联的联接机构 杆适配器到效应器单元，以及与仪器杆适配器协作的致动机构，用于致动连接到适配器的腹腔镜器械。 效应器单元构造成使得旋转第六关节的旋转轴线与安装到效应器单元的腹腔镜器械的纵向轴线重合，并且效应器单元包括具有6自由度（DOF）力/ 扭矩传感器和6自由度加速度计。 传感器组件将LIA连接到第六旋转接头。

公开(公告)号：US09358682B2

公开(公告)日：2016-06-07

申请号：US12278251

申请日：2007-02-02

Applicant: Emilio Ruiz Morales

Inventor： Emilio Ruiz Morales

IPC: B25J9/04 ,  A61B19/00

CPC classification number: B25J9/041 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/064

Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist. More particularly, the PRP kinematic configuration has the following joint sequence: a prismatic (P) first joint (J1) for varying the height of the vertical part (27) by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint (J2) for varying the rotational angle between the vertical part (27) and the horizontal part (29) by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint (J3) for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.

Abstract translation: 用于执行医疗程序的医疗机器人系统（10）包括用于机器人辅助处理医疗器械的机器人操纵器（14），特别是腹腔镜手术器械（18）。 机器人操纵器（14）包括基座（24）; 操纵臂（26），其具有由基座支撑的基本上垂直的部分（27）和由垂直部分（27）支撑的基本上水平的部分（29）; 由所述操纵臂（26）支撑的操纵器手腕（28）; 以及由所述操纵器手腕支撑并构造成用于保持医疗器械的效应器单元（30）。 操纵臂（26）具有用于定位操纵器手腕的圆柱形PRP运动结构。 更具体地，PRP运动学构造具有以下关节序列：用于通过沿着基本上垂直的轴提供平移自由度来改变垂直部分（27）的高度的棱柱形（P）第一接头（J1），旋转 R）第二关节（J2），用于通过围绕基本上垂直的轴线提供旋转自由度来改变垂直部分（27）和水平部分（29）之间的旋转角度，以及棱柱形（P）第三关节（J3） 通过沿着基本上水平的轴提供平移自由度来改变水平部分的范围。

公开(公告)号：US20100094312A1

公开(公告)日：2010-04-15

申请号：US12447335

申请日：2007-10-25

Applicant: Emilio Ruiz Morales ,  Carlos Correcher Salvador

Inventor： Emilio Ruiz Morales ,  Carlos Correcher Salvador

IPC: A61B19/00 ,  G01D7/00 ,  G01P15/08

CPC classification number: B25J13/085 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/76 ,  A61B2090/062 ,  A61B2090/064

Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: —determining a position of the instrument relative to the fulcrum; —measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and —calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Abstract translation: 一种用于包括机器人操纵器（10）的微创医疗系统的力估计方法。 所述操纵器具有配备有6度自由度（DOF）力/扭矩传感器的效应器单元（12），并被构造成保持具有安装到所述效应器单元的第一端（16）的微创器械（14） 以及位于超过外部支点（23）的第二端（20），其限制了仪器的运动，通常为4自由度。 该方法包括以下步骤： - 确定仪器相对于支点的位置; - 通过6自由度力/扭矩传感器测量由仪器的第一端施加到效应器单元上的力和扭矩; 并且通过叠加原理计算，基于所确定的位置，测量的力和所测量的扭矩，估计施加在仪器的第二端上的力。

公开(公告)号：US20130030571A1

公开(公告)日：2013-01-31

申请号：US13639809

申请日：2011-04-01

Applicant: Emilio Ruiz Morales ,  Damien Brasset ,  Paolo Invernizzi

Inventor： Emilio Ruiz Morales ,  Damien Brasset ,  Paolo Invernizzi

IPC: A61B19/00 ,  G06F3/01 ,  A61B3/113

CPC classification number: A61B34/30 ,  A61B3/113 ,  A61B5/11 ,  A61B17/00 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00216 ,  G06F3/013 ,  G06F3/0482 ,  G06F3/04842 ,  G06F3/04847 ,  G06K9/00604

Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.

Abstract translation: 机器人手术系统（10）包括至少一个机器人臂（11），其在用于外科医生的控制台（12）的控制下起作用。 控制台（12）包括用于检测外科医生凝视的方向并根据检测到的注视方向输入命令的眼睛跟踪系统（21）。 控制台（22）有利地包括具有用于观察操作区域的至少一个区域（23）的屏幕（23），并且可以根据注视方向执行的命令之中，有利地是用于启用或禁用的自动命令 当检测到落在屏幕的所述区域（23）内或之外的注视方向时，机器人手臂（11）的移动。

公开(公告)号：US20100204713A1

公开(公告)日：2010-08-12

申请号：US12278251

申请日：2007-02-02

Applicant: Emilio Ruiz Morales

Inventor： Emilio Ruiz Morales

IPC: A61B19/00

CPC classification number: B25J9/041 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/064

Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist. More particularly, the PRP kinematic configuration has the following joint sequence: a prismatic (P) first joint (J1) for varying the height of the vertical part (27) by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint (J2) for varying the rotational angle between the vertical part (27) and the horizontal part (29) by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint (J3) for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.

Abstract translation: 用于执行医疗程序的医疗机器人系统（10）包括用于机器人辅助处理医疗器械的机器人操纵器（14），特别是腹腔镜手术器械（18）。 机器人操纵器（14）包括基座（24）; 操纵臂（26），其具有由基座支撑的基本上垂直的部分（27）和由垂直部分（27）支撑的基本上水平的部分（29）; 由所述操纵臂（26）支撑的操纵器手腕（28）; 以及由所述操纵器手腕支撑并构造成用于保持医疗器械的效应器单元（30）。 操纵臂（26）具有用于定位操纵器手腕的圆柱形PRP运动结构。 更具体地，PRP运动学构造具有以下关节序列：用于通过沿着基本上垂直的轴提供平移自由度来改变垂直部分（27）的高度的棱柱形（P）第一接头（J1），旋转 R）第二关节（J2），用于通过围绕基本上垂直的轴线提供旋转自由度来改变垂直部分（27）和水平部分（29）之间的旋转角度，以及棱柱形（P）第三关节（J3） 通过沿着基本上水平的轴提供平移自由度来改变水平部分的范围。