-
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
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：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：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
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：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
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
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：US20120130399A1
公开(公告)日：2012-05-24
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： 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：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：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
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.
-
10.发明授权Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery 有权微创远程外科手术中主/从关系的重新定位和重新定位公开(公告)号：US06459926B1
公开(公告)日：2002-10-01
申请号：US09398960
申请日：1999-09-17
IPC分类号： A61B1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译： 本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。 在一些实施例中，独立重新定位限于平移自由度。 在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。
-
-
-
-
-
-
-
-
-
搜索结果
62 条记录 (耗时 0.061 秒)
