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公开(公告)号：US08634957B2
公开(公告)日：2014-01-21
申请号：US13158041
申请日：2011-06-10
IPC分类号： G06F19/00
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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公开(公告)号：US07983793B2
公开(公告)日：2011-07-19
申请号：US12114082
申请日：2008-05-02
IPC分类号： G06F19/00
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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公开(公告)号：US20080221732A1
公开(公告)日：2008-09-11
申请号：US12114082
申请日：2008-05-02
申请人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
发明人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
IPC分类号： B25J9/00
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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公开(公告)号：US20110301754A1
公开(公告)日：2011-12-08
申请号：US13158041
申请日：2011-06-10
申请人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
发明人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
IPC分类号： B25J9/06
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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公开(公告)号：US07379790B2
公开(公告)日：2008-05-27
申请号：US10839727
申请日：2004-05-04
申请人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
发明人： Gregory K. Toth , Nitish Swarup , Tom Nixon , David Q. Larkin , Steven J. Colton
IPC分类号： G06F19/00
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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6.发明申请Robotic Surgical Systems With Fluid Flow Control For Irrigation, Aspiration, and Blowing 审中-公开机器人手术系统与流体流量控制灌溉，吸气和吹公开(公告)号：US20120197182A1
公开(公告)日：2012-08-02
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
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种或多种流体的流动。
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7.发明授权Robotic surgical systems with fluid flow control for irrigation, aspiration, and blowing 有权具有流体流量控制的机器人手术系统用于灌溉，抽吸和吹风公开(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
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。
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公开(公告)号：US06424885B1
公开(公告)日：2002-07-23
申请号：US09373678
申请日：1999-08-13
申请人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
发明人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
IPC分类号： G06F1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
摘要翻译： 增强的远程呈现和远程外科系统自动更新坐标变换，以便保持输入设备的移动和末端执行器与输入设备相邻显示的移动之间的对准。 处理器将控制器工作空间与端部执行器工作区映射，并且响应于输入设备的移动来影响末端执行器的移动。 这允许使用运动学上不同的主从联系。 在万向节附近抓住输入构件，并将适当的输入构件夹到末端执行器映射点，增强操作员的控制。 即使端部执行器的线性移动距离与输入装置的线性运动距离不对应，也可以通过精确跟踪取向和/或运动角度来提高敏捷性。
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公开(公告)号：US07155315B2
公开(公告)日：2006-12-26
申请号：US11299393
申请日：2005-12-12
申请人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K Toth , Robert G. Younge
发明人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K Toth , Robert G. Younge
IPC分类号： G06F19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
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公开(公告)号：US06671581B2
公开(公告)日：2003-12-30
申请号：US10163626
申请日：2002-06-05
申请人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
发明人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
IPC分类号： G06F1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
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