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公开(公告)号：US11234778B2
公开(公告)日：2022-02-01
申请号：US16349208
申请日：2017-11-10
摘要： A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US10327837B2
公开(公告)日：2019-06-25
申请号：US15011018
申请日：2016-01-29
摘要： A vessel sealer has a stepped jaw that allows the jaw to have an overall shape and a width that provides desired strength, shape, and functionality while permitting a smaller raised portion to apply the sealing pressure. The smaller area applying the sealing pressure allows an actuating mechanism to apply a clinically desired sealing pressure without exceeding the force or torque limitations of the actuating mechanism and can limit thermal spread during a sealing procedure.
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公开(公告)号：US10376324B2
公开(公告)日：2019-08-13
申请号：US15522568
申请日：2015-10-30
摘要： A system and method for an articulated arm stabilization includes an arm stabilizer for use with articulated arms of a computer-assisted medical device. The stabilizer includes a spine, a first vibration absorbing mount attached to the spine, a second vibration absorbing mount attached to the spine, a first clamp attached to the first vibration absorbing mount, and a second clamp attached to the second vibration absorbing mount. The first clamp is adapted to hold a first attachment point of a first articulated arm without slipping. The second clamp is adapted to hold a second attachment point of a second articulated arm without slipping. In some embodiments, the arm stabilizer stabilizes and reduces vibration in the first and second articulated arms. In some embodiments, the vibration is in a range from 0.5 to 14 Hz. In some embodiments, the spine limits relative motion between the first clamp and the second clamp.
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4.发明申请PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开用于操纵手术系统运动的自由度自由度公开(公告)号：US20160175061A1
公开(公告)日：2016-06-23
申请号：US15057069
申请日：2016-02-29
发明人： Pushkar Hingwe , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Arjang M. Hourtash , Amy E. Kerdok , Michael Turner
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361
摘要： Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
摘要翻译： 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入设备接收参数，所述参数指示通过所述孔定向的外科器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，所述参数包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望状态。
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公开(公告)号：US20160143688A1
公开(公告)日：2016-05-26
申请号：US15011018
申请日：2016-01-29
发明人： Joseph P. Orban III , Amy E. Kerdok , Hubert Stein
CPC分类号： A61B18/1445 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2018/0063 , A61B2034/305
摘要： A vessel sealer has a stepped jaw that allows the jaw to have an overall shape and a width that provides desired strength, shape, and functionality while permitting a smaller raised portion to apply the sealing pressure. The smaller area applying the sealing pressure allows an actuating mechanism to apply a clinically desired sealing pressure without exceeding the force or torque limitations of the actuating mechanism and can limit thermal spread during a sealing procedure.
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6.发明申请公开(公告)号：US20140052298A1
公开(公告)日：2014-02-20
申请号：US13966406
申请日：2013-08-14
发明人： Arjang M. Hourtash , Samuel Kwok Wai Au , Raymond A. Bonneau , Nicola Diolaiti , Pushkar Hingwe , Amy E. Kerdok , Michael Turner
IPC分类号： B25J9/16
CPC分类号： A61B34/37 , A61B34/35 , B25J9/16 , B25J9/1689 , G05B2219/40195 , G05B2219/45123 , Y10S901/02
摘要： Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
摘要翻译： 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。
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公开(公告)号：US20230389999A1
公开(公告)日：2023-12-07
申请号：US18336875
申请日：2023-06-16
CPC分类号： A61B34/25 , A61G13/02 , G16H40/63 , A61B2034/256 , A61B2034/258 , A61B34/35
摘要： A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user, the user profile including a parameter established during a prior teleoperational procedure. The parameter includes an ergonomic setup for an input device of the operator input system. The input device is configured to operate the teleoperational manipulator. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting the operator input system based on the at least one of the ergonomic setup for the operator input system.
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公开(公告)号：US11311347B2
公开(公告)日：2022-04-26
申请号：US16349208
申请日：2017-11-10
摘要： A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US20200078105A1
公开(公告)日：2020-03-12
申请号：US16324891
申请日：2017-08-11
摘要： A system comprises a teleoperational assembly including an operator control system and a teleoperational manipulator configured for operation by the operator control system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user. The user profile including a parameter established during a prior teleoperational procedure. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter.
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公开(公告)号：US10516871B2
公开(公告)日：2019-12-24
申请号：US15840239
申请日：2017-12-13
发明人： Amy E. Kerdok , Wenyi Zhao
IPC分类号： H04N13/122 , H04N13/271 , H04N13/239 , H04N13/00
摘要： An imaging system processes images of a plurality of objects which have been captured by an image capture device for display. Normal processing of the images is modified as either a function of a depth corresponding to one or more of the plurality of objects appearing in the captured images relative to the image capture device or as a function of the depth and one or more image characteristics extracted from the captured images. A depth threshold may be used to avoid inadvertent modifications due to noise.
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