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公开(公告)号：US20200282570A1
公开(公告)日：2020-09-10
申请号：US16881568
申请日：2020-05-22
发明人： Anthony K. MCGROGAN , Thomas G. COOPER , David Q. LARKIN , Kent M. ANDERSON , Jeffrey D. BROWN , Paul E. LILAGAN , Michael IKEDA
摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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公开(公告)号：US20230371788A1
公开(公告)日：2023-11-23
申请号：US18308477
申请日：2023-04-27
IPC分类号： A61B1/00 , A61B34/37 , A61B34/30 , A61B1/005 , A61B34/00 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00
CPC分类号： A61B1/00087 , A61B34/37 , A61B34/30 , A61B1/0016 , A61B1/0051 , A61B34/71 , A61B34/72 , A61B1/00193 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/0086 , A61B8/12 , A61B34/70 , A61B1/00149 , A61B1/00154 , A61B1/00165 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00234 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B90/361
摘要： A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
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3.发明申请公开(公告)号：US20210267699A1
公开(公告)日：2021-09-02
申请号：US17321115
申请日：2021-05-14
发明人： Paul G. GRIFFITHS , Paul W. MOHR , Nitish SWARUP , Michael COSTA , David Q. LARKIN , Thomas G. Cooper
摘要： Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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4.发明申请ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS 审中-公开机械手术系统中电磁工具的适应性综合能量控制系统公开(公告)号：US20160338786A1
公开(公告)日：2016-11-24
申请号：US15161158
申请日：2016-05-20
发明人： David W. ROBINSON , Thomas R. NIXON , Michael HANUSCHIK , Randal P. GOLDBERG , Jason HEMPHILL , David Q. LARKIN , Paul MILLMAN
CPC分类号： A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
摘要： A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.
摘要翻译： 远程手术外科系统可以包括多个远程手术器械; 用户输入设备; 以及可操作地耦合到所述用户输入装置和所述多个外科器械的控制器。 用户输入设备可以被配置为响应于在用户输入设备处的输入而发送激活命令以激活多个外科器械中的第一个的功能，该功能由远程控制供应设备支持。 控制器可以被配置为输出反馈命令以对用户产生反馈，指示多个外科器械中的第一个的反馈被配置为响应于激活命令而被激活。
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公开(公告)号：US20160206384A1
公开(公告)日：2016-07-21
申请号：US14916854
申请日：2014-09-11
CPC分类号： A61B34/20 , A61B5/0538 , A61B10/04 , A61B17/16 , A61B17/1703 , A61B17/320016 , A61B34/30 , A61B46/00 , A61B2017/081 , A61B2018/00577 , A61B2034/2061 , A61B2090/0803 , A61B2562/0266
摘要： A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.
摘要翻译： 一种方法包括从第一形状传感器中的第一细长光纤部分接收第一形状数据。 第一细长光纤部分在参考固定装置和耦合到患者解剖结构的第一解剖固定装置之间延伸。 所述方法还包括从所述第一形状数据确定所述第一解剖夹具的姿态并跟踪所述第一解剖固定装置的姿势变化。
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6.发明申请CONTROLLER ASSISTED RECONFIGURATION OF AN ARTICULATED INSTRUMENT DURING MOVEMENT INTO AND OUT OF AN ENTRY GUIDE 审中-公开控制器在进入和离开进入导轨期间辅助重新设计仪器公开(公告)号：US20150297300A1
公开(公告)日：2015-10-22
申请号：US14753575
申请日：2015-06-29
发明人： Daniel H. GOMEZ , Nicola DIOLAITI , David Q. LARKIN , Paul E. LILAGAN , Probal MITRA , Tabish MUSTUFA
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
摘要翻译： 为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。 当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。 在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中 新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。
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公开(公告)号：US20240293942A1
公开(公告)日：2024-09-05
申请号：US18591683
申请日：2024-02-29
发明人： Anthony K. MCGROGAN , Thomas G. COOPER , David Q. LARKIN , Kent M. ANDERSON , Jeffrey D. BROWN , Paul E. LILAGAN , Michael IKEDA
CPC分类号： B25J15/0028 , A61B34/30 , A61B34/70 , A61B90/50 , A61B90/90 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , Y10S901/36 , Y10S901/38 , Y10S901/39
摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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8.发明公开公开(公告)号：US20230329815A1
公开(公告)日：2023-10-19
申请号：US18340943
申请日：2023-06-26
发明人： Paul G. GRIFFITHS , Paul W. MOHR , Nitish SWARUP , Michael COSTA , David Q. LARKIN , Thomas G. COOPER
CPC分类号： A61B34/35 , A61B50/10 , A61B34/30 , A61B50/18 , A61B2050/105 , A61B2034/304 , A61B2017/00017
摘要： Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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9.发明申请ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS 审中-公开机械手术系统中电磁工具的适应性综合能量控制系统公开(公告)号：US20150173849A1
公开(公告)日：2015-06-25
申请号：US14642163
申请日：2015-03-09
发明人： David W. ROBINSON , Thomas R. NIXON , Michael HANUSCHIK , Randal P. GOLDBERG , Jason HEMPHILL , David Q. LARKIN , Paul MILLMAN
CPC分类号： A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
摘要： A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
摘要翻译： 公开了一种用于微创手术系统的方法，包括：在安装到第一机器臂上的第一机器人手术工具中从存储装置读取第一工具信息，以至少确定第一工具类型; 读取关于一个或多个远程控制设备的设备信息以进行控制; 将所述第一工具信息与所述设备信息进行比较以将所述一个或多个远程控制设备的第一遥控设备适当地匹配到所述第一机器人手术工具; 以及映射第一控制台的一个或多个用户界面输入设备，以控制第一遥控设备以支持第一机器人手术工具的功能。
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10.发明申请公开(公告)号：US20150012134A1
公开(公告)日：2015-01-08
申请号：US14497712
申请日：2014-09-26
发明人： David W. ROBINSON , Thomas R. NIXON , Michael HANUSCHIK , Randal P. GOLDBERG , Jason HEMPHILL , David Q. LARKIN , Paul MILLMAN
IPC分类号： A61B19/00
摘要： A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
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