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1.发明申请公开(公告)号：US20180185105A1
公开(公告)日：2018-07-05
申请号：US15859697
申请日：2018-01-01
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B2017/00477 , A61B2034/2059 , A61B2034/306 , B25J9/161 , G05B2219/45117
摘要： A robotic system comprises a joint position controller and a manipulator having coupled together housings. The manipulator is adapted to hold and manipulate a device. Motors for actuating corresponding degrees of freedom of the device and sensor processing units for sensing and converting states of the motors into digitally transmittable information are housed in one or more of the housings. A remote current controller is housed in a different housing than the one or more housings for space and/or heat considerations. The remote current controller generates drive signals provided over individual signal lines to the motors by using motor commands provided by the joint position controller and by using the digitally transmittable information received from the sensor processing units.
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公开(公告)号：US11857280B2
公开(公告)日：2024-01-02
申请号：US17990318
申请日：2022-11-18
IPC分类号： G05B19/00 , A61B34/35 , A61B34/37 , G16H40/67 , G16H30/40 , A61B1/00 , G05B19/4155 , H04N23/54 , A61B34/00 , A61B90/00 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , H04N23/50
CPC分类号： A61B34/35 , A61B1/00149 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B17/02 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B17/3201 , A61B17/320068 , A61B34/71 , A61B2018/00595 , A61B2034/741 , A61B2034/742 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61B2090/3762 , A61B2217/005 , A61B2217/007 , G05B2219/40174 , H04N23/555
摘要： A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US20240156554A1
公开(公告)日：2024-05-16
申请号：US18513322
申请日：2023-11-17
CPC分类号： A61B34/35 , A61B1/00149 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B34/71
摘要： A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US09855107B2
公开(公告)日：2018-01-02
申请号：US14902825
申请日：2014-08-08
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B2017/00477 , A61B2034/2059 , A61B2034/306 , B25J9/161 , G05B2219/45117
摘要： A medical robotic system includes a manipulator having links that form housings which are movable by motor actuated joints. Motors for actuating the joints and sensors for sensing states of the motors are housed in one or more distal housings formed from corresponding links or other structure(s) of the manipulator. A position controller is housed in a proximal housing and provides current commands for the motors to a remote current controller that is housed in an intermediate housing and generates drive signals for the motors by using the provided current commands and sensed states of the motors.
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公开(公告)号：US12016647B2
公开(公告)日：2024-06-25
申请号：US17178776
申请日：2021-02-18
发明人： Roman L. Devengenzo , Michael L. Hanuschik , Gerard J. Labonville , Paul W. Mohr , Tyler J. Morrissette , Joseph P. Orban, III
IPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/50 , A61B17/00
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/50 , A61B2017/00477
摘要： A surgical drape for a patient side cart of a teleoperated surgical system may comprise a body sized and shaped to cover at least a portion of an arm or main column of the patient side cart, and an attachment device feature connected to the body, the attachment device feature being configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. In an installed position of the surgical drape on the arm or the main column, the attachment device feature is positioned at a location in sensing proximity of a sensor of the patient side cart.
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公开(公告)号：US10932877B2
公开(公告)日：2021-03-02
申请号：US15126727
申请日：2015-03-17
发明人： Roman L. Devengenzo , Michael L. Hanuschik , Gerard J. Labonville , Paul W. Mohr , Tyler J. Morrissette , Joseph P. Orban, III
摘要： A surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column. At least one of the main column and the arm may include a sensor to detect an attachment device feature of a surgical drape.
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公开(公告)号：US20190069966A1
公开(公告)日：2019-03-07
申请号：US16072140
申请日：2017-01-31
摘要： A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.
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公开(公告)号：US20240299113A1
公开(公告)日：2024-09-12
申请号：US18667034
申请日：2024-05-17
发明人： Roman L. Devengenzo , Michael L. Hanuschik , Gerard J. Labonville , Paul W. Mohr , Tyler J. Morrissette , Joseph P. Orban, III
IPC分类号： A61B46/10 , A61B17/00 , A61B34/30 , A61B34/35 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/50
CPC分类号： A61B46/10 , A61B34/30 , A61B34/35 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/50 , A61B2017/00477
摘要： A patient side cart can have a first sensor at an arm and a second sensor at a main column. A sterile barrier system can include a first drape to cover at least a portion of the arm of the cart, a first attachment device connected to the first drape, a second drape to cover at least a portion of the main column of the cart, and a second attachment device connected to the second drape. In an installed position of the first drape, the first sensor can detect he first attachment device and in an installed position of the second drape, the second sensor can to detect the second attachment device. A system comprising the cart and barrier system can output a warning in response to one or both of the first sensor not detecting the first attachment device and the second sensor not detecting the second attachment device.
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公开(公告)号：US20230138396A1
公开(公告)日：2023-05-04
申请号：US17976510
申请日：2022-10-28
摘要： A teleoperated surgical system includes a manipulator, an electric motor, and a power circuit. The motor is operatively connected to and configured to drive movement of at least a portion of the manipulator. The power circuit includes a plurality of wires and a switch. The wires connect a selectively activated power source to the motor. The switch is connected to the wires between the power source and the motor. On a first condition in which the power source changes from an activated state to a deactivated state, the switch short-circuits the motor to cause the unpowered motor to automatically dampen motion of the at least a portion of the manipulator. On a second condition in which the power source changes from the deactivated state to the activated state, the switch electrically connects the motor to the power source to supply operating power from the power source to the motor via the wires.
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公开(公告)号：US20230131431A1
公开(公告)日：2023-04-27
申请号：US17990318
申请日：2022-11-18
摘要： A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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