公开(公告)号：US20150005576A1

公开(公告)日：2015-01-01

申请号：US14486708

申请日：2014-09-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir BELSON ,  Paul DeWitt FREY ,  Christine Wei Hsien MCELHANEY ,  James Craig MILROY ,  Robert Matthew OHLINE ,  Joseph M. TARTAGLIA

IPC: A61B1/00 ,  A61B1/018 ,  A61B1/015 ,  A61B1/005 ,  A61B1/05

CPC classification number: A61B1/00004 ,  A61B1/00055 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/008 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

Abstract: A system for determining the shape of a surgical instrument includes an elongate instrument body having a selectively steerable distal tip, a pair of automatically controlled segments proximal to the selectively steerable distal tip, and a joint that couples the pair of adjacent automatically controlled segments together. An actuator changes an angle of the joint and a position encoder provides information associated with the joint angle. A controller receives the information associated with the angle of the joint and generates a three dimensional model of a shape of the instrument. A method for determining the three dimensional shape of an instrument includes providing axial position data to a controller, providing angular position data to the controller from a respective segment controller, and generating a three-dimensional model of a shape of said instrument using the axial position data and the angular position data.

Abstract translation: 用于确定外科器械的形状的系统包括细长的器械主体，其具有可选择性地可操纵的远端尖端，靠近所述选择性可操纵的远侧尖端的一对自动控制的段，以及将所述一对相邻的自动控制区段联接在一起的接头。 致动器改变接头的角度，并且位置编码器提供与关节角度相关联的信息。 控制器接收与关节角度相关的信息，并产生仪器形状的三维模型。 一种用于确定仪器的三维形状的方法包括向控制器提供轴向位置数据，从相应的段控制器向控制器提供角位置数据，并且使用轴向位置生成所述仪器的形状的三维模型 数据和角位置数据。