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1.发明授权公开(公告)号：US10687907B2
公开(公告)日：2020-06-23
申请号：US15359020
申请日：2016-11-22
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
摘要： A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.
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公开(公告)号：US20240350209A1
公开(公告)日：2024-10-24
申请号：US18667785
申请日：2024-05-17
发明人： Giuseppe Maria Prisco , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B34/30 , A61B17/24 , A61B34/00 , A61B34/20 , G01B11/24 , G01D5/353 , H04L9/40 , H04W4/80 , H04W12/06 , A61B18/00 , A61B18/20
CPC分类号： A61B34/30 , A61B17/24 , A61B34/20 , A61B34/71 , G01B11/24 , G01D5/35316 , H04L63/0428 , H04L63/08 , H04L63/0807 , H04W4/80 , H04W12/06 , H04W12/068 , A61B2018/00035 , A61B2018/2005 , A61B2018/202 , A61B2034/2061 , A61B2034/301 , A61B2562/00
摘要： A system comprises a manually operated instrument, a reference fixture positioned in a fixed world reference frame, and a shape sensor coupled to the manually operated instrument. The shape sensor extends from the manually operated instrument to the reference fixture. The system further comprises a controller configured to receive, from the shape sensor, shape information for the manually operated instrument. The controller is further configured to determine a pose of the manually operated instrument in the fixed world reference frame based on the shape information for the manually operated instrument.
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公开(公告)号：US10813629B2
公开(公告)日：2020-10-27
申请号：US15824534
申请日：2017-11-28
摘要： A medical device comprises a tube including a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube and defined by opposing surfaces. A pair of force transmission elements is actuatable to alter the tube between a flexible state and a stiffened state. A first force transmission element of the pair is coupled to an opposite side of the tube from the second force transmission element of the pair. The surgical device also includes a plurality of routing members coupled to the wall of the tube and configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. Equal tension forces applied to the pair of force transmission elements compress the tube to create the stiffened state by deforming regions of the tube disposed between the plurality of slits.
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公开(公告)号：US12016539B2
公开(公告)日：2024-06-25
申请号：US17841500
申请日：2022-06-15
CPC分类号： A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/003 , A61B2017/00309 , A61B2017/00318 , A61B2017/00336
摘要： A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.
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5.发明授权公开(公告)号：US10028791B2
公开(公告)日：2018-07-24
申请号：US15014513
申请日：2016-02-03
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
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6.发明申请公开(公告)号：US20160151121A1
公开(公告)日：2016-06-02
申请号：US15014559
申请日：2016-02-03
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B2034/2061 , A61B2034/301 , A61B2562/00 , G01B11/24 , G01D5/35316
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
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7.发明申请公开(公告)号：US20220211450A1
公开(公告)日：2022-07-07
申请号：US17575541
申请日：2022-01-13
发明人： GIUSEPPE MARIA PRISCO , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B34/30 , G01B11/24 , H04W4/80 , H04W12/06 , A61B17/24 , H04L9/40 , G01D5/353 , A61B34/00 , A61B34/20
摘要： A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.
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8.发明授权公开(公告)号：US11252141B2
公开(公告)日：2022-02-15
申请号：US16788045
申请日：2020-02-11
发明人： Giuseppe Maria Prisco , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B17/24 , G01B11/24 , A61B34/30 , A61B34/20 , H04L29/06 , H04W4/80 , H04W12/06 , A61B18/20 , A61B18/00 , G01D5/353
摘要： A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.
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9.发明申请公开(公告)号：US20200267128A1
公开(公告)日：2020-08-20
申请号：US16788045
申请日：2020-02-11
发明人： Giuseppe Maria Prisco , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
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10.发明授权公开(公告)号：US10588703B2
公开(公告)日：2020-03-17
申请号：US15014559
申请日：2016-02-03
发明人： Giuseppe Maria Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
摘要： A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.
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