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公开(公告)号：US12114954B2
公开(公告)日：2024-10-15
申请号：US17749799
申请日：2022-05-20
发明人： Lawton N. Verner , Hsien-Hsin Liao
CPC分类号： A61B34/76 , A61B34/30 , A61B34/77 , A61B2090/064
摘要： A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
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公开(公告)号：US10470796B2
公开(公告)日：2019-11-12
申请号：US15329982
申请日：2015-07-27
发明人： Brett Page , Lawton N. Verner , John Ryan Steger , Smita De
IPC分类号： A61B1/32 , A61B17/34 , A61B34/00 , A61B34/20 , A61B90/11 , A61B17/02 , A61B90/00 , A61B17/00
摘要： A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.
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公开(公告)号：US09999475B2
公开(公告)日：2018-06-19
申请号：US15411527
申请日：2017-01-20
CPC分类号： A61B34/30 , A61B17/0218 , A61B17/3462 , A61B2034/302 , A61M39/0693 , A61M2039/0626
摘要： Embodiments of an actuated cannula seal are disclosed. In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
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公开(公告)号：US20170265890A1
公开(公告)日：2017-09-21
申请号：US15329982
申请日：2015-07-27
发明人： Brett Page , Lawton N. Verner , John Ryan Steger , Smita De
摘要： A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.
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公开(公告)号：US20140236177A1
公开(公告)日：2014-08-21
申请号：US14181541
申请日：2014-02-14
CPC分类号： A61B34/30 , A61B17/0218 , A61B17/3462 , A61B2034/302 , A61M39/0693 , A61M2039/0626
摘要： Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
摘要翻译： 公开了致动套管密封件的实施例。在一些实施例中，插管密封件包括与插管接合的基部; 以及密封部，其与所述基部一体形成，所述密封部能够与器械轴接合，所述密封部能够由致动器致动，使得所述密封部相对于所述器械轴不断地运动。 密封部分的致动可以通过密封部分相对于仪器轴的旋转或振动来实现。
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公开(公告)号：US12023205B2
公开(公告)日：2024-07-02
申请号：US17234655
申请日：2021-04-19
CPC分类号： A61B90/06 , A61B34/35 , A61B90/50 , G01D5/145 , A61B2034/715 , A61B2090/064 , A61B2090/5025
摘要： Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second configuration in the range of motion of the moveable detection element by a force generated by the actuator on the moveable detection element. The breakage detection mechanism includes a sensor of a change of the moveable detection element from the first configuration to the second configuration, the change being in response to breakage of the tension element.
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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：US11376087B2
公开(公告)日：2022-07-05
申请号：US16069810
申请日：2017-01-12
发明人： Lawton N. Verner , Hsien-Hsin Liao
摘要： A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
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公开(公告)号：US11357587B2
公开(公告)日：2022-06-14
申请号：US16069800
申请日：2017-01-12
发明人： Lawton N. Verner , Hsien-Hsin Liao
摘要： A surgical system is provided comprising: an input device: and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.
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公开(公告)号：US11137414B2
公开(公告)日：2021-10-05
申请号：US16455611
申请日：2019-06-27
IPC分类号： G01P15/093 , G02B6/34 , G01L1/22
摘要： An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.
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