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公开(公告)号：US12114947B2
公开(公告)日：2024-10-15
申请号：US17459120
申请日：2021-08-27
发明人： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrissette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
CPC分类号： A61B34/35 , A61B1/3132 , A61B2017/00477 , A61B17/4241 , A61B2034/302 , A61B2090/3941 , A61B2090/3945 , A61B2090/3983
摘要： A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.
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公开(公告)号：US11129683B2
公开(公告)日：2021-09-28
申请号：US16316939
申请日：2017-07-14
发明人： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrissette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
摘要： A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
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公开(公告)号：US11026759B2
公开(公告)日：2021-06-08
申请号：US16810429
申请日：2020-03-05
发明人： Edward P. Donlon , Craig Tsuji , Alain Sadaka
摘要： An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide groove and through the shaft opening, and is configured to slide within the first guide groove. The second cable is routed within the second guide groove and through the shaft opening, and is configured to slide within the second guide groove.
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公开(公告)号：US20210015572A1
公开(公告)日：2021-01-21
申请号：US17042724
申请日：2019-03-28
摘要： Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
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公开(公告)号：US10595949B2
公开(公告)日：2020-03-24
申请号：US16453530
申请日：2019-06-26
发明人： Edward P. Donlon , Craig Tsuji , Alain Sadaka
摘要： An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide groove and through the shaft opening, and is configured to slide within the first guide groove. The second cable is routed within the second guide groove and through the shaft opening, and is configured to slide within the second guide groove.
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公开(公告)号：US20200078109A1
公开(公告)日：2020-03-12
申请号：US16316939
申请日：2017-07-14
发明人： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrisette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
IPC分类号： A61B34/35
摘要： A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
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公开(公告)号：US20210177532A1
公开(公告)日：2021-06-17
申请号：US17119630
申请日：2020-12-11
发明人： Alain Sadaka , Wingman C. Tse , Joseph A. Kemp
摘要： Illustrative systems and methods for inserting an elongate flexible instrument into a target environment are described. An illustrative system includes a guide device positioned near an opening to the target environment and having a rotary mechanism and a motor configured to drive the rotary mechanism. The system further includes a sensor system associated with insertion of the elongate flexible instrument along an insertion axis and a processor communicatively coupled to the motor and the sensor system. The processor is configured to receive sensor data from the sensor system, evaluate the sensor data, and control, based on the evaluation, the motor to actuate the elongate flexible instrument along the insertion axis. In some examples, the processor controls the motor to vary a rate of rotation of the rotary mechanism based on a determined system status.
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公开(公告)号：US10357321B2
公开(公告)日：2019-07-23
申请号：US15903139
申请日：2018-02-23
发明人： Edward P. Donlon , Craig Tsuji , Alain Sadaka
摘要： An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide groove and through the shaft opening, and is configured to slide within the first guide groove. The second cable is routed within the second guide groove and through the shaft opening, and is configured to slide within the second guide groove.
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公开(公告)号：US12082900B2
公开(公告)日：2024-09-10
申请号：US16971984
申请日：2019-03-05
发明人： Harsukhdeep Ratia , Alain Sadaka , Zhou Ye
CPC分类号： A61B34/71 , A61B34/35 , A61B34/74 , B25J9/02 , B25J15/022 , A61B2034/302 , A61B2034/305
摘要： Systems and methods of assembling a wrist assembly are provided. The wrist assembly includes a tension member, a first link, and a second link. The second link includes an assembly path, a guide path, and a retention pocket. A first end portion of the tension member is inserted through the assembly path within the second link. The tension member is configured to be rotated to transition the first tension member portion from the assembly path to be within the guide path. The retention member is retained within the retention pocket on a condition that the first tension member portion is rotated to be within the guide path such that movement of the tension member relative to the second link is limited. Movement of the first tension member portion within the second guide path urges the second link to rotate relative to the first link.
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公开(公告)号：US11992286B2
公开(公告)日：2024-05-28
申请号：US16971974
申请日：2019-03-05
发明人： Alain Sadaka
IPC分类号： A61B34/30 , A61B17/28 , A61B18/00 , A61B34/00 , B25J15/02 , A61B17/29 , A61B17/32 , A61B34/35
CPC分类号： A61B34/71 , B25J15/022 , A61B17/29 , A61B17/320016 , A61B2018/00595 , A61B34/35 , A61B2034/715
摘要： A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.
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