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公开(公告)号：US20240115335A1
公开(公告)日：2024-04-11
申请号：US18545284
申请日：2023-12-19
CPC分类号： A61B34/35 , A61B17/34 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2034/302 , A61B2034/305
摘要： A computer-assisted medical system includes a manipulator, an instrument holder physically coupled to the manipulator arm, and a controller that includes a computer processor. The instrument holder includes an instrument holder carriage configured to releasably couple to an instrument and translate the instrument along a longitudinal axis. The controller applies a signal that represents a movement for the instrument along the longitudinal axis to a filter to differentiate between a first and a second motion component of the movement along the longitudinal axis, and causes the instrument to move in accordance with the movement along the longitudinal axis by commanding the manipulator arm to move based on the first motion component of the movement along the longitudinal axis. The controller further commands, based on the second motion component of the movement along the longitudinal axis, the instrument holder carriage to move relative to the manipulator arm.
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公开(公告)号：US11628029B2
公开(公告)日：2023-04-18
申请号：US16126102
申请日：2018-09-10
摘要： A surgical system drape includes: a sheath having an interior cavity sized to cover a portion of a surgical system manipulator; an adaptor coupled to the sheath and including a manipulator interface and an instrument interface, the manipulator interface configured to couple with a drive interface of the manipulator, the instrument interface being configured to couple with a drive interface of a surgical instrument mounted to the manipulator; and a fluid conduit coupled to the sheath and extending within the interior cavity of the sheath, the fluid conduit configured to receive a flow of cooling fluid at a fluid port and convey the fluid along the interior cavity of the sheath to cool a component of a portion of the manipulator.
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公开(公告)号：US10939973B2
公开(公告)日：2021-03-09
申请号：US16311333
申请日：2017-06-29
摘要： Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.
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公开(公告)号：US20220022980A1
公开(公告)日：2022-01-27
申请号：US17494300
申请日：2021-10-05
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
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公开(公告)号：US20210322115A1
公开(公告)日：2021-10-21
申请号：US17364197
申请日：2021-06-30
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
IPC分类号： A61B34/35 , B25J9/16 , A61B50/13 , A61B90/50 , A61B34/30 , A61B50/33 , A61B50/15 , A61B46/00 , A61B34/32 , A61B46/10 , A61B90/00 , A61B17/34
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
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公开(公告)号：US20190231460A1
公开(公告)日：2019-08-01
申请号：US16327986
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
CPC分类号： A61B34/35 , A61B17/3423 , A61B34/30 , A61B34/32 , A61B46/00 , A61B46/10 , A61B50/13 , A61B50/15 , A61B50/33 , A61B90/08 , A61B90/50 , A61B2090/0808 , A61B2090/0811 , A61B2090/3945 , A61B2090/508 , A61B2090/571 , B25J9/162 , B25J9/1676 , B25J9/1684
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
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公开(公告)号：US11903664B2
公开(公告)日：2024-02-20
申请号：US17169188
申请日：2021-02-05
CPC分类号： A61B34/35 , A61B17/34 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2034/302 , A61B2034/305
摘要： A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a cannula configured to receive the instrument.
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公开(公告)号：US20230210622A1
公开(公告)日：2023-07-06
申请号：US18183494
申请日：2023-03-14
CPC分类号： A61B46/10 , A61B34/30 , A61B2018/00005
摘要： A surgical system drape incudes: a sheath having an interior cavity sized to cover a portion of a surgical system manipulator; an adaptor coupled to the sheath and including a manipulator interface and an instrument interface, the manipulator interface configured to couple with a drive interface of the manipulator, the instrument interface being configured to couple with a drive interface of a surgical instrument mounted to the manipulator; and a fluid conduit coupled to the sheath and extending within the interior cavity of the sheath, the fluid conduit configured to receive a flow of cooling fluid at a fluid port and convey the fluid along the interior cavity of the sheath to cool a component of a portion of the manipulator.
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公开(公告)号：US11166770B2
公开(公告)日：2021-11-09
申请号：US16331460
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
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公开(公告)号：US11076925B2
公开(公告)日：2021-08-03
申请号：US16327986
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
IPC分类号： A61B17/34 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/35 , A61B46/00 , A61B46/10 , A61B50/13 , A61B50/15 , A61B50/33 , A61B90/00 , A61B90/50 , B25J9/16 , A61B90/57
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
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