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公开(公告)号：US20240358232A1
公开(公告)日：2024-10-31
申请号：US18647595
申请日：2024-04-26
发明人： Miles S. Joseph , Bruce M. Schena
CPC分类号： A61B1/00098 , A61B1/009
摘要： A system may comprise a flexible delivery device including a tool channel extending therethrough and an elongated instrument configured to extend within the tool channel. The elongated instrument may include a flexible section and a rigidizable section. The system may also include a selective rigidization system at least partially extending within the elongated instrument and a sensor system configured to determine position information for the rigidizable section relative to a distal portion of the delivery device. The selective rigidization system, responsive to the position information, may be configured to transition a portion of the rigidizable section of the instrument from a bendable state to a rigid state.
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公开(公告)号：US11547506B2
公开(公告)日：2023-01-10
申请号：US17558153
申请日：2021-12-21
摘要： Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.
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公开(公告)号：US10779902B2
公开(公告)日：2020-09-22
申请号：US16102614
申请日：2018-08-13
摘要： A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.
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公开(公告)号：US20200060777A1
公开(公告)日：2020-02-27
申请号：US16667523
申请日：2019-10-29
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US10512513B2
公开(公告)日：2019-12-24
申请号：US15726733
申请日：2017-10-06
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US10433923B2
公开(公告)日：2019-10-08
申请号：US13902734
申请日：2013-05-24
发明人： Bruce M. Schena
摘要： A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.
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公开(公告)号：US10123844B2
公开(公告)日：2018-11-13
申请号：US15488227
申请日：2017-04-14
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US09844411B2
公开(公告)日：2017-12-19
申请号：US13748442
申请日：2013-01-23
发明人： Bruce M. Schena
CPC分类号： A61B90/10 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/72 , A61B90/361 , A61B2017/306 , A61B2034/305 , A61B2090/371
摘要： Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction surface is ring-shaped with holes distributed about the ring so that controllably extendable and retractable tubes coupled at distal ends to the holes provide suction to the suction surface when coupled at proximal ends to a vacuum source.
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公开(公告)号：US20170215974A1
公开(公告)日：2017-08-03
申请号：US15488173
申请日：2017-04-14
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US20160030119A1
公开(公告)日：2016-02-04
申请号：US14814858
申请日：2015-07-31
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B2017/00075 , A61B2090/064
摘要： Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. The damper can mitigate a vibration arising in one of the set-up linkages, and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback model and a feed-forward model.
摘要翻译： 本文公开了用于减轻手术系统中的振动的方法和系统。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是无源，有源或半主动阻尼器。 阻尼器可以减轻在其中一个装置连杆中产生的振动，并且阻尼器可以防止在其中一个连杆中产生的振动影响另一个装置连杆。 有源和半主动阻尼器可以通过反馈模型和前馈模型进行控制。
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