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公开(公告)号：US11723742B2
公开(公告)日：2023-08-15
申请号：US17404289
申请日：2021-08-17
发明人： Paul G. Griffiths , Arjang M. Hourtash , Paul W. Mohr , David W. Robinson , Nitish Swarup , John W. Zabinski , Mark W. Zimmer
CPC分类号： A61B50/10 , A61B50/13 , A61B50/18 , B25J5/007 , G05D1/0011 , A61B34/30 , A61B2050/185
摘要： A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.
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公开(公告)号：US11589863B2
公开(公告)日：2023-02-28
申请号：US16941476
申请日：2020-07-28
IPC分类号： A61B17/072 , A61B17/068 , A61B17/115 , A61B17/00 , A61B90/00
摘要： Systems and methods for controlling staple firing include an end effector, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The end effector includes a first jaw and a second jaw holding staples. The processor is configured to monitor the applied force or torque to cause staple firing to occur and maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing, when the applied force or torque is outside an acceptable range of force or torque.
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公开(公告)号：US11234778B2
公开(公告)日：2022-02-01
申请号：US16349208
申请日：2017-11-10
摘要： A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US10758226B2
公开(公告)日：2020-09-01
申请号：US15836506
申请日：2017-12-08
IPC分类号： A61B17/072 , A61B17/068 , A61B17/115 , A61B17/00 , A61B90/00
摘要： Systems and methods for controlling staple firing include an end effector including a first jaw and a second jaw holding staples, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The processor is configured to monitor the applied force or torque and control application of the force or torque by the drive system based on a comparison of the applied force or torque to an acceptable range of force or torque. In some embodiments, the processor is further configured to determine one or more of a position of the first jaw and the second jaw or a displacement of the drive system and control application of the force or torque by the drive system based on one or more of the position of the first jaw and the second jaw or the displacement of the drive system.
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公开(公告)号：US20190380798A1
公开(公告)日：2019-12-19
申请号：US16489735
申请日：2018-03-07
摘要： A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.
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公开(公告)号：US20180325606A1
公开(公告)日：2018-11-15
申请号：US16009014
申请日：2018-06-14
发明人： David W. Weir , Grant Duque , Kevin Durant , Patrick Flanagan , Margaret M. Nixon , David W. Robinson , John W. Zabinski
IPC分类号： A61B34/00 , G06F3/14 , A61B34/37 , A61B90/00 , A61B17/00 , A61B17/072 , A61B17/28 , A61B17/29 , B25J9/16 , A61B34/30 , G06F3/16 , G06F3/01
CPC分类号： A61B34/25 , A61B17/00 , A61B17/07207 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/37 , A61B90/06 , A61B90/08 , A61B2017/00115 , A61B2017/00132 , A61B2017/2808 , A61B2034/254 , A61B2034/301 , A61B2090/064 , A61B2090/0811 , B25J9/1694 , G06F3/016 , G06F3/14 , G06F3/16
摘要： Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.
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7.发明授权公开(公告)号：US09375288B2
公开(公告)日：2016-06-28
申请号：US14642163
申请日：2015-03-09
发明人： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
CPC分类号： A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
摘要： A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
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公开(公告)号：US11813093B2
公开(公告)日：2023-11-14
申请号：US17123232
申请日：2020-12-16
发明人： Paul G. Griffiths , Arjang M. Hourtash , Paul W. Mohr , David W. Robinson , Nitish Swarup , John W. Zabinski , Mark W. Zimmer
CPC分类号： A61B50/10 , A61B50/13 , A61B50/18 , B25J5/007 , G05D1/0011 , A61B34/30 , A61B2050/185
摘要： A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.
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公开(公告)号：US11747895B2
公开(公告)日：2023-09-05
申请号：US14210840
申请日：2014-03-14
发明人： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC分类号： G06F3/048 , G06F3/01 , G06F3/04815
CPC分类号： G06F3/013 , G06F3/04815
摘要： A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.
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公开(公告)号：US20230266823A1
公开(公告)日：2023-08-24
申请号：US18311107
申请日：2023-05-02
发明人： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC分类号： G06F3/01 , G06F3/04815
CPC分类号： G06F3/013 , G06F3/04815
摘要： A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.
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