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公开(公告)号：US11896326B2
公开(公告)日：2024-02-13
申请号：US18069336
申请日：2022-12-21
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.
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公开(公告)号：US20210251701A1
公开(公告)日：2021-08-19
申请号：US17307514
申请日：2021-05-04
发明人： Patrick O'Grady , Christopher R. Burns , Simon P. DiMaio , Jason Hemphill , Brian D. Hoffman , Rodney Vance , Tao Zhao
IPC分类号： A61B34/20 , A61B90/96 , A61B34/30 , A61B34/37 , A61B90/90 , A61B90/98 , A61B34/35 , A61B34/00 , A61G13/00
摘要： A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).
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公开(公告)号：US11576737B2
公开(公告)日：2023-02-14
申请号：US17217874
申请日：2021-03-30
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US20190192233A1
公开(公告)日：2019-06-27
申请号：US16292213
申请日：2019-03-04
发明人： Patrick O'Grady , Tao Zhao , Christopher R. Burns , Jason Hemphill , Brian D. Hoffman , Simon P. Dimaio , Rodney Vance
IPC分类号： A61B34/20 , A61B34/30 , A61B34/37 , A61B90/90 , A61B90/98 , A61B34/35 , A61B34/00 , A61B90/96 , A61G13/00
CPC分类号： A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/90 , A61B90/96 , A61B90/98 , A61B2034/2051 , A61B2034/2057 , A61B2034/2068 , A61B2090/3983 , A61G13/00 , A61G2205/10 , A61G2205/60
摘要： Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.
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公开(公告)号：US10258414B2
公开(公告)日：2019-04-16
申请号：US15126254
申请日：2015-03-17
发明人： Patrick O'Grady , Tao Zhao , Christopher R. Burns , Jason Hemphill , Brian D. Hoffman , Simon P. Dimaio , Rodney Vance
IPC分类号： G01C21/00 , A61B34/20 , A61B90/96 , A61B34/30 , A61B34/37 , A61B90/90 , A61B90/98 , A61B34/35 , A61B34/00 , A61G13/00 , A61B90/00
摘要： Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.
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公开(公告)号：US11007017B2
公开(公告)日：2021-05-18
申请号：US16292213
申请日：2019-03-04
发明人： Patrick O'Grady , Tao Zhao , Christopher R. Burns , Jason Hemphill , Brian D. Hoffman , Simon P. Dimaio , Rodney Vance
IPC分类号： A61B34/00 , A61B34/20 , A61B90/96 , A61B34/30 , A61B34/37 , A61B90/90 , A61B90/98 , A61B34/35 , A61G13/00 , A61B90/00
摘要： Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.
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公开(公告)号：US10993772B2
公开(公告)日：2021-05-04
申请号：US16242750
申请日：2019-01-08
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US20190142533A1
公开(公告)日：2019-05-16
申请号：US16242750
申请日：2019-01-08
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US10226306B2
公开(公告)日：2019-03-12
申请号：US15522169
申请日：2015-10-27
发明人： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
摘要： A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.
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