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公开(公告)号：US12029513B2
公开(公告)日：2024-07-09
申请号：US17379379
申请日：2021-07-19
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/37 , B25J3/00 , B25J9/1682 , B25J9/1689 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , A61B90/361 , 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：US11919154B2
公开(公告)日：2024-03-05
申请号：US17140420
申请日：2021-01-04
发明人： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC分类号： B62B5/04 , A61B34/00 , A61B34/30 , A61B34/35 , A61B50/13 , B25J5/00 , B25J19/00 , A61B17/00 , A61B90/00
CPC分类号： B25J19/0091 , A61B34/30 , A61B34/35 , A61B34/70 , A61B50/13 , B25J5/007 , A61B2017/00539 , A61B2090/064 , B62B5/049
摘要： A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.
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3.发明授权公开(公告)号：US11903665B2
公开(公告)日：2024-02-20
申请号：US17710435
申请日：2022-03-31
CPC分类号： A61B34/35 , A61B34/37 , A61B90/37 , A61B2017/00119 , A61B2090/0811 , A61B2090/371
摘要： A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.
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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：US20230249354A1
公开(公告)日：2023-08-10
申请号：US18187612
申请日：2023-03-21
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC分类号： B25J9/1697 , B25J9/1671 , B25J9/1692 , G05B19/4202 , A61B90/36 , A61B34/25 , A61B90/361 , A61B34/30 , A61B34/37 , B25J9/1666 , A61B90/37 , B25J9/1689 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , A61B34/20
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.
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公开(公告)号：US20220296317A1
公开(公告)日：2022-09-22
申请号：US17832319
申请日：2022-06-03
发明人： SIMON P. DIMAIO , Brian D. Hoffman , Brandon D. Itkowitz , Paul W. Mohr , David W. Robinson , Tao Zhao , Wenyi Zhao
摘要： A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.
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公开(公告)号：US11246671B2
公开(公告)日：2022-02-15
申请号：US16503403
申请日：2019-07-03
IPC分类号： A61B1/00 , A61B34/35 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/00 , A61B1/313 , A61B34/20
摘要： Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.
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公开(公告)号：US20210401516A1
公开(公告)日：2021-12-30
申请号：US17468241
申请日：2021-09-07
发明人： Michael Hanuschik , Joseph Arsanious , Julie L. Berry , Paul G. Griffiths , Brandon D. Itkowitz , Paul W. Mohr
摘要： A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.
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公开(公告)号：US20210256749A1
公开(公告)日：2021-08-19
申请号：US17213924
申请日：2021-03-26
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian David Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
摘要： A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.
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公开(公告)号：US10881479B2
公开(公告)日：2021-01-05
申请号：US16196610
申请日：2018-11-20
发明人： Paul G. Griffiths , Arjang M. Hourtash , Paul W. Mohr , David W. Robinson , Nitish Swarup , John W. Zabinski , Mark W. Zimmer
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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