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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：US11504156B2
公开(公告)日：2022-11-22
申请号：US16291434
申请日：2019-03-04
IPC分类号： A61B17/34 , A61B17/02 , A61B1/313 , A61M39/02 , A61B1/00 , A61B17/00 , A61B17/04 , A61B17/29 , A61M25/00 , A61M25/01 , A61B34/00 , A61B34/30 , A61B90/50 , A61B34/37 , A61B90/90 , A61B90/92 , A61B34/20
摘要： A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.
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公开(公告)号：US20220227000A1
公开(公告)日：2022-07-21
申请号：US17589672
申请日：2022-01-31
IPC分类号： B25J9/16
摘要： A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.
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5.发明申请公开(公告)号：US20220211450A1
公开(公告)日：2022-07-07
申请号：US17575541
申请日：2022-01-13
发明人： GIUSEPPE MARIA PRISCO , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B34/30 , G01B11/24 , H04W4/80 , H04W12/06 , A61B17/24 , H04L9/40 , G01D5/353 , A61B34/00 , A61B34/20
摘要： A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.
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6.发明授权公开(公告)号：US11252141B2
公开(公告)日：2022-02-15
申请号：US16788045
申请日：2020-02-11
发明人： Giuseppe Maria Prisco , Myriam J. Curet , Vincent Duindam , Catherine J. Mohr , Theodore W. Rogers , Katherine D. Stoy
IPC分类号： A61B17/24 , G01B11/24 , A61B34/30 , A61B34/20 , H04L29/06 , H04W4/80 , H04W12/06 , A61B18/20 , A61B18/00 , G01D5/353
摘要： A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.
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公开(公告)号：US11020196B2
公开(公告)日：2021-06-01
申请号：US16171942
申请日：2018-10-26
摘要： A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.
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公开(公告)号：US20210153961A1
公开(公告)日：2021-05-27
申请号：US17169188
申请日：2021-02-05
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：US10959607B2
公开(公告)日：2021-03-30
申请号：US15660673
申请日：2017-07-26
IPC分类号： A61B1/005 , A61B1/01 , A61B1/008 , A61B1/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B1/018 , A61B34/20 , A61B17/29 , A61B17/00 , A61B17/34
摘要： An apparatus comprises a flexible entry guide tube comprising one or more lumens, wherein at least one lumen is an instrument lumen; and a rigidizing cable to lock a shape of the guide tube within a body cavity with a distal end of the guide tube near a medical site. The rigidizing cable can steer the guide tube. The apparatus comprises a flexible tool insertable into the instrument lumen. The tool can perform a medical procedure near the distal end of the guide tube. The tool comprises an end effector, a steerable tip portion, and a steering cable for steering the tip portion. While the tip portion remains within the instrument lumen, articulation of the tip portion causes corresponding articulation of a distal portion of the guide tube. The tool can extend away from the distal end while the shape of the guide tube is locked by the rigidizing cable.
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公开(公告)号：US10918449B2
公开(公告)日：2021-02-16
申请号：US15939705
申请日：2018-03-29
发明人： Todd R. Solomon , Thomas G. Cooper , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC分类号： A61B34/00 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/34 , A61B46/23 , A61B50/00 , A61B90/98 , G03B5/02 , H01F5/02 , H01F5/04 , H01F27/28 , H04N5/225 , H04N5/232 , H05K1/18 , B25J15/04 , A61B17/02 , A61M13/00 , A61B17/00 , A61B90/50
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
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