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公开(公告)号：US20240156554A1
公开(公告)日：2024-05-16
申请号：US18513322
申请日：2023-11-17
CPC分类号： A61B34/35 , A61B1/00149 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B34/71
摘要： A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US11679499B2
公开(公告)日：2023-06-20
申请号：US17493918
申请日：2021-10-05
CPC分类号： B25J9/1653 , A61B34/37 , B25J9/1607 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J9/1694 , G05B2219/37388
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US20230148897A1
公开(公告)日：2023-05-18
申请号：US18154211
申请日：2023-01-13
IPC分类号： A61B5/06 , A61B17/3209 , A61B10/02 , A61B17/34 , A61B34/20
CPC分类号： A61B5/065 , A61B17/3209 , A61B10/0233 , A61B17/3468 , A61B34/20 , A61B5/062 , A61B2017/00991
摘要： A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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公开(公告)号：US11638999B2
公开(公告)日：2023-05-02
申请号：US16932373
申请日：2020-07-17
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
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. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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公开(公告)号：US11583204B2
公开(公告)日：2023-02-21
申请号：US16837159
申请日：2020-04-01
IPC分类号： A61B17/34 , A61B5/06 , A61B17/3209 , A61B10/02 , A61B34/20 , A61B17/00 , A61B34/10 , A61B10/04
摘要： A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.
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公开(公告)号：US20220392084A1
公开(公告)日：2022-12-08
申请号：US17776073
申请日：2020-11-13
摘要： Scene perception systems and methods are described herein. In certain illustrative examples, a system combines data sets associated with imaging devices included in a dynamic multi-device architecture and uses the combined data sets to perceive a scene (e.g., a surgical scene) imaged by the imaging devices. To illustrate, the system may access tracking data for imaging devices capturing images of a scene and fuse, based on the tracking data, data sets respectively associated with the imaging devices to generate fused sets of data for the scene. The tracking data may represent a change in a pose of at least one of the image devices that occurs while the imaging devices capture images of the scene. The fused sets of data may represent or be used to generate perceptions of the scene. In certain illustrative examples, scene perception is dynamically optimized using a feedback control loop.
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公开(公告)号：US11161243B2
公开(公告)日：2021-11-02
申请号：US16185687
申请日：2018-11-09
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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公开(公告)号：US20210315650A1
公开(公告)日：2021-10-14
申请号：US17354567
申请日：2021-06-22
发明人： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman, II , Jonathan M. Sorger
IPC分类号： A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67
摘要： A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
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公开(公告)号：US10675109B2
公开(公告)日：2020-06-09
申请号：US16353932
申请日：2019-03-14
发明人： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
摘要： A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.
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公开(公告)号：US20190282312A1
公开(公告)日：2019-09-19
申请号：US16349202
申请日：2017-11-10
发明人： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
摘要： A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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