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公开(公告)号：US06714839B2
公开(公告)日：2004-03-30
申请号：US09398507
申请日：1999-09-17
申请人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Günter D. Niemeyer , Eugene F. Duval
发明人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Günter D. Niemeyer , Eugene F. Duval
IPC分类号： G06F1900
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J9/1615 , B25J9/1643 , Y10S128/923
摘要： The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.
摘要翻译： 本发明提供一种用于机器人手术技术和其他应用的输入装置。 输入装置具有由具有冗余自由度的关节的连杆支撑的手柄，其中关节可以比手柄至少一个以上自由度移动。 主动地驱动联动装置的至少一个关节，以防止连接件接近联合系统的奇异点，关节的运动限制等，并且还可以将联动装置驱动到可自由铰接的构造。 在一个实施例中，机器人主控制器包括支撑具有这种冗余连杆的万向架的臂组件，其中臂主要将万向架定位在三维控制器工作空间中，并且万向架以四个旋转自由度将手臂连接到手柄。 还可以提供一个或多个附加自由度来驱动手柄。
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公开(公告)号：US06645196B1
公开(公告)日：2003-11-11
申请号：US09595777
申请日：2000-06-16
IPC分类号： A61B1700
CPC分类号： B25J9/1689 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2034/742 , B25J9/1664
摘要： A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool is placed at an operating position inside the cavity using a slave manipulator disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool is decoupled from the slave manipulator and removed from the cavity. A second robotic surgical tool is introduced into the cavity. Based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool in close proximity to the location of the distal end of the first robotic surgical tool in the operating position prior to its removal from the cavity. A controller is provided to control the slave manipulator to guide the distal end of the second robotic surgical tool, during insertion of the second tool, to a location within the target space.
摘要翻译： 在微创机器人手术中采用引导的工具更换程序，以在刀具更换操作之后快速且精确地引导新工具，在其从手术部位移除之前重新靠近原始工具的操作位置。 第一机器人手术工具使用设置在空腔外部的从动操纵器放置在腔内的操作位置，并且记录操作位置。 第一个机器人手术工具与从动操纵器分离并从腔中移除。 将第二台机器人手术工具引入腔内。 基于记录的操作位置，导出目标空间，用于将第二机器人手术工具的远端放置在第二机器人外科手术工具的远端位于操作位置之前的第一机器人外科手术工具的远端位置， 。 提供控制器以控制从操纵器，以在第二工具插入期间将第二机器人手术工具的远端引导到目标空间内的位置。
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3.发明申请公开(公告)号：US20100332031A1
公开(公告)日：2010-12-30
申请号：US12495213
申请日：2009-06-30
IPC分类号： G06F19/00
CPC分类号： A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
摘要翻译： 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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4.发明授权Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument 有权用于远程手术的微创外科手术器械的对准的棘轮公开(公告)号：US08423186B2
公开(公告)日：2013-04-16
申请号：US12495213
申请日：2009-06-30
IPC分类号： G05B19/18
CPC分类号： A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
摘要翻译： 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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公开(公告)号：US06772053B2
公开(公告)日：2004-08-03
申请号：US10269336
申请日：2002-10-11
申请人： Günter D. Niemeyer
发明人： Günter D. Niemeyer
IPC分类号： G05D110
CPC分类号： A61B1/00149 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B90/36 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/40122 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgical instrument movement command signal with at least one preset surgical instrument movement limitation. Should the desired surgical instrument command signal transgress the preset surgical instrument movement limitation, the desired surgical instrument movement command signal is restricted to yield a restricted surgical instrument movement command signal. A surgical instrument is then caused to move in response to the restricted surgical instrument movement command signal. The method further provides for haptic feedback on a master control in response to restriction of the desired surgical instrument movement command signal.
摘要翻译： 提供外科手术方法和控制系统。 手术方法和控制系统可有利地用于微创外科手术装置中。 该方法包括产生期望的外科器械移动指令信号。 其还包括将期望的手术器械运动指令信号与至少一个预设的手术器械移动限制进行比较。 如果期望的手术器械指令信号超过预设的手术器械运动限制，则期望的手术器械移动指令信号被限制以产生受限的手术器械移动指令信号。 然后使手术器械响应于限制的手术器械移动指令信号而移动。 该方法还响应于期望的外科器械移动指令信号的限制，提供对主控制器的触觉反馈。
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