-
公开(公告)号：US06684129B2
公开(公告)日：2004-01-27
申请号：US10121283
申请日：2002-04-11
申请人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Gunter D. Niemeyer , Eugene F. Duval
发明人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Gunter 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： An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, 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, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having 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, to close the jaws of a surgical grasper.
摘要翻译： 用于机器人手术技术和其他应用的输入装置具有由具有冗余自由度的连杆支撑的手柄，所述关节可以比手柄至少一个自由度移动。 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，关节的运动极限，并且还可以将连杆驱动到可自由铰接的构型。 机器人主控制器可以包括支撑具有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。 也可以提供一个或多个附加的自由度用于致动手柄，以闭合手术夹紧器的钳口。
-
公开(公告)号：US08123740B2
公开(公告)日：2012-02-28
申请号：US10893613
申请日：2004-07-15
IPC分类号： A61B19/00
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/00477 , A61B2017/00703 , A61B2034/305 , A61B2034/715 , A61B2090/506 , B25J9/1615 , Y10S901/10 , Y10S901/29
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 端部执行器在任何方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。
-
3.发明授权Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery 有权微创远程外科手术中主/从关系的重新定位和重新定位公开(公告)号：US06459926B1
公开(公告)日：2002-10-01
申请号：US09398960
申请日：1999-09-17
IPC分类号： A61B1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译： 本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。 在一些实施例中，独立重新定位限于平移自由度。 在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。
-
公开(公告)号：US20110137322A1
公开(公告)日：2011-06-09
申请号：US12959704
申请日：2010-12-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。
-
5.发明授权Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery 有权微创远程外科手术中主/从关系的重新定位和重新定位公开(公告)号：US07806891B2
公开(公告)日：2010-10-05
申请号：US11377225
申请日：2006-03-15
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译： 本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。 在一些实施例中，独立重新定位限于平移自由度。 在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。
-
6.发明授权公开(公告)号：US07087049B2
公开(公告)日：2006-08-08
申请号：US10052204
申请日：2002-01-15
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
-
公开(公告)号：US06837883B2
公开(公告)日：2005-01-04
申请号：US09972322
申请日：2001-10-05
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Stephen J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney , David S. Mintz
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Stephen J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney , David S. Mintz
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.
摘要翻译： 改进的机器人手术系统，装置和方法通常包括第一组件，其具有通过第一机器人连杆相对于第一基座而被支撑和操纵的手术末端执行器，而第二手术末端执行器通过相对于第二独立底座操纵和支撑， 第二个机器人联动。 这些机器人组件中的一个或多个可以相对于另一个移动。 为了协调末端执行器运动与由外科医生相对于手术工作场所的显示器操纵的输入装置的运动，导出机器人联动装置运动的命令的处理器可以利用指示基底的相对取向的信号 机器臂组件。 令人惊奇的是，机器人臂组件可能不向处理器发送指示基座的相对平移位置的信号。
-
8.发明授权Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure 有权用于在电话医疗系统的图像显示器上呈现和调节辅助信息以辅助操作者执行外科手术的装置和方法公开(公告)号：US06522906B1
公开(公告)日：2003-02-18
申请号：US09464455
申请日：1999-12-14
申请人： J. Kenneth Salisbury, Jr. , Gunter D. Niemeyer , Robert G. Younge , Gary S. Guthart , David S. Mintz , Thomas G. Cooper
发明人： J. Kenneth Salisbury, Jr. , Gunter D. Niemeyer , Robert G. Younge , Gary S. Guthart , David S. Mintz , Thomas G. Cooper
IPC分类号： A61B100
CPC分类号： A61B8/5238 , A61B1/00 , A61B1/0005 , A61B1/00149 , A61B1/313 , A61B8/12 , A61B8/483 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506
摘要： Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.
摘要翻译： 除了提供手术部位本身的图像之外，用于在患者上执行机器人辅助外科手术的系统和方法使得图像显示装置能够向操作者提供与外科手术相关的辅助信息。 系统和方法允许操作者在执行外科手术过程中选择性地访问和参考图像显示装置上的辅助信息。
-
公开(公告)号：US08504201B2
公开(公告)日：2013-08-06
申请号：US13299548
申请日：2011-11-18
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
-
公开(公告)号：US08489235B2
公开(公告)日：2013-07-16
申请号：US12959704
申请日：2010-12-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
-
-
-
-
-
-
-
-
-
搜索结果
47 条记录 (耗时 0.037 秒)
