公开(公告)号：US08527094B2

公开(公告)日：2013-09-03

申请号：US11319012

申请日：2005-12-27

申请人： Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter D Niemeyer ,  J. Kenneth Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mauherjee

发明人： Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter D Niemeyer ,  J. Kenneth Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mauherjee

IPC分类号： A61B1/00

CPC分类号： G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

摘要翻译： 用于微创外科手术中的协作或训练的多用户医疗机器人系统包括第一和第二主输入设备，第一从机器人机构和至少一个处理器，该至少一个处理器被配置为通过可切换地产生第一从机器人机构的第一从机命令 使用指示由第一用户操纵第一主输入设备的第一命令中的一个或两个指示由第二用户操纵第二主输入设备的第二命令。 为了促进协作或训练，第一和第二用户通过音频系统相互通信，并且可以看到第一和第二显示器上的微创外科手术部位，分别可由第一和第二用户观看。

公开(公告)号：US20060178559A1

公开(公告)日：2006-08-10

申请号：US11319012

申请日：2005-12-27

申请人： Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter Niemeyer ,  J. Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mukherjee

发明人： Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter Niemeyer ,  J. Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mukherjee

IPC分类号： A61B1/04

CPC分类号： G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20090062813A1

公开(公告)日：2009-03-05

申请号：US11847168

申请日：2007-08-29

申请人： Giuseppe Prisco ,  Hubert Stein ,  Paul Millman ,  David Bailey ,  William Nowlin ,  Michael Ikeda ,  Gregory K. Toth ,  Thomas Nixon

发明人： Giuseppe Prisco ,  Hubert Stein ,  Paul Millman ,  David Bailey ,  William Nowlin ,  Michael Ikeda ,  Gregory K. Toth ,  Thomas Nixon

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/361

摘要： A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

摘要翻译： 从动操纵器通过联合控制系统响应于操作者对输入装置的操纵而操纵医疗装置。 从动操纵器的刚度和强度可根据诸如从动操纵器的操作模式，当前由从动操纵器保持的医疗装置的功能类型以及使用 从机械手通过改变控制系统的相应参数。 为了安全起见，在确定可以顺利进行而不引起医疗装置的跳动之前，不进行这种改变。 此外，当在从属操纵器上指示超过指定时间段的过大的力时，可以向手术人员提供过大的力警告。

公开(公告)号：US10820949B2

公开(公告)日：2020-11-03

申请号：US11847168

申请日：2007-08-29

申请人： Giuseppe Prisco ,  Hubert Stein ,  Paul Millman ,  David Bailey ,  William Nowlin ,  Michael Ikeda ,  Thomas Nixon

发明人： Giuseppe Prisco ,  Hubert Stein ,  Paul Millman ,  David Bailey ,  William Nowlin ,  Michael Ikeda ,  Thomas Nixon

IPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/00

摘要： A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US20050107808A1

公开(公告)日：2005-05-19

申请号：US11025766

申请日：2004-12-28

申请人： Philip Evans ,  Frederic Moll ,  Gary Guthart ,  William Nowlin ,  Rand Pendleton ,  Christopher Wilson ,  Andris Ramans ,  David Rosa ,  Volkmar Falk ,  Robert Younge

发明人： Philip Evans ,  Frederic Moll ,  Gary Guthart ,  William Nowlin ,  Rand Pendleton ,  Christopher Wilson ,  Andris Ramans ,  David Rosa ,  Volkmar Falk ,  Robert Younge

IPC分类号： A61B17/00 ,  A61B17/04 ,  A61B19/00 ,  A61B17/10

CPC分类号： A61B34/32 ,  A61B17/04 ,  A61B17/0469 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00243 ,  A61B2017/00703 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/064

摘要： Systems and methods are provided for performing a surgical procedure on a beating heart of a patient. Methods are provided which include positioning an end effector in close proximity to a surgical site on the heart, the end effector being mounted on a robotically controlled arm. The motion of the surgical site is monitored and end effector tracking command signals computed in response to the monitored motion of the surgical site. The tracking command signals are forwarded to actuators operatively associated with the robotically controlled arm to cause the arm to move the end effector generally to track motion of the surgical site. The method further includes inputting an end effector movement command signal, and forwarding the end effector movement command signal to the actuators to cause the end effector to move relative to the surgical site so as to perform at least part of the surgical procedure.

摘要翻译： 提供了用于在患者的跳动心脏上执行外科手术的系统和方法。 提供了包括将末端执行器定位在心脏附近的外科手术部位的方法，末端执行器安装在机器人控制的臂上。 监测手术部位的运动，并根据手术部位的监视运动计算末端执行器跟踪指令信号。 跟踪命令信号被转发到与机器人控制的臂可操作地相关联的致动器，以使臂通常移动末端执行器来跟踪手术部位的运动。 该方法还包括输入末端执行器运动指令信号，以及将末端执行器运动指令信号转发到致动器，使末端执行器相对于外科手术部位移动，以便执行外科手术的至少一部分。

公开(公告)号：US20060030840A1

公开(公告)日：2006-02-09

申请号：US11074372

申请日：2005-03-07

申请人： William Nowlin ,  Gary Guthart ,  Robert Younge ,  Thomas Cooper ,  Craig Gerbi ,  Stephen Blumenkranz ,  Dean Hoornaert

发明人： William Nowlin ,  Gary Guthart ,  Robert Younge ,  Thomas Cooper ,  Craig Gerbi ,  Stephen Blumenkranz ,  Dean Hoornaert

IPC分类号： A61B17/00

CPC分类号： A61B34/76 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1689 ,  G05B2219/36455 ,  G05B2219/37396 ,  G05B2219/40146 ,  G05B2219/45169 ,  G06F19/00 ,  G16H50/50

摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

公开(公告)号：US20070167702A1

公开(公告)日：2007-07-19

申请号：US11322879

申请日：2005-12-30

申请人： Christopher Hasser ,  David Larkin ,  Brian Miller ,  Guanghua Zhang ,  William Nowlin

发明人： Christopher Hasser ,  David Larkin ,  Brian Miller ,  Guanghua Zhang ,  William Nowlin

IPC分类号： A61B5/05

CPC分类号： A61B90/36 ,  A61B34/30 ,  A61B34/70 ,  A61B2090/364

摘要： A medical robotic system provides 3D telestration over a 3D view of an anatomical structure by receiving a 2D telestration graphic input associated with one of a pair of stereoscopic images of the anatomical structure from a mentor surgeon, determining a corresponding 2D telestration graphic input in the other of the pair of stereoscopic images using a disparity map, blending the telestration graphic inputs into respective ones of the pair of stereoscopic images, and providing the blended results to a 3D display so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure to an operating surgeon.

摘要翻译： 医疗机器人系统通过接收与导师外科医生解剖结构的一对立体图像中的一个相关联的2D远程图形输入，在另一个中确定对应的二维远程图形输入，从而在解剖结构的3D视图上提供3D远程化 使用视差图将该对立体图像混合在一起，将远程图像输入混合到该对立体图像中的相应图像中，并将混合结果提供给3D显示器，使得远程图像输入的3D视图可以显示为 覆盖到操作外科医生的解剖结构的3D视图。

公开(公告)号：US20070013336A1

公开(公告)日：2007-01-18

申请号：US11133423

申请日：2005-05-19

申请人： William Nowlin ,  Paul Mohr ,  Bruce Schena ,  David Larkin ,  Gary Guthart

发明人： William Nowlin ,  Paul Mohr ,  Bruce Schena ,  David Larkin ,  Gary Guthart

IPC分类号： B25J9/18

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  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 n 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 method for their use are also provided.

摘要翻译： 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。

公开(公告)号：US20060241414A1

公开(公告)日：2006-10-26

申请号：US11377225

申请日：2006-03-15

申请人： William Nowlin ,  Gary Guthart ,  J. Salisbury ,  Gunter Niemeyer

发明人： William Nowlin ,  Gary Guthart ,  J. Salisbury ,  Gunter Niemeyer

IPC分类号： A61B6/00

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。

公开(公告)号：US20060106493A1

公开(公告)日：2006-05-18

申请号：US11299393

申请日：2005-12-12

申请人： Gunter Niemeyer ,  Gary Guthart ,  William Nowlin ,  Nitish Swarup ,  Gregory Toth ,  Robert Younge

发明人： Gunter Niemeyer ,  Gary Guthart ,  William Nowlin ,  Nitish Swarup ,  Gregory Toth ,  Robert Younge

IPC分类号： G06F19/00

CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/506

摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.