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：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：US20060258938A1

公开(公告)日：2006-11-16

申请号：US11130471

申请日：2005-05-16

申请人： Brian Hoffman ,  David Larkin ,  Giuseppe Prisco ,  Guanghua Zhang ,  Rajesh Kumar

发明人： Brian Hoffman ,  David Larkin ,  Giuseppe Prisco ,  Guanghua Zhang ,  Rajesh Kumar

IPC分类号： A61B5/05

CPC分类号： A61B34/20 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B5/062 ,  A61B5/725 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

摘要翻译： 方法和系统在微创机器人手术过程中执行工具跟踪。 工具状态使用三角测量技术或贝叶斯滤波器从非内窥镜导出和内窥镜导出的工具状态信息，或来自非视觉派生和视觉派生的工具状态信息之一或两者来确定。 非内窥镜导出的工具状态信息是从传感器数据中得出的，传感器数据由与用于操纵工具的机构相关联的传感器提供，或者能够检测从工具发出或反射并指示其位置的可识别信号，或外部摄像机观察 工具的末端伸出身体。 由插入到体内的内窥镜提供的图像数据导出内窥镜导出的工具状态信息，以便观察该工具。

公开(公告)号：US20080033240A1

公开(公告)日：2008-02-07

申请号：US11583963

申请日：2006-10-19

申请人： Brian Hoffman ,  Rajesh Kumar ,  David Larkin ,  Giuseppe Prisco ,  Nitish Swarup ,  Guanghua Zhang

发明人： Brian Hoffman ,  Rajesh Kumar ,  David Larkin ,  Giuseppe Prisco ,  Nitish Swarup ,  Guanghua Zhang

IPC分类号： A61B1/045

摘要： To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

摘要翻译： 为了帮助外科医生执行医疗程序，通常由显示屏和外科医生在计算机显示屏幕上显示和操作通常指示正在治疗的解剖结构的内部细节的辅助图像，以补充大体上解剖结构的外部视图的主要图像。 控制第一模式中的机器人手臂的主输入装置可以由外科医生切换到第二模式，以便改为用作鼠标式指示装置，以便于外科医生执行这种辅助信息的显示和操作。

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：US10555775B2

公开(公告)日：2020-02-11

申请号：US11130471

申请日：2005-05-16

申请人： Brian David Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G Zhang ,  Rajesh Kumar

发明人： Brian David Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G Zhang ,  Rajesh Kumar

IPC分类号： A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B5/00 ,  A61B34/10

摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20050200324A1

公开(公告)日：2005-09-15

申请号：US11093372

申请日：2005-03-30

申请人： Gary Guthart ,  David Larkin ,  David Rosa ,  Paul Mohr ,  Giuseppe Prisco

发明人： Gary Guthart ,  David Larkin ,  David Rosa ,  Paul Mohr ,  Giuseppe Prisco

IPC分类号： B25J9/18

CPC分类号： A61B34/30 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B17/00234 ,  A61B18/20 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/506

摘要： Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.

摘要翻译： 使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息， 以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。

公开(公告)号：US20070151389A1

公开(公告)日：2007-07-05

申请号：US11613882

申请日：2006-12-20

申请人： Giuseppe Prisco ,  David Rosa ,  David Larkin

发明人： Giuseppe Prisco ,  David Rosa ,  David Larkin

IPC分类号： B25J17/02

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J9/1633 ,  G05B2219/45123 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329

摘要： A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.

摘要翻译： 医疗机器人系统具有握持用于执行医疗程序的仪器的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其乐器的移动的控制系统。 控制系统包括至少一个联合控制器，其包括控制器，该控制器具有用于响应于外部施加和释放的力而设定稳态速度误差和关节相对于设定点的运动的最大加速度误差的可编程参数。

公开(公告)号：US20070138992A1

公开(公告)日：2007-06-21

申请号：US11613962

申请日：2006-12-20

申请人： Giuseppe Prisco ,  David Larkin

发明人： Giuseppe Prisco ,  David Larkin

IPC分类号： B25J15/02 ,  G05B19/04

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/305 ,  B25J9/1646 ,  B25J9/1689 ,  G05B2219/42347 ,  G05B2219/42351 ,  G05B2219/42352 ,  G05B2219/45123 ,  A61B19/2203 ,  A61B19/5212

摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。