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公开(公告)号：US20220226062A1
公开(公告)日：2022-07-21
申请号：US17152033
申请日：2021-01-19
申请人： Titan Medical Inc.
IPC分类号： A61B34/00
摘要： A robotic surgery system is disclosed that can include an instrument including an operational tool coupled to a positioner and an input device configured to generate input signals in response to manipulation by an operator representing a desired spatial positioning of the tool within a tool workspace including extents corresponding to physical movement limitations for the positioner. A processor can be configured to receive the input signals and process the signals to determine the desired spatial positioning. The processor can be configured to initiate a movement management function in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument. The processor can be configured to generate drive signals for movement of the positioner in response to a determination that the desired spatial positioning is not associated with a potential reduction in service life.
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公开(公告)号：US20210378772A1
公开(公告)日：2021-12-09
申请号：US17406147
申请日：2021-08-19
申请人： Titan Medical Inc.
摘要： A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.
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公开(公告)号：US11779418B2
公开(公告)日：2023-10-10
申请号：US17227617
申请日：2021-04-12
申请人： Titan Medical Inc.
发明人： Perry A. Genova , David McNally
IPC分类号： G06K9/00 , A61B34/37 , G06T7/70 , A61B34/20 , A61B90/00 , A61B1/00 , A61B1/313 , A61B34/00 , A61B17/02 , G06T7/73 , A61B34/30 , A61B34/10 , A61B90/30
CPC分类号： A61B34/37 , A61B1/0005 , A61B1/000094 , A61B1/000096 , A61B1/00149 , A61B1/313 , A61B17/02 , A61B34/20 , A61B34/74 , A61B90/37 , G06T7/70 , G06T7/73 , A61B34/10 , A61B34/25 , A61B90/03 , A61B2034/2057 , A61B2034/2065 , A61B2034/302 , A61B2090/306 , A61B2090/309 , A61B2090/371 , G06T2207/10021 , G06T2207/30004
摘要： Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed. In some embodiments, a method involves receiving body cavity image data representing an interior view of the body cavity captured by a camera inserted into the body cavity, determining, by the processor circuit, instrument parameters associated with physical extents of the instrument to be inserted, determining, by the processor circuit, an instrument envelope identifying a region through which the instrument is capable of moving in the body cavity, and generating, by the processor circuit, display signals operable to display a composite view of the interior of the body cavity on a display, the composite view being based on the body cavity image data and including an envelope overlay image generated to represent the instrument envelope.
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公开(公告)号：US20220007923A1
公开(公告)日：2022-01-13
申请号：US17484585
申请日：2021-09-24
申请人： Titan Medical Inc.
发明人： Perry A. Genova , Sachin A. Sankholkar , Hans Christian Pflaumer , Aki Hannu Einari Laakso , Allan Katz , Alejandro Espinosa , Eduardo A. Ampuero
摘要： An insertion device for a single port robotic surgery apparatus can include an insertion section with first and second camera channels and an instrument channel, the first camera channel configured to facilitate insertion and removal of a primary camera, the second camera channel configured to enclose a secondary camera, and the instrument channel configured to permit insertion and removal of a surgical instrument from the insertion section, The insertion device can include a housing attached to the insertion section, the housing including a passage configured to permit at least a portion of the primary camera to pass through the housing into the first camera channel and exit the first camera channel. The secondary camera can be configured to provide image data of a surgical site to facilitate insertion into the surgical site of at least one of the surgical instrument or the primary camera.
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公开(公告)号：USD940736S1
公开(公告)日：2022-01-11
申请号：US29714033
申请日：2019-11-20
申请人： Titan Medical Inc.
设计人： Perry A. Genova
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6.发明授权公开(公告)号：US11154180B2
公开(公告)日：2021-10-26
申请号：US16435170
申请日：2019-06-07
申请人： Titan Medical Inc.
发明人： Perry A. Genova , Hans Christian Pflaumer , Aki Hannu Einari Laakso , Allan Katz , Alejandro Espinosa , Eduardo A. Ampuero , Duane Couri
IPC分类号： A61B1/00 , A61B1/05 , A61B1/005 , A61B1/06 , A61B34/30 , A61B90/00 , A61B90/30 , A61B34/00 , A61B1/07
摘要： In some embodiments, a visualization device for a robotic surgery apparatus can include a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus. The housing can include first and second openings positioned on an exterior of the housing. The housing can include a substantially flexible camera tube with a first end attached to the housing and a second end including at least one camera. The second end can be inserted through the first opening in the housing, pass through interior of the housing, and exit the housing through the second opening in the housing. The second end can extend away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing. The camera tube can form a loop around a portion of the housing.
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公开(公告)号：US11147434B2
公开(公告)日：2021-10-19
申请号：US16449095
申请日：2019-06-21
申请人： Titan Medical Inc.
发明人： Perry A. Genova , Sachin A. Sankholkar , Hans Christian Pflaumer , Aki Hannu Einari Laakso , Allan Katz , Alejandro Espinosa , Eduardo A. Ampuero
摘要： An insertion device for a single port robotic surgery apparatus can include an insertion section with first and second camera channels and an instrument channel, the first camera channel configured to facilitate insertion and removal of a primary camera, the second camera channel configured to enclose a secondary camera, and the instrument channel configured to permit insertion and removal of a surgical instrument from the insertion section, The insertion device can include a housing attached to the insertion section, the housing including a passage configured to permit at least a portion of the primary camera to pass through the housing into the first camera channel and exit the first camera channel. The secondary camera can be configured to provide image data of a surgical site to facilitate insertion into the surgical site of at least one of the surgical instrument or the primary camera.
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公开(公告)号：US11109746B2
公开(公告)日：2021-09-07
申请号：US16299834
申请日：2019-03-12
申请人： Titan Medical Inc.
发明人： Perry A. Genova , Hans Christian Pflaumer , Aki Hannu Einari Laakso , Allan Katz , Alejandro Espinosa , Eduardo A. Ampuero , Daniel Hoffman
摘要： In some embodiments, an insertion device for a single port robotic surgery apparatus includes a plurality of instrument channels positioned in an interior of a housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.
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公开(公告)号：US20210228295A1
公开(公告)日：2021-07-29
申请号：US17227617
申请日：2021-04-12
申请人： Titan Medical Inc.
发明人： Perry A. Genova , David McNally
IPC分类号： A61B34/37 , G06T7/70 , A61B34/20 , A61B90/00 , A61B1/00 , A61B1/313 , A61B34/00 , A61B17/02 , G06T7/73
摘要： Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed. In some embodiments, a method involves receiving body cavity image data representing an interior view of the body cavity captured by a camera inserted into the body cavity, determining, by the processor circuit, instrument parameters associated with physical extents of the instrument to be inserted, determining, by the processor circuit, an instrument envelope identifying a region through which the instrument is capable of moving in the body cavity, and generating, by the processor circuit, display signals operable to display a composite view of the interior of the body cavity on a display, the composite view being based on the body cavity image data and including an envelope overlay image generated to represent the instrument envelope.
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公开(公告)号：US20210121260A1
公开(公告)日：2021-04-29
申请号：US17140637
申请日：2021-01-04
申请人： Titan Medical Inc.
发明人： Perry A. Genova , Sachin A. Sankholkar , Chad Clayton Walters , Michael Edward Laut , Steven Wayne Bockmann
摘要： A method of preparing a robotic surgery apparatus for a medical procedure can include covering a manipulator unit of the robotic surgery apparatus with a first sterile barrier by coupling a drape coupler of the first sterile barrier to a bottom surface of the manipulator unit and wrapping a drape of the first sterile barrier around side and top surfaces of the manipulator unit. The drape can be coupled to the drape coupler. The drape can be made of material that is more flexible than material of the drape coupler. The method can include covering an arm of the robotic surgery apparatus supporting the manipulator unit with a second sterile barrier that is distinct from the first sterile barrier by coupling the second sterile barrier to the arm and wrapping the second sterile barrier around the arm.
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