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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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2.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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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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公开(公告)号：US08823308B2
公开(公告)日：2014-09-02
申请号：US13175550
申请日：2011-07-01
IPC分类号： B25J15/02
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.
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公开(公告)号：US08808164B2
公开(公告)日：2014-08-19
申请号：US12058661
申请日：2008-03-28
CPC分类号： A61B1/045 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00199 , A61B2017/00216 , A61B2017/00477 , A61B2090/372
摘要： In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
摘要翻译： 在本发明的一个实施例中，公开了一种用于控制机器人手术工具的方法。 用于控制机器人手术工具的方法包括移动显示机器人外科手术工具的图像的监视器; 感测显示器的运动; 并且将感测到的监视器的运动转换成机器人手术工具的运动。
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公开(公告)号：US06659939B2
公开(公告)日：2003-12-09
申请号：US09433120
申请日：1999-11-03
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 , Michael 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 , Michael Tierney
IPC分类号： A61B100
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.
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公开(公告)号：US06468265B1
公开(公告)日：2002-10-22
申请号：US09436982
申请日：1999-11-09
申请人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
发明人： Philip C. Evans , Frederic H. Moll , Gary S. Guthart , William C. Nowlin , Rand P. Pendleton , Christopher P. Wilson , Andris D. Ramans , David J. Rosa , Volkmar Falk , Robert G. Younge
IPC分类号： A61B1700
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： A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.
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8.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。
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9.发明授权Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械公开(公告)号：US08864751B2
公开(公告)日：2014-10-21
申请号：US12877263
申请日：2010-09-08
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译： 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。
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10.发明申请APPARATUS FOR AUTOMATED PANNING AND DIGITAL ZOOMING IN ROBOTIC SURGICAL SYSTEMS 有权机器人手术系统中的自动平移和数字变焦装置公开(公告)号：US20120154564A1
公开(公告)日：2012-06-21
申请号：US13408236
申请日：2012-02-29
IPC分类号： H04N7/18
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
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