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1.发明授权Method and system to sense relative partial-pose information using a shape sensor 有权使用形状传感器检测相对部分姿势信息的方法和系统公开(公告)号：US08488130B2
公开(公告)日：2013-07-16
申请号：US12618082
申请日：2009-11-13
CPC分类号： G01B21/22 , A61B34/37 , A61B34/70 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
摘要翻译： 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。
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2.发明授权Shape sensor contained in a link of a kinematic chain with at least one pre-set perturbation and method to sense relative partial-pose information using the shape sensor 有权包含在具有至少一个预设扰动的运动链的链接中的形状传感器和使用形状传感器来检测相对部分姿势信息的方法公开(公告)号：US08957367B2
公开(公告)日：2015-02-17
申请号：US12617995
申请日：2009-11-13
CPC分类号： A61B19/22 , A61B34/37 , A61B34/70 , A61B2034/2059 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
摘要翻译： 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。
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公开(公告)号：US08545515B2
公开(公告)日：2013-10-01
申请号：US12618583
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20130331857A9
公开(公告)日：2013-12-12
申请号：US13360395
申请日：2012-01-27
IPC分类号： A61B19/00
CPC分类号： A61B17/00 , A61B34/30 , A61B34/71 , A61B46/10 , A61B2017/00398 , A61B2017/00473 , A61B2017/00477 , A61B2034/2059
摘要： A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
摘要翻译： 用于机器人医疗器械的机械接口允许仪器和驱动系统的接合而不引起仪器的致动部分的移动。 仪器接口可以包括在医疗器械或驱动系统之一上的对称的，锥形的或圆柱形的突出物，以及另一个驱动系统或医疗器械中的互补孔。 突起和孔的对称性允许突起被压配合到孔，而与驱动系统相对于医疗器械的旋转角度无关。
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公开(公告)号：US20110071542A1
公开(公告)日：2011-03-24
申请号：US12618583
申请日：2009-11-13
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20110071541A1
公开(公告)日：2011-03-24
申请号：US12618549
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
发明人： Giuseppe Maria Prisco , Samuel Au , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US09339342B2
公开(公告)日：2016-05-17
申请号：US13360395
申请日：2012-01-27
CPC分类号： A61B17/00 , A61B34/30 , A61B34/71 , A61B46/10 , A61B2017/00398 , A61B2017/00473 , A61B2017/00477 , A61B2034/2059
摘要： A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
摘要翻译： 用于机器人医疗器械的机械接口允许仪器和驱动系统的接合而不引起仪器的致动部分的移动。 仪器接口可以包括在医疗器械或驱动系统之一上的对称的，锥形的或圆柱形的突出物，以及另一个驱动系统或医疗器械中的互补孔。 突起和孔的对称性允许突起被压配合到孔，而与驱动系统相对于医疗器械的旋转角度无关。
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公开(公告)号：US08551115B2
公开(公告)日：2013-10-08
申请号：US12618608
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其延伸穿过相同的开口进入患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 柔性轴内的力隔离元件防止轴弯曲影响延伸穿过轴的端部执行器致动元件。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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公开(公告)号：US20120289973A1
公开(公告)日：2012-11-15
申请号：US13360395
申请日：2012-01-27
IPC分类号： A61B19/00
CPC分类号： A61B17/00 , A61B34/30 , A61B34/71 , A61B46/10 , A61B2017/00398 , A61B2017/00473 , A61B2017/00477 , A61B2034/2059
摘要： A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
摘要翻译： 用于机器人医疗器械的机械接口允许仪器和驱动系统的接合而不引起仪器的致动部分的移动。 仪器接口可以包括在医疗器械或驱动系统之一上的对称的，锥形的或圆柱形的突出物，以及另一个驱动系统或医疗器械中的互补孔。 突起和孔的对称性允许突起被压配合到孔，而与驱动系统相对于医疗器械的旋转角度无关。
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公开(公告)号：US20110071544A1
公开(公告)日：2011-03-24
申请号：US12618608
申请日：2009-11-13
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译： 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 柔性轴内的力隔离元件防止轴弯曲影响延伸穿过轴的端部执行器致动元件。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。
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