公开(公告)号：US20060220784A1

公开(公告)日：2006-10-05

申请号：US11443797

申请日：2006-05-30

Applicant: Yulun Wang ,  Charles Jordan ,  Darrin Uecker ,  Chares Wooters

Inventor： Yulun Wang ,  Charles Jordan ,  Darrin Uecker ,  Chares Wooters

IPC: G05B23/02

CPC classification number: G05B19/042 ,  A61B17/00 ,  A61B34/70 ,  A61B2017/00017 ,  A61B2017/00203 ,  G05B15/02 ,  G05B2219/23386 ,  G10L15/26 ,  G16H40/40 ,  G16H40/63

Abstract: The present invention pertains to control systems and provides a run time configurable control system for selecting and operating one of a plurality of operating room devices from a single input source, the system comprising a master controller having a voice control interface and means for routing control signals. The system additionally may include a plurality of slave controllers to provide expandability of the system. Also, the system includes output means for generating messages to the user relating to the status of the control system in general and to the status of devices connected thereto.

公开(公告)号：US20060167441A1

公开(公告)日：2006-07-27

申请号：US11319005

申请日：2005-12-27

Applicant: Yulun Wang ,  Darrin Uecker ,  Charles Jordan ,  James Wright ,  Keith Laby ,  Jeff Wilson ,  Modjtaba Ghoudoussi

Inventor： Yulun Wang ,  Darrin Uecker ,  Charles Jordan ,  James Wright ,  Keith Laby ,  Jeff Wilson ,  Modjtaba Ghoudoussi

IPC: A61B17/00

CPC classification number: A61B17/11 ,  A61B17/0469 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/45119

Abstract: A minimally invasive surgical system includes a pair of surgical instruments having end effectors to hold and suture tissue, a pair of robotic arms coupled to the surgical instruments, a controller, and a pair of master handles coupled through the controller to the robotic arms, so that surgeon manipulation of the handles produces corresponding movement of the end effectors in an adjustably scaled fashion. An input button allows the surgeon to adjust the position of the handles without moving the end effectors, so that the handles may be moved to a more comfortable position. An optionally included robotically controlled endoscope allows the surgeon to remotely view the surgical site. Using the system, a cardiac procedure can be performed by making small incisions in the patient's skin, inserting the instruments and endoscope through the incisions, and manipulating the handles to move the end effectors to perform the cardiac procedure.

Abstract translation: 微创手术系统包括一对手术器械，其具有用于保持和缝合组织的末端执行器，耦合到外科器械的一对机器人臂，控制器和通过控制器耦合到机器人手臂的一对主手柄，因此 外科医生操纵手柄以可调节地缩放的方式产生末端执行器的相应运动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 可选地包括的机器人控制的内窥镜允许外科医生远程观察手术部位。 使用该系统，可以通过在患者皮肤中进行小切口，将仪器和内窥镜插入切口来进行心脏手术，并且操纵手柄以移动末端执行器以执行心脏手术。

公开(公告)号：US06436107B1

公开(公告)日：2002-08-20

申请号：US09262134

申请日：1999-03-03

Applicant: Yulun Wang ,  Darrin Uecker ,  Keith Laby ,  Jeff Wilson ,  Charles Jordan ,  James Wright ,  Modjtaba Ghodoussi

Inventor： Yulun Wang ,  Darrin Uecker ,  Keith Laby ,  Jeff Wilson ,  Charles Jordan ,  James Wright ,  Modjtaba Ghodoussi

IPC: A61B1704

CPC classification number: A61B1/00149 ,  A61B17/00234 ,  A61B17/062 ,  A61B18/1445 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00203 ,  A61B2017/00243 ,  A61B2017/0046 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2945 ,  A61B2018/1432 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/504

Abstract: A surgical system that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver that can spin and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector and detachably connected to a push rod. The push rod can move relative to the handle to actuate the end effector. The end effector may include a fixture that conforms to the shape of a needle. The handle can be secured to the tool driver by inserting pins into corresponding slots that are located on both the instrument and the tool driver. The instrument can be controlled by an operator through a pair of handles. Each handle may be mechanically balanced by a counterweight. The surgical system may also include a touchpad that allows the operator to enter parameters of the system.

Abstract translation: 可以包括远程控制的手术器械的外科系统。 外科器械可以联接到可以旋转并致动器械的工具驱动器。 仪器可以包括致动器杆，该致动器杆联接到末端执行器并且可拆卸地连接到推杆。 推杆可以相对于把手移动以致动末端执行器。 末端执行器可以包括符合针的形状的固定装置。 手柄可以通过将销插入位于仪器和工具驱动器上的相应插槽中来固定到工具驱动器。 仪器可以由操作员通过一对手柄来控制。 每个手柄可以由配重机械平衡。 手术系统还可以包括触摸板，其允许操作者输入系统的参数。

公开(公告)号：US20060241575A1

公开(公告)日：2006-10-26

申请号：US11473349

申请日：2006-06-21

Applicant: Yulun Wang ,  Charles Jordan ,  Darrin Uecker

Inventor： Yulun Wang ,  Charles Jordan ,  Darrin Uecker

IPC: A61B18/18

CPC classification number: A61B17/00 ,  A61B18/00 ,  A61B18/14 ,  A61B18/20 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00225 ,  A61B2017/00973 ,  G06F19/00 ,  G16H40/63

Abstract: An interface which allows a surgeon to operate multiple surgical devices from a single input device. The input device may be a foot pedal that provides output signals to actuate a number of different surgical devices. The surgical devices may include a robotic arm, a laser, an electrocautery device, or an operating table. The interface has an input channel that is coupled to the input device and a plurality of output channels that are coupled to the surgical devices. The interface also has a select input channel which can receive input commands to switch the input channel to one of the output channels. The select channel may be coupled to a speech interface that allows the surgeon to select one of the surgical devices with a voice command. The surgeon can operate any device by providing an input command which switches the input channel to the desired output channel.

公开(公告)号：US20050242919A1

公开(公告)日：2005-11-03

申请号：US11166677

申请日：2005-06-23

Applicant: Yulun Wang ,  Charles Jordan ,  Darrin Uecker ,  Charles Wooters

Inventor： Yulun Wang ,  Charles Jordan ,  Darrin Uecker ,  Charles Wooters

IPC: A61B17/00 ,  A61B19/00 ,  G05B15/02 ,  G05B23/02 ,  G06F3/16 ,  G06F19/00 ,  G10L15/26

CPC classification number: G10L15/26 ,  A61B17/00 ,  A61B34/70 ,  A61B34/74 ,  A61B90/30 ,  A61B2017/00017 ,  A61B2017/00119 ,  A61B2017/00203 ,  A61B2017/00973 ,  G05B15/02 ,  G06F19/00 ,  G16H40/40 ,  G16H40/63

Abstract: The present invention pertains to control systems and provides a run time configurable control system for selecting and operating one of a plurality of operating room devices from a single input source, the system comprising a master controller having a voice control interface and means for routing control signals. The system additionally may include a plurality of slave controllers to provide expandability of the system. Also, the system includes output means for generating messages to the user relating to the status of the control system in general and to the status of devices connected thereto.

Abstract translation: 本发明涉及控制系统，并且提供一种运行时可配置控制系统，用于从单个输入源中选择和操作多个手术室装置中的一个，所述系统包括具有语音控制接口的主控制器和用于路由控制信号的装置 。 该系统还可以包括多个从属控制器以提供系统的可扩展性。 此外，该系统包括用于向用户生成与一般控制系统的状态有关的消息以及与其连接的设备的状态的输出装置。

公开(公告)号：US20050228365A1

公开(公告)日：2005-10-13

申请号：US11096215

申请日：2005-03-30

Applicant: Yulun Wang ,  Darrin Uecker ,  Keith Laby ,  Jeff Wilson ,  Charles Jordan ,  James Wright ,  Modjtaba Ghodoussi

Inventor： Yulun Wang ,  Darrin Uecker ,  Keith Laby ,  Jeff Wilson ,  Charles Jordan ,  James Wright ,  Modjtaba Ghodoussi

IPC: A61B17/06 ,  A61B1/00 ,  A61B17/00 ,  A61B17/04 ,  A61B17/11 ,  A61B17/28 ,  A61B19/00 ,  A61B19/02 ,  A61B19/08 ,  B25J1/00

CPC classification number: B25J9/1689 ,  A61B17/0469 ,  A61B17/11 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  G05B2219/45119

Abstract: The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

Abstract translation: 该系统包括耦合到一对机器人臂的一对外科器械。 仪器具有能够被操纵以保持和缝合组织的末端效应器。 机器人手臂通过控制器耦合到一对主手柄。 手柄可由外科医生移动以产生末端执行器的相应运动。 手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。 比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。 端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。 可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。 外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。

公开(公告)号：US07695481B2

公开(公告)日：2010-04-13

申请号：US11487943

申请日：2006-07-17

Applicant: Yulun Wang ,  Darrin Uecker ,  Keith P. Laby ,  Jeff D. Wilson ,  Charles S. Jordan ,  James W. Wright ,  Modjtaba Ghodoussi

Inventor： Yulun Wang ,  Darrin Uecker ,  Keith P. Laby ,  Jeff D. Wilson ,  Charles S. Jordan ,  James W. Wright ,  Modjtaba Ghodoussi

IPC: A61B19/00

CPC classification number: B25J9/1689 ,  A61B17/0469 ,  A61B17/11 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00203 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  G05B2219/45119

Abstract: A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.

Abstract translation: 用于执行微创心脏手术的系统包括耦合到一对机器人手臂的一对外科器械，其具有可被操纵以保持和缝合组织的末端执行器。 机器人手臂通过控制器耦合到一对主手柄，以产生末端执行器的相应运动。 手柄的移动被缩放，使得末端执行器运动与由外科医生的手执行的运动不同，通常较小。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 该系统可以包括允许外科医生远程观察外科手术部位的机器人控制的内窥镜。 外科医生可以操纵手柄并移动末端执行器来执行心脏手术。

公开(公告)号：US07395249B2

公开(公告)日：2008-07-01

申请号：US10942374

申请日：2004-09-15

Applicant: Yulun Wang ,  Darrin Uecker

Inventor： Yulun Wang ,  Darrin Uecker

IPC: G06F15/18 ,  G06F15/00 ,  G10L11/00

CPC classification number: G10L15/26 ,  A61B1/00041 ,  A61B1/00149 ,  A61B1/0016 ,  A61B34/10 ,  A61B34/70 ,  A61B2017/00203 ,  G06F19/00 ,  G16H40/63

Abstract: A robotic system which controls the movement of a surgical instrument in response to voice commands from the user. The robotic system has a computer controlled arm that holds the surgical instrument. The user provides voice commands to the computer through a microphone. The computer contains a phrase recognizer that matches the user' speech with words stored in the computer. Matched words are then processed to determine whether the user has spoken a robot command. If the user has spoken a recognized robot command the computer will move the robotic arm in accordance with the command.

Abstract translation: 一种机器人系统，其响应于来自用户的语音命令来控制外科器械的运动。 机器人系统具有保持手术器械的计算机控制臂。 用户通过麦克风向计算机提供语音命令。 计算机包含短语识别器，其将用户的语音与存储在计算机中的单词相匹配。 然后处理匹配的字以确定用户是否已经说过机器人命令。 如果用户已经通过识别出的机器人命令，计算机将按照该命令移动机器臂。

公开(公告)号：US20050119790A1

公开(公告)日：2005-06-02

申请号：US11028792

申请日：2005-01-03

Applicant: Dan Sanchez ,  Darrin Uecker ,  Oleg Svanidze ,  James Wright ,  Yulun Wang

Inventor： Dan Sanchez ,  Darrin Uecker ,  Oleg Svanidze ,  James Wright ,  Yulun Wang

IPC: A61B19/00 ,  G06F19/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/305

Abstract: A medical robotic system with a handle assembly that is used to control a medical instrument. The handle assembly and medical instrument have five degrees of freedom. Five degrees of freedom may provide greater dexterity than medical robotic systems of the prior art with four or less degrees of freedom. Five degrees of freedom reduces the size and complexity of the instrument.

公开(公告)号：US06871117B2

公开(公告)日：2005-03-22

申请号：US10423429

申请日：2003-04-24

Applicant: Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser

Inventor： Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser

IPC: A61B17/00 ,  A61B18/00 ,  A61B19/00 ,  G06F19/00

CPC classification number: A61B34/70 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2018/00982 ,  A61B2090/064 ,  Y10S128/923

Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.