公开(公告)号：WO2016069648A1

公开(公告)日：2016-05-06

申请号：PCT/US2015/057656

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  GRIFFITHS, Paul G. ,  HEMPHILL, Jason ,  LYNCH, Goran ,  MILLER, Daniel ,  O'GRADY, Patrick ,  SWARUP, Nitish ,  ZIAEI, Kam

IPC: A61G13/02

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

Abstract translation: 一种用于综合外科手术台的系统和方法包括一种包括具有一个或多个第一和第二关节的关节臂和控制单元的医疗装置。 所述铰接臂至少具有套管，内窥镜或安装在所述第一和第二关节的远侧的仪器，所述第一和第二关节被插入到身体开口处的患者体内。 控制单元解锁第一关节，接收外科手术台移动请求，确定是否应该允许手术台移动请求，允许外科手术台基于确定来执行所请求的移动，使用第一关节允许铰接臂 基于身体开口处的身体壁施加的力来跟踪身体开口的运动，并且通过在第二关节中执行补偿运动来补偿由于跟踪的运动引起的套管，内窥镜或器械的姿势的变化。

公开(公告)号：WO2015142802A1

公开(公告)日：2015-09-24

申请号：PCT/US2015/020898

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： O'GRADY, Patrick ,  ZHAO, Tao ,  BURNS, Christopher, R. ,  HEMPHILL, Jason ,  HOFFMAN, Brian, D. ,  DIMAIO, Simon, P. ,  VANCE, Rodney

IPC: A61B19/00

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract translation: 本文提供了用于配准操纵器组件和独立定位的手术台的方法和系统。 在一个方面，方法包括用与机械手组件相关联的传感器读取外科手术台上的基准标记，并相对于公共参考系将所述操纵器组件和手术台定位。 方法还可以包括将外科手术台的3D构型翻译成2D参考系，以估计手术台相对于操纵器组件的3D姿态，以用于协调它们之间的运动。