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    SYSTEM AND METHOD OF CONTROLLING A SURGICAL TOOL DURING AUTONOMOUS MOVEMENT OF THE SURGICAL TOOL
    2.
    发明申请
    SYSTEM AND METHOD OF CONTROLLING A SURGICAL TOOL DURING AUTONOMOUS MOVEMENT OF THE SURGICAL TOOL 审中-公开
    手术工具自动运动期间控制手术工具的系统和方法

    公开(公告)号：WO2016164590A1

    公开(公告)日：2016-10-13

    申请号：PCT/US2016/026452

    申请日：2016-04-07

    Applicant: MAKO SURGICAL CORP.

    Inventor： BOWLING, David, Gene ,  ROESSLER, Patrick

    IPC: A61B34/30 ,  A61B34/32 ,  A61B34/00 ,  B25J9/16

    CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B34/70 ,  A61B34/76 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/064 ,  A61B2090/065 ,  B25J9/1664 ,  G05B2219/39325 ,  G05B2219/45117

    Abstract: A system and a method of controlling a surgical tool of a robotic system during autonomous movement of the surgical tool are provided. A path of movement for the surgical tool is determined. At least one acceptable orientation of the surgical tool with respect to the path is generated. The surgical tool autonomously moves along the path in the at least one acceptable orientation. Forces applied to the surgical tool are sensed. An altered orientation is identified based on the sensed forces. The surgical tool autonomously moves along the path in response to comparing the altered orientation to the at least one acceptable orientation.

    Abstract translation: 提供了一种在手术工具的自主运动期间控制机器人系统的外科手术工具的系统和方法。 确定外科手术工具的移动路径。 产生外科手术工具相对于路径的至少一个可接受的取向。 手术工具在至少一个可接受的取向中自主沿着路径移动。 感应到外科手术工具的力。 基于所感测的力来确定改变的取向。 响应于将改变的取向与至少一个可接受的取向进行比较，手术工具自主地沿着路径移动。

    MEDICAL MANIPULATOR AND MEDICAL IMAGING SYSTEM WITH THE MEDICAL MANIPULATOR
    4.
    发明申请
    MEDICAL MANIPULATOR AND MEDICAL IMAGING SYSTEM WITH THE MEDICAL MANIPULATOR 审中-公开
    医疗机器人和医疗成像系统与医疗操作员

    公开(公告)号：WO2013187011A1

    公开(公告)日：2013-12-19

    申请号：PCT/JP2013/003530

    申请日：2013-06-05

    Applicant: CANON KABUSHIKI KAISHA

    Inventor： ONUMA, Kazufumi

    IPC: A61B19/00 ,  B25J19/00

    CPC classification number: A61B19/2203 ,  A61B5/0095 ,  A61B34/20 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00694 ,  A61B2034/2061 ,  A61B2034/2074 ,  A61B2090/064 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1633 ,  G05B2219/39325 ,  G05B2219/45117

    Abstract: The present invention relates to a medical manipulator (30) which includes: a driving unit (6) configured to at least include a vibration-type actuator (10); a manipulator portion (5) configured to at least include an inserting portion (18) and to be connected to the driving unit (6); a support unit (4) configured to support the driving unit (6) and the manipulator portion (5); a driving circuit (9) configured to be connected to the vibration-type actuator (10) and to output a driving signal (42) to the vibration-type actuator (10); and a stress compensation unit (11) configured to reduce stress which occurs in the inserting portion (18) due to a motion of a living body.

    Abstract translation: 医疗机械手技术领域本发明涉及一种医疗机械手（30），其包括：构造成至少包括振动型致动器（10）的驱动单元（6）。 构造成至少包括插入部分（18）并连接到驱动单元（6）的操纵器部分（5）; 支撑单元（4），构造成支撑所述驱动单元（6）和所述操纵器部分（5）; 驱动电路（9），被配置为连接到所述振动型致动器（10）并将驱动信号（42）输出到所述振动型致动器（10）; 以及应力补偿单元（11），其构造为减少由于活体的运动而在所述插入部（18）中发生的应力。

    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT
    5.
    发明申请
    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT 审中-公开
    用于远程微型外科手术仪器的主对齐

    公开(公告)号：WO2011002593A1

    公开(公告)日：2011-01-06

    申请号：PCT/US2010/038256

    申请日：2010-06-11

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  NOWLIN, William C. ,  NIEMEYER, Günter D. ,  MINTZ, David S.

    IPC: A61B19/00 ,  B25J9/16

    CPC classification number: 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

    Abstract: A minimally- invasive surgical system (100) includes a slave surgical instrument having a slave surgical instrument (112) 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 (130) (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.

    Abstract translation: 微创手术系统（100）包括具有从动手术器械（112）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。 耦合到主手柄的棘轮系统（130）（i），以接收主把手的对准并且（ii）联接到从动手术器械，以通过连续地减小对准误差来控制从动装置的运动，因为主把手 移动，没有自主运动的奴隶手术器械尖端和没有自主运动的主把手。

    SYSTEM AND METHOD FOR ROBOTIC SURGERY SIMULATION
    8.
    发明申请
    SYSTEM AND METHOD FOR ROBOTIC SURGERY SIMULATION 审中-公开
    用于机器人手术模拟的系统和方法

    公开(公告)号：WO2009114613A2

    公开(公告)日：2009-09-17

    申请号：PCT/US2009/036802

    申请日：2009-03-11

    Applicant: HEALTH RESEARCH INC. ,  THE RESEARCH FOUNDATION OF STATE UNIVERSITY OF NEW YORK STOR INTELLECTUAL PROPERTY DIVISION ,  GURU, Khurshid ,  KESAVADAS, Thenkurussi ,  SRIMATHVEERAVALLI, Govindarajan

    Inventor： GURU, Khurshid ,  KESAVADAS, Thenkurussi ,  SRIMATHVEERAVALLI, Govindarajan

    IPC: A61B19/00 ,  B25J18/00 ,  B25J17/00 ,  B25J9/00

    CPC classification number: B25J9/1671 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00707 ,  A61B2034/305 ,  A61B2090/365 ,  G05B2219/40168 ,  G05B2219/45117

    Abstract: A system according to the invention may include a frame, a computer, a display, and two input devices. The frame may be adjustable, may be made from a lightweight material, and may fold for easier portability. The display and the computer may be in communication with each other and each may be attached to the frame. The display may be a binocular display, or may be a touchscreen display. Additional displays may be used. Two input devices may be used to simulate the master console of a surgical robot. The input devices may be articulated armature devices suitable for providing 3D input. The input devices may be attached to the frame in an "upside-down" configuration wherein a base of each input device is affixed to the frame such that a first joint of an arm is below the base. The input devices may be in communication with the computer and may provide positional signals to the computer. The positional signals may correspond to a position of an arm of each input device.

    Abstract translation: 根据本发明的系统可以包括框架，计算机，显示器和两个输入设备。 框架可以是可调节的，可以由轻质材料制成，并且可以折叠以便于便于携带。 显示器和计算机可以彼此通信，并且每个可以附接到框架。 显示器可以是双目显示器，或者可以是触摸屏显示器。 可以使用附加的显示器。 可以使用两个输入装置来模拟外科手术机器人的主控制台。 输入设备可以是适于提供3D输入的铰接式电枢装置。 输入设备可以以“倒置”配置附接到框架，其中每个输入设备的基座固定到框架，使得臂的第一接头在基座下方。 输入设备可以与计算机通信，并且可以向计算机提供位置信号。 位置信号可以对应于每个输入装置的臂的位置。

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