中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

9 records (took 0.019 seconds)

    REMOTE OPERATED ROBOTIC SYSTEM FOR SURGERY
    1.
    发明申请
    REMOTE OPERATED ROBOTIC SYSTEM FOR SURGERY 审中-公开

    公开(公告)号：WO2022264075A2

    公开(公告)日：2022-12-22

    申请号：PCT/IB2022/055572

    申请日：2022-06-16

    Applicant: MEDICAL MICROINSTRUMENTS S.P.A.

    Inventor： TANZINI, Matteo ,  PROCTOR, Michael John ,  PRISCO, Giuseppe Maria ,  SIMI, Massimiliano

    IPC: A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B2034/715 ,  A61B2090/064 ,  A61B34/71

    Abstract: A method of teleoperation preparation in a teleoperated robotic surgery system 1 is described, to be performed during a non-operating step, in which the system is not performing a teleoperation. The aforesaid robotic system 1, to which the method is applicable, comprises a plurality of motorized actuators 11, 12, 13, 14, 15, 16, and at least one surgical instrument 20. The surgical instrument 20 further comprises an articulated end-effector 40 having at least one degree of freedom (P, Y, G). The surgical instrument 20 further comprises at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36), mounted in the aforesaid surgical instrument 20 so as to be operatively connected or connectable to both the motorized actuators and to the respective links (or rigid connection elements) of the end-effector 40. The tendons of the aforesaid pair of antagonistic tendons are configured to actuate at least one degree of freedom associated therewith, between the aforesaid at least one degree of freedom P, Y, G, thus determining antagonistic effects. The method comprises the following steps: (i) establishing a univocal correlation between a set of movements of the motorized actuators 11, 12, 13, 14, 15, 16 of the robotic system 1 and a respective movement of the articulated end-effector 40 of the surgical instrument 20; (ii) performing a holding step, which in turn comprises: tensile-stressing at least one pair of antagonistic tendons (31, 32), (33, 34), (35, 36) and holding such tendons in a tensile-stressed state, by applying a holding force Fhold to the tendons, adapted to determine a loaded state of the tendons; providing a command indicating the will to enter teleoperation; enabling the entry of the surgical instrument (20) in a teleoperation state. Moreover, a corresponding teleoperated robotic surgery system is described.

    METHOD FOR CALIBRATING A MICROSURGICAL INSTRUMENT OF A TELEOPERATED ROBOTIC SURGERY SYSTEM AND RELATED SYSTEM
    2.
    发明申请
    METHOD FOR CALIBRATING A MICROSURGICAL INSTRUMENT OF A TELEOPERATED ROBOTIC SURGERY SYSTEM AND RELATED SYSTEM 审中-公开

    公开(公告)号：WO2022264080A1

    公开(公告)日：2022-12-22

    申请号：PCT/IB2022/055584

    申请日：2022-06-16

    Applicant: MEDICAL MICROINSTRUMENTS S.P.A.

    Inventor： TANZINI, Matteo ,  PROCTOR, Michael John ,  PRISCO, Giuseppe Maria ,  SIMI, Massimiliano

    IPC: A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  A61B2017/00477 ,  A61B2034/715 ,  A61B2090/065 ,  A61B2560/0223 ,  A61B34/71 ,  B25J9/1692

    Abstract: A method for calibrating a surgical instrument 20 of a teleoperated robotic surgery system 1 is described. The surgical instrument 20 comprises a plurality of transmission elements 21, 22, 23, 24, 25, 26 associated with a respective plurality of tendons 31, 32, 33, 34, 35, 36, and a articulated end-effector device 40, which is mechanically connectable through respective tendons to the transmission elements, so as to determine a unique correlation between a set of movements of the transmission elements and a respective movement or pose of the articulated end-effector device 40. The teleoperated robotic surgery system 1 comprises, in addition to the aforesaid surgical instrument 20, a plurality of motorized actuators 11, 12, 13, 14, 15, 16 and control means 9. The motorized actuators 11, 12, 13, 14, 15, 16 are operatively connectable to respective transmission elements 21, 22, 23, 24, 25, 26 to impart movement to the transmission elements under control of the control means. The method first comprises a step of arranging and locking the articulated end-effector device 40 in a predetermined known position, considered as the reference position of the articulated end-effector device 40. Such a reference position of the articulated end-effector device 40 is univocally associated with a respective resulting position of each of the transmission elements 21, 22, 23, 24, 25, 26. The method then provides the steps of actuating the motorized actuators 11, 12, 13, 14, 15, 16 so that each of the motorized actuators comes into contact with a respective transmission element 21, 22, 23, 24, 25, 26, and storing the position of the motorized actuators 11, 12, 13, 14, 15, 16 when each motorized actuator comes into contact with a respective transmission element, and considering the set of stored positions of the motorized actuators as a reference position of the motorized actuators univocally associated with the reference position of the end-effector device. The method then provides defining a kinematic zero condition, associating the aforesaid stored reference position of the motorized actuators a virtual zero point with respect to which the movements imparted by the control means 9 to the motorized actuators 11, 12, 13, 14, 15, 16 are to be referred. The aforesaid actuating step comprises controlling the motorized actuators 11, 12, 13, 14, 15, 16 so that they apply a force greater than zero and less than or equal to a threshold force on the respective transmission element of the surgical instrument.

    SYSTEMS AND METHODS OF CONTROLLING INSTRUMENTS
    4.
    发明申请
    SYSTEMS AND METHODS OF CONTROLLING INSTRUMENTS 审中-公开

    公开(公告)号：WO2021195323A1

    公开(公告)日：2021-09-30

    申请号：PCT/US2021/024066

    申请日：2021-03-25

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： BRISSON, Gabriel F. ,  HART, J. Scot ,  SOE, Brian D.

    IPC: A61B34/30 ,  B25J9/16 ,  A61B17/29 ,  A61B2017/00323 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/39237 ,  G05B2219/39326 ,  G05B2219/39355

    Abstract: Systems and methods of controlling instruments include first and second actuators configured to actuate a degree of freedom (DOF) in first and second directions using respective transmission mechanisms and a control unit. The control unit is configured to determine positions of the first and second actuators; determine an actuation command based on the positions of the first and second actuators, and a desired state of the DOF; determine respective actuation levels of the first and second actuators so as to maintain tensions in the transmission mechanisms above respective minimum tensions by: using a model based on the force or torque command, the minimum tensions, and the first and second actuator positions; and command actuation of the first and second actuators at the respective actuation levels. The model compensates for an external disturbance on the DOF and for dynamics of the first and second actuators.

    FIRING BAILOUT SYSTEM FOR POWERED SURGICAL STAPLER
    5.
    发明申请
    FIRING BAILOUT SYSTEM FOR POWERED SURGICAL STAPLER 审中-公开

    公开(公告)号：WO2023021399A2

    公开(公告)日：2023-02-23

    申请号：PCT/IB2022/057613

    申请日：2022-08-15

    Applicant: CILAG GMBH INTERNATIONAL

    Inventor： SHELTON, IV, Frederick E. ,  FIEBIG, Kevin M.

    IPC: A61B17/072 ,  A61B34/30 ,  A61B90/00 ,  A61B17/0686 ,  A61B17/07207 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/715 ,  A61B34/71

    Abstract: A surgical instrument includes a body, a shaft assembly, an end effector, an actuation assembly, and a bailout mechanism. The shaft assembly extends distally from the body. The end effector is disposed on a distal end of the shaft assembly and includes a first jaw and a second jaw. The actuation assembly includes a pusher member configured to move relative to the end effector to drive movement of the first jaw, the second jaw, or both the first jaw and the second jaw. The bailout mechanism includes a first elongate actuation element and a second elongate actuation element. A portion of the bailout mechanism is configured to selectively apply tension to the first elongate actuation element and the second elongate actuation element to move the pusher member. The first elongate actuation element is stronger in tension than the second elongate actuation element cable.

    METHOD FOR CONDITIONING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, WITH CYCLES OF PRE-ELONGATION OF MOVEMENT TRANSMISSION TENDONS, AND RELATED ROBOTIC SYSTEM
    6.
    发明申请
    METHOD FOR CONDITIONING A SURGICAL INSTRUMENT OF A ROBOTIC SURGERY SYSTEM, WITH CYCLES OF PRE-ELONGATION OF MOVEMENT TRANSMISSION TENDONS, AND RELATED ROBOTIC SYSTEM 审中-公开

    公开(公告)号：WO2022264078A1

    公开(公告)日：2022-12-22

    申请号：PCT/IB2022/055576

    申请日：2022-06-16

    Applicant: MEDICAL MICROINSTRUMENTS S.P.A.

    Inventor： TANZINI, Matteo ,  SIMI, Massimiliano ,  PRISCO, Giuseppe Maria ,  PROCTOR, Michael John

    IPC: A61B34/00 ,  A61B34/37 ,  A61B2034/715 ,  A61B2560/0223 ,  A61B34/71

    Abstract: A method is described for conditioning a surgical instrument 20 of a robotic surgery system 1, which can be carried out before using the surgical instrument 20. The method is applied to a surgical instrument 20 comprising an articulated end-effector 40 having at least one degree of freedom (P, Y, G), and further comprises at least one tendon 31, 32, 33, 34, 35, 36, operatively connectable with a respective at least one motorized actuator 1 1, 12, 13, 14, 15, 16 of the robotic surgery system 1. The at least one tendon 31, 32, 33, 34, 35, 36 is mounted to the surgical instrument 20 so as to be operatively connectable to both a respective motorized actuator, among the aforesaid at least one transmission element, and to at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the articulated end-effector 40. The aforesaid at least one degree of freedom P, Y, G operatively connectable to the at least one tendon is adapted to be mechanically activated by an action of the at least one respective motorized actuator 11, 12, 13, 14, 15, 16 by means of the aforesaid at least one tendon 31, 32, 33, 34, 35, 36 which is operatively connectable thereto. The method comprises the following steps: (i) locking at least one degree of freedom of the aforesaid at least one degree of freedom P, Y, G of the end-effector 40; (ii) tensile-stressing the respective at least one tendon, operatively connected to the aforesaid at least one locked degree of freedom, by applying a conditioning force (Fref), according to at least one time cycle, to the respective at least one tendon to be stressed under tensile load; The aforesaid at least one time cycle comprises: - at least one low-load period, in which a low conditioning force Flow is applied to the aforesaid respective tendon, which results in a respective low tensile load on the respective tendon; - at least one high-load period, in which a high conditioning force Fhigh is applied to the aforesaid respective tendon, which results in a respective high tensile load on the respective tendon.

    SURGICAL ROBOTIC SYSTEM FOR REALIGNMENT OF WRISTED INSTRUMENTS
    7.
    发明申请
    SURGICAL ROBOTIC SYSTEM FOR REALIGNMENT OF WRISTED INSTRUMENTS 审中-公开

    公开(公告)号：WO2022192509A2

    公开(公告)日：2022-09-15

    申请号：PCT/US2022/019703

    申请日：2022-03-10

    Applicant: COVIDIEN LP

    Inventor： PEINE, William ,  YILMAZ, Burak

    IPC: A61B34/00 ,  A61B34/37 ,  A61B2034/715 ,  A61B34/71 ,  A61B34/77

    Abstract: A surgical robotic system includes a surgical console including a handle controller. The system also includes a robotic arm including an instrument having: a plurality of cables that are movable longitudinally; and an end effector movable by the cables, the end effector having a pair of opposing jaws. The system further includes a processor configured to: determine an amount of orientation misalignment and amount of jaw misalignment, adjust the instrument based on the amount of orientation misalignment, and adjust the pair of opposing jaws based on the amount of jaw misalignment.

Patent Agency Ranking