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10272 results about "Degrees of freedom" patented technology
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In many scientific fields, the degrees of freedom of a system is the number of parameters of the system that may vary independently. For example, a point in the plane has two degrees of freedom for translation: its two coordinates; a non-infinitesimal object on the plane might have additional degrees of freedoms related to its orientation.
Insertable device and system for minimal access procedure
ActiveUS7066879B2Limited mobilityWide field of viewEndoscopesLaproscopesAbdominal cavityProcedure Indication
The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations / perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.
Owner:THE TRUSTEES OF COLUMBIA UNIV IN THE CITY OF NEW YORK
Robotic surgical system for performing minimally invasive medical procedures
ActiveUS8506555B2Level of manoeuvrabilityAccurate feedbackProgramme-controlled manipulatorDiagnosticsAccelerometerWrist support
Owner:EURO ATOMIC ENERGY COMMUNITY (EURATOM)
Articulate and swapable endoscope for a surgical robot
InactiveUS20060178556A1Simple processIncrease the areaEndoscopesSurgical manipulatorsSurgical robotEngineering
The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back / proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Cardiac tissue ablation instrument with flexible wrist
The present invention is directed to an articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device / catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.
Owner:INTUITIVE SURGICAL
Robotic apparatus
InactiveUS20090012534A1Minimize cost functionProgramme-controlled manipulatorDiagnosticsRobot end effectorEngineering
A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
Owner:MASSACHUSETTS INST OF TECH
Methods and devices for positioning a surgical instrument at a surgical site
For positioning a surgical instrument at a surgical site, an elongate tubular structure is coupled to the distal portion of a robotic arm. This structure is adapted to be inserted in the body cavity of a patient and is adapted to receive the surgical instrument and serve as a guide for the surgical instrument into the patient's body. The robotic arm may have a parallelogram center of motion linkage and actuators for driving various degrees of freedom of movement of the arm and the surgical instrument. The robotic arm may be remotely controlled by an operator manipulating an input device.
Owner:SRI INTERNATIONAL
Surgical instrument
A medical instrument that includes an instrument shaft having proximal and distal ends; a tool for performing a medical procedure; a control handle; a distal motion member for coupling the distal end of the instrument shaft to the tool; a proximal motion member for coupling the proximal end of the instrument shaft to the control handle; actuation means extending between the distal and proximal motion members for coupling motion of the proximal motion member to the distal motion member for controlling the positioning of the tool; a control tube through which the instrument shaft and tool extend; the control tube including, along the length thereof, a curved section; the curved section of the control tube, upon rotation thereof, providing an additional degree of freedom by displacing the tool out of a plane defined by the curved section of the control tube.
Owner:CAMBRIDGE ENDOSCOPIC DEVICES
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
InactiveUS7087049B2Easy SetupEasy to adjustDiagnostic recording/measuringSensorsEngineeringDegrees of freedom
The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and / or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Cardiac tissue ablation instrument with flexible wrist
InactiveUS20060199999A1Promotes convenient, simplified manufacturing and assembly processesShorten the counting processEndoscopesSurgical manipulatorsWristInstrumentation
An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device / catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Surgical instrument design
A surgical instrument system having an instrument member or shaft with a distal portion positionable through an incision of a patient to an internal site and for operation by a surgeon from outside the patient. A tool is carried at the distal end of the instrument shaft controlled by the surgeon in performing a procedure at an operative site of the patient. At least first and second turnable members are spacedly disposed along the instrument shaft distal portion, both disposed within the internal site, and each controlled from outside the patient for providing at least respective first and second degrees of freedom of control of the tool. The turnable members may be either a pivot joint or a bendable section.
Owner:AURIS HEALTH INC
Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
Owner:INTUITIVE SURGICAL OPERATIONS INC
System and method for controlling force applied to and manipulation of medical instruments
Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and / or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.
Owner:IMMERSION MEDICAL
Video hand image-three-dimensional computer interface with multiple degrees of freedom
InactiveUS6147678AInput/output for user-computer interactionCharacter and pattern recognitionElevation angleImaging processing
A video gesture-based three-dimensional computer interface system that uses images of hand gestures to control a computer and that tracks motion of the user's hand or a portion thereof in a three-dimensional coordinate system with ten degrees of freedom. The system includes a computer with image processing capabilities and at least two cameras connected to the computer. During operation of the system, hand images from the cameras are continually converted to a digital format and input to the computer for processing. The results of the processing and attempted recognition of each image are then sent to an application or the like executed by the computer for performing various functions or operations. When the computer recognizes a hand gesture as a "point" gesture with one or two extended fingers, the computer uses information derived from the images to track three-dimensional coordinates of each extended finger of the user's hand with five degrees of freedom. The computer utilizes two-dimensional images obtained by each camera to derive three-dimensional position (in an x, y, z coordinate system) and orientation (azimuth and elevation angles) coordinates of each extended finger.
Owner:WSOU INVESTMENTS LLC +1
Apparatus and method of user interface with alternate tool mode for robotic surgical tools
ActiveUS20090088774A1Improve the level ofDiagnosticsSurgical systems user interfaceGrip forceEngineering
In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.
Owner:INTUITIVE SURGICAL OPERATIONS INC
System and method for tracking and assessing movement skills in multidimensional space
InactiveUS6308565B1Improve athletic performanceImprove training performanceBall sportsDiagnostic recording/measuringMultidimensional scalingSkill sets
Accurate simulation of sport to quantify and train performance constructs by employing sensing electronics for determining, in essentially real time, the player's three dimensional positional changes in three or more degrees of freedom (three dimensions); and computer controlled sport specific cuing that evokes or prompts sport specific responses from the player that are measured to provide meaningful indicia of performance. The sport specific cuing is characterized as a virtual opponent that is responsive to, and interactive with, the player in real time. The virtual opponent continually delivers and / or responds to stimuli to create realistic movement challenges for the player.
Owner:IMPULSE TECH
Surgical manipulator
InactiveUS6723106B1Reduce fatigueHigh dexterityProgramme-controlled manipulatorMicromanipulatorDegrees of freedomEngineering
A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.
Owner:MICRODEXTERITY SYST
Software center and highly configurable robotic systems for surgery and other uses
ActiveUS20070013336A1Easy to controlAvoid collisionProgramme-controlled manipulatorComputer controlSurgical operationRobotic systems
Telerobotic, telesurgical, and / or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Software center and highly configurable robotic systems for surgery and other uses
ActiveUS8004229B2Transmitted signalAvoid collisionProgramme-controlled manipulatorComputer controlSurgical operationRobotic systems
Owner:INTUITIVE SURGICAL OPERATIONS INC
Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
InactiveUS6325808B1Suture equipmentsProgramme-controlled manipulatorMini invasive surgeryRobotic systems
A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to the incision in the patient, and a controller operably connected to the actuators so that movement of the surgical tool may be collaboratively controllable both actively by the controller and manually by a surgeon. Desirably, the surgical tool and the docking station are releasably attachable together. Also disclosed is a computer implemented method employing a first docking station attachable to a suturing surgical tool and a second docking station attachable to gripping surgical tool for autonomously tying a knot in suturing.
Owner:WEN JOHN T
Minimally invasive surgical system
ActiveUS20080065105A1Restricts lateral movementMechanical/radiation/invasive therapiesCannulasLess invasive surgeryEngineering
The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
InactiveUS20020128552A1Easy SetupEasy to adjustDiagnostic recording/measuringSensorsMaster controllerDegrees of freedom
The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and / or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Force reflective robotic control system and minimally invasive surgical device
InactiveUS20070018958A1Programme-controlled manipulatorDiagnosticsLess invasive surgeryRobotic systems
A robotic system has been designed that can be used as a minimally invasive surgical device. The system has a master end and a slave end. The master end has five physical movements corresponding to physical movements at the slave end with five degrees of freedom. There is force feedback from the slave end to the master end for each physical movement. The interface can be one or more computers. The master end can be remote from the slave end and the slave end can be a surgical robot or a simulation program on a computer.
Owner:UNIV OF WESTERN ONTARIO
Flexible instrument
InactiveUS7214230B2Small diameterSufficient flexibilitySuture equipmentsProgramme-controlled manipulatorRemote controlMaster station
A remote control flexible instrument system, employing a shaft which supports a tool, is described in which the has proximal and distal ends with at least a portion thereof extending through a lumen of the human body so as to locate the shaft at an internal target site. A master station including an input device provides control of the instrument situated at a slave station. The master station can control at least one degree-of-freedom of the flexible instrument. A controller intercouples the master and slave stations and is operated in accordance with a computer algorithm that receives a command from the input device for controlling at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device. The flexible instrument further comprises a controlled flexible segment along the shaft, for controlled bending at the flexible segment to guide the shaft and to dispose the tool at an operative site.
Owner:AURIS HEALTH INC
System and method for tracking and assessing movement skills in multidimensional space
InactiveUS6876496B2Accurate modulationImprove performanceBall sportsDiagnostic recording/measuringMultidimensional scalingSkill sets
Accurate simulation of sport to quantify and train performance constructs by employing sensing electronics for determining, in essentially real time, the player's three dimensional positional changes in three or more degrees of freedom (three dimensions); and computer controlled sport specific cuing that evokes or prompts sport specific responses from the player that are measured to provide meaningful indicia of performance. The sport specific cuing is characterized as a virtual opponent that is responsive to, and interactive with, the player in real time. The virtual opponent continually delivers and / or responds to stimuli to create realistic movement challenges for the player.
Owner:IMPULSE TECH
Six degree of freedom alignment display for medical procedures
A display and navigation system for use in guiding a medical device to a target in a patient includes a tracking sensor, a tracking device and display. The tracking sensor is associated with the medical device and is used to track the medical device. The tracking device tracks the medical device with the tracking sensor. The display includes indicia illustrating at least five degree of freedom information and indicia of the medical device in relation to the five degree of freedom information.
Owner:SURGICAL NAVIGATION TECH
System and method for tracking and assessing movement skills in multidimensional space
Accurate simulation of sport to quantify and train performance constructs by employing sensing electronics for determining, in essentially real time, the player's three dimensional positional changes in three or more degrees of freedom (three dimensions); and computer controlled sport specific cuing that evokes or prompts sport specific responses from the player that are measured to provide meaningful indicia of performance. The sport specific cuing is characterized as a virtual opponent that is responsive to, and interactive with, the player in real time. The virtual opponent continually delivers and / or responds to stimuli to create realistic movement challenges for the player.
Owner:IMPULSE TECH
Surgical Instrument with Shiftable Transmission
ActiveUS20170172672A1Programme-controlled manipulatorSurgical manipulatorsDegrees of freedomEngineering
A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Microwrist system for surgical procedures
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.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Parallel mechanism
InactiveUS6330837B1Reduce inertiaHigh speedMechanical apparatusJointsRange of motionDegrees of freedom
A parallel mechanism is capable of positioning and orienting an end platform with up to six or more degrees of freedom. In preferred embodiments, the mechanism includes six links having a first and second ends. The first end is connected to an end platform for supporting a tool, while the second end is connected to an actuator capable of translating the second end. A rotational drive mechanism may be provided for rotating an object mounted on the end platform at varying orientations of the end platform independently of movement of the end platform as a whole. The links may be curved in order to avoid interference between adjoining links, thereby permitting an increased range of motion and improved dexterity of the mechanism.
Owner:MOORE RUSSELL
Haptic interface for force reflection in manipulation tasks
Owner:DREXEL UNIV
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