7036 results about "Robotic arm" patented technology

Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.

A means and method for inserting drivers into a surgical stapling cartridge, including a pallet that holds the cartridge firmly. The pallet has a central slot and laterally positioned lip members that are biased toward the slot. The cartridge is positioned in the slot and the lip members are released to extend their lips over the lateral flanges on the cartridge, thereby holding the cartridge in position. A finger extends into a recess formed at one end of the cartridge, thereby positively positioning the cartridge in the slot. The cartridge is released for removal by a tongue inserted between the lip members, thereby separating them by displacement.

A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

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.

A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.

The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.

Described herein is a robotic surgical device configured for performing minimally invasive surgical procedures. The robotic surgical device comprises an elongated body for insertion into a patient's body through a small incision. In one variation, the elongated body houses a plurality of robotic arms. Once the distal portion of the elongated body is inserted into the patient body, the operator may then deploy the plurality of robotic arms to perform surgical procedures within the patient's body. An image detector may be positioned at the distal portion of the elongated body or on one of the robotic arms to provide visual feedback to the operator of the device. In another variation, each of the robotic arms comprises two or more joints, allowing the operator to maneuver the robotic arms in a coordinated manner within a region around the distal end of the device.

The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.

In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator / controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator / controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.

A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table. the system and method also have a plurality of base stations for operatively coupling each of the robotic arms to the track system, such that each of the base stations include a housing, a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and a second connector for coupling the housing to the proximal end of at least one of the robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm. The system and method also have a control unit for coupling to at least two of the base stations and configured for dynamically connecting operative remote control between the coupled base stations and a first operator console of the at least one operator console.

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.

A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

An anti-slip end effector for transporting a workpiece, configured to be attached to a robotic arm, includes: a workpiece-supporting area for placing a workpiece thereon for transportation; and at least one anti-slip protrusion disposed in the workpiece-supporting area for supporting a backside of the workpiece, said anti-slip protrusion having a top face capable of contacting and adhering to the backside of the workpiece by van der Waals force and capable of pivoting on a pivot axis, said pivot axis being disposed away from a center of the top face as viewed from above.

An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.

A dynamically configurable robotic system and method for performing surgical operations using a plurality of robotic arms remotely controlled by at least one operator console. The system comprises a track system configured for mounting to a patient support table, such that the track system provides a stable operating platform for the robotic arms and for facilitating placement of a proximal end of each of the arms at a selected position about a periphery of the patient support table. the system and method also have a plurality of base stations for operatively coupling each of the robotic arms to the track system, such that each of the base stations include a housing, a first connector for coupling the housing to the track system, the first connector configured for facilitating movement of the housing along the track system while coupled thereto, and a second connector for coupling the housing to the proximal end of at least one of the robotic arms, the second connector configured for providing at least one of power supply, control signalling, and data communication with respect to the coupled robotic arm. The system and method also have a control unit for coupling to at least two of the base stations and configured for dynamically connecting operative remote control between the coupled base stations and a first operator console of the at least one operator console.

An anti-slip end effector for transporting a workpiece, configured to be attached to a robotic arm, includes: a workpiece-supporting area for placing a workpiece thereon for transportation; and at least one anti-slip protrusion disposed in the workpiece-supporting area for supporting a backside of the workpiece, said anti-slip protrusion having a top face capable of contacting and adhering to the backside of the workpiece by van der Waals force and capable of pivoting on a pivot axis, said pivot axis being disposed away from a center of the top face as viewed from above.

An anti-slip end-effector for transporting a workpiece, which is configured to be attached to a robotic arm, includes: a workpiece-supporting area for placing a workpiece thereon for transportation; at least one front protrusion disposed at a distal end of the workpiece-supporting area for engaging an edge of the workpiece to restrict movement of the workpiece placed on the workpiece-supporting area beyond the front protrusion; and at least one anti-slip protrusion disposed in the workpiece-supporting area for contacting and supporting the backside of the workpiece, said anti-slip protrusion having a top face having a static friction coefficient of 1.0 or more as measured against the backside of the workpiece, and having a surface roughness of less than 0.4 μm.

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.

A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.

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.

A robotic vacuum cleaner (10) with a self-propelled controller (12) with a vacuum source (36, 38) and a dirt receptacle (32), a self-propelled cleaning head (14) with a suction inlet (24), and an interconnecting hose (16) is provided. The controller and cleaning head cooperatively traverse a surface area in tandem when the interconnecting hose is connected between the cleaning head and the controller. In one embodiment, the controller includes a power source (56) making the robotic vacuum autonomous. In another embodiment, the controller includes a power cord dispense / retract assembly (168) to provide access to utility power. In another aspect, the controller includes a portable vacuum (20) that is removed for manual operations. In still another aspect, a method of semi-automated environment mapping for a self-propelled robotic vacuum is provided. With respect to the method, the robotic vacuum also includes a remote control (18).

A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.

A medical robotic system has a surgeon console which is operatively couplable to a patient side unit for performing medical procedures or operatively couplable to a simulator unit for training purposes. The surgeon console has a monitor, input devices and foot pedals. The patient side unit has robotic arm assemblies coupled to instruments and an endoscope. When the surgeon console is coupled to the patient side unit, the instruments move in response to movement of the input devices to perform a medical procedure while captured images of the instruments are displayed on the monitor. When the surgeon console is coupled to the simulator unit, virtual instruments move in response to movement of the input devices to perform a user selected virtual procedure while virtual images of the virtual instruments are displayed on the monitor.

A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

A system and method for transferring power includes a power transmitting unit for transmitting power and a power receiving unit for receiving power from the power transmitting unit. The power transmitting unit may be positioned outside a human body and the power receiving unit is located on an intrabody instrument adapted to be movable from the outside of the human body to inside the human body. The intrabody instrument may be a medical instrument connected to or incorporated within a robotic arm. The power transmitting unit may wirelessly transfer power to the power receiving unit in a continuous, non-interrupted manner.

A system for performing minimally invasive cardiac procedures. 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.

A system that includes a desk top assembly of a display and sensors mounted on a robotic arm. The arm moves the assembly so that it remains within position and orientation tolerances relative to the user's head as the user looks around. Near-field speaker arrays supply audio and a microphone array senses a user's voice. Filters are applied to head motion to reduce latency for arm's tracking of the head. The system is full duplex with other systems allowing immersive collaboration. Lighting and sound generation take place close to the user's head. A haptic interface device allows the user to grab the display / sensor array and move it about. Motion acts as a planar selection device for 3D data. Planar force feedback allows a user to “feel” the data. Users see not only each other through display windows, but can also see the positions and orientations of each others' planar selections of shared 3D models or data.