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1389 results about "Surgical robotics" patented technology
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Surgical robotic tools, data architecture, and use
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Tool grip calibration for robotic surgery
ActiveUS7386365B2Limited tool lifeStringent manufacturing toleranceProgramme-controlled manipulatorDiagnosticsEngineeringActuator
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque / position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator / end effector interfacing, and manufacturing tolerances.
Owner:INTUITIVE SURGICAL OPERATIONS INC
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
Automated calibration of endoscopes with pull wires
ActiveUS9931025B1Precise NavigationAccurately model motion of endoscopeMeasurement devicesEndoscopesSacroiliac jointManipulator
A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the endoscope to a target position and receives data describing an actual position and / or orientation of the endoscope. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and / or the leader, which causes the endoscope to articulate.
Owner:AURIS HEALTH INC
Surgical robotics system
ActiveUS9622827B2Configurability of the robotic arms is an advantagePhysician-greater accessOperating tablesEndoscopesRobotic armDegrees of freedom
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.
Owner:AURIS HEALTH INC
Electro-mechanical interfaces to mount robotic surgical arms
In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Multi-port surgical robotic system architecture
ActiveUS20130325033A1Improve mobilityEasy and fast setupPortable framesDiagnosticsRobotic systemsEngineering
A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Hybrid control surgical robotic system
ActiveUS20140222023A1Control and awarenessImprove safety and efficiencyDiagnosticsSurgical instruments for heatingArm exerciseHand tremor
The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm.
Owner:CHILDRENS NAT MEDICAL CENT
Articulation for surgical roboter
A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment for a surgical tool; a basal segment for attaching the terminal portion to the remainder of the surgical robotic component; and an intermediate compound joint between the distal segment and the basal segment, the intermediate compound joint permitting relative rotation of the distal segment and the basal segment about first, second and third axes; the terminal portion being arranged such that, in at least one configuration of the intermediate compound joint: (i) the axial direction of the basal segment is parallel to the axial direction of the distal segment, and (ii) the first, second and third axes are transverse to the axial directions of the basal and distal segments.
Owner:CMR SURGICAL LTD
Method and system for performing invasive medical procedures using a surgical robot
ActiveUS8219178B2Degree of precisionInternal osteosythesisSurgical needlesGuidance systemSurgical robot
A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.
Owner:CATHOLIC HEALTHCARE WEST ST JOSEPHS HOSPITAL +1
Automated endoscope calibration
ActiveUS20160374541A1Mitigate unwanted bendingMitigate torqueing forceEndoscopesSurgical robotsHysteresisNon linear behavior
A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope's motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.
Owner:AURIS HEALTH INC
Endoscope comprising a system with multiple cameras for use in minimal-invasive surgery
ActiveUS9307894B2Improve coordinationReduce in quantityCannulasSurgical needlesMinimal invasive surgeryBiomedical engineering
The present invention concerns an endoscope for minimally invasive surgery, especially for use within a surgical robotic system, which comprises a main support device (4), which basically extends over the entire length of the endoscope from the outside to the interior of the body, and which comprises at its distal end at least one illumination unit (15, 16) and two imaging devices (12a, 13a, 14a, 12b, 13b, 14b; 12c), wherein each of the imaging devices (12a, 13a, 14a, 12b, 13b, 14b; 12c) is basically arranged in such a way that it can be rotated to the outside on the same level as the main support device (4), a trocar (1), by means of which the endoscope can enter the body, and an additional support device (3), which is provided at the trocar (1) and / or the main support device (4), wherein the additional support device (3) comprises at its distal end an additional imaging device (8, 9, 10, 11), which can be rotated from the additional support device (3) to the outside and wherein the additional imaging device (7, 8, 9, 10) comprises an additional illumination unit (10, 11) and at least an additional image sensor (8, 9), which comprises a monitoring area, which encompasses the two monitoring areas of the imaging devices (12a, 13a, 14a, 12b, 13b, 14b; 12c) of the main support device (4).
Owner:E SYS MEDICAL GMBH +1
Surgical robot and method for controlling the same
InactiveUS20130178868A1Increasing stability and safetyInhibit posture changesDiagnosticsSurgical robotsPhysical medicine and rehabilitationRobot hand
A surgical robot includes a console and a manipulator assembly. The manipulator assembly includes at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links, and a control unit configured to determine whether a mode is changed between a tele-operation mode and a manual mode. The control unit sets output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed, if it is determined that the mode is changed between the tele-operation mode and the manual mode, thereby preventing the vibration and the rapid change of the posture from occurring at the arm of the surgical robot during the change of the mode between the manual mode and the tele-operation mode, thereby increasing stability of the surgical robot.
Owner:SAMSUNG ELECTRONICS CO LTD
Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes
ActiveUS20130006267A1Assisted movementProgramme-controlled manipulatorVehicle fittingsRobotic systemsEngineering
A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and / or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone.
Owner:MAKO SURGICAL CORP
Torque sensing in a surgical robotic wrist
Owner:CMR SURGICAL LTD
Method and system for performing invasive medical procedures using a surgical robot
ActiveUS8219177B2Degree of precisionSurgical needlesSurgical navigation systemsGuidance systemSurgical robot
A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.
Owner:CATHOLIC HEALTHCARE WEST ST JOSEPHS HOSPITAL +1
Motion execution of a robotic system
ActiveUS10695134B2Programme-controlled manipulatorDiagnosticsRobotic systemsPhysical medicine and rehabilitation
A method of surgical robot operation includes moving a surgical instrument through a medium using the surgical robot, where the surgical robot attempts to move the surgical instrument to a desired position. The method further includes measuring an actual position of the surgical instrument, and calculating a difference between the actual position and the desired position. The actual position of the surgical instrument is adjusted to the desired position using the surgical robot.
Owner:VERILY LIFE SCI LLC
Surgical robotic system
ActiveUS7988215B2Simple and compact designReduce rateWaterborne vesselsDiagnosticsHydraulic cylinderRobotic arm
A surgical robotic system includes a robotic arm, an end effector movably connected thereto and provided with a movable end effector element driven by an actuator, and a force sensor arranged between the robotic arm and the end effector. The actuator is formed by a hydraulic cylinder. The robotic arm is provided with a hydraulic line connected to said hydraulic cylinder of the end effector.
Owner:DEUTSCHES ZENTRUM FUER LUFT & RAUMFAHRT EV
Surgical robotic helping hand system
A surgical robotic helping hand system according to the present invention enables a surgeon to effectively operate within a patient's body cavities via surgical instruments manually manipulated outside such cavities by holding the various surgical instruments otherwise held by assistant surgeons during the minimally invasive surgical procedure. At least one of the robot-like surgical instrument holders may be specially configured to contain a laparoscopic instrument such that the laparoscope is contained within a sleeve shifter device and capable of being remote controlled for advancement or retraction of the laparoscope along an axis thereof. The robotic-like arms of the surgical instrument holders and laparoscopic instrument holder are attached to a surgical fixation device having a retractor panel that may be adapted to fit a standard Bookwalter retractor device.
Owner:CHU DAVID
Automated endoscope calibration
ActiveUS10314463B2Accurately model motion of endoscope and navigate endoscopeMitigate unwanted bending and torqueing forceEndoscopesSurgical robotsHysteresisNon linear behavior
A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By accounting for nonlinear behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. The surgical robotic system models the nonlinearities using sets of calibration parameters determined based on images captured by an image sensor of the endoscope. Calibration parameters can describe translational or rotational movements of the endoscope in one or more axis, e.g., pitch and yaw, as well as a slope, hysteresis, or dead zone value corresponding to the endoscope's motion. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath or the leader, which causes the endoscope to articulate.
Owner:AURIS HEALTH INC
Electro-Mechanical Interfaces to Mount Robotic Surgical Arms
In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Tool grip calibration for robotic surgery
ActiveUS20050251110A1Limited tool lifeStringent manufacturing toleranceProgramme controlProgramme-controlled manipulatorEngineeringActuator
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque / position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator / end effector interfacing, and manufacturing tolerances.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Method of real-time tracking of moving/flexible surfaces
The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.
Owner:MACDONALD DETTWILER & ASSOC INC
Surgical robotic tools, data architecture, and use
InactiveUS20050149003A1Avoids frequent delayMechanical apparatusDiagnosticsRobotic systemsEngineering
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information maybe stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Method and system for performing invasive medical procedures using a surgical robot
ActiveUS20080154389A1Degree of precisionSurgical needlesSurgical navigation systemsGuidance systemEngineering
A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.
Owner:CATHOLIC HEALTHCARE WEST ST JOSEPHS HOSPITAL +1
Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems
Example embodiments relate to devices, systems, and methods for performing a surgical action. The device may comprise a port assembly, a camera arm assembly, and an instrument arm assembly. The port assembly comprises an access port and a plurality of anchoring portions. The camera arm assembly comprises at least one camera at a distal end and is configurable to insert into the access port and attach to one of the anchoring portions. The instrument arm assembly comprises a serial arrangement including a plurality of arm segments, a plurality of joint portions, and at least one end instrument attached to one of the arm segments by an instrument joint portion at a distal end. Each joint portion is configurable to provide an attached arm segment with at least one degree of freedom. Furthermore, the instrument joint portion is configurable to provide the end instrument with at least one degree of freedom.
Owner:IEMIS (HK) LTD
Tool grip calibration for robotic surgery
ActiveUS20080114494A1Limited tool lifeStringent manufacturing toleranceProgramme-controlled manipulatorComputer controlEngineeringActuator
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque / position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator / end effector interfacing, and manufacturing tolerances.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Method and apparatus for determining and guiding the toolpath of an orthopedic surgical robot
ActiveUS20130035696A1Enhance safety and accuracy and efficiencyDiagnosticsSurgical navigation systemsSurgical operationSurgical robot
A surgical robot system for cutting bone, the surgical robot system comprising:a surgical robot having an end effector;a cutter attached to the end effector;position determining means for determining the position of a bone which is to be cut vis-à-vis the surgical robot;pre-plan means for storing a pre-planned cut of the bone and instructing the surgical robot to cut bone in accordance with the same;a display for displaying the pre-planned cut of the bone; andinput means for enabling a user to deactivate the pre-plan means and to enable manual control of the cutter by the user.
Owner:THINK SURGICAL
Gradual cardiovascular interventional operation robot
ActiveCN108309370ARealize pushAchieve rotationDiagnosticsAutomatic syringesEngineeringBalloon catheter
The invention discloses a gradual cardiovascular interventional operation robot. The robot comprises a guide wire propulsion module, a balloon catheter propulsion module and a contrast agent injectionmodule, wherein the guide wire propulsion module comprises a guide wire pushing mechanism and a guide wire rotating mechanism, the guide wire pushing mechanism is used for achieving the pushing of aguide wire during a vascular interventional operation, and the guide wire rotating mechanism is used for achieving the rotation of the guide wire during the vascular interventional operation; the balloon catheter propulsion module is used for achieving the pushing of a balloon catheter during the vascular interventional operation, and the contrast agent injection module is used for achieving the injection of a contrast agent during the vascular interventional operation. The gradual cardiovascular interventional operation robot has the advantages that the pushing and rotation of the guide wire,the pushing of the balloon catheter and the injection of the contrast agent can be achieved during the vascular interventional operation, and the guide wire rotating mechanism provides a real-time force feedback function.
Owner:SHANGHAI JIAO TONG UNIV +1
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