公开(公告)号：US08715167B2

公开(公告)日：2014-05-06

申请号：US13324746

申请日：2011-12-13

Applicant: John D. Stern ,  Robert G Younge ,  David S. Gere ,  Gunter D. Niemeyer

Inventor： John D. Stern ,  Robert G Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B1/05

CPC classification number: A61B1/00188 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

Abstract translation: 机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化 。 随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子 系统的输入设备或相应的主/从机器人移动命令。 这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。

公开(公告)号：US08527094B2

公开(公告)日：2013-09-03

申请号：US11319012

申请日：2005-12-27

Applicant: Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter D Niemeyer ,  J. Kenneth Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mauherjee

Inventor： Rajesh Kumar ,  Brian Hoffman ,  Giuseppe Prisco ,  David Larkin ,  William Nowlin ,  Frederic Moll ,  Stephen Blumenkranz ,  Gunter D Niemeyer ,  J. Kenneth Salisbury ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin Uecker ,  James Wright ,  Amante Mangaser ,  Ranjan Mauherjee

IPC: A61B1/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

Abstract translation: 用于微创外科手术中的协作或训练的多用户医疗机器人系统包括第一和第二主输入设备，第一从机器人机构和至少一个处理器，该至少一个处理器被配置为通过可切换地产生第一从机器人机构的第一从机命令 使用指示由第一用户操纵第一主输入设备的第一命令中的一个或两个指示由第二用户操纵第二主输入设备的第二命令。 为了促进协作或训练，第一和第二用户通过音频系统相互通信，并且可以看到第一和第二显示器上的微创外科手术部位，分别可由第一和第二用户观看。

公开(公告)号：US08504201B2

公开(公告)日：2013-08-06

申请号：US13299548

申请日：2011-11-18

Applicant: Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

Inventor： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

IPC: G06F19/00 ,  G05B19/04

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

公开(公告)号：US08489235B2

公开(公告)日：2013-07-16

申请号：US12959704

申请日：2010-12-03

Applicant: Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

Inventor： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, Jr. ,  Michael J. Tierney

IPC: G06F19/00 ,  G05B15/00

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

公开(公告)号：US20120130399A1

公开(公告)日：2012-05-24

申请号：US13299548

申请日：2011-11-18

Applicant: Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

Inventor： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

IPC: A61B19/00

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract translation: 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

公开(公告)号：US08123740B2

公开(公告)日：2012-02-28

申请号：US10893613

申请日：2004-07-15

Applicant: Akhil J. Madhani ,  J. Kenneth Salisbury, Jr. ,  Gunter D. Niemeyer

Inventor： Akhil J. Madhani ,  J. Kenneth Salisbury, Jr. ,  Gunter D. Niemeyer

IPC: A61B19/00

CPC classification number: B25J3/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2090/506 ,  B25J9/1615 ,  Y10S901/10 ,  Y10S901/29

Abstract: 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 any 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.

Abstract translation: 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 端部执行器在任何方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。

公开(公告)号：US20120004668A1

公开(公告)日：2012-01-05

申请号：US13118293

申请日：2011-05-27

Applicant: Daniel T. Wallace ,  Frederic H. Moll ,  Robert G. Younge ,  Kenneth M. Martin ,  Gregory J. Stahler ,  David F. Moore ,  Daniel T. Adams ,  Michael R. Zinn ,  Gunter D. Niemeyer

Inventor： Daniel T. Wallace ,  Frederic H. Moll ,  Robert G. Younge ,  Kenneth M. Martin ,  Gregory J. Stahler ,  David F. Moore ,  Daniel T. Adams ,  Michael R. Zinn ,  Gunter D. Niemeyer

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B5/042 ,  A61B5/066 ,  A61B5/6852 ,  A61B5/6885 ,  A61B5/7285 ,  A61B5/746 ,  A61B6/4423 ,  A61B6/503 ,  A61B6/504 ,  A61B6/541 ,  A61B8/0891 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/4461 ,  A61B8/4466 ,  A61B8/543 ,  A61B10/06 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B90/50 ,  A61B2017/00247 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00327 ,  A61B2018/00392 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2034/715 ,  A61B2090/035 ,  A61B2090/367 ,  A61B2090/374 ,  A61B2090/378 ,  A61B2090/3925 ,  A61B2090/397 ,  A61M25/0113 ,  A61M25/09041

Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Abstract translation: 机器人导管系统包括具有主输入装置的控制器。 仪器驱动器与控制器通信，并且具有引导仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个引导仪器驱动元件。 细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。 导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。 引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

公开(公告)号：US07574250B2

公开(公告)日：2009-08-11

申请号：US10358608

申请日：2003-02-04

Applicant: Gunter D. Niemeyer

Inventor： Gunter D. Niemeyer

IPC: A61B5/05 ,  G06F19/00 ,  G05B19/18 ,  B25J9/18 ,  G05B19/19

CPC classification number: A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2090/506

Abstract: An input device of a teleoperator system can be operatively associated with an image of a surgical worksite. Movement of the image may correspond to movement of the input device so that the worksite image appears substantially connected to the input device. The operator can manipulate the worksite into a desired position, typically by repositioning of an image capture device. Dedicated input devices may be provided for a surgical instrument.

Abstract translation: 远程操作员系统的输入设备可以与外科工作场所的图像可操作地相关联。 图像的移动可以对应于输入设备的移动，使得工地图像基本上连接到输入设备。 操作者可以通过重新定位图像捕获装置来将工地操纵到期望的位置。 可以为外科器械提供专用输入装置。

公开(公告)号：US06786896B1

公开(公告)日：2004-09-07

申请号：US09508871

申请日：2000-07-17

Applicant: Akhil Jiten Madhani ,  J. Kenneth Salisbury ,  Gunter D. Niemeyer

Inventor： Akhil Jiten Madhani ,  J. Kenneth Salisbury ,  Gunter D. Niemeyer

IPC: A61B1900

CPC classification number: B25J3/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2090/506 ,  B25J9/1615 ,  Y10S901/10 ,  Y10S901/29

Abstract: 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 any direction is actuated by at least one micro 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 master 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.

Abstract translation: 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 末端执行器在任何方向的平移由至少一个微关节致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个逆雅可比控制器控制，主机由雅可比转移控制器控制。 可以控制具有比主机更多自由度（DOF）的从机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过指挥奴隶与跳动的心脏一起移动，并在主人感觉到的动作中取消任何这样的动作来实现。

公开(公告)号：US06424885B1

公开(公告)日：2002-07-23

申请号：US09373678

申请日：1999-08-13

Applicant: Gunter D. Niemeyer ,  Gary S. Guthart ,  William C. Nowlin ,  Nitish Swarup ,  Gregory K. Toth ,  Robert G. Younge

Inventor： Gunter D. Niemeyer ,  Gary S. Guthart ,  William C. Nowlin ,  Nitish Swarup ,  Gregory K. Toth ,  Robert G. Younge

IPC: G06F1900

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/506

Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

Abstract translation: 增强的远程呈现和远程外科系统自动更新坐标变换，以便保持输入设备的移动和末端执行器与输入设备相邻显示的移动之间的对准。 处理器将控制器工作空间与端部执行器工作区映射，并且响应于输入设备的移动来影响末端执行器的移动。 这允许使用运动学上不同的主从联系。 在万向节附近抓住输入构件，并将适当的输入构件夹到末端执行器映射点，增强操作员的控制。 即使端部执行器的线性移动距离与输入装置的线性运动距离不对应，也可以通过精确跟踪取向和/或运动角度来提高敏捷性。