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.

Method and apparatus for performing minimally invasive cardiac procedures

This invention is a surgical system (10) that may include a remotely controlled surgical instrument. The surgical instrument may be coupled to a tool driver (1602) that can spin, and actuate the instrument. The instrument may include an actuator rod that is coupled to an end effector (1710), and detachably connected to a push rod (1654). The push rod (1836) can move relative to the handle to actuate the end effector. The end effector may include a fixture that conforms to the shape of a needle (1712). The handle (1812) can be secured to the tool driver by inserting pins into corresponding slots that are located on both the instrument and the tool driver. The instrument can be controlled by an operator through a pair of handles (1806). Each handle may be mechanically balanced by a counterweight. The surgical system may also include a touch pad (1808) that allows the operator to enter parameters of the system.

Method and apparatus for performing minimally invasive surgical procedures

This paper provides a broad overview of medical robot systems used in surgery. After introducing basic concepts of computer-integrated surgery, surgical CAD/CAM, and surgical assistants, it discusses some of the major design issues particular to medical robots. It then illustrates these issues and the broader themes introduced earlier with examples of current surgical CAD/CAM and surgical assistant systems. Finally, it provides a brief synopsis of current research challenges and closes with a few thoughts on the research/industry/clinician teamwork that is essential for progress in the field.

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Medical robotics in computer-integrated surgery

The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human's actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon's hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicking of the surgeon's behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon's humanly limited senses while not introducing disruptive variables to the surgeon's naturally occurring operation of his neurophysiology. This is therefore also a new field, neurophysiological symbiotic robotics.

Surgical robot and robotic controller

A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with 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 to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of 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 include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.

Medical robotic arm that is attached to an operating table

This paper reports the development of a robotic system designed to extend a human’s ability to perform small-scale (sub-millimeter) manipulation tasks requiring human judgment, sensory integration,...

A Steady-Hand Robotic System for Microsurgical Augmentation

A voice command and control medical care system is provided which comprises a processor having a continuous speech recognition capability. The processor is programmed to process a user's conversational speech to identify valid commands therein and to generate control signals for operating medical equipment such as surgical tools in accordance with the commands. The processor is programmed to generate audio messages reporting status information when requested, and to generate confirmation messages and await acknowledgement before executing a command. The system is configurable to interface with and control via voice activation essentially and piece of medical equipment having instruments and control switches that can be controlled via electrical or electromagnetic signals.

Voice command and control medical care system

A surgical instrument includes a handle having a pair of actuating wings and a removable instrument tip. The instrument tip is constructed to perform a surgical operation. The handle includes an axially movable slider actuated by the actuating wings which operate the instrument tip. A shaft extends through the handle and is coupled to the instrument tip so that rotation of the shaft rotates the tip without interfering with the axial movement of the slider. The gripping surface of the actuating wings have a rounded surface to allow limited rotational movement of the instrument in the user's hand. The gripping surfaces are inclined toward the instrument tip to resist the handle slipping from the user's hand during use in the near vertical orientation.

Surgical instrument having a handle with a removable, rotatable tip

Background/Purpose:A safe, effective adhesive could be useful in the management of retinal holes or tears and selected complicated retinal detachments, as well as for attaching a small electronic device (retinal prosthesis) to the retina. In this study, we examined nine commercially available compou

Bioadhesives for intraocular use.

A microcatheter system that allows for vascular infusion into retinal veins for extended periods of time. The microcatheter system includes a flexible cannula that is inserted into the retinal vein lumen and that remains stably within the retinal vein lumen without being held by a robot, micromanipulator or similar holding devices. The microcatheter system is particularly suitable for the treatment of retinal venous occlusive disease.

Eugene deJuan

Papers

A Steady-Hand Robotic System for Microsurgical Augmentation

Voice command and control medical care system

Surgical instrument having a handle with a removable, rotatable tip

Bioadhesives for intraocular use.

Device and method for manual retinal vein catheterization