Patent•
System, control unit and method for control of a surgical robot
28 Dec 2016-
TL;DR: In this paper, a surgical robot system is described, which includes a handheld introducer and a flexible surgical device, and a control unit includes a processor and a memory that stores, among other things, machine readable instructions configured to be executed by a processor.
Abstract: A surgical robot system is disclosed. The surgical robot system includes a handheld introducer and a flexible surgical device. A control unit includes a processor, and a memory that stores, among other things, machine readable instructions configured to be executed by a processor to control a flexible surgical device. The surgical robot system also includes an imaging device, and a tracking system. The processor is configured to generate guidance commands to control the flexible surgical device based on information relaying to the images of the flexible surgical device, and the position of at least on point of the handheld introducer.
Citations
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Patent•
17 Feb 2017
TL;DR: In this paper, an end effector platform moveable along a fixed trajectory on a fictional axle is used for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle, and a partial pulley system is used to articulate the arms while maximizing the pulley radius to shaft diameter.
Abstract: The disclosed technology includes improved microsurgical tools providing multiple degrees of freedom at the wrist level, including roll, pitch, and grasp DOFs, a tight articulation bending radius, low radial offset, and improved stiffness. Some implementations include an end effector platform moveable along a fixed trajectory on a fictional axle so as not to interfere with a central-axis aligned working channel; a crossed-arm mechanical linkage for articulating an end-effector platform throughout a pitch DOF with an amplified pitch angle; and a partial pulley system to articulate the arms while maximizing pulley radius to shaft diameter, and permitting a constant transmission efficiency to the arms throughout the range of articulation. In some implementations, a tool shaft outer diameter may be smaller than 3 mm; a pitch DOF range may be ±90°, a roll DOF range may be ±180°, and a grasp DOF range may be 30°.
234 citations
Patent•
31 Oct 2016
TL;DR: In this article, a method was described for using percutaneous access to a patient to remove an object from a cavity within the patient, which included inserting a suction tube into a port created by a percutaneously cut.
Abstract: A method is described for using percutaneous access to a patient to remove an object from a cavity within the patient The method includes inserting a suction tube into a port created by a percutaneous cut An endoscope is also advanced into the cavity, however the endoscope passes through a patient lumen rather than through the port Using a working channel within the endoscope, fluid is irrigated through the cavity Additionally, a negative pressure is applied to the suction tube, such that the combination of fluid irrigation and negative pressure assist in removing the object from the cavity through the suction tube
69 citations
Patent•
31 Oct 2016
TL;DR: In this paper, a method is described for performing percutaneous operation on a patient to remove an object from a cavity within the patient, which includes advancing a first alignment sensor into the cavity through a patient lumen, where the alignment sensor is manipulated until it is located in proximity to the object and the surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.
Abstract: A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient The method includes advancing a first alignment sensor into the cavity through a patient lumen The first alignment sensor provides its position and orientation in free space in real time The alignment sensor is manipulated until it is located in proximity to the object A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors
69 citations
Patent•
26 Mar 2018
TL;DR: In this paper, a patient introducer for use with a surgical robotic system is disclosed, which includes an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool.
Abstract: A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.
42 citations
Patent•
27 Mar 2018
TL;DR: In this paper, a handle mechanism that permits control of linear motion of a shaft secured within the handle via two different interfaces for actuating the linear motion is described. But the rotational interface can allow for fine control linear positioning of the shaft, for example by allowing a user to rotate the rotating interface to extend or retract the shaft.
Abstract: Certain aspects relate to a handle mechanism that permits control of linear motion of a shaft secured within the handle via two different interfaces for actuating the linear motion. In some aspects, a rotational interface can allow for fine control linear positioning of the shaft, for example by allowing a user to rotate the rotational interface to extend or retract the shaft. In some aspects, a plunging interface can enable a faster linear motion, for example by implementing a biasing mechanism that releases to drive rapid linear motion.
40 citations
References
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Patent•
19 Jun 2003TL;DR: In this paper, the authors proposed a method for providing single-use endoscopes to one or more hospitals by using an endoscope and a control and display unit, which consists of a sensor disposed at a distal end of the endoscope portion and providing endoscope data; one or multiple electronically controlled actuators (e.g., electroactive polymer actuators) controlling the operation of the sensor based on received control signals; and a portable power source coupled to the sensor, the first wireless transceiver, and the actuators.
Abstract: An endoscope apparatus and method of operating the same. The endoscope apparatus comprises an endoscope portion and a control and display unit. The endoscope portion preferably comprises: (i) a sensor disposed at a distal end of the endoscope portion and providing endoscope data; (ii) one or more electronically controlled actuators (e.g., electroactive polymer actuators) controlling the operation of the endoscope portion based on received control signals; (iii) a first wireless transceiver coupled to the sensor and the one or more electronically controlled actuators, transmitting received endoscope data from the sensor and forwarding received control signals to the one or more electronically controlled actuators; and (iv) a portable power source (e.g., a battery) coupled to the sensor, the first wireless transceiver, and the one or more electronically controller actuators. The control and display unit preferably comprises: (i) a second wireless transceiver coupled via a wireless link to the first transceiver in the endoscope portion and receiving endoscope data from the first transceiver and transmitting control signals to the first transceiver; (ii) a control portion coupled to the second wireless transceiver and sending control signals to the one or more actuators in the endoscope portion via the first and second wireless transceivers; and (iii) a display portion that displays information received from the sensor via the first and second wireless transceivers. Another aspect of the present invention is directed to a method for providing single-use endoscopes to one or more hospitals.
812 citations
Patent•
23 Feb 2001
Abstract: An apparatus and method for adjusting the orientation of a surgical viewing instrument, which may be used to view a patient target site and any intervening tissue from outside the body, as the position of the instrument is changed by a user. The instrument is attached to a robotic arm assembly and is movable by both the user and the robot. As the user moves the instrument to a different position, the robot automatically corrects the orientation of the instrument to maintain a viewing trajectory defined by the axis of the instrument and a target coordinate in the patient target site. In another aspect there is an apparatus and method for using a surgical robot and attached ultrasound probe to track a moving target in a patient's body. The ultrasound probe has a pressure sensor in its tip, which is maintained in contact with a tissue surface at a specific location at a constant pressure. Subject to this constraint, the robot is directed to adjust the orientation of the probe, as the target point moves, to maintain the axis of the probe in line with the target point.
812 citations
Patent•
26 Sep 2006TL;DR: In this paper, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limit, and a motor coupled with the torque-to-current converter.
Abstract: In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
627 citations
Patent•
17 Sep 2002
TL;DR: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion, which is used to select a desired path within the patient's body as discussed by the authors.
Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body allowing it to negotiate tortuous curves along a desired path through or around and between organs within the body.
299 citations
Patent•
05 Jun 2006TL;DR: A LUS robotic surgical system is trained by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure as discussed by the authors.
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
266 citations