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    Passive axis system for robotic surgical systems
    1.
    发明授权
    Passive axis system for robotic surgical systems 有权

    公开(公告)号：US11737843B2

    公开(公告)日：2023-08-29

    申请号：US17399307

    申请日：2021-08-11

    申请人： Covidien LP

    发明人： William Peine ,  Cameron Cecil

    IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B90/00

    CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/71 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/742

    摘要： A robotic surgical system has a user interface with a control arm that includes a passive axis system for maintaining degrees-of-freedom of a gimbal rotatably supported on the control arm as the gimbal is manipulated during a surgical procedure. The control arm includes a swivel member, a first member, and a second member. The swivel member is rotatable about a first axis. The first member rotatably coupled to the swivel member about a second axis that is orthogonal to the first axis. The second member rotatably coupled to the first member about a third axis that is parallel to the second axis. The gimbal rotatably supported by the second member about a fourth axis that is orthogonal to the third axis. The passive axis system correlating rotation of the swivel member about the first axis with rotation of the gimbal about the fourth axis.

    Robotically controlling remote center of motion with software and guide tube
    5.
    发明授权
    Robotically controlling remote center of motion with software and guide tube 有权

    公开(公告)号：US10959794B2

    公开(公告)日：2021-03-30

    申请号：US16717482

    申请日：2019-12-17

    申请人： Covidien LP

    发明人： William Peine

    IPC分类号： A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B17/34 ,  A61B46/10 ,  A61B90/50

    摘要： A robotic surgical system includes a surgical robot and a guide tube. The surgical robot includes a robot arm and a controller. The controller is configured to establish a software-based remote center of motion of a surgical instrument attached to the robot arm based on a location of a surgical portal in a patient through which the surgical instrument is inserted. The guide tube having a trailing end supported by the robot arm of the surgical robot, a leading end inserted in the surgical portal and maintaining alignment between the robotic arm and the surgical portal during a surgical instrument exchange, and an elongated tubular body through which an elongated shaft of the surgical instrument is inserted or removed during the surgical instrument exchange.

    Robotic surgical systems with independent roll, pitch, and yaw scaling
    6.
    发明授权
    Robotic surgical systems with independent roll, pitch, and yaw scaling 有权

    公开(公告)号：US10893913B2

    公开(公告)日：2021-01-19

    申请号：US15772142

    申请日：2016-12-08

    申请人： Covidien LP

    发明人： William Peine

    IPC分类号： A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B34/10 ,  A61B90/00 ,  B25J9/16 ,  B25J11/00 ,  G16H50/50

    摘要： A robotic surgical system includes a linkage, an input device, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input device is rotatable about a first axis of rotation and a second axis of rotation. The processing unit is in communication with the input device and is operatively associated with the linkage to rotate the surgical tool about a first axis of movement based on a scaled rotation of the input device about the first axis of rotation by a first scaling factor and to rotate the surgical tool about a second axis of movement based on a scaled rotation of the input device about the second axis of rotation by a second scaling factor that is different from the first scaling factor.

    CAMERA CONTROL FOR SURGICAL ROBOTIC SYSTEMS
    7.
    发明申请
    CAMERA CONTROL FOR SURGICAL ROBOTIC SYSTEMS 审中-公开

    公开(公告)号：US20200345451A1

    公开(公告)日：2020-11-05

    申请号：US16643137

    申请日：2018-09-04

    申请人： Covidien LP

    发明人： William Peine ,  Albert Dvornik

    IPC分类号： A61B90/00 ,  A61B34/37 ,  B25J9/02 ,  B25J9/10

    摘要： Systems and methods for camera control within surgical robotic systems are provided. One system includes a computing device, multiple robot assemblies, and a surgeon console. Each robot assembly among the multiple robot assemblies includes a robotic arm. A robotic arm of a first robot assembly is coupled to an image capture device. Robotic arms of at least a subset of robot assemblies, different from the first robot assembly, are coupled to surgical instruments. The surgeon console includes multiple handles, each communicatively coupled to a robot assembly coupled to a surgical instrument. The surgeon console is configured to transmit to the computing device one or more packets that include data related to a movement of at least one handle. The computing device configured to calculate a new position of the image capture device and transmit instructions to the first robot assembly to move the image capture device to the new position.

    Systems and methods for controlling a camera position in a surgical robotic system
    8.
    发明授权
    Systems and methods for controlling a camera position in a surgical robotic system 有权

    公开(公告)号：US10743947B2

    公开(公告)日：2020-08-18

    申请号：US15310476

    申请日：2015-05-06

    申请人： Covidien LP

    发明人： William Peine

    IPC分类号： A61B34/30 ,  A61B90/00 ,  A61B34/00

    摘要： The present disclosure is directed to a robotic surgical system. The robotic surgical system includes at least one robot arm, a camera, and a console. The console includes a first handle, a second handle, and a selector switch configured to select between a robotic control mode and a camera control mode. In the system the first handle or the second handle control the at least one robot arm in the robotic control mode and the first handle and the second handle control the camera in the camera control mode.

    MULTI-INPUT ROBOTIC SURGICAL SYSTEM CONTROL SCHEME
    9.
    发明申请
    MULTI-INPUT ROBOTIC SURGICAL SYSTEM CONTROL SCHEME 审中-公开

    公开(公告)号：US20190125462A1

    公开(公告)日：2019-05-02

    申请号：US16306764

    申请日：2017-05-26

    申请人： Covidien LP

    发明人： William Peine ,  Peter Vokrot

    IPC分类号： A61B34/37 ,  A61B34/00 ,  A61B90/00

    摘要： Methods and systems are provided of operating a dual console robotic surgical system. The method includes receiving an input from a first console of the dual console robotic surgical system via a first input handle to move a robotic arm of the robotic surgical system. In response to receiving the input from the first input handle, the robotic arm is moved. Additionally, substantially simultaneously with the moving of the first input handle, an output is provided to thereby move a second input handle of a second console of the dual console robotic surgical system in substantially the same motion as the first input handle.

    MULTI-INPUT ROBOT SURGICAL SYSTEM CONTROL SCHEME
    10.
    发明申请
    MULTI-INPUT ROBOT SURGICAL SYSTEM CONTROL SCHEME 审中-公开

    公开(公告)号：US20180311005A1

    公开(公告)日：2018-11-01

    申请号：US15770038

    申请日：2016-10-20

    申请人： Covidien LP

    发明人： James Mccormick ,  Gabriel McHugh ,  William Peine ,  Renen Bassik

    IPC分类号： A61B34/37 ,  A61B17/32 ,  A61B34/00 ,  A61B17/28 ,  B25J11/00 ,  B25J13/06

    CPC分类号： A61B34/37

    摘要： For controlling a robotic surgical system including arms, consoles, and a controller in communication with the arms and consoles, systems and methods are provided that include receiving a request for selection of a first arm for assignment to a first console, and in response to the request, determining whether the first arm is already assigned, assigning the first arm to the first console, if a determination is made that the first arm is not already assigned, determining whether the first arm is to be deselected from a previous assignment, if a determination is made that the first arm is already assigned, generating an error message, if a determination is made that the first arm is not to be deselected, and deselecting the first arm from the previous assignment and assigning the first arm to the first console, if a determination is made that the first arm is to be deselected.