-
公开(公告)号：US20240139936A1
公开(公告)日：2024-05-02
申请号：US18409350
申请日：2024-01-10
CPC分类号： B25J9/02 , B25J9/0084 , B25J9/1697 , B25J15/0071
摘要： A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.
-
公开(公告)号：US11950870B2
公开(公告)日：2024-04-09
申请号：US18160851
申请日：2023-01-27
发明人： Dinesh Rabindran , Katherine Suzanne Anderson , Nicholas Leo Bernstein , Simon Peter Dimaio , Catherine Mohr , Theodore W. Rogers , Kollin Myles Tierling , Andrew Cullen Waterbury
CPC分类号： A61B34/35 , A61B90/03 , A61B90/06 , B25J9/1697 , A61B1/00193 , A61B2017/00212 , A61B2017/00557 , A61B2017/00561 , A61B17/29 , A61B17/3423 , A61B17/3468 , A61B2034/301 , A61B2034/302 , A61B2090/064 , A61B2217/005
摘要： Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.
-
公开(公告)号：US11679499B2
公开(公告)日：2023-06-20
申请号：US17493918
申请日：2021-10-05
CPC分类号： B25J9/1653 , A61B34/37 , B25J9/1607 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J9/1694 , G05B2219/37388
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
-
公开(公告)号：US11161243B2
公开(公告)日：2021-11-02
申请号：US16185687
申请日：2018-11-09
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
-
公开(公告)号：US20190143513A1
公开(公告)日：2019-05-16
申请号：US16185687
申请日：2018-11-09
IPC分类号： B25J9/16
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
-
6.发明公开公开(公告)号：US20240070875A1
公开(公告)日：2024-02-29
申请号：US18259833
申请日：2021-12-29
CPC分类号： G06T7/20 , G06T7/30 , G06T7/60 , G06T2207/30241
摘要： A system includes a memory and a processing unit coupled to the memory. The processing unit is configured to receive first image data from a first image sensor exterior to a body, the first image data including data of an object; receive second image data from a second image sensor interior to the body, the second image data including data of the object; track the object moving across a body wall of the body based on the first and second image data to generate a tracking result to indicate a status of movement of the object across the body wall.
-
公开(公告)号：US20230248454A1
公开(公告)日：2023-08-10
申请号：US18301905
申请日：2023-04-17
CPC分类号： A61B34/30 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J13/08 , B25J15/0019 , A61B2034/2059
摘要： A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
-
公开(公告)号：US20230071306A1
公开(公告)日：2023-03-09
申请号：US17800279
申请日：2021-02-18
发明人： KYLE R. MILLER , Joseph D. Bogusky , Duane W. Marion , Ian E. McDowall , Tabish Mustufa , Dinesh Rabindran , Benjamin J. Schoettgen , Jignesh Shah , Tao Zhao
摘要： A computer-assisted medical device is configured and used to endoluminally navigate to a location in the gastrointestinal system and there treat certain body lumen wall areas while avoiding other body lumen wall areas. Embodiments ablate the inner mucosal layer and sub-mucosal nerve plexus of the stomach, duodenum and jejunum to effect treatment of insulin resistance and metabolic disorders, such as Type II diabetes (T2D), polycystic ovarian syndrome (PCOS), non-alcoholic steatohepatitis (NASH), non-alcoholic fatty liver disease (NAFLD), congestive heart failure (CHF) and obstructive sleep apnea (OSA). Various sensors are used to assist a clinical operator to navigate from the mouth through the pyloric sphincter and into and through the duodenum and/or jejunum. Various sensors are used to map and identify portions of the duodenum and/or jejunum. Various lumen wall ablation devices and methods are described. Various post-treatment assessments are described.
-
公开(公告)号：US11596486B2
公开(公告)日：2023-03-07
申请号：US16305203
申请日：2017-06-07
发明人： Dinesh Rabindran , Katherine Suzanne Anderson , Nicholas Leo Bernstein , Simon Peter DiMaio , Catherine Mohr , Theodore W. Rogers , Kollin Myles Tierling , Andrew Cullen Waterbury
摘要： Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.
-
公开(公告)号：US20220218432A1
公开(公告)日：2022-07-14
申请号：US17610376
申请日：2020-05-29
发明人： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Brandon D. Itkowitz , Omid Mohareri , Dinesh Rabindran
摘要： A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.
-
-
-
-
-
-
-
-
-
搜索结果
34 条记录 (耗时 0.027 秒)
