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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.
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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.
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公开(公告)号：US11369450B2
公开(公告)日：2022-06-28
申请号：US15600477
申请日：2017-05-19
IPC分类号： A61B46/10 , A61B50/30 , A61B34/30 , A61B50/00 , A61B34/35 , A61B17/34 , A61B17/00 , A61B90/40
摘要： A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.
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公开(公告)号：US20200315721A1
公开(公告)日：2020-10-08
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.
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公开(公告)号：US20170333147A1
公开(公告)日：2017-11-23
申请号：US15600477
申请日：2017-05-19
CPC分类号： A61B46/10 , A61B17/3421 , A61B34/30 , A61B34/35 , A61B50/30 , A61B90/40 , A61B2017/00477 , A61B2050/0066
摘要： A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.
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公开(公告)号：US11166770B2
公开(公告)日：2021-11-09
申请号：US16331460
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
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公开(公告)号：US11076925B2
公开(公告)日：2021-08-03
申请号：US16327986
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
IPC分类号： A61B17/34 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/32 , A61B34/35 , A61B46/00 , A61B46/10 , A61B50/13 , A61B50/15 , A61B50/33 , A61B90/00 , A61B90/50 , B25J9/16 , A61B90/57
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
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公开(公告)号：US20190216555A1
公开(公告)日：2019-07-18
申请号：US16331460
申请日：2017-09-07
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
CPC分类号： A61B34/30 , A61B34/00 , A61B50/13 , A61B90/03 , A61B90/50 , A61B2034/2048 , A61B2034/2059 , B25J9/126 , B25J9/1664 , B25J9/1689
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
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公开(公告)号：US20220273388A1
公开(公告)日：2022-09-01
申请号：US17750928
申请日：2022-05-23
摘要： A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.
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公开(公告)号：US20220022980A1
公开(公告)日：2022-01-27
申请号：US17494300
申请日：2021-10-05
发明人： Simon Peter DiMaio , Nicholas Leo Bernstein , Paul Millman , Dinesh Rabindran , Alec Paul Robertson
摘要： A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
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