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公开(公告)号：US20210307830A1
公开(公告)日：2021-10-07
申请号：US16018039
申请日：2018-06-25
发明人： Kevin Andrew Hufford , Mohan Nathan
IPC分类号： A61B34/10 , A61B34/32 , A61B17/3207 , G16H20/40
摘要： In a system and method for assessing tissue excision comprise, first 3-dimensional data is acquired for a surgical region of interest from which tissue is to be excised, the first data defining initial geometry of tissue in the region of interest. A desired excision parameter, such as depth or shape, is determined and tissue is excised from the region of interest. Second 3-dimensional data for the region of interest is then acquired, the second scan data defining post-excision geometry of the tissue in the region of interest. The first and second data is compared to determine whether the desired excision parameter has been reached. The 3-dimensional data may be scan data acquired using a 3D or 2D endoscope, and/or it may be derived from kinematic data generated as a result of moving an instrument tip over the region of interest.
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公开(公告)号：US20170165019A1
公开(公告)日：2017-06-15
申请号：US15439915
申请日：2017-02-22
发明人： Matthew R. Penny , Nicholas J. Bender , Mohan Nathan , Nicholas J. Jardine , Galen Robertson , Carson Shellenberger , Lucas A. Tew , Richard M. Mueller , James Cuevas , Jeff Wilson , Keith Philip Laby
CPC分类号： A61B34/71 , A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2017/003 , A61B2017/00477 , A61B2017/2906 , A61B2017/3447 , A61B2019/2211 , A61B2019/2223 , A61B2019/2234 , A61B2019/2242 , A61B2034/301 , A61B2034/305
摘要： A motorized surgical system includes at least one support positionable within a sterile field in proximity to a patient positioned on a surgical table. An instrument driver is carried by the support and includes a steerable distal end positionable in a body cavity. A user input device is carried by the support and is configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user. One or more steering motors are operably coupled to the instrument driver and are operable to deflect the steerable distal end of the instrument driver in response to the movement signals.
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公开(公告)号：US20210256719A1
公开(公告)日：2021-08-19
申请号：US17099761
申请日：2020-11-16
发明人： Kevin Andrew Hufford , Tal Nir , Lior Alpert , Gal Wiezman , Alexander John Maret , Mohan Nathan
摘要： A system for measuring distances within a surgical site includes a camera positionable to capture 3D image data corresponding to a treatment site. Using the image data, the system determines the relative 3D positions of identified measurement points at the treatment site captured in the images, and it estimates or determines the distance between the measurement points. Output is generated communicating the measured distances to the user. The measurement taken follows the 3D topography of the tissue positioned between the measurement points.
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公开(公告)号：US09333040B2
公开(公告)日：2016-05-10
申请号：US13759036
申请日：2013-02-04
发明人： Carson Shellenberger , Keith Phillip Laby , Richard M Mueller , Nicholas J. Bender , Galen Robertson , Nicholas J. Jardine , Matthew R. Penny , Mohan Nathan , Lucas Tew , James Cuevas , Jeff Wilson
CPC分类号： A61B34/71 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2017/003 , A61B2017/00477 , A61B2017/2906 , A61B2017/3447 , A61B2034/301 , A61B2034/305
摘要： A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.
摘要翻译： 手术系统包括具有可在体腔内定位的远端的用户输入装置的仪器驱动器。 仪器驱动器和用户输入装置被定位成可分别地接收外科器械的远侧和近端部分。 用户输入装置被配置为响应于手术操作手术器械的近端部分而产生运动信号。 至少一个电动机可操作以响应于运动信号致动仪器驱动器，从而改变外科器械在体腔内的远端部分的位置。
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公开(公告)号：US20200205901A1
公开(公告)日：2020-07-02
申请号：US16732304
申请日：2019-12-31
摘要： In a surgical method using a robotic system, a distal end of a robotically controlled surgical instrument is positioned in a patient body cavity. Operation of the instrument is controlled in response to input provided by a surgeon at an input device. An image of the interior of the body cavity is captured for display on a display. A boundary in the body cavity is identified using the image processing software by distinguishing between different colors on the image. In response to identification of the boundary, at least one of the following modes of operation is performed: providing a haptic contract at the surgeon console constraining movement of the surgical instrument to maintain the instrument along the boundary; preventing activation of an electrosurgical function of the instrument except with the instrument is within a defined distance from the boundary; allowing activation of an electrosurgical function of the instrument only when the instrument is positioned along the boundary
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公开(公告)号：US09232978B2
公开(公告)日：2016-01-12
申请号：US13759036
申请日：2013-02-04
发明人： Carson Shellenberger , Keith Phillip Laby , Richard M Mueller , Nicholas J. Bender , Galen Robertson , Nicholas J. Jardine , Matthew R. Penny , Mohan Nathan , Lucas Tew , James Cuevas , Jeff Wilson
摘要： A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.
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7.发明申请公开(公告)号：US20210393331A1
公开(公告)日：2021-12-23
申请号：US16237444
申请日：2018-12-31
摘要： A robotic surgical system comprises a surgical instrument moveable by a robotic manipulator within a work area. A processor is configured to receive input identifying a structure at the operative site to be avoided by the surgical instrument, to automatically determine whether the surgical instrument is approaching contact with the structure, and to initiate an avoidance step if the system determines that the surgical instrument is approaching contact with the structure.
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公开(公告)号：US20210307771A1
公开(公告)日：2021-10-07
申请号：US16237430
申请日：2018-12-31
发明人： Mohan Nathan , Matthew Robert Penny
摘要： A surgical system includes a robotic manipulator, a first surgical instrument removably mountable to the robotic manipulator and maneuverable within a body cavity by the robotic manipulator. The instrument has end effector and a working channel proportioned to receive an implement therethrough. Robotic control of the first surgical and, optionally, the implement, is managed using input from a user interface.
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