公开(公告)号：US20240277429A1

公开(公告)日：2024-08-22

申请号：US18653622

申请日：2024-05-02

申请人： Auris Health, Inc.

发明人： Frederic H. Moll ,  Alan Lau Yu

IPC分类号： A61B34/30 ,  A61B1/00 ,  A61B1/267 ,  A61B1/273 ,  A61B1/303 ,  A61B1/307 ,  A61B1/31 ,  A61B1/313 ,  A61B34/00 ,  A61B34/20 ,  A61B50/10 ,  A61B90/50 ,  A61B90/57 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10

CPC分类号： A61B34/30 ,  A61B1/00149 ,  A61B34/00 ,  A61B34/20 ,  A61B50/10 ,  A61B90/50 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10 ,  A61B1/2676 ,  A61B1/2736 ,  A61B1/303 ,  A61B1/307 ,  A61B1/31 ,  A61B1/3132 ,  A61B2034/304 ,  A61B2090/571 ,  A61G13/101

摘要： A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

公开(公告)号：US20240180648A1

公开(公告)日：2024-06-06

申请号：US18548322

申请日：2022-03-09

申请人： THE UNIVERSITY OF HONG KONG

发明人： Ka Wai KWOK ,  Zhouliang HE ,  Jing DAI ,  Ge FANG ,  Xiaomei WANG

IPC分类号： A61B34/35 ,  A61B17/00 ,  A61B90/00 ,  A61N7/02

CPC分类号： A61B34/35 ,  A61B17/00 ,  A61B90/37 ,  A61N7/02 ,  A61B2034/304

摘要： A robot that is used to move a transducer of an MRI-guided focused ultrasound (FUS) system that can focus ultrasound at specific target spots in a patient's body to induce micro-mechanical effects. The robot has a bottom framework, a lower translation platform mounted on the bottom framework for linear motion with respect to the bottom framework. A robot base mounted on the lower translation platform, a rotation platform mounted on the robot base for rotational motion with respect to the robot base, an upper translation platform mounted on the rotation platform for linear motion with respect to the robot base and an end-effector mounted on the upper translation platform and supporting the FUS transducer such that motion of the end-effector is due to motion of the platforms while aiming the transducer focal point.

公开(公告)号：US20240180643A1

公开(公告)日：2024-06-06

申请号：US18525729

申请日：2023-11-30

申请人： Imperative Care, Inc.

发明人： Matthew Hutter ,  Robert Hitchcock ,  Kyle Bartholomew ,  Sami Ur-Rehman Shad ,  Craig Mar ,  Lilip Lau

IPC分类号： A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61G13/10

CPC分类号： A61B34/30 ,  A61B17/00 ,  A61B34/71 ,  A61G13/10 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/304

摘要： A robotic drive system includes a drive table having a main body and an extendable member configured to be at least partially received within the main body and being extendable from an end of the main body. One or more hub adapters are coupled with the drive table and are configured to couple to a corresponding hub so that axial movement of the one or more hub adapters drives the corresponding hub.

公开(公告)号：US11969889B2

公开(公告)日：2024-04-30

申请号：US18113775

申请日：2023-02-24

申请人： Intuitive Surgical Operations, Inc.

发明人： Thomas G. Cooper ,  S. Christopher Anderson

IPC分类号： B25J9/10 ,  A61B1/005 ,  A61B34/00 ,  A61B17/00 ,  A61B34/30 ,  F16H21/54

CPC分类号： B25J9/1045 ,  A61B1/0057 ,  A61B34/71 ,  B25J9/104 ,  B25J9/106 ,  A61B2017/00477 ,  A61B34/30 ,  A61B2034/304 ,  A61B2034/306 ,  F16H21/54 ,  Y10T74/18712 ,  Y10T74/20335

摘要： A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

公开(公告)号：US20230397956A1

公开(公告)日：2023-12-14

申请号：US18453357

申请日：2023-08-22

申请人： GLOBUS MEDICAL, INC.

发明人： Neil R. Crawford ,  Norbert Johnson

IPC分类号： A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B6/00 ,  G06T19/00 ,  A61B34/20 ,  A61B17/56 ,  A61B90/00 ,  G16H30/20 ,  A61B17/70 ,  G16H40/63 ,  G06F3/0488 ,  A61B17/00 ,  B25J9/06 ,  A61B90/13 ,  B25J9/00

CPC分类号： A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B6/547 ,  A61B34/71 ,  G06T19/006 ,  A61B34/20 ,  A61B6/487 ,  A61B17/56 ,  A61B90/37 ,  G16H30/20 ,  A61B17/7001 ,  A61B34/74 ,  G16H40/63 ,  A61B17/7074 ,  G06F3/0488 ,  A61B2090/3983 ,  A61B2034/108 ,  A61B2017/00199 ,  A61B2090/3937 ,  A61B2034/252 ,  A61B2090/376 ,  A61B2560/0475 ,  A61B2090/371 ,  A61B2034/207 ,  A61B2090/365 ,  B25J9/06 ,  A61B2034/107 ,  A61B2090/363 ,  A61B2034/304 ,  A61B2034/2072 ,  A61B2034/2057 ,  A61B2090/3762 ,  A61B2034/2055 ,  A61B2034/256 ,  A61B90/13 ,  A61B2034/254 ,  A61B2034/102 ,  B25J9/0021 ,  A61B2034/305

摘要： A surgical implant planning computer is connectable to a fluoroscopy imager, a marker tracking camera, and a robot having a robot base coupled to a robot arm that is movable by motors relative to the robot base. Operations include performing a registration setup mode that determines occurrence of a first condition indicating the marker tracking camera can observe to track reflective markers that are on a fluoroscopy registration fixture of the fluoroscopy imager, and determines occurrence of a second condition indicating the marker tracking camera can observe to track dynamic reference base markers attached to the robot arm and/or an end-effector connected to the robot arm. While both of the first and second conditions occur, operations are allowed to be performed to obtain a first intra-operative fluoroscopic image of a patient along a first plane and to obtain a second intra-operative fluoroscopic image of the patient along a second plane that is orthogonal to the first plane.

公开(公告)号：US11806096B2

公开(公告)日：2023-11-07

申请号：US16703033

申请日：2019-12-04

申请人： MAKO Surgical Corp.

发明人： James E. Flatt ,  Robert Dodde ,  Jonathan Boyer ,  Larry Douglas O'Cull ,  Victor Soto

IPC分类号： A61B46/00 ,  A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B34/70 ,  A61B34/74 ,  A61B46/00 ,  A61B46/10 ,  A61B46/23 ,  A61B90/50 ,  B25J17/00 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2560/04

摘要： A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

公开(公告)号：US20190209251A1

公开(公告)日：2019-07-11

申请号：US16355517

申请日：2019-03-15

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC分类号： A61B34/35 ,  A61B50/18 ,  A61B50/10 ,  A61B34/30

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B2017/00017 ,  A61B2034/304 ,  A61B2050/105

摘要： A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.

公开(公告)号：US20190201135A1

公开(公告)日：2019-07-04

申请号：US15940680

申请日：2018-03-29

申请人： Ethicon LLC

发明人： Frederick E. Shelton, IV ,  Jason L. Harris ,  David C. Yates ,  Jeffrey D. Messerly

IPC分类号： A61B34/32 ,  A61B18/12 ,  A61B17/115 ,  A61B17/072 ,  A61B17/32 ,  G16H20/40

CPC分类号： A61B34/35 ,  A61B1/045 ,  A61B17/07207 ,  A61B17/1155 ,  A61B17/320068 ,  A61B17/320092 ,  A61B18/00 ,  A61B18/1206 ,  A61B18/14 ,  A61B18/1442 ,  A61B18/1445 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B90/30 ,  A61B90/361 ,  A61B90/37 ,  A61B90/53 ,  A61B90/90 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00026 ,  A61B2017/00039 ,  A61B2017/00044 ,  A61B2017/00084 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00199 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00442 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/00818 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2017/320074 ,  A61B2017/320093 ,  A61B2018/00541 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00607 ,  A61B2018/00613 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00827 ,  A61B2018/00875 ,  A61B2018/00892 ,  A61B2018/00982 ,  A61B2018/00994 ,  A61B2018/126 ,  A61B2018/1273 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/254 ,  A61B2034/302 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/066 ,  A61B2090/0808 ,  A61B2090/0811 ,  A61B2090/3945 ,  A61B2090/3975 ,  A61B2217/005 ,  A61B2217/007 ,  A61B2218/002 ,  A61B2218/007 ,  A61B2218/008 ,  A61N1/0412 ,  A61N1/327 ,  G16H20/30 ,  G16H20/40 ,  G16H40/63

摘要： Various robotic surgical systems are disclosed. A robotic surgical system comprises a robotic tool, a control system, and a secondary control module. The control system comprises a control console configured to receive a first user input, and also comprises a control unit in signal communication with the control console and the robotic tool. The secondary control module is configured to receive a second user input, and is in signal communication with the control system.

公开(公告)号：US20190201120A1

公开(公告)日：2019-07-04

申请号：US15940711

申请日：2018-03-29

申请人： Ethicon LLC

发明人： Frederick E. Shelton, IV ,  Jerome R. Morgan ,  Jason L. Harris ,  David C. Yates

IPC分类号： A61B34/00 ,  A61B34/35

CPC分类号： A61B34/25 ,  A61B34/35 ,  A61B34/76 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00199 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2017/00477 ,  A61B2034/254 ,  A61B2034/302 ,  A61B2034/304 ,  A61B2034/305 ,  G16H20/40 ,  G16H40/60 ,  G16H40/63

摘要： Various surgical systems are disclosed. A surgical system comprises a robotic system. The robotic system comprises a control unit; a robotic arm comprising an attachment portion; a first sensor system in signal communication with the control unit; and a second sensor system. The first sensor system is configured to detect a position of the attachment portion. A surgical tool is removably attached to the attachment portion. The second sensor system is independent of the first sensor system and is configured to detect a position of the surgical tool.

公开(公告)号：US20180256270A1

公开(公告)日：2018-09-13

申请号：US15978357

申请日：2018-05-14

申请人： Intuitive Surgical Operations, Inc.

发明人： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC分类号： A61B34/30 ,  A61B90/10 ,  A61B34/37 ,  A61B34/00 ,  A61B90/50 ,  A61B90/00 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/17 ,  Y10S901/18

摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.