公开(公告)号：US20240358551A1

公开(公告)日：2024-10-31

申请号：US18656491

申请日：2024-05-06

申请人： Auris Health, Inc.

发明人： Jeffery B. Alvarez ,  Greg Kintz ,  David Mintz ,  Serena Wong

IPC分类号： A61F9/008 ,  A61B34/30 ,  A61B34/37 ,  A61F9/007

CPC分类号： A61F9/008 ,  A61B34/30 ,  A61B34/37 ,  A61F9/00736 ,  A61F2009/00851 ,  A61F2009/0087 ,  A61F2009/00887 ,  A61F2009/00889

摘要： Techniques for facilitating the removal of material from an anatomical structure with a robotic system are discussed herein. For example, the robotic system can include a first robotic component configured to control movement of a first device and a second robotic component configured to control movement of a second device. The first device and the second device can be controlled within a chamber of the anatomical structure to remove material from the chamber. For instance, the first device can be controlled to emit energy to break up the material into pieces and the second device can be controlled to remove the pieces from the chamber. In some cases, the first device can be controlled to gradually vary a parameter associated with the first device between a first value and a second value.

公开(公告)号：US12127807B2

公开(公告)日：2024-10-29

申请号：US17837422

申请日：2022-06-10

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Daniel H. Gomez ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert E. Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC分类号： A61B50/20 ,  A61B1/00 ,  A61B17/02 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/30 ,  A61B90/98 ,  A61M13/00 ,  B25J15/00 ,  B25J15/04 ,  B32B3/12 ,  F16F1/12 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  H05K1/18 ,  A61B17/00 ,  A61B17/29 ,  A61B90/50 ,  B25J15/02 ,  G03B5/02

CPC分类号： A61B34/70 ,  A61B1/00135 ,  A61B1/00142 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/003 ,  B25J15/0066 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  H05K1/18 ,  A61B2017/00477 ,  A61B17/29 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2050/3008 ,  A61B2090/5025 ,  B25J15/02 ,  G03B5/02 ,  G03B2205/0015 ,  G03B2205/0069 ,  H01F2005/027 ,  Y10T74/20305

摘要： A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

公开(公告)号：US20240350219A1

公开(公告)日：2024-10-24

申请号：US18649939

申请日：2024-04-29

申请人： Intuitive Surgical Operations, Inc.

发明人： Arjang Hourtash ,  Goran Lynch

IPC分类号： A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/00 ,  B25J9/16

CPC分类号： A61B34/77 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  B25J9/0045 ,  B25J9/1676 ,  B25J9/1689

摘要： Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

公开(公告)号：US20240350190A1

公开(公告)日：2024-10-24

申请号：US18678260

申请日：2024-05-30

申请人： KARL STORZ SE & Co. KG

发明人： Sven GRÜNER ,  Jochen STEFAN

IPC分类号： A61B18/14 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B34/37

CPC分类号： A61B18/1445 ,  A61B34/30 ,  A61B2017/00367 ,  A61B2017/00526 ,  A61B2018/00077 ,  A61B2018/00083 ,  A61B2034/301 ,  A61B34/37

摘要： The present application provides an endoscopic device having at least one shaft, which has at least one portion deflectable in at least one plane, and having at least one deflection mechanism, which is configured to deflect the deflectable portion of the shaft and includes, arranged in series, at least one first connection member and at least one second connection member interacting for a deflection with the first connection member, and includes at least one flexurally slack control train, which is configured to adjust a deflection of the deflectable portion. At least the second connection member includes at least one connection member main body, which includes a passageway for guiding the control train, and at least one radial opening which is connected to the passageway and via which the control train is insertable into the passageway.

公开(公告)号：US20240341884A1

公开(公告)日：2024-10-17

申请号：US18754325

申请日：2024-06-26

申请人： RIVERFIELD INC.

发明人： Masao KANAZAWA ,  Hiroki KAYASUGA

IPC分类号： A61B34/37 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00

CPC分类号： A61B34/37 ,  A61B1/00149 ,  A61B17/29 ,  A61B17/34 ,  A61B34/25 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/06 ,  A61B90/361 ,  A61B2017/00398 ,  A61B2017/2929 ,  A61B2034/302 ,  A61B2090/067

摘要： A master-side device for remotely manipulating a slave-side device includes a manipulator having a range of movement and used to manipulate a movable part of the slave-side device, and control processing circuitry that performs processing of determining a correspondence relationship between an amount of a manipulation of the manipulator and an amount of movement of the movable part, and controls the movable part in response to the manipulation of the manipulator, based on the correspondence relationship.

公开(公告)号：US20240341875A1

公开(公告)日：2024-10-17

申请号：US18674086

申请日：2024-05-24

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Giuseppe Maria Prisco

IPC分类号： A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/37 ,  B25J9/10

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  B25J9/1045 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2034/715

摘要： A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a first coupling feature and a drive system including a rotatable drive element. The rotatable drive element includes a second coupling feature. The first and second coupling features have an aligned engagement configuration in which rotation of the rotatable drive element induces rotation of the rotatable capstan and a non-aligned engagement configuration in which rotation of the rotatable drive element does not induce rotation of the rotatable capstan.

公开(公告)号：US20240341862A1

公开(公告)日：2024-10-17

申请号：US18645028

申请日：2024-04-24

申请人： INTELLIJOINT SURGICAL INC.

发明人： RICHARD TYLER FANSON ,  ANDRE NOVOMIR HLADIO ,  SAMANTHA McCABE

IPC分类号： A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B34/37 ,  G16H20/40 ,  G16H40/67

CPC分类号： A61B34/20 ,  A61B34/10 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  G16H20/40 ,  G16H40/67 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2072 ,  A61B2505/05

摘要： OR computing system monitoring is described including self-monitoring and monitoring, with or without intervention, via a monitoring computing system. For a patient procedure in an OR, positions of one or more objects are tracked using sensors. Intra-operative data including pose information is communicated (e.g. in real time) to a monitoring computing system to present the intra-operative data including object positions in a GUI. Pose information may be sensor data with which to calculate a pose of an object or pre-calculated pose data. Intra-operative data may be a workflow state of the procedure to display workflow UI screens. A virtual view of the OR may be presented from pose information and geometric data for OR equipment. Working volumes of OR equipment including collision warning may be presented. OR equipment may include a localizer and/or a robot. Self-monitoring may evaluate progress in a procedure and trigger a request (e.g. to monitor).

公开(公告)号：US12114951B2

公开(公告)日：2024-10-15

申请号：US17131484

申请日：2020-12-22

申请人： Auris Health, Inc.

发明人： Shinnosuke Inoue

IPC分类号： A61B34/00 ,  B25J13/00 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37

CPC分类号： A61B34/70 ,  B25J13/00 ,  A61B17/29 ,  A61B2034/305 ,  A61B34/37 ,  A61B2034/715 ,  A61B34/77

摘要： A surgical instrument includes a surgical effector having a wrist configured to manipulate objects at a surgical site, one or more robotically operable input controllers configured to open and close the wrist of the surgical effector, and a manual actuator configured to open and close the wrist of the surgical effector.

公开(公告)号：US20240335247A1

公开(公告)日：2024-10-10

申请号：US18747060

申请日：2024-06-18

申请人： SINOVATION (BEIJING) MEDICAL TECHNOLOGY CO., LTD.

发明人： Wenbo LIU ,  Chenlong CHU ,  Li WEN ,  Qi QI

IPC分类号： A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G06T7/521 ,  G06T7/70

CPC分类号： A61B34/37 ,  A61B34/20 ,  G06T7/521 ,  G06T7/70 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2090/064 ,  G06T2207/10028 ,  G06T2207/30004 ,  G06T2207/30244

摘要： A surgical robot system is provided. The surgical robot system includes a workstation, a robotic arm, a scanning module and a guiding module. The workstation includes a housing, a computation and control center, a display apparatus and an input device. The robotic arm includes multiple arm segments connected by joints. The scanning module collects information for a target space. The guiding module guides a surgical instrument to move in a trajectory. The guiding module is connectable to the robotic arm. The guiding module includes a through hole and assists the surgical instruments to move along an axial direction of the through hole. Information collected by the scanning module is processed by the workstation to acquire three-dimensional information of the target space.

公开(公告)号：US20240335246A1

公开(公告)日：2024-10-10

申请号：US18744297

申请日：2024-06-14

申请人： Distalmotion SA

发明人： Julien CHASSOT ,  Michael FRIEDRICH

IPC分类号： A61B34/37 ,  A61B17/00 ,  A61B18/14 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/98 ,  B25J9/16 ,  G16H40/63

CPC分类号： A61B34/37 ,  A61B18/1442 ,  A61B34/20 ,  A61B34/25 ,  A61B34/74 ,  A61B34/77 ,  B25J9/1682 ,  A61B2017/0046 ,  A61B2034/302 ,  A61B2034/305 ,  A61B90/98 ,  G16H40/63

摘要： Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integrateable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.