CONTROLLING A ROBOTIC SURGICAL TOOL WITH A DISPLAY MONITOR
Granted: October 1, 2009
Application Number:
20090248036
In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
MEDICAL ROBOTIC SYSTEM ADAPTED TO INHIBIT MOTIONS RESULTING IN EXCESSIVE END EFFECTOR FORCES
Granted: October 1, 2009
Application Number:
20090248037
A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that…
FORCE AND TORQUE SENSING IN A SURGICAL ROBOT SETUP ARM
Granted: October 1, 2009
Application Number:
20090248038
An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.
Sterile Drape Interface for Robotic Surgical Instrument
Granted: October 1, 2009
Application Number:
20090248039
A robotic surgical system includes a sterile surgical instrument, a robotic surgical manipulator, and a sterile drape covering at least a portion of the robotic surgical manipulator. The surgical instrument has a proximal interface and a distal end effector. The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The robotic surgical manipulator has a drive plate that bears against the gimbal assembly. The drive plate…
Coupler to Transfer Controller Motion from a Robotic Manipulator to an Attached Instrument
Granted: October 1, 2009
Application Number:
20090248040
A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that…
ROBOTIC SURGICAL TOOLS FOR LASER MARKING AND LASER CUTTING
Granted: October 1, 2009
Application Number:
20090248041
In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The…
MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS
Granted: October 1, 2009
Application Number:
20090248043
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the…
AUTOMATED PANNING AND DIGITAL ZOOMING FOR ROBOTIC SURGICAL SYSTEMS
Granted: October 1, 2009
Application Number:
20090245600
In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target…
MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS
Granted: September 17, 2009
Application Number:
20090234371
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the…
METHODS OF STEERING HEAVY MOBILE MEDICAL EQUIPMENT
Granted: August 13, 2009
Application Number:
20090200092
Methods for steering mobile medical equipment are disclosed. In one embodiment, the method includes supporting medical equipment with a base above a floor over which a left steerable wheel, a right steerable wheel, and a pair of front wheels roll; receiving an input steering angle other than zero; linearly sweeping a long link in response to the input steering angle, pivoting a pair of short links in response to the linearly sweeping of the long link; pivoting a pair of cam plates in…
STEERING SYSTEM WITH PARALLELOGRAM LINKAGE FOR HEAVY MOBILE MEDICAL EQUIPMENT
Granted: August 13, 2009
Application Number:
20090199674
In one embodiment of the invention, a steering system for mobile medical equipment includes left and right steerable wheel assemblies respectively with left and right steerable wheels. A left parallelogram linkage couples to the left steerable wheel assembly to transfer a left wheel angle to the left steerable wheel assembly. A right parallelogram linkage couples to the right steerable wheel assembly to transfer a right wheel angle to the right steerable wheel assembly. A steering…
FORCE SENSOR TEMPERATURE COMPENSATION
Granted: July 30, 2009
Application Number:
20090192522
In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. The strain gauges are comprised of a negative thermo-optic coefficient optical fiber material in one embodiment. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical…
SYNTHETIC REPRESENTATION OF A SURGICAL INSTRUMENT
Granted: July 30, 2009
Application Number:
20090192523
A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT
Granted: July 30, 2009
Application Number:
20090192524
A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
MEDICAL DEVICE WITH ORIENTABLE TIP FOR ROBOTICALLY DIRECTED LASER CUTTING AND BIOMATERIAL APPLICATION
Granted: July 2, 2009
Application Number:
20090171332
A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends…
MEDICAL ROBOTIC SYSTEM WITH FUNCTIONALITY TO DETERMINE AND DISPLAY A DISTANCE INDICATED BY MOVEMENT OF A TOOL ROBOTICALLY MANIPULATED BY AN OPERATOR
Granted: July 2, 2009
Application Number:
20090171371
A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one…
MEDICAL DEVICE WITH ORIENTABLE TIP FOR ROBOTICALLY DIRECTED LASER CUTTING AND BIOMATERIAL APPLICATION
Granted: July 2, 2009
Application Number:
20090171372
A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends…
MODULAR MAINPULATOR SUPPORT FOR ROBOTIC SURGERY
Granted: June 25, 2009
Application Number:
20090163931
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…
Methods of fluid flow control with robotic surgical instruments for irrigation, aspiration, and blowing
Granted: April 16, 2009
Application Number:
20090099520
In one embodiment of the invention, a first control signal is generated to control a robotic surgical instrument. The first control signal is then coupled into the robotic surgical instrument. In response to the first control signal, a first valve in the robotic surgical instrument is opened to flow a first fluid over a surgical site.
MINIMALLY INVASIVE SURGICAL TRAINING USING ROBOTICS AND TELECOLLABORATION
Granted: April 16, 2009
Application Number:
20090099576
A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the…
