MEDICAL ROBOTIC SYSTEM WITH SLIDING MODE CONTROL
Granted: April 16, 2009
Application Number:
20090099692
A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding…
Multiaxis Counterbalance and Positioning System Using a Spatial Linkage
Granted: April 2, 2009
Application Number:
20090084216
A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of…
TOOL TRACKING SYSTEMS AND METHODS FOR IMAGE GUIDED SURGERY
Granted: April 2, 2009
Application Number:
20090088634
In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics…
METHODS OF LOCATING AND TRACKING ROBOTIC INSTRUMENTS IN ROBOTIC SURGICAL SYSTEMS
Granted: April 2, 2009
Application Number:
20090088773
In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument.…
METHODS AND SYSTEMS FOR ROBOTIC INSTRUMENT TOOL TRACKING
Granted: April 2, 2009
Application Number:
20090088897
In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical…
MEDICAL ROBOTIC SYSTEM WITH DYNAMICALLY ADJUSTABLE SLAVE MANIPULATOR CHARACTERISTICS
Granted: March 5, 2009
Application Number:
20090062813
A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding…
INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS
Granted: February 5, 2009
Application Number:
20090036902
In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control.…
RIGIDLY-LINKED ARTICULATING WRIST WITH DECOUPLED MOTION TRANSMISSION
Granted: December 18, 2008
Application Number:
20080312668
The present invention is a device having a rigidly linked jaw that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like.
Resiliently deformable tool guide for use in minimally invasive telesurgical system
Granted: October 16, 2008
Application Number:
20080255585
A tool guide for guiding an end effector of a robotically controlled surgical instrument from a position outside a patient body to a position in close proximity to an internal surgical site within the patient body is provided. The tool guide typically comprises a body, a seat formation on the body, the seat formation being arranged to seat in an aperture leading into the patient body so as to mount the tool guide on the patient body, and a sheath formation on the body. The sheath…
SURGICAL ROBOTIC SYSTEM FOR PERFORMING MINIMALLY INVASIVE SURGICAL PROCEDURES
Granted: September 18, 2008
Application Number:
20080228196
The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than…
APPARATUS FOR POSITIONING AND HOLDING IN PLACE A MANUALLY MANIPULATED MEDICAL DEVICE DURING THE PERFORMANCE OF A ROBOTICALLY ASSISTED MEDICAL PROCEDURE
Granted: September 11, 2008
Application Number:
20080221590
An apparatus includes two clamp assemblies on opposing sides of an operating table. A cross bar is attached to the assemblies and extends across a lowered leg section of the table. A pivot joint is coupled to the cross bar, a first linkage couples the pivot joint to a first ball joint, a second linkage couples the first ball joint to a second ball joint, and a medical device is coupled to the second ball joint through an adapter. Each joint has a spring mechanism resisting its movement…
TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY
Granted: September 11, 2008
Application Number:
20080221732
Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor…
Method for operating a medical robotic system by stopping movement of a surgical instrument about a pivot point or issuing a warning if the pivot point moves beyond a thershold value
Granted: September 11, 2008
Application Number:
20080221731
A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the…
Medical robotic arm that is attached to an operating table
Granted: September 4, 2008
Application Number:
20080215065
A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the…
STEREOSCOPIC ENDOSCOPE
Granted: June 26, 2008
Application Number:
20080151041
Two side-by-side optical paths transmit stereoscopic right side and left side images onto the surface of a single image sensing chip. The single image sensing chip may be placed at various orientations with respect to the lens trains in the optical paths. In some embodiments a single prism is used to turn the light for both the right side and left side images onto the single image sensing chip. In other embodiments one prism is used to turn the light for the right side image and another…
GRIP STRENGTH WITH TACTILE FEEDBACK FOR ROBOTIC SURGERY
Granted: June 26, 2008
Application Number:
20080154246
Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM
Granted: June 19, 2008
Application Number:
20080147089
In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along…
MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD
Granted: June 19, 2008
Application Number:
20080147091
The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween.…
TOOL GRIP CALIBRATION FOR ROBOTIC SURGERY
Granted: May 15, 2008
Application Number:
20080114494
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector…
ROLL-PITCH-ROLL SURGICAL TOOL
Granted: May 1, 2008
Application Number:
20080103492
A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is…
