Multi-component telepresence system and method
Granted: January 27, 2005
Application Number:
20050021050
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.…
Robotic surgical tool with ultrasound cauterizing and cutting instrument
Granted: January 27, 2005
Application Number:
20050021018
A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or…
Ceiling and floor mounted surgical robot set-up arms
Granted: December 30, 2004
Application Number:
20040261179
The present invention generally relates to surgical devices, systems, and methods, especially for minimally invasive surgery, and more particularly provides structures and techniques for aligning a robotic surgery system with a desired surgical site. The present invention describes techniques for mounting, configuring and arranging set-up arms for the surgical manipulators and endoscope drive mechanisms of a telesurgical system within an operating theater. The various aspects of the…
Electro-surgical instrument with replaceable end-effectors and inhibited surface conduction
Granted: December 30, 2004
Application Number:
20040267254
Improved robotic surgery end-effectors include at least one insulation material for inhibiting surface conduction of electrical current in a proximal direction, from a distal active electrode toward the proximal end of the end-effector and toward the rest of the surgical instrument itself. Some embodiments include two layers of insulation to further prevent proximally-directed current. By inhibiting proximal current flow, the end-effectors prevent unwanted patient burns as well as…
Friction compensation in a minimally invasive surgical apparatus
Granted: December 2, 2004
Application Number:
20040243110
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
Surgical tool having electrocautery energy supply conductor with inhibited current leakage
Granted: August 26, 2004
Application Number:
20040167515
The present invention provides improved electrosurgical instruments and systems having electrocautery energy supply conductors that provide inhibited current leakage and methods of performing a robotically controlled minimally invasive surgical procedure while preventing unintended capacitive coupling. A surgical instrument generally comprises an elongate shaft having a proximal end and a distal end and defining an internal longitudinally extending passage. An electrocautery end effector…
Platform link wrist mechanism
Granted: August 19, 2004
Application Number:
20040162547
The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the…
Flexible wrist for surgical tool
Granted: July 15, 2004
Application Number:
20040138700
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall.…
Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery
Granted: March 18, 2004
Application Number:
20040054355
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…
Camera referenced control in a minimally invasive surgical apparatus
Granted: February 26, 2004
Application Number:
20040039485
Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member…
Method and devices for inspecting and calibrating of stereoscopic endoscopes
Granted: December 25, 2003
Application Number:
20030234940
Methods and devices for inspecting and calibrating a stereoscopic imaging device, such as a binocular endoscope. In one exemplary embodiment, the method of the present invention measures a fringe pattern from light emitted through two channels of the device. An angle of each of the fringe pattern can be measured so as to allow a diopter difference between the channels to be calculated.
Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
Granted: November 27, 2003
Application Number:
20030220541
A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one…
Cooperative minimally invasive telesurgical system
Granted: November 20, 2003
Application Number:
20030216715
Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement.…
Grip strength with tactile feedback for robotic surgery
Granted: October 16, 2003
Application Number:
20030195664
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.
Friction compensation in a minimally invasive surgical apparatus
Granted: October 9, 2003
Application Number:
20030191454
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
Endoscopic beating-heart stabilizer and vessel occlusion fastener
Granted: August 21, 2003
Application Number:
20030158463
Devices, systems and methods related to endoscopic surgery, particularly related to robotic surgical operations, provide a tissue stabilizer for endoscopically stabilizing a target tissue within a patent's body. For stabilizing a beating heart during a closed-chest coronary artery bypass grafting procedure, a stabilizer is inserted through an endoscopic cannula and provides sufficient surface area to contact the heart and effectively stabilize the target tissue area. The stabilizer can…
Cardiopulmonary bypass device and method
Granted: July 10, 2003
Application Number:
20030129084
A method and system for performing a cardiopulmonary bypass procedure are provided. The method includes accessing a source of blood in a patient body from which source the blood is to be passed through a cardiopulmonary bypass machine, drawing blood from the source through the cardiopulmonary bypass machine and introducing the blood into an aortic artery of the patient body through a plurality of separate passages, after the blood has been passed through the cardiopulmonary bypass…
Image shifting apparatus and method for a telerobotic system
Granted: June 19, 2003
Application Number:
20030114962
An input device of a teleoperator system can be operatively associated with an image of a surgical worksite. Movement of the image may correspond to movement of the input device so that the worksite image appears substantially connected to the input device. The operator can manipulate the worksite into a desired position, typically by repositioning of an image capture device. Dedicated input devices may be provided for a surgical instrument.
Methods and apparatus for surgical planning
Granted: June 12, 2003
Application Number:
20030109780
Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to…
Minimally invasive surgical hook apparatus and method for using same
Granted: June 12, 2003
Application Number:
20030109877
A cautery hook includes a proximal portion, a shank portion, and a distal hook portion. The shank portion is connected to the proximal portion at a bent knee protruding generally on a front side of the cautery hook. The distal hook portion is connected to the shank portion at an ankle protruding generally on a rear side of the cautery hook opposite from the front side of the cautery hook. The distal hook portion includes a distal hook tip generally on the front side of the cautery hook.…
