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1. 发明申请

US20080048604A1 Motor control amplifier 失效
标题翻译：电机控制放大器
公开(公告)号：US20080048604A1
公开(公告)日：2008-02-28
申请号：US11891052
申请日：2007-08-07
申请人： Gunter Niemeyer , Nicola Diolaiti , Neal Tanner
发明人： Gunter Niemeyer , Nicola Diolaiti , Neal Tanner
IPC分类号： H02P31/00
CPC分类号： G05B19/19
摘要： A motor control amplifier for position feedback control is provided utilizing the inherent inductor and/or resistor dynamics of the motor. The motor control amplifier applies a voltage to the motor equivalent to the electrical motor resistance multiplied by the current of the motor, canceling out the electrical motor resistance, and thereby providing position feedback control through motor inductance. A command term/voltage could be added to make the position feedback control relative to a setpoint. Further, a motor control amplifier for feedback control to arbitrary dynamics is provided. The motor amplifier applies a voltage proportional to a wave command signal. The motor amplifier has a sensing component to provide a wave return signal to construct a wave transformer from the electrical motor resistance.
摘要翻译：利用电机的固有电感和/或电阻器动力学来提供用于位置反馈控制的电机控制放大器。电动机控制放大器向电动机施加与电机电阻相乘的电动机乘以电动机的电流，消除电动机电阻，从而通过电动机电感提供位置反馈控制。可以添加命令项/电压，使相对于设定值的位置反馈控制。此外，提供了用于对任意动态的反馈控制的电动机控制放大器。马达放大器施加与波形指令信号成比例的电压。电动机放大器具有感测部件，以从电动机电阻提供波形返回信号来构造波形变压器。

2. 发明授权

US09492927B2 Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose 有权
标题翻译：在输入装置上施加力反馈以促使其操作者将铰接的仪器命令为优选的姿势
公开(公告)号：US09492927B2
公开(公告)日：2016-11-15
申请号：US13292760
申请日：2011-11-09
申请人： Nicola Diolaiti , Paul E. Lilagan
发明人： Nicola Diolaiti , Paul E. Lilagan
IPC分类号： B25J13/02 , B25J9/16 , A61B3/10
CPC分类号： A61B34/76 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/30 , A61B90/361 , A61B2034/102 , A61B2034/305 , A61B2090/306 , B25J9/1689 , B25J13/025 , F04C2270/041 , G05B2219/45117
摘要： A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.
摘要翻译：医疗机器人系统包括具有从其远端延伸出的关节式器械的进入引导件。控制器被配置为响应于操作者对相关联的输入设备的操纵来命令操纵铰接的仪器，同时向输入设备产生一个强制命令，以推动操作者将仪器命令为优选的姿态。当在第一和第二优选姿势之间发生转变时，一个被淘汰，而另一个被淘汰。可能会施加虚拟障碍，以防止铰接式仪器受到不利影响。

3. 发明授权

US09138129B2 Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide 有权
标题翻译：用于将多个关节式仪器串联地移动到入口引导件的方法和系统
公开(公告)号：US09138129B2
公开(公告)日：2015-09-22
申请号：US13294403
申请日：2011-11-11
申请人： Nicola Diolaiti
发明人： Nicola Diolaiti
IPC分类号： G06F19/00 , A61B1/00 , A61B5/151 , A61B19/00 , A61B1/005 , A61B1/018 , A61B17/00 , A61B17/34
CPC分类号： A61B1/00163 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/062
摘要： A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.
摘要翻译：医疗机器人系统包括从入口引导件的远端延伸出的关节式器械。在使进入引导件枢转以重新定向它和仪器之前，仪器串联地移动到入口导板。提供触觉提示和速度限制，以帮助操作者缩回仪器。撤回后，进入指南然后可以枢转，而不用担心仪器会伤害患者解剖。仪器在进入引导件中串联移动也可以通过耦合的控制模式进行，同时进入引导件保持在固定的位置和方向。

4. 发明授权

US08864652B2 Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip 有权
标题翻译：医疗机器人系统提供计算机产生的相机仪器的辅助视图，用于控制其尖端的定位和定向
公开(公告)号：US08864652B2
公开(公告)日：2014-10-21
申请号：US12336713
申请日：2008-12-17
申请人： Nicola Diolaiti , David Q. Larkin , Daniel Gomez , Tabish Mustafa , Paul W. Mohr , Paul Lilagan
发明人： Nicola Diolaiti , David Q. Larkin , Daniel Gomez , Tabish Mustafa , Paul W. Mohr , Paul Lilagan
IPC分类号： A61B1/00 , A61B1/04 , A61B1/06 , A61B5/06 , G09B23/28 , G06T7/00 , A61B1/05 , A61B1/313 , A61B19/00 , A61B17/00
CPC分类号： A61B1/00149 , A61B1/00006 , A61B1/00009 , A61B1/00039 , A61B1/00045 , A61B1/0005 , A61B1/00087 , A61B1/00154 , A61B1/05 , A61B1/313 , A61B5/065 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/77 , A61B90/03 , A61B90/36 , A61B90/361 , A61B2017/00119 , A61B2034/102 , A61B2034/2074 , A61B2034/301 , A61B2034/305 , A61B2090/364 , A61B2090/365 , G06T7/70 , G09B23/285
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
摘要翻译：医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或相机的可铰接臂的辅助视图是从感测或以其它方式确定的关于它们的位置和取向的信息产生的，并且从显示屏幕的视角指定的观察点。当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。

5. 发明申请

US20080065108A1 MINIMALLY INVASIVE SURGICAL SYSTEM 有权
标题翻译：微创外科手术系统
公开(公告)号：US20080065108A1
公开(公告)日：2008-03-13
申请号：US11762200
申请日：2007-06-13
申请人： Nicola Diolaiti
发明人： Nicola Diolaiti
IPC分类号： A61B19/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： Two surgical instruments are extended through a single guide tube in a telemanipulation system. A control system moves each of the instruments in all six Cartesian degrees of freedom independently of any guide tube movement in response to telemanipulation inputs received from masters.
摘要翻译：两个手术器械通过远程操作系统中的单个导管延伸。控制系统响应于从主机接收的远程操作输入，独立于任何引导管运动，以所有六个笛卡尔自由度移动每个仪器。

6. 发明申请

US20070287992A1 CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM 有权
标题翻译：控制系统被配置为补偿医疗机器人系统中非理想的执行器到接头连接特性
公开(公告)号：US20070287992A1
公开(公告)日：2007-12-13
申请号：US11762236
申请日：2007-06-13
申请人： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce Schena
发明人： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce Schena
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
摘要： A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
摘要翻译：具有非理想的致动器到关节联动特性的医疗机器人系统包括控制系统，其包括具有致动器传感器反馈的近侧控制回路，以控制联接到远端关节的致动器的动态响应，所述远程关节联接到末端以提供端部执行器的自由度运动，具有远端关节传感器反馈的前端控制回路和前馈到致动器以确保远端关节位置的稳态收敛，以及具有端点传感器的末端执行器控制回路反馈以控制末端执行器位置以达到指令的末端执行器位置。

7. 发明授权

US09089256B2 Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide 有权
标题翻译：医疗机器人系统提供辅助视图，其包括从进入引导件的远端延伸的可铰接仪器的运动限制范围
公开(公告)号：US09089256B2
公开(公告)日：2015-07-28
申请号：US12489566
申请日：2009-06-23
申请人： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
发明人： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
IPC分类号： A61B19/00 , A61B1/00 , A61B1/04 , A61B1/018
CPC分类号： A61B34/30 , A61B1/00183 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B34/10 , A61B34/20 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/361 , A61B90/37 , A61B2034/101 , A61B2034/102 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/305 , A61B2034/306 , A61B2090/0811 , A61B2090/3762
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
摘要翻译：医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或照相机的可铰接臂的辅助视图是从感测的或以其他方式确定的关于它们的位置和方向的信息产生的，并且随着运动限制范围的指示而显示从指定的观察点的角度在显示屏幕上。

8. 发明授权

US09084623B2 Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide 有权
标题翻译：控制器在进入和离开进入指南的过程中辅助重新配置关节式仪器
公开(公告)号：US09084623B2
公开(公告)日：2015-07-21
申请号：US12613328
申请日：2009-11-05
申请人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
发明人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
摘要翻译：为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

9. 发明申请

US20110282356A1 SURGICAL SYSTEM INSTRUMENT MANIPULATOR 有权
标题翻译：外科系统仪器操作员
公开(公告)号：US20110282356A1
公开(公告)日：2011-11-17
申请号：US12855413
申请日：2010-08-12
申请人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
发明人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译：提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力从另一个执行器输出输入。仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。

10. 发明申请

US20100274087A1 MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES 有权
标题翻译：具有联合控制模式的医用机器人系统
公开(公告)号：US20100274087A1
公开(公告)日：2010-10-28
申请号：US12780071
申请日：2010-05-14
申请人： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
发明人： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
IPC分类号： A61B1/045 , G06F17/00
CPC分类号： A61B34/37 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B34/20 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
摘要翻译：在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级目的。通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。

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