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1. 发明申请

US20090248038A1 FORCE AND TORQUE SENSING IN A SURGICAL ROBOT SETUP ARM 有权
标题翻译：手术机器人手臂中的力和扭矩感测
公开(公告)号：US20090248038A1
公开(公告)日：2009-10-01
申请号：US12060004
申请日：2008-03-31
申请人： Stephen J. Blumenkranz , Giuseppe M. Prisco , Simon Peter DiMaio , Gregory William Dachs, II , Hanifa Dostmohamed , Christopher J. Hasser , Gary S. Guthart
发明人： Stephen J. Blumenkranz , Giuseppe M. Prisco , Simon Peter DiMaio , Gregory William Dachs, II , Hanifa Dostmohamed , Christopher J. Hasser , Gary S. Guthart
IPC分类号： A61B19/00
CPC分类号： B25J13/085 , A61B34/30 , A61B34/37 , A61B34/71 , A61B46/10 , A61B90/361 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , G05B2219/40582
摘要： 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.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。在一个实施例中，公开了一种机器人手术操纵器系统，机器人手术系统和用于改进对机器人手术器械和/或操纵臂上的力的感测的方法。

2. 发明授权

US08768516B2 Control of medical robotic system manipulator about kinematic singularities 有权
标题翻译：关于运动学奇异性的医疗机器人系统操纵器的控制
公开(公告)号：US08768516B2
公开(公告)日：2014-07-01
申请号：US12494695
申请日：2009-06-30
申请人： Nicola Diolaiti , Giuseppe M. Prisco
发明人： Nicola Diolaiti , Giuseppe M. Prisco
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G05B19/402 , A61B34/30 , B25J9/1689 , B25J9/1697 , G05B2219/39257 , G05B2219/40195 , G05B2219/40242 , G05B2219/45117 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H50/50
摘要： A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.
摘要翻译：医疗机器人系统包括入口引导件，其具有从其远端延伸的可关节运动的仪器，进入引导操纵器，其提供入口引导件相对于远程中心的可控四自由度移动;以及控制器，其被配置为管理入口引导操纵器响应于操作者操纵一个或多个输入设备。当进入引导机械手接近偏航/滚转奇异性时，控制器修改其操作以允许入口引导操纵器的继续移动，而不会指示过大的关节速度，同时保持进入引导件的适当取向。

3. 发明授权

US07899578B2 Medical robotic system with sliding mode control 有权
标题翻译：具滑动模式控制的医疗机器人系统
公开(公告)号：US07899578B2
公开(公告)日：2011-03-01
申请号：US12247346
申请日：2008-10-08
申请人： Giuseppe M. Prisco , David Q. Larkin
发明人： Giuseppe M. Prisco , David Q. Larkin
IPC分类号： B25J13/08
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： 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 mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

4. 发明申请

US20100228265A1 Operator Input Device for a Robotic Surgical System 有权
标题翻译：机器人手术系统的操作员输入装置
公开(公告)号：US20100228265A1
公开(公告)日：2010-09-09
申请号：US12400728
申请日：2009-03-09
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： A61B19/00 , G06F19/00 , B25J9/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/77 , A61B2034/301 , G05B2219/39387 , G05B2219/39389 , G05B2219/45117 , Y10T74/20305
摘要： A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
摘要翻译：机器人手术系统包括具有输入手柄的主控制器和包括手术端部执行器和内窥镜照相机的机器人操纵器组件。输入手柄可平移以提供位置并且可旋转以提供取向。控制系统将主控制器耦合到第一和第二操纵器组件。控制系统响应于输入手柄的位置和方向移动外科末端执行器。在重新定位输入手柄位置，末端执行器或内窥镜摄像机中的至少一个的情况下，控制系统移动输入手柄以使输入手柄对准于从内窥镜照相机的角度看的手术末端执行器的取向。控制系统可以仅在第一模式中移动手术末端执行器，并且仅在第二模式中定向输入手柄。

5. 发明授权

US08918207B2 Operator input device for a robotic surgical system 有权
标题翻译：机器人手术系统的操作员输入装置
公开(公告)号：US08918207B2
公开(公告)日：2014-12-23
申请号：US12400728
申请日：2009-03-09
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： G06F19/00 , B25J9/16 , A61B19/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/77 , A61B2034/301 , G05B2219/39387 , G05B2219/39389 , G05B2219/45117 , Y10T74/20305
摘要： A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
摘要翻译：机器人手术系统包括具有输入手柄的主控制器和包括手术端部执行器和内窥镜照相机的机器人操纵器组件。输入手柄可平移以提供位置并且可旋转以提供取向。控制系统将主控制器耦合到第一和第二操纵器组件。控制系统响应于输入手柄的位置和方向移动外科末端执行器。在重新定位输入手柄位置，末端执行器或内窥镜照相机中的至少一个的情况下，控制系统移动输入手柄以使输入手柄对准于从内窥镜照相机的视点观察手术末端执行器的方向。控制系统可以仅在第一模式中移动手术末端执行器，并且仅在第二模式中定向输入手柄。

6. 发明申请

US20110202069A1 METHOD AND SYSTEM FOR ABSOLUTE THREE-DIMENSIONAL MEASUREMENTS USING A TWIST-INSENSITIVE SHAPE SENSOR 有权
标题翻译：使用双折射形状传感器进行绝对三维测量的方法和系统
公开(公告)号：US20110202069A1
公开(公告)日：2011-08-18
申请号：US12839642
申请日：2010-07-20
申请人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B2034/2061 , A61B2034/301 , A61B2562/00 , G01B11/24 , G01D5/35316
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
摘要翻译：一种装置包括参考固定装置。参考固定件包括接头和跟踪接头运动的联合跟踪器。该装置还包括外科器械。系绳连接在关节和手术器械之间。形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。形状传感器基本上没有扭曲。联合跟踪器测量接头的运动。来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。

7. 发明授权

US10080482B2 Compliant surgical device 有权
公开(公告)号：US10080482B2
公开(公告)日：2018-09-25
申请号：US12494797
申请日：2009-06-30
申请人： Giuseppe M. Prisco , Eugene F. Duval , Theodore W. Rogers
发明人： Giuseppe M. Prisco , Eugene F. Duval , Theodore W. Rogers
IPC分类号： A61B1/005 , A61B1/00 , A61B34/30 , A61B17/00 , A61B34/00
CPC分类号： A61B1/0052 , A61B1/0016 , A61B34/30 , A61B2017/003 , A61B2034/301 , A61B2034/306 , A61B2034/715
摘要： A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue. The compliance also permits manual positioning or shaping of the device during or before insertion for a surgical procedure without damaging the tendons or connections of the tendons within the device or to a backend mechanism.

8. 发明授权

US09008842B2 Medical robotic system with sliding mode control 有权
标题翻译：具滑动模式控制的医疗机器人系统
公开(公告)号：US09008842B2
公开(公告)日：2015-04-14
申请号：US13013346
申请日：2011-01-25
申请人： Giuseppe M. Prisco , David Q. Larkin
发明人： Giuseppe M. Prisco , David Q. Larkin
IPC分类号： B25J13/00 , A61B19/00 , B25J9/16
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： 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 mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

9. 发明申请

US20110118749A1 METHOD AND SYSTEM TO SENSE RELATIVE PARTIAL-POSE INFORMATION USING A SHAPE SENSOR 有权
公开(公告)号：US20110118749A1
公开(公告)日：2011-05-19
申请号：US12617995
申请日：2009-11-13
申请人： Giuseppe M. Prisco , Thedore W. Rogers , John Ryan Steger
发明人： Giuseppe M. Prisco , Thedore W. Rogers , John Ryan Steger
IPC分类号： A61B19/00
CPC分类号： A61B19/22 , A61B34/37 , A61B34/70 , A61B2034/2059 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

10. 发明申请

US20100160724A1 FLEXIBLE SURGICAL INSTRUMENT WITH LINKS UNDERGOING SOLID-STATE TRANSITIONS 审中-公开
标题翻译：具有固定状态转换的链接的灵活手术仪器
公开(公告)号：US20100160724A1
公开(公告)日：2010-06-24
申请号：US12343274
申请日：2008-12-23
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： A61B1/00 , A61B17/00
CPC分类号： A61B34/30 , A61B17/29 , A61B34/35 , A61B2017/003 , A61B2017/00318 , A61B2017/00867 , A61B2017/2905 , A61B2017/2908 , A61B2034/301
摘要： A surgical instrument has a tip section with several degrees of freedom of articulation and at least one link that may be too long for insertion through an entry guide that follows a curved path. Each long link is made of a shape memory alloy or another material having a state in which the link is sufficiently flexible to bend as needed to pass through the entry guide. Once through the entry guide, the material of the link makes a transition to a state in which the link returns to a desired shape and is sufficiently rigid for precise controlled movement against external forces and for actuation using tendons.
摘要翻译：外科器械具有具有几个关节自由度的尖端部分，以及至少一个可能通过沿着弯曲路径的入口引导件插入太长的连杆。每个长链接由形状记忆合金或具有其中链节足够柔性以根据需要弯曲以通过入口引导件的状态的另一种材料制成。一旦通过进入引导件，链接的材料就转变到链接返回到所需形状的状态，并且具有足够的刚性，以便针对外力的精确控制运动和使用腱的致动。

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