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1. 发明申请

WO2019040278A1 POSITIONING A CAMERA OF A SURGICAL ROBOTIC SYSTEM TO CAPTURE IMAGES INSIDE A BODY CAVITY OF A PATIENT 审中-公开
公开(公告)号：WO2019040278A1
公开(公告)日：2019-02-28
申请号：PCT/US2018/045646
申请日：2018-08-07
申请人： TITAN MEDICAL INC.
发明人： KRALICKY, Joseph
IPC分类号： A61B1/313 , A61B34/00 , A61B34/20 , A61B5/06 , A61B90/00
CPC分类号： A61B90/50 , A61B34/30 , A61B34/71 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2090/371 , B25J9/1605 , B25J9/1612 , B25J9/1664 , B25J13/02 , B25J13/04 , B25J15/0019 , B25J15/0028 , B25J15/0066
摘要： Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system.

2. 发明申请

WO2016109887A1 ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM 审中-公开
标题翻译：在主从机器人系统中的对准差异安全
公开(公告)号：WO2016109887A1
公开(公告)日：2016-07-14
申请号：PCT/CA2016/000007
申请日：2016-01-08
申请人： TITAN MEDICAL INC.
发明人： KRALICKY, Joseph , CAMERON, Peter , ROBERT, Rene
IPC分类号： B25J3/04 , A61B34/30 , A61B34/37 , B25J9/18
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.
摘要翻译：一种方法，非暂时计算机可读介质和用于操作所述机器人控制系统的装置，包括与具有手柄（102）和从系统（54）的输入装置（58,60）通信的主装置（64），74）具有具有端部执行器（73）的工具（66,67），所述端部执行器（73）的位置和取向是响应于所述手柄的当前位置和当前取向而确定的。该方法涉及响应于手柄的当前位置和取向产生期望的末端执行器位置和取向。该方法包括使得当手柄和末端执行器之间的旋转对准差符合禁用标准时，输入装置提供阻止手柄的平移运动的触觉反馈，同时允许手柄的旋转运动并防止末端执行器的运动。该方法进一步涉及当旋转对准差达到启用准则时重新启用手柄的平移运动。

3. 发明申请

WO2016109886A1 AUTONOMOUS CORRECTION OF ALIGNMENT ERROR IN A MASTER-SLAVE ROBOTIC SYSTEM 审中-公开
标题翻译：自动校正主从机器人系统中的对准错误
公开(公告)号：WO2016109886A1
公开(公告)日：2016-07-14
申请号：PCT/CA2016/000006
申请日：2016-01-08
申请人： TITAN MEDICAL INC.
发明人： KRALICKY, Joseph , CAMERON, Peter
IPC分类号： B25J3/04 , A61B34/35 , A61B34/37 , B25J9/12 , B25J9/18
CPC分类号： A61B34/35 , A61B34/37 , A61B34/74 , A61B2034/301 , A61B2034/306 , B25J3/04 , B25J9/1689 , G05B2219/39024 , G05B2219/40195
摘要： A method and apparatus for correcting an alignment error between an end effector of a tool associated with a slave and a master actuator in a master-slave robotic system in which an orientation of the end effector is remotely controlled by an orientation of the master actuator by producing, transmitting, receiving and/or generating control signals: master actuator orientation signals (R MCURR ), end effector orientation signals (R EENEW ) and master-slave misalignment signals (R Δ ). Producing control signals from the master to the slave involves receiving and transmitting an enablement signal when the enablement signal is active and not active. In response, computing the master-slave misalignment signals (R Δ ) and detecting a second difference between the master actuator orientation (R MCURR ) and the end effector orientation (R EENEW ) signals. The processor adjusts the master-slave misalignment signals (R Δ ) to reduce the alignment difference to satisfy an alignment criterion so that subsequent generations of the end effector orientation signals (R EENEW ) cause the tool to be physically aligned with the master within the alignment criterion.
摘要翻译：一种用于校正与从属机器人系统中的与从动件相关联的工具的末端执行器与主致动器之间的对准误差的方法和装置，其中末端执行器的定向由主致动器的取向远程地控制产生，发送，接收和/或产生控制信号：主执行器定位信号（RMCURR），末端执行器定向信号（REENEW）和主 - 从失准信号（RΔ）。从主器件到从器件的控制信号的产生包括当使能信号有效并且不起作用时接收和发送使能信号。作为响应，计算主从失准信号（RΔ）并检测主致动器方向（RMCURR）和末端执行器方位（REENEW）信号之间的第二差。处理器调整主 - 从失准信号（RΔ）以减小对准差以满足对准标准，使得后续几代终端执行器定向信号（REENEW）使得工具在对准标准内与主机物理对准。

4. 发明授权

EP3242773B1 AUTONOMOUS CORRECTION OF ALIGNMENT ERROR IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
公开(公告)号：EP3242773B1
公开(公告)日：2019-05-22
申请号：EP16734867.1
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： KRALICKY, Joseph , CAMERON, Peter
IPC分类号： A61B17/29 , A61B34/35 , A61B34/37 , A61B34/00 , A61B34/30

5. 发明公开

EP3242774A1 ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
标题翻译：主从机器人系统中的对齐差异安全
公开(公告)号：EP3242774A1
公开(公告)日：2017-11-15
申请号：EP16734868.9
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： KRALICKY, Joseph , CAMERON, Peter , ROBERT, Rene
IPC分类号： B25J3/04 , A61B34/30 , A61B34/37 , B25J9/18
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

6. 发明公开

EP3242773A1 AUTONOMOUS CORRECTION OF ALIGNMENT ERROR IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
标题翻译：主从机器人系统中校正误差的自动校正
公开(公告)号：EP3242773A1
公开(公告)日：2017-11-15
申请号：EP16734867.1
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： KRALICKY, Joseph , CAMERON, Peter
IPC分类号： B25J3/04 , A61B34/35 , A61B34/37 , B25J9/12 , B25J9/18
CPC分类号： A61B34/37 , A61B17/29 , A61B34/35 , A61B34/74 , A61B2034/301 , A61B2034/306 , B25J3/04 , B25J9/1689 , B25J11/008 , G05B2219/39024 , G05B2219/40195 , Y10S901/06 , Y10S901/31
摘要： A method and apparatus for correcting an alignment error between an end effector of a tool associated with a slave and a master actuator in a master-slave robotic system in which an orientation of the end effector is remotely controlled by an orientation of the master actuator by producing, transmitting, receiving and/or generating control signals: master actuator orientation signals (RMCURR), end effector orientation signals (REENEW) and master-slave misalignment signals (RΔ). Producing control signals from the master to the slave involves receiving and transmitting an enablement signal when the enablement signal is active and not active. In response, computing the master-slave misalignment signals (RΔ) and detecting a second difference between the master actuator orientation (RMCURR) and the end effector orientation (REENEW) signals. The processor adjusts the master-slave misalignment signals (RΔ) to reduce the alignment difference to satisfy an alignment criterion so that subsequent generations of the end effector orientation signals (REENEW) cause the tool to be physically aligned with the master within the alignment criterion.

7. 发明授权

EP3242774B1 ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
公开(公告)号：EP3242774B1
公开(公告)日：2019-03-13
申请号：EP16734868.9
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： KRALICKY, Joseph , CAMERON, Peter , ROBERT, Rene
IPC分类号： B25J9/16 , B25J3/04 , A61B34/30 , A61B34/37 , A61B34/00 , B25J13/02 , B25J19/06

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