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1. 发明授权

US09877744B2 Entry guide for multiple instruments in a single port surgical system 有权
公开(公告)号：US09877744B2
公开(公告)日：2018-01-30
申请号：US12705439
申请日：2010-02-12
申请人： Thomas G. Cooper , Anthony K. McGrogan , Paul E. Lilagan , Daniel H. Gomez , Giuseppe Maria Prisco
发明人： Thomas G. Cooper , Anthony K. McGrogan , Paul E. Lilagan , Daniel H. Gomez , Giuseppe Maria Prisco
IPC分类号： A61B1/00 , A61B17/34 , A61B34/30 , A61B90/11 , A61B17/00
CPC分类号： A61B17/3421 , A61B1/00064 , A61B17/3474 , A61B34/30 , A61B90/11 , A61B2017/00278 , A61B2017/003 , A61B2017/00309 , A61B2017/00323 , A61B2017/00362 , A61B2017/3445 , A61B2017/3466
摘要： An access port for use in single port surgery includes a cannula to provide minimally invasive access to a surgical site and an instrument guide that fits closely within the cannula. The instrument guide includes guide channels that are open to the outside surface of the instrument guide. Each of the guide channels is configured to support a single surgical instrument at a defined position within the cannula. The guide channels may be smoothly enlarged at the end that receives surgical instruments. The access port may further include a seal that couples the instrument guide to the cannula such that the seal retains a pressurized insufflation fluid within the surgical site. The instrument guide may include one or more insufflation channels for introducing an insufflation fluid to the surgical site. The access port may include a flexible section. The surgical instruments may be controlled robotically by servo actuators.

2. 发明申请

US20110201883A1 Entry Guide for Multiple Instruments in a Single Port Surgical System 有权
标题翻译：单口手术系统多器械入门指南
公开(公告)号：US20110201883A1
公开(公告)日：2011-08-18
申请号：US12705439
申请日：2010-02-12
申请人： Thomas G. Cooper , Anthony K. McGrogan , Paul E. Lilagan , Daniel H. Gomez , Giuseppe Maria Prisco
发明人： Thomas G. Cooper , Anthony K. McGrogan , Paul E. Lilagan , Daniel H. Gomez , Giuseppe Maria Prisco
IPC分类号： A61M13/00 , A61B1/32 , A61B1/045
CPC分类号： A61B17/3421 , A61B1/00064 , A61B17/3474 , A61B34/30 , A61B90/11 , A61B2017/00278 , A61B2017/003 , A61B2017/00309 , A61B2017/00323 , A61B2017/00362 , A61B2017/3445 , A61B2017/3466
摘要： An access port for use in single port surgery includes a cannula to provide minimally invasive access to a surgical site and an instrument guide that fits closely within the cannula. The instrument guide includes guide channels that are open to the outside surface of the instrument guide. Each of the guide channels is configured to support a single surgical instrument at a defined position within the cannula. The guide channels may be smoothly enlarged at the end that receives surgical instruments. The access port may further include a seal that couples the instrument guide to the cannula such that the seal retains a pressurized insufflation fluid within the surgical site. The instrument guide may include one or more insufflation channels for introducing an insufflation fluid to the surgical site. The access port may include a flexible section. The surgical instruments may be controlled robotically by servo actuators.
摘要翻译：用于单端口手术的进入端口包括用于提供对外科手术部位的微创入路的套管和紧密配合在套管内的器械引导件。仪器导向器包括对仪器导轨外表面开放的引导通道。每个引导通道构造成在套管内的限定位置处支撑单个外科器械。引导通道在接收外科器械的末端可以平滑地扩大。进入端口还可以包括将仪器引导件连接到套管的密封件，使得密封件在手术部位内保持加压的吹气流体。仪器指南可以包括用于将吹入流体引入手术部位的一个或多个吹入通道。访问端口可以包括柔性部分。手术器械可以由伺服执行器机械地控制。

3. 发明授权

US09572481B2 Medical system with multiple operating modes for steering a medical instrument through linked body passages 有权
标题翻译：具有多种操作模式的医疗系统，用于通过连接的身体通道转向医疗器械
公开(公告)号：US09572481B2
公开(公告)日：2017-02-21
申请号：US13107052
申请日：2011-05-13
申请人： Vincent Duindam , Giuseppe Maria Prisco
发明人： Vincent Duindam , Giuseppe Maria Prisco
IPC分类号： A61B1/00 , A61B1/04 , A61M31/00 , A61B1/01 , A61B1/005 , A61B5/06
CPC分类号： A61B1/00147 , A61B1/0051 , A61B1/01 , A61B5/065
摘要： A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.
摘要翻译：控制器以不同的操作模式操作，以在通过连接的身体通道插入和缩回医疗器械时控制医疗器械的远端的移动。当插入医疗仪器时，控制器通常以自动导航模式运行，除非手动覆盖以在手动模式下操作。当缩回医疗器械时，控制器通常以零力模式操作，以允许远端尖端自由移动，使得当医疗器械正在缩回通过连接体时，它可以符合通道的形状，除非手动覆盖在手动模式下操作。

4. 发明授权

US09387048B2 Catheter sensor systems 有权
标题翻译：导管传感器系统
公开(公告)号：US09387048B2
公开(公告)日：2016-07-12
申请号：US13274237
申请日：2011-10-14
申请人： Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
发明人： Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
IPC分类号： A61B5/05 , A61B19/00
CPC分类号： A61B34/20 , A61B5/062 , A61B34/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/302 , A61M25/0127 , A61M25/0147
摘要： A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape sensing that permits the second section to be smaller than the first section, so that a distal tip of the catheter or flexible structure can fit within smaller natural lumens.
摘要翻译：包括导管或其他柔性结构的医疗系统使用两个不同传感器系统的组合来测量导管或柔性结构的截面或尖端的姿态。可以包括电磁传感器的第一传感器系统可以测量导管的第一部分的姿态，并且第二传感器系统可以相对于第一部分测量第二部分的姿态。第二传感器系统可以采用诸如纤维形状检测的技术，其允许第二部分小于第一部分，使得导管或柔性结构的远侧末端可以装配在较小的自然腔内。

5. 发明授权

US08957367B2 Shape sensor contained in a link of a kinematic chain with at least one pre-set perturbation and method to sense relative partial-pose information using the shape sensor 有权
标题翻译：包含在具有至少一个预设扰动的运动链的链接中的形状传感器和使用形状传感器来检测相对部分姿势信息的方法
公开(公告)号：US08957367B2
公开(公告)日：2015-02-17
申请号：US12617995
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Theodore W. Rogers , John Ryan Steger
发明人： Giuseppe Maria Prisco , Theodore W. Rogers , John Ryan Steger
IPC分类号： G01J1/04 , 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.
摘要翻译：形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。形状感测部分包括预设扰动。来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。

6. 发明授权

US08864751B2 Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
标题翻译：用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械
公开(公告)号：US08864751B2
公开(公告)日：2014-10-21
申请号：US12877263
申请日：2010-09-08
申请人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
发明人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
IPC分类号： G06F19/00 , B25J9/16 , A61B19/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译：机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力，通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

7. 发明授权

US08545515B2 Curved cannula surgical system 有权
标题翻译：弯曲插管手术系统
公开(公告)号：US08545515B2
公开(公告)日：2013-10-01
申请号：US12618583
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger
发明人： Giuseppe Maria Prisco , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger
IPC分类号： A61B19/00
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

8. 发明授权

US08358883B2 Fiber optic shape sensor 有权
标题翻译：光纤形状传感器
公开(公告)号：US08358883B2
公开(公告)日：2013-01-22
申请号：US13366534
申请日：2012-02-06
申请人： Giuseppe Maria Prisco
发明人： Giuseppe Maria Prisco
IPC分类号： G02B6/00 , B25J17/00
CPC分类号： G02B6/02042 , A61B34/30 , A61B34/35 , A61B2034/2061 , A61B2090/061 , G01L1/246 , Y10T74/20305
摘要： A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.
摘要翻译：一种形状感测系统，用于确定一个链路相对于运动链中的另一个链路的位置和方向。光纤耦合到运动链中的两个或更多个链路。形状感测段被定义为在近端链路处开始并且在远端连接处终止，穿过一个或多个关节。在形状感测段的开始处定义参考帧。当关节移动时，询问器感测形状感测段中的应变。感测的应变用于相对于在形状感测段的开始处限定的参考帧输出形状感测段的端部的笛卡尔位置和取向。运动链的姿态是根据为运动链和先验模型定义的一个或多个形状感测部分的笛卡尔位置和取向以及运动链的约束来确定的。

9. 发明申请

US20120123441A1 TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS 有权
标题翻译：多联合医疗仪器的张力控制
公开(公告)号：US20120123441A1
公开(公告)日：2012-05-17
申请号：US12945734
申请日：2010-11-12
申请人： Samuel Kwok Wai Au , Giuseppe Maria Prisco
发明人： Samuel Kwok Wai Au , Giuseppe Maria Prisco
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B2034/301 , A61B2034/306 , A61B2034/715
摘要： Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
摘要翻译：用于医疗仪器的控制系统和方法使用测量来确定和控制致动器通过仪器传输系统应用的张力。张力和反馈的使用允许控制具有传动系统的医疗仪器，即使关节的位置不能直接与致动器位置相关，也能在关节和致动器之间提供不可忽视的顺应性。一个实施例从期望和测量的关节位置之间的差异确定关节扭矩和张力。另一个实施例由仪器的尖端的期望和测量位置之间的差异确定关节扭矩和张力。可以通过从仪器的远端朝向仪器的近端的顺序对接头进行顺序评估来确定关节扭矩的张力。

10. 发明申请

US20110071543A1 CURVED CANNULA SURGICAL SYSTEM CONTROL 有权
标题翻译：弯曲肛门手术系统控制
公开(公告)号：US20110071543A1
公开(公告)日：2011-03-24
申请号：US12618598
申请日：2009-11-13
申请人： Giuseppe Maria Prisco , Samuel Au
发明人： Giuseppe Maria Prisco , Samuel Au
IPC分类号： A61B19/00 , A61B1/00
CPC分类号： A61B34/37 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/0218 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/10 , A61B34/30 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/03 , A61B90/37 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10S901/00
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。柔性轴仪器被控制好像沿着虚拟直线插入和退出轴线延伸。公开了支撑单个开口内的弯曲插管的各种端口特征。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。

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