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1. 发明公开

EP3476303A2 REACTIVE ALGORITHM FOR SURGICAL SYSTEM 审中-公开
公开(公告)号：EP3476303A2
公开(公告)日：2019-05-01
申请号：EP18203364.7
申请日：2018-10-30
申请人： Ethicon LLC
发明人： SHELTON, IV, Frederick E. , YATES, David C. , HARRIS, Jason L. , BAXTER, III, Chester O. , MORGAN, Jerome R. , BAKOS, Gregory J. , HESS, Christopher J.
IPC分类号： A61B17/04 , A61B17/3201 , A61B18/14 , A61B90/00 , A61B17/00
CPC分类号： A61B90/04 , A61B17/0469 , A61B17/0482 , A61B17/06 , A61B17/06114 , A61B17/29 , A61B17/3201 , A61B18/1445 , A61B34/30 , A61B90/03 , A61B2017/00017 , A61B2017/00022 , A61B2017/00039 , A61B2017/00119 , A61B2017/00154 , A61B2017/00172 , A61B2017/00221 , A61B2017/00327 , A61B2017/00393 , A61B2017/00398 , A61B2017/00424 , A61B2017/0046 , A61B2017/00464 , A61B2017/00473 , A61B2017/00734 , A61B2017/06076 , A61B2017/0608 , A61B2017/2927 , A61B2017/2929 , A61B2018/00601 , A61B2018/0063 , A61B2018/00642 , A61B2018/00702 , A61B2018/00827 , A61B2018/00892 , A61B2018/00898 , A61B2018/1452 , A61B2018/1457 , A61B2018/146 , A61B2034/305 , A61B2090/031 , A61B2090/035 , A61B2090/0418 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0808
摘要： A modular surgical instrument is disclosed. The modular surgical instrument comprises a control interface, a shaft extending from the control interface, an end effector extending from said shaft, and a control circuit. The control circuit is configured to sense the electrical potential applied to the modular surgical instrument, determine if the sensed electrical potential is above a predetermined threshold, and adjust the operation of the modular surgical instrument when the sensed electrical potential exceeds the predetermined threshold.

2. 发明授权

EP2654581B1 SURGICAL INSTRUMENT 有权
公开(公告)号：EP2654581B1
公开(公告)日：2018-07-18
申请号：EP10801557.9
申请日：2010-12-24
申请人： AO Technology AG
发明人： BRIANZA, Stefano , SCHWYN, Ronald
IPC分类号： A61B17/16 , A61B5/103
CPC分类号： A61B90/06 , A61B5/4509 , A61B17/1615 , A61B17/1664 , A61B17/1668 , A61B17/88 , A61B2090/064 , A61B2090/066
摘要： Surgical instrument (1) comprising a longitudinal shaft (2) with a tip portion (3), a rear portion (4) and a longitudinal axis (5) and rotatable in the clock-wise and in the counter-clockwise direction around the longitudinal axis (5), said surgical instrument (1) further comprising: A) first means (6) for drilling a hole in a bone by rotation of the shaft (2) in one of the two directions; B) second means (7) for crushing bone tissue when the shaft (2) rotates in the other of the two directions; and C) a torque sensor (10) coupled to the shaft (2). Method for measuring the local mechanical resistance of a porous body comprising the steps of: a) drilling a hole to a desired depth into a porous body by advancing and rotating the shaft (2) in a first sense of rotation, preferably clockwise so that said first means (6) are active; b) hammering the shaft (2) gently further into the porous body as far as the tip portion (3) of the shaft (2) has reached a desired measuring position; and c) performing the torque measurement by rotating the shaft (2) in the opposite second sense of rotation, preferably counter-clockwise so that said second means (7) are active.

3. 发明公开

EP3294183A1 TORQUE SENSING IN A SURGICAL ROBOTIC WRIST 审中-实审转让
公开(公告)号：EP3294183A1
公开(公告)日：2018-03-21
申请号：EP16723483
申请日：2016-05-13
申请人： CAMBRIDGE MEDICAL ROBOTICS LTD
发明人： HARES LUKE DAVID RONALD , MARSHALL KEITH
IPC分类号： A61B34/30 , A61B34/35 , B25J9/16 , B25J17/02
CPC分类号： A61B34/76 , A61B34/30 , A61B34/35 , A61B2034/305 , A61B2090/066 , B25J9/1689 , B25J13/085 , B25J17/0275
摘要： A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.

4. 发明公开

EP3271118A1 ROBOTERSYSTEM UND VERFAHREN ZUM BETRIEB EINES TELEOPERATIVEN PROZESSES 有权转让
标题翻译：用于操作远程操作过程的机器人系统和方法
公开(公告)号：EP3271118A1
公开(公告)日：2018-01-24
申请号：EP16712295.1
申请日：2016-03-17
申请人： KUKA Roboter GmbH
发明人： KOGAN, Yevgen
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , A61B1/00006 , A61B34/35 , A61B34/77 , A61B90/361 , A61B2034/301 , A61B2090/066 , A61B2090/378 , B25J9/1676 , B25J9/1682 , B25J19/023 , B25J19/026 , B25J19/06 , G05B2219/39114
摘要： The invention relates to a system and to a method for carrying out a teleoperative process, wherein an image capture device (20) and a tool (30) are used. In this case, the tool (30) is guided by a first manipulator (31), and the currently sensed region (24) of the image capture device (20) is determined. Monitoring the position of the tool (30) relative to the currently sensed region (24) of the image capture device (20) makes it possible to prevent the tool (30) from unintentionally leaving the sensed region (24). The axes of the manipulator (31) are provided with sensors for sensing the forces and/or torques acting on the axes.

5. 发明公开

EP3148472A4 MULTI-FORCE SENSING INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS 有权
公开(公告)号：EP3148472A4
公开(公告)日：2018-01-24
申请号：EP15798981
申请日：2015-05-29
申请人： UNIV JOHNS HOPKINS
发明人： HE XINGCHI , IORDACHITA IULIAN , BALICKI MARCIN , TAYLOR RUSSELL H
IPC分类号： A61F9/007 , A61B17/00 , A61B34/00 , A61B34/30 , A61B90/00 , G01L1/24 , G01L5/16
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/10 , A61B34/35 , A61B34/72 , A61B34/76 , A61B34/77 , A61B90/06 , A61B2017/00345 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2560/0247 , A61B2562/0266 , A61B2562/0271 , A61F9/007 , G01L1/246 , G01L5/166
摘要： A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.

6. 发明公开

EP3094264A4 SPIN-TO-OPEN ATHERECTOMY DEVICE WITH ELECTRIC MOTOR CONTROL 无效
公开(公告)号：EP3094264A4
公开(公告)日：2017-11-22
申请号：EP15737262
申请日：2015-01-16
申请人： CARDIVASCULAR SYSTEMS
发明人： HIGGINS JOSEPH P , SCHOENLE VICTOR L , GRACE MICHAEL J , CAMBRONNE MATTHEW D , KOHLER ROBERT E
IPC分类号： A61B17/00
CPC分类号： A61B17/3207 , A61B17/320758 , A61B2017/00017 , A61B2017/00123 , A61B2017/00199 , A61B2017/00398 , A61B2017/22045 , A61B2017/320004 , A61B2017/320032 , A61B2017/320766 , A61B2090/066 , A61B2090/0801
摘要： A rotational atherectomy system is disclosed, comprising: an elongated, flexible spin-to-open drive shaft having a distal end for insertion into a vasculature of a patient and having a proximal end opposite the distal end remaining outside the vasculature of the patient; a concentric or eccentric abrasive element, preferably a solid crown, attached to the drive shaft proximate the distal end of the drive shaft; an electric motor rotatably coupled to the proximal end of the drive shaft, the electric motor being capable of rotating the drive shaft in a spin-to-open direction; and control electronics for monitoring and controlling the rotation of the electric motor. When an obstruction at the distal end is detected by the applied torque and/or current reaching a predetermined maximum allowed level and with the drive shaft opened to a maximum allowed outer diameter, power to the motor is eliminated.

7. 发明授权

EP2595587B1 INTERFEROMETRIC FORCE SENSOR FOR SURGICAL INSTRUMENTS 有权
标题翻译：干涉仪的干涉力传感器
公开(公告)号：EP2595587B1
公开(公告)日：2017-11-08
申请号：EP11810365.4
申请日：2011-07-20
申请人： The Johns Hopkins University
发明人： TAYLOR, Russell H. , IORDACHITA, Iulian , KANG, Jin , LIU, Xuan
IPC分类号： A61F9/007 , A61B17/00
CPC分类号： A61B19/46 , A61B17/00 , A61B17/3478 , A61B19/5244 , A61B90/06 , A61B2017/00084 , A61B2017/00986 , A61B2017/305 , A61B2019/465 , A61B2019/466 , A61B2019/5261 , A61B2034/2061 , A61B2090/064 , A61B2090/066 , A61F9/007 , G01J3/26
摘要： A surgical tool system according to an embodiment of the current invention includes a surgical tool, and an interferometry system optically coupled to the surgical tool. The surgical tool includes a body section, a sensor section at least one of attached to or integral with the body section, and a surgical section at least one of attached to or integral with the sensor section at an opposing end of the sensor section from the body section. The sensor section comprises an interferometric optical sensor defining a reference distance that changes in response to at least one of a force or a torque when applied to the surgical section of the surgical tool.

8. 发明公开

EP2600813A4 METHOD FOR PRESENTING FORCE SENSOR INFORMATION USING COOPERATIVE ROBOT CONTROL AND AUDIO FEEDBACK 有权
公开(公告)号：EP2600813A4
公开(公告)日：2017-11-01
申请号：EP11815199
申请日：2011-08-02
申请人： UNIV JOHNS HOPKINS
发明人： TAYLOR RUSSELL H , BALICKI MARCIN ARKADIUSZ , HANDA JAMES TAHARA , GEHLBACH PETER LOUIS , IORDACHITA IULIAN , UNERI ALI
IPC分类号： A61F9/007 , A61B34/00 , B25J13/08 , B25J19/02
CPC分类号： A61B19/2203 , A61B3/102 , A61B5/4836 , A61B5/7455 , A61B34/30 , A61B34/35 , A61B34/72 , A61B34/76 , A61B34/77 , A61B2017/00119 , A61B2034/2061 , A61B2034/303 , A61B2090/065 , A61B2090/066 , A61F9/007 , A61F9/00727
摘要： A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation.

9. 发明授权

EP2471617B1 DEVICE FOR DETECTING TOOL TIP POSITION OF REMOTE-CONTROLLED ACTUATOR 有权
标题翻译：设备技术检测工具顶部位置远程致动器的
公开(公告)号：EP2471617B1
公开(公告)日：2017-03-29
申请号：EP10811746.6
申请日：2010-08-19
申请人： NTN Corporation
发明人： NISHIO, Yukihiro , NAGANO, Yoshitaka
IPC分类号： B23B39/14 , A61B17/16 , B23B49/00 , B23Q17/22
CPC分类号： B23B39/14 , A61B17/1631 , A61B17/1668 , A61B34/20 , A61B2034/102 , A61B2034/2055 , A61B2034/2061 , A61B2034/301 , A61B2090/064 , A61B2090/066 , A61B2090/067 , A61B2090/0818 , G01B5/30

10. 发明公开

EP3142720A1 CLOSED LOOP SURGICAL SYSTEM 有权
标题翻译： CHIRGGISCHES SYSTEM MIT GESCHLOSSENEM REGELKREIS
公开(公告)号：EP3142720A1
公开(公告)日：2017-03-22
申请号：EP15727116.4
申请日：2015-05-12
申请人： Smith & Nephew, Inc
发明人： JEZIERSKI, Rafal , LORETH, Brian
IPC分类号： A61M1/00 , A61B17/32 , A61B17/00
CPC分类号： A61M3/022 , A61B17/320016 , A61B17/32002 , A61B2017/00017 , A61B2017/00026 , A61B2017/00075 , A61B2090/064 , A61B2090/066 , A61B2217/005 , A61B2217/007 , A61M1/0031 , A61M1/0058 , A61M3/0216 , A61M2205/3317 , A61M2205/3331 , A61M2205/3334 , A61M2205/3365
摘要： Featured is a closed loop surgical system including one or more control units that are configured to form a fluid control subsystem for fluid control and a device control subsystem for controlling a surgical device. The two control subsystems in combination provide an automatic self-managed closed loop system for the control of fluid into and out of the surgical site by means of intelligent communication and for maintaining a preselected pressure desired by the surgeon. In particular embodiments, this is accomplished by utilizing empirically correlated motor speed and load measurements, based on supplied current, from the surgical resection device when using its specific resection capability. For example, automatically adjusting fluid flow responsive to changes in loading of a surgical device or automatically sensing a load change for the surgical device during a surgical procedure and automatically changing (increasing or decreasing) fluid flow responsive to the load change.
摘要翻译：特征是闭环手术系统，其包括被配置为形成用于流体控制的流体控制子系统的一个或多个控制单元和用于控制外科装置的装置控制子系统。两个控制子系统组合提供了一种自动的自我管理的闭环系统，用于通过智能通信来控制进入和离开外科手术部位的流体，并保持外科医生期望的预选压力。在特定实施例中，这是通过利用经验相关的电动机速度和负荷测量来实现的，所述电动机速度和负载测量基于所提供的电流，当使用其具体的切除能力时，来自手术切除装置。例如，响应于手术装置的负载变化自动调节流体流量，或者在外科手术过程中自动检测手术装置的负荷变化，并响应负荷变化自动改变（增加或减少）流体流量。

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