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11. 发明申请

WO2023272375A8 METHOD FOR CONTROLLING AN ARTICULATING INSTRUMENT 审中-公开
公开(公告)号：WO2023272375A8
公开(公告)日：2023-01-05
申请号：PCT/CA2022/000048
申请日：2022-06-15
申请人： TITAN MEDICAL INC.
发明人： DEAN, Jesse Thomas , GENOVA, Perry A.
IPC分类号： A61B34/30 , A61B34/37 , B25J9/18 , A61B17/00234 , A61B2017/00207 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/302 , A61B2034/306 , A61B2034/741 , A61B2090/502 , A61B34/70 , A61B34/74
摘要： A method for controlling an articulating surgical instrument is disclosed. The instrument includes a manipulator and a positioner actuable to position a distal segment within an instrument workspace. The manipulator is attached to the distal segment and includes a distal end configured for mounting an operational tool for performing an operation within the instrument workspace, the manipulator being actuable to manipulate the distal end of the manipulator. The method involves receiving input signals at a processor circuit including position input signals representing a position within an input workspace and orientation input signals representing an orientation within the input workspace and causing the processor circuit to generate position control signals for actuating the positioner to move the distal segment within the instrument workspace to a physical position represented by the position input signal and to generate manipulation control signals based on the orientation input signals for actuating the manipulator to orient the distal end within the instrument workspace.

12. 发明申请

WO2021168535A1 APPARATUS FOR PROVIDING INSTRUMENT ACCESS THROUGH A SURGICAL ACCESS DEVICE 审中-公开
公开(公告)号：WO2021168535A1
公开(公告)日：2021-09-02
申请号：PCT/CA2020/051793
申请日：2020-12-23
申请人： TITAN MEDICAL INC.
发明人： FRANCISCO, Matthew M. , BUCKNAM, Laura E.
IPC分类号： A61B17/34 , A61B17/02 , A61M39/02 , A61M39/06
摘要： An apparatus for providing instrument access through a gel pad of a surgical access device disposed to seal an opening to a body cavity of a patient is disclosed. The apparatus includes a stem having a bore extending therethrough, the stem having a length sufficient such that when the stem is inserted through the gel pad a distal end of the stem protrudes beyond an inner surface of the gel pad. The bore is sized to permit an instrument to be inserted through the bore and through the opening into the body cavity. The stem includes a flanged opening to the bore that remains external to an outer surface of the gel pad and limits the insertion of the stem through the gel pad. The apparatus also includes a displaceable seal disposed within the bore below the flanged opening, the displaceable seal being operable to seal the bore prior to insertion of the instrument and to displace to permit insertion of the instrument while maintaining the seal.

13. 发明申请

WO2021068066A1 IMAGING APPARATUS FOR USE IN A ROBOTIC SURGERY SYSTEM 审中-公开
公开(公告)号：WO2021068066A1
公开(公告)日：2021-04-15
申请号：PCT/CA2020/051344
申请日：2020-10-07
申请人： TITAN MEDICAL INC.
发明人： JONES, Evan Rittenhouse , COSTELLO, Spencer James
IPC分类号： A61B1/05 , A61B1/00 , A61B1/04 , A61B34/30
摘要： A stereoscopic imaging apparatus for use in a robotic surgery system is disclosed and includes an elongate sheath having a bore. First and second image sensors are adjacently mounted at the distal end to capture high definition images from different perspective viewpoints for generating three- dimensional image information. The image sensors produce an unprocessed digital data signal representing the captured images. A wired signal line transmits the unprocessed digital data signals along the sheath to a proximal end to processing circuitry. The processing circuitry is configured to perform processing operations on the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system or for driving a 3D display. A secondary camera is also disclosed and includes an elongate strip of circuit substrate sized for insertion through a narrow conduit, the strip of circuit substrate connecting between an image sensor and a processing circuit substrate.

14. 发明申请

WO2017031568A1 METHOD AND APPARATUS FOR ILLUMINATING AN OBJECT FIELD IMAGED BY A RECTANGULAR IMAGE SENSOR 审中-公开
标题翻译：用于照射矩形图像传感器成像的对象场的方法和装置
公开(公告)号：WO2017031568A1
公开(公告)日：2017-03-02
申请号：PCT/CA2016/000215
申请日：2016-08-23
申请人： TITAN MEDICAL INC.
发明人： CHINNOCK, Randal B. , WEBER, William L.
IPC分类号： G03B15/02 , A61B1/07 , G01J3/32 , G03B15/14 , G03B11/00
CPC分类号： A61B1/07 , G03B11/00 , G03B15/02 , G03B15/14 , H04N5/2251 , H04N5/2256
摘要： An illuminator apparatus and method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio is disclosed. The apparatus includes an optical fiber having a proximal end disposed to receive a plurality of input light beams, each light beam having differing spectral properties, the optical fiber being operable to transmit the light beams along the fiber to a distal end of the optical fiber. The apparatus also includes an integrating element disposed to receive the light beams from the distal end of the fiber and combine the light beams to produce a generally homogenous illumination beam at a rectangular output face of the integrating element. The apparatus further includes an illumination projector operable to project an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.
摘要翻译：公开了一种用于照亮由具有第一纵横比的矩形图像传感器成像的物场的照明装置和方法。该设备包括光纤，其具有设置成接收多个输入光束的近端，每个光束具有不同的光谱特性，光纤可操作以将光束沿着光纤传输到光纤的远端。该装置还包括集成元件，其被设置为从光纤的远端接收光束并组合光束以在积分元件的矩形输出面处产生大致均匀的照明光束。该装置还包括照明投影仪，其可操作以将积分元件的输出面的图像投影到物场中，以产生基本对应于由矩形图像传感器成像的物场的部分的物场的大致矩形照明区域。

15. 发明申请

WO2016165004A1 END EFFECTOR APPARATUS FOR A SURGICAL INSTRUMENT 审中-公开
标题翻译：手术器械的终端效应器
公开(公告)号：WO2016165004A1
公开(公告)日：2016-10-20
申请号：PCT/CA2016/000059
申请日：2016-02-29
申请人： TITAN MEDICAL INC.
发明人： ROBERT, Rene
IPC分类号： A61B17/29 , A61B17/03 , A61B17/30 , A61B17/94
CPC分类号： A61B17/29 , A61B17/062 , A61B18/1445 , A61B34/30 , A61B2017/00473 , A61B2017/2939
摘要： An end effector apparatus for a surgical instrument is disclosed. The apparatus includes a first jaw mounted on a first revolute joint, the first jaw having a manipulating portion extending forwardly from the first revolute joint and a lever arm projecting rearwardly from the first revolute joint. The apparatus also includes a second jaw having a manipulating portion generally opposing the manipulating portion of the first jaw, and a coupler having an actuation end disposed overlapping the lever arm of the first jaw, the first and second jaws being laterally spaced apart to provide clearance for the actuation end of the coupler. The apparatus further includes a linkage extending rearwardly between the actuation end of the coupler and the lever arm of the first jaw, the linkage being operable to cause opening and closing movements of the first jaw about the first revolute joint in response to reciprocating movement of the coupler.
摘要翻译：公开了一种用于外科器械的末端执行器装置。该装置包括安装在第一旋转接头上的第一钳口，第一钳口具有从第一旋转接头向前延伸的操纵部分和从第一旋转接头向后突出的杠杆臂。该装置还包括具有大致与第一钳口的操纵部分相对的操纵部分的第二钳口和耦合器，该联接器具有设置成与第一钳口的杠杆臂重叠的致动端，第一钳口和第二钳口横向间隔开以提供间隙用于耦合器的致动端。该装置还包括在耦合器的致动端和第一钳口的杠杆臂之间向后延伸的联动装置，所述联动装置可操作以响应于所述第一旋转接头的往复运动而使第一钳口围绕第一旋转接头的打开和关闭运动耦合器。

16. 发明申请

WO2022159229A1 SERVICE LIFE MANAGEMENT FOR AN INSTRUMENT OF A ROBOTIC SURGERY SYSTEM 审中-公开
公开(公告)号：WO2022159229A1
公开(公告)日：2022-07-28
申请号：PCT/US2021/064633
申请日：2021-12-21
申请人： TITAN MEDICAL INC. , PFLAUMER, Hans Christian
发明人： LAAKSO, Aki Hannu Einari , GENOVA, Perry A.
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B2560/028 , A61B34/74 , A61B34/76
摘要： A robotic surgery system is disclosed that can include an instrument including an operational tool coupled to a positioner and an input device configured to generate input signals in response to manipulation by an operator representing a desired spatial positioning of the tool within a tool workspace including extents corresponding to physical movement limitations for the positioner. A processor can be configured to receive the input signals and process the signals to determine the desired spatial positioning. The processor can be configured to initiate a movement management function in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument. The processor can be configured to generate drive signals for movement of the positioner in response to a determination that the desired spatial positioning is not associated with a potential reduction in service life.

17. 发明申请

WO2017177309A1 APPARATUS FOR CLEANING AN IMAGING SYSTEM USED DURING A MEDICAL PROCEDURE 审中-公开
标题翻译：用于清洁医疗程序期间使用的成像系统的设备
公开(公告)号：WO2017177309A1
公开(公告)日：2017-10-19
申请号：PCT/CA2017/000085
申请日：2017-04-13
申请人： TITAN MEDICAL INC.
发明人： FARIA, Leonard M. , GAIDOS, Dustin , MARSHALL, Neal, H. , SCHOPKA, Brian, A. , JULIAN, Jason, P. , SCHARF, Ronald, F. , CHINNOCK, Randal, B.
IPC分类号： A61B1/12 , A61B1/015 , A61B1/04 , A61B50/30
CPC分类号： A61B1/126 , A61B1/00091 , A61B1/00105 , A61B1/00144 , A61B1/015 , A61B1/05 , A61B1/127 , A61B50/30 , G02B23/2484 , G02B27/0006
摘要： A method and apparatus for cleaning at least one optical element of an imaging system is disclosed, the imaging system having a distal end inserted into a patient during a medical procedure. The apparatus includes a manifold removably receivable on the distal end of the imaging system, the manifold having an inlet for receiving a flow of cleaning fluid and including a plurality of nozzles in communication with the inlet, each nozzle being aligned to direct cleaning fluid toward the at least one optical element when the manifold is received on the distal end of the imaging system. The apparatus also includes a feed tube in communication with the inlet for supplying cleaning fluid to the manifold, the feed tube having an end for removably coupling to a cleaning fluid supply, the feed tube being routed external to the imaging system when the manifold is received on the distal end of the imaging system.
摘要翻译：公开了一种用于清洁成像系统的至少一个光学元件的方法和装置，该成像系统具有在医疗过程期间插入到患者体内的远端。该设备包括可拆卸地容纳在成像系统的远端上的歧管，该歧管具有用于接收清洁流体流的入口并且包括与入口连通的多个喷嘴，每个喷嘴对准以将清洁流体朝向当歧管接收在成像系统的远端上时至少一个光学元件。所述设备还包括与所述入口连通的供给管，用于将清洁流体供给到所述歧管，所述供给管具有用于可移除地联接到清洁流体供给的端部，当容纳所述歧管时，所述供给管在所述成像系统的外部布线在成像系统的远端。

18. 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。

19. 发明申请

WO2013063675A1 APPARATUS AND METHOD FOR CONTROLLING AN END-EFFECTOR ASSEMBLY 审中-公开
标题翻译：用于控制终端效应器组件的装置和方法
公开(公告)号：WO2013063675A1
公开(公告)日：2013-05-10
申请号：PCT/CA2011/001226
申请日：2011-11-04
申请人： TITAN MEDICAL INC. , CRAINICH, Lawrence , SHVARTSBERG, Alexander
发明人： CRAINICH, Lawrence , SHVARTSBERG, Alexander
IPC分类号： A61B19/00 , A61B17/00 , B25J1/00
CPC分类号： A61B34/71 , A61B17/22031 , A61B34/30 , A61B2017/00991 , A61B2017/22038 , A61B2034/301 , A61B2034/305 , B25J9/0078 , B25J9/104 , B25J15/0028
摘要： An apparatus for controlling an end-effector assembly having a first working member and a second working member is provided. The apparatus includes a first set of at least one cable, a second set of at least one cable, a first pulley configured to guide the first set of at least one cable, a second pulley configured to guide the first set of at least one cable when the second pulley is in a first position, a third pulley configured to guide the second set of at least one cable, and a rotatable element rotatable about a first axis.
摘要翻译：提供一种用于控制具有第一工作构件和第二工作构件的末端执行器组件的装置。该设备包括第一组至少一根电缆，第二组至少一根电缆，第一皮带轮，其被配置为引导第一组至少一根电缆;第二皮带轮，被配置为引导第一组至少一根电缆当所述第二滑轮处于第一位置时，构造成引导所述第二组至少一个电缆的第三滑轮和可围绕第一轴线旋转的可旋转元件。

20. 发明申请

WO2020237400A1 SURGICAL INSTRUMENT APPARATUS, ACTUATOR, AND DRIVE 审中-公开
公开(公告)号：WO2020237400A1
公开(公告)日：2020-12-03
申请号：PCT/CA2020/050755
申请日：2020-06-01
申请人： TITAN MEDICAL INC.
发明人： GENOVA, Perry A. , LAAKSO, Aki Hannu Einari
IPC分类号： A61B34/00 , A61B17/29 , A61B34/30
摘要： A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link. A proximate end of the manipulator may be laterally offset to facilitate location of the surgical instrument apparatus closely adjacent to another surgical instrument apparatus. The manipulator may include an unactuated articulated portion disposed between the rigid portion and the chassis.

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