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1. 发明申请

WO2023272375A1 METHOD FOR CONTROLLING AN ARTICULATING INSTRUMENT 审中-公开
公开(公告)号：WO2023272375A1
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 , A61B2017/00314 , A61B2034/302 , A61B2034/741 , A61B2090/502
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.

2. 发明申请

WO2022266746A1 ROBOTIC SURGICAL INSTRUMENTS WITH DIVERGING FORM FACTORS 审中-公开
公开(公告)号：WO2022266746A1
公开(公告)日：2022-12-29
申请号：PCT/CA2022/050847
申请日：2022-05-26
申请人： TITAN MEDICAL INC.
发明人： HORNSBY, Jack Alexander , BURNESS, Antony R. , MARINOVICH, Matthew M. , PAWULSKI, Mark J.
IPC分类号： A61B34/30
摘要： A surgical instrument with a divergent form factor includes an elongated shaft assemblyhaving a proximal end portion and a distal end portion. The surgical instrument defines alongitudinal axis and supports a cassette housing on the proximal end portion of the elongatedshaft assembly. The cassette housing diverges from the longitudinal axis. The distal endportion of the elongated shaft assembly supports an end effector that is operably coupled to anactuator assembly supported by the cassette housing. The surgical instrument removablycouples to a control drive unit of a robotic surgical assembly to enable the actuator assemblyto operate the end effector.

3. 发明申请

WO2022193009A1 ROBOTIC SURGICAL SYSTEMS WITH DEXTEROUS ENDOSCOPE 审中-公开
公开(公告)号：WO2022193009A1
公开(公告)日：2022-09-22
申请号：PCT/CA2022/050392
申请日：2022-03-15
申请人： TITAN MEDICAL INC.
发明人： LAAKSO, Aki Hannu Einari , PFLAUMER, Hans Christian , BARTON, Rupert Anthony , TURNER, Adam Richard , SMITHEMAN, Paul , BURNESS, Antony R , NOAKES, Robert Ian , WOLF, Marcus Joseph
IPC分类号： A61B1/008 , A61B1/05 , A61B34/30
摘要： A surgical system includes a drive assembly and a dexterous endoscope. The endoscope defines a longitudinal axis and is actuatable by the drive assembly. The endoscope includes a camera assembly and an articulation assembly. The articulation assembly supports the camera assembly and is actuatable to move the camera assembly relative to the longitudinal axis. The distal wrist assembly includes links that are movable relative to one another, and the proximal wrist assembly includes links that are movable relative to one another.

4. 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.

5. 发明申请

WO2017156618A1 APPARATUS FOR REMOVABLY RECEIVING AN END EFFECTOR FOR PERFORMING SURGICAL OPERATIONS 审中-公开
标题翻译：用于可拆卸地接收用于执行手术操作的末端执行器的装置
公开(公告)号：WO2017156618A1
公开(公告)日：2017-09-21
申请号：PCT/CA2017/000056
申请日：2017-03-15
申请人： TITAN MEDICAL INC.
发明人： ROBERT, Rene , HILLS, Jonathan Hess
IPC分类号： A61B17/00 , A61B34/30
CPC分类号： A61B17/2909 , A61B34/30 , A61B2017/00314 , A61B2017/00464 , A61B2017/292 , A61B2017/2944 , A61B2017/2946 , A61B2018/00172 , A61B2034/302 , A61B2090/08021
摘要： A surgical instrument apparatus for removably receiving an end effector coupled to an elongate control link for actuating the end effector to perform surgical operations is disclosed. The apparatus includes an actuator housing and an elongate shaft extending from the actuator housing and having a bore for receiving the control link. The apparatus also includes an actuator mounted within the actuator housing and includes a clamp aperture disposed to receive the control link while the clamp aperture is being urged into an undamped state by an opening force, the clamp aperture being operably configured to move between the undamped state and a clamped state in response to the opening force being released, the aperture in the clamped state being operable to restrain the control link within the actuator for movement in a longitudinal direction substantially aligned with the elongate shaft.
摘要翻译：公开了一种用于可移除地接收联接到细长控制连杆的端部执行器以用于致动端部执行器以执行外科手术的手术器械装置。该设备包括致动器壳体和从致动器壳体延伸并具有用于接收控制连杆的孔的细长轴。该装置还包括安装在致动器壳体内的致动器，并且该致动器包括夹持孔，该夹持孔设置成接收控制连杆，同时通过打开力将夹持孔推动到松开状态，该夹持孔可操作地构造成在松开状态以及响应于打开力被释放而处于夹紧状态，所述夹紧状态下的所述孔可操作以限制所述致动器内的所述控制连杆在基本上与所述细长轴对准的纵向方向上移动。

6. 发明申请

WO2017124170A1 METHOD AND APPARATUS FOR POSITIONING A WORKSTATION FOR CONTROLLING A ROBOTIC SYSTEM 审中-公开
标题翻译：用于定位用于控制机器人系统的工作站的方法和设备
公开(公告)号：WO2017124170A1
公开(公告)日：2017-07-27
申请号：PCT/CA2016/000316
申请日：2016-12-13
申请人： TITAN MEDICAL INC.
发明人： LUTZOW, Thomas, Andrew , BACHER, Daniel
IPC分类号： A47B21/013 , A61B34/30 , A61B90/50
CPC分类号： A61B34/74
摘要： A method for positioning an input device of a workstation for use by a seated user in controlling a robotic surgery system is disclosed. The input device is operable to generate input signals representing a position of a hand controller moveable within an input device workspace. The method involves determining a vertical position of the hand controller within the input device workspace for an input signal received from the input device while a seated user's hand is grasping the hand controller in an initialization position defined with respect to the user's body. The method also involves determining a user ergonomic height of the input device based on the vertical position of the hand controller at the initialization position, and causing a platform of the workstation on which the input device is mounted to move vertically with respect to a base of the workstation to position the input device at the ergonomic height.
摘要翻译：公开了一种用于定位工作站的输入设备以供坐着的用户用于控制机器人手术系统的方法。输入设备可操作以生成表示可在输入设备工作空间内移动的手控制器的位置的输入信号。该方法涉及当坐着的用户的手抓住手控制器在相对于用户身体限定的初始化位置时，确定手输入装置工作空间内的手控制器在输入装置接收到的输入信号时的垂直位置。该方法还涉及基于手控制器在初始化位置处的垂直位置来确定输入设备的用户人体工程学高度，并且使得其上安装有输入设备的工作站的平台相对于基座垂直移动工作站将输入设备放置在符合人体工程学的高度。

7. 发明申请

WO2013063674A1 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：WO2013063674A1
公开(公告)日：2013-05-10
申请号：PCT/CA2011/001225
申请日：2011-11-04
申请人： TITAN MEDICAL INC. , BUTT, Eric , RANSDEN, Jeff , SHVARTSBERG, Alexander , RAYMAN, Reiza
发明人： BUTT, Eric , RANSDEN, Jeff , SHVARTSBERG, Alexander , RAYMAN, Reiza
IPC分类号： A61B19/00 , A61B17/00 , B25J1/00
CPC分类号： B25J18/00 , A61B34/70 , A61B2017/00309 , A61B2017/00314 , A61B2017/00526 , A61B2017/2905 , A61B2017/2908 , A61B2017/2927 , A61B2034/301 , A61B2034/305 , Y10S901/23 , Y10T74/20311 , Y10T74/20329
摘要： An apparatus for controlling an end-effector assembly is provided. The apparatus includes an elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.
摘要翻译：提供一种用于控制端部执行器组件的装置。该装置包括配置成接合末端执行器组件和驱动组件的细长元件。第一运动传递机构设置在细长元件的端部。第一运动传递机构构造成将细长元件的旋转运动传递到端部执行器组件的运动。第二运动传递机构构造成将驱动组件的运动传递到细长元件的旋转运动。

8. 发明申请

WO1989005392A2 TRANSCUTANEOUS INFUSION APPARATUS AND METHODS OF MANUFACTURE AND USE 审中-公开
标题翻译：经皮输注装置及其制造和使用方法
公开(公告)号：WO1989005392A2
公开(公告)日：1989-06-15
申请号：PCT/US1988004288
申请日：1988-11-30
申请人： TITAN MEDICAL, INC.
发明人： TITAN MEDICAL, INC. , KOENIG, Marvin, E., Jr. , LEE, Robert , MOSCHLER, Melvin, B., Jr.
IPC分类号： E61M25/00
CPC分类号： A61M25/0631 , A61M5/3243 , A61M39/0208 , A61M2005/1581 , A61M2205/195 , A61M2205/197 , A63B60/06 , A63B60/08 , A63B60/10 , A63B60/42
摘要： Apparatus for accessing the circulatory system of a person or animal includes a port and a device for accessing the port. The access device has a solid introducer with a catheter received thereabout. The introducer and catheter are covered by telescoping containers which expose the insertion ends of the introducer and catheter only at the time of insertion.
摘要翻译：用于访问人或动物的循环系统的装置包括用于访问端口的端口和设备。进入装置具有固定的引导器，其中接收有导管。导引器和导管被伸缩容器覆盖，只能在插入时露出引导器和导管的插入端。

9. 发明申请

WO2023023178A1 ROBOTIC SURGERY SYSTEM 审中-公开
公开(公告)号：WO2023023178A1
公开(公告)日：2023-02-23
申请号：PCT/US2022/040631
申请日：2022-08-17
申请人： TITAN MEDICAL INC.
发明人： EINARI LAAKSO, Aki Hannu , PFLAUMER, Hans Christian , DAVIES, James , COOPER, Adrian , BRITTAIN, Tom , MONTEIRO, Andre , MEDEIROS, Chace F.
IPC分类号： A61B34/30 , A61B50/13
摘要： A robotic surgical system is provided with a central drive unit that supports and operates one or more robotic tools and a robotic arm and boom assembly that movably supports the control unit assembly in space. The robotic arm and boom assembly selectively allows movement of the control unit assembly along a plane, as well as in pitch and yaw, upon actuation of one or more actuators of the robotic arm and boom assembly to allow movement of the central drive unit.

10. 发明申请

WO2023283735A1 STERILE ADAPTER ASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS 审中-公开
公开(公告)号：WO2023283735A1
公开(公告)日：2023-01-19
申请号：PCT/CA2022/051092
申请日：2022-07-13
申请人： TITAN MEDICAL INC.
发明人： COOKE, Jon , MARINOVICH, Matthew M. , BUTLER, Lewis , BURNESS, Antony R.
IPC分类号： A61B34/30
摘要： A surgical system includes a motor assembly and an adapter assembly. The motor assembly includes a motor coupler and the adapter assembly supports an adapter coupler that engages with the motor coupler. When the adapter and motor couplers are misaligned, the motor coupler can rotate relative to the adapter coupler to align the motor and adapter couplers so they can rotate together.

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