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1. 发明申请

WO2016069663A1 SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION 审中-公开
标题翻译：用于整体外科手术的系统和方法
公开(公告)号：WO2016069663A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057673
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： ITKOWITZ, Brandon D. , GRIFFITHS, Paul G. , SWARUP, Nitish , ZIAEI, Kam
IPC分类号： A61G13/02
CPC分类号： A61B34/30 , A61G13/02
摘要： A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement to the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives a instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.
摘要翻译：计算机辅助医疗装置包括第一铰接臂，第一铰接臂具有端部执行器，第一接头组，第二接头组和控制单元。所述控制单元将所述第一关节组中的一个或多个关节配置为浮动模式，检测由所述外科手术台的运动引起的对所述第一关节组的移动，基于所述外科手术台的移动来驱动所述第二关节组，仪器运动指令在手术台移动时移动末端执行器，并根据仪器运动指令移动末端执行器。在一些实施例中，仪器运动命令相对于成像坐标系。在一些实施例中，成像坐标系基于在手术台移动之前保存的成像装置的姿态。

2. 发明申请

WO2016069648A1 SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE 审中-公开
标题翻译：综合外科手术系统与方法
公开(公告)号：WO2016069648A1
公开(公告)日：2016-05-06
申请号：PCT/US2015/057656
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： ITKOWITZ, Brandon D. , GRIFFITHS, Paul G. , HEMPHILL, Jason , LYNCH, Goran , MILLER, Daniel , O'GRADY, Patrick , SWARUP, Nitish , ZIAEI, Kam
IPC分类号： A61G13/02
CPC分类号： A61B34/30 , A61B34/25 , A61G13/02
摘要： A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.
摘要翻译：一种用于综合外科手术台的系统和方法包括一种包括具有一个或多个第一和第二关节的关节臂和控制单元的医疗装置。所述铰接臂至少具有套管，内窥镜或安装在所述第一和第二关节的远侧的仪器，所述第一和第二关节被插入到身体开口处的患者体内。控制单元解锁第一关节，接收外科手术台移动请求，确定是否应该允许手术台移动请求，允许外科手术台基于确定来执行所请求的移动，使用第一关节允许铰接臂基于身体开口处的身体壁施加的力来跟踪身体开口的运动，并且通过在第二关节中执行补偿运动来补偿由于跟踪的运动引起的套管，内窥镜或器械的姿势的变化。

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