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Stereotaxic device

Subclass of:

606 - Surgery

606001000 - INSTRUMENTS

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DocumentTitleDate
20110178532System and method of automatic detection of obstructions for a robotic catheter system - An obstruction detection system for a robotic catheter system including a robotic catheter manipulator assembly including one or more catheter manipulation bases and one or more sheath manipulation bases. Each manipulation base may be generally linearly movable on one or more tracks relative to the robotic catheter manipulator assembly. The obstruction detection system may include one or more obstruction detection sensors disposed on the track or on the manipulation bases to detect an obstruction along a path of motion of one or more manipulation bases. A software system may be provided for monitoring movement of the catheter and sheath manipulation bases, and/or a status of the obstruction detection sensors.07-21-2011
20110178531Control portion of and device for remotely controlling an articulating surgical instrument - A control portion of a remotely controlled surgical device comprises a first set of controls, a second set of controls, and a function control mechanism. The first set of controls is configured for receiving motion from a human shoulder, arm, and hand and translating one or more of its received motion inputs into one or more macro motion control signals for controlling one or more macro motions associated with an articulating surgical instrument. The second set of controls is configured for receiving motion from the human shoulder, arm, and hand and translating one or more of its received motion inputs into one or more micro motion control signals for controlling one or more micro motions of the articulating surgical instrument. The function control mechanism is configured for receiving a function control input from a user of the control portion. The function control input is for controlling a function associated with the remotely controlled surgical device.07-21-2011
20100152749Table-mounted surgical instrument stabilizers with single-handed or voice activated maneuverability - A surgical instrument stabilizer system for securely holding virtually any instrument during any procedure, delivering vacuum when applicable, and yet allowing easy single-handed or voice activated repositioning by a user. The system utilizes opposing horizontal side-rails mounted to opposing sides of a surgical table, and opposing arms each slidably mounted on a side rail for global lengthwise positioning along the side rails. The arms carry a transverse beam at the foot of the operating table, and a flexible arm is movably mounted on the beam for global lengthwise positioning along the beam. Alternately, the flexible arm may be affixed directly to one of the existing horizontal side rails. The flexible arm leads to an instrument-supporting hand piece pivotally mounted for angular orientation of an instrument supported thereby. The flexible arm can be freely articulated to any position and locked in place. Thus, a supported instrument can be repositioned quickly and easily by single-handed or voice activated manipulation by a surgeon or surgical assistant, and locked in any position up and down along a vertical axis, forward and back, i.e, toward or away from the patient, and rotationally.06-17-2010
20130030449RIGIDLY-LINKED ARTICULATING WRIST WITH DECOUPLED MOTION TRANSMISSION - The present invention is a device having a rigidly linked jaw that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like.01-31-2013
20130030448OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY - Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.01-31-2013
20090030429ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M01-29-2009
20090264898Steerable Endovascular Retrieval Device - A retrieval catheter for retrieving endovascular devices from the lumen of a blood vessel includes a controllable steerable distal tip.10-22-2009
20120172893OPTICAL SENSING SYSTEM FOR COCHLEAR IMPLANT SURGERY - A sensing system for implant surgery includes an insertion device for moving an implant into a narrow cavity in a patient's body. A sensor measures the distance from an end of the insertion device to anatomic surfaces at a distance from the end of the insertion device. An optical coherence tomography (OCT) system integrates the sensor and produces OCT images, which can be quantified to distance measurements. The system is particularly useful for cochlear implant surgery.07-05-2012
20130211420METHOD FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery method may include moving and temporarily fixing the position of a mobile base relative to the floor; coupling a first element of a fluoroscopic imaging system comprising a source element and a detector element to a first robotic arm coupled to the mobile base, the first robotic arm comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element; mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned between the first and second elements of the fluoroscopic imaging system; and utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the fluoroscopic imaging system to determine a relative spatial positioning between each of the first and second elements.08-15-2013
20130211418APPARATUS AND METHOD FOR TACTILE FEEDBACK - An apparatus and method for a tactile feedback are provided. The tactile feedback apparatus may include a position measurement unit to measure a position of a mechanical link, and a tactile feedback unit to transmit a tactile sensation based on at least one of a position of the mechanical link and a rotation angle of the mechanical link.08-15-2013
20090192520TOOL HOLDER - A surgical tool support device includes an arm. The arm includes a flexible tubular main body; and a plurality of beads contained within the tubular main body. In a first configuration, a fluid at least partially surrounds the plurality of beads. In a second configuration, at least some of the fluid is evacuated such that the rigidity of the arm is increased.07-30-2009
20090192522FORCE SENSOR TEMPERATURE COMPENSATION - In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. The strain gauges are comprised of a negative thermo-optic coefficient optical fiber material in one embodiment. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. In another embodiment, adjacent fiber optic strain gauges with differing thermal responses are used to solve simultaneous equations in strain and temperature to derive strain while rejecting thermal effects. In yet another embodiment, a thermal shunt shell is over an outer surface of the tube portion. An advantageous surgical instrument having improved temperature compensation is also provided.07-30-2009
20110196385ABLATED OBJECT REGION DETERMINING APPARATUSES AND METHODS - Ablated object region determining apparatuses and methods for determining an ablated object region for ablating an object of interest are provided. A user can set an orientation and position of an ablation element with respect to a geometrical representation of the object of interest, at least one energy influencing element and a spatial relationship between the object of interest and the at least one energy influencing element. A model ablation region retrieving unit retrieves a model ablation region depending on the respective set orientation and position of the ablation element from a model ablation region storing unit. An ablated object region determining unit determines at least one of a) an ablated object region of the object of interest being located within the retrieved model ablation region and b) a non-ablated object region of the object of interest being located outside the retrieved model ablation region.08-11-2011
20100082043SURGICAL MANIPULATOR SYSTEM - Movement of an instrument to a target treatment site can be performed easily and quickly, so that the burden imposed on an operator can be reduced. A surgical manipulator system including a stabilizer manipulator having a stabilizer, at the tip, holding an operative site of a patient; one or more operating manipulator having an instrument, at the tip, treating the held operative site; an observation manipulator having a camera, at the tip, for observing the operative site; a display unit displaying an image of the operative site acquired by the camera; an input unit specifying a target site to be treated in association with an image of the stabilizer that holds the operative site, which image is displayed on the display unit; and a control unit controlling these parts, wherein the stabilizer manipulator, the operating manipulator, and the observation manipulator have coordinate systems that are associated with one another; and the control unit controls the operating manipulator so as to dispose the instrument in the vicinity of the target site specified by the input unit.04-01-2010
20100076455SURGICAL INSTRUMENT, IN PARTICULAR POINTER INSTRUMENT, COMPRISING TIP SENSOR - The invention relates to a surgical instrument comprising a handle portion and a tip, wherein a tip sensor is provided on the handle portion.03-25-2010
20100076454POSITIONING DEVICE FOR POSITIONING AN OBJECT ON A SURFACE - The present invention relates to a positioning device for positioning an object (03-25-2010
20100076453SYSTEMS AND METHODS FOR PROVIDING REMOTE DIAGNOSTICS AND SUPPORT FOR SURGICAL SYSTEMS - Systems and methods for medical care, and more particularly, systems and methods for providing remote diagnostics and support for surgical systems. A central computer system is communicatively coupled to one or more computer-based surgical machines. The central computer system is programmed to monitor the operation of each of the surgical machines, diagnose any problems that occur with the machines, and notify a technician of potential problems with the machines to provide for an efficient support system that minimizes undesirable downtime of the surgical machines.03-25-2010
20130085510ROBOT-MOUNTED SURGICAL TABLES - The systems and methods disclosed herein generally involve a robotically-assisted surgical system in which a platform for supporting a patient is physically and operatively coupled to a surgical robot and an associated controller. As a result, the position of the patient can be controlled remotely using the robot, and the controller can have an awareness of the position and orientation of the patient with respect to the operating room and with respect to various components of the robot. Such systems can thus maintain a fixed frame of reference between the patient and one or more end effectors of the surgical robot, eliminating the need for recalibration of the system due to patient movement.04-04-2013
20130085511Novel Tactile Feedback System for Robotic Surgery - Apparatuses and methods for the haptic sensation of forces at a remote location. Groups of MEMS-based pressure sensors are combined into sensor arrays. In some embodiments, the pressure sensors are encased in silicone or other elastomeric substance to allow for routine use in the aqueous environment of the body. The sensor arrays may be housed in a No-compatible material (e.g., stainless steel, plastic) and may be attached to a printed circuit board to allow the electrical signal generated by the sensors to be communicated to a user. The sensor arrays may be used with faceplates that directly interact with the target tissue or object. The faceplates may be rough, smooth, serrated, or any other texture. The present apparatuses and methods are particularly well suited for robotic surgery and may be used in wherever haptic sensing of forces at a remote location is desired.04-04-2013
20130079799PRECISE PLACEMENT DEVICE FOR PRECISE INSERTION OF INSERT - The precise placement device includes: a direction controller to which a placement unit having an insert and a drill is mounted, the direction controller controlling a direction of the placement unit; a precise transfer unit to which the direction controller is mounted, the precise transfer unit transferring the placement unit in the planar two-axis direction; a support table for fixing a target for insertion in which the insert is to be placed; and transfer units for transferring the precise transfer unit and the operating table.03-28-2013
20130085509METHODS AND DEVICES FOR REMOTELY CONTROLLING MOVEMENT OF SURGICAL TOOLS - Methods and devices are provided for controlling movement of a distal end of a surgical instrument. In general, the methods and devices can allow for controlling movement of surgical tools, and in particular for causing mimicked motion between an external control unit and a surgical tool positioned within a patient's body. In one embodiment, a surgical system is provided having a master assembly including an input tool and a slave assembly including a surgical instrument. The master assembly and the slave assembly can be configured to be electronically coupled together such that movement of the master assembly can be electronically communicated to the slave assembly to cause mimicked movement of the slave assembly.04-04-2013
20130035696METHOD AND APPARATUS FOR DETERMINING AND GUIDING THE TOOLPATH OF AN ORTHOPEDIC SURGICAL ROBOT - A surgical robot system for cutting bone, the surgical robot system comprising: 02-07-2013
20130035697MEDICAL MANIPULATOR AND METHOD OF CONTROLLLING THE SAME - In a medical manipulator configured to have a manipulation unit including a first input unit and a second input unit that are exchangeable, a signal generation unit configured to process an input with respect to the manipulation unit based on a predetermined process condition and to generate a manipulation signal, an operating unit configured to be operated by the manipulation signal, and a detection unit configured to recognize a type of a used input unit, the process condition corresponded to the first input unit and the process condition corresponded to the second input unit differ, and the signal generation unit generates the manipulation signal based on the process condition corresponded to the input unit recognized by the detection unit.02-07-2013
20100114117INSTRUMENT SUPPORT APPARATUS - An instrument support apparatus is disclosed. In some embodiments, the instrument support apparatus may be for supporting an instrument having a shaft extending along a shaft axis relative to a patient positioned adjacent to an external frame. In some embodiments, the instrument support apparatus may include a base fixedly mountable onto the external frame, a pivot assembly mounted for pivoting relative to the base, an arm assembly extending along a longitudinal axis, and a support assembly configured to support the instrument on the arm assembly.05-06-2010
20120265215SYSTEMS AND METHODS FOR ARTICULATING AN ELONGATE BODY - Systems and methods for articulating an elongate articulatable body which is adapted to be delivered within a body cavity. Particularly, systems and methods for enhancing an articulating force on the elongate body without increasing an actuation force applied by an actuator.10-18-2012
20090171371MEDICAL ROBOTIC SYSTEM WITH FUNCTIONALITY TO DETERMINE AND DISPLAY A DISTANCE INDICATED BY MOVEMENT OF A TOOL ROBOTICALLY MANIPULATED BY AN OPERATOR - A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.07-02-2009
20100042112STEREOTACTIC DRIVE SYSTEM - A drive system for controlling movement of an elongate member includes a base unit having a first rotatable knob and a second rotatable knob, a follower assembly including a follower slidably coupled to a guide rail, a longitudinal movement wire, and a rotational movement wire. The follower includes a longitudinal movement pulley, a rotational movement pulley, and an alignment element structured to receive an elongate member such that the elongate member is attachable thereto. The longitudinal movement wire operably couples the first rotatable knob to the longitudinal movement pulley such that rotation of the first knob drives the follower in a longitudinal direction along the guide rail. The rotational movement wire operably couples the second rotatable knob to the rotational movement pulley such that rotation of the second knob rotates the alignment element and attached elongate member.02-18-2010
20090157093SURGICAL APPARATUS - A surgical apparatus comprising a system controller, a hand-held scalpel assembly, a first communication link interconnecting the hand-held scalpel assembly with the system controller, an actuator, and a second communication link interconnecting the actuator with said system controller.06-18-2009
20100106165RETENTION DEVICE, MEDICAL ROBOT AND METHOD TO SET THE TOOL CENTER POINT OF A MEDICAL ROBOT - In a retention device, a medical robot and a method to set the tool center point of a medical robot, the retention device has a fixing device to fix the head of a person held by the retention device. The fixing device provides an indication of the position of the openings of the auditory canals of the ears of the person relative to the retention device based on the relation between the fixing device and the head of the person and the relation between the fixing device and the retention device.04-29-2010
20090143787Robotic surgical device - A robotic surgical device for using in laparoscopic surgery, including two robotic arms, each having at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms.06-04-2009
20120184968ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE - A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.07-19-2012
20100094312FORCE ESTIMATION FOR A MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEM - A method of force estimation for a minimally invasive medical system comprising a robot manipulator (04-15-2010
20120165828ALTERNATE INSTRUMENT REMOVAL - Minimally invasive robotic surgical instruments and related methods are disclosed. A surgical instrument includes an interface fitting that couples a proximal chassis of the instrument with a holding fixture of a robotic manipulator. A securing feature releasably prevents relative axial sliding between the interface fitting and the chassis. In response to binding of the surgical instrument within a minimally invasive surgical site so as to inhibit removal of the surgical instrument from the surgical site and inhibit disengagement of the interface fitting from the holding fixture, the securing feature can be released to allow relative axial sliding between the interface fitting and the chassis, thereby allowing the holding fixture and the interface fitting to be separated from the rest of the surgical instrument and repositioning of the robotic manipulator out of the way.06-28-2012
20100063515ERGONOMIC NEEDLE WALDO AND METHOD - An ergonomic needle waldo may include a needle mounted in a needle head assembly coupled to a hinge assembly. The hinge assembly may be coupled to a tube body assembly and/or handle assembly. Additionally, a thumb wheel may be disposed between handle assembly and tube body assembly.03-11-2010
20130046317MEDICAL INSTRUMENT WITH FLEXIBLE WRIST MECHANISM - A medical instrument includes a unitary wrist structure having: a first connector portion having a lower stop surface, a compact flexure integral with the first connector portion, and a second connector portion integral with the compact flexure with the second connector portion having an upper stop surface integral with the compact flexure below the lower stop surface and forming an angle with the lower stop surface.02-21-2013
20130046318Surgical Instrument With Commonly Actuated Robotic and Manual Features - An instrument including an end effector at a distal end; an actuator mechanism at a proximal end, the actuator mechanism including a first valve, a robotic control coupled to the first valve, and a manual control coupled to the first valve is provided. The instrument may further include a transport shaft between the actuator mechanism and the end effector, the transport shaft including a cavity, coupled to the first valve, facilitating material transport along the transport shaft, the first valve having an actuating axis perpendicular to a rotational axis of the robotic control. A method for using an instrument as above is also provided.02-21-2013
20090306679METHOD AND APPARATUS FOR DETERMINING ACETABULAR COMPONENT POSITIONING - An instrument for establishing orientation of a pelvic prosthesis comprises a tri-pod having an angularly adjustable guide rod on it. The tips of the legs define a plane, and the guide rod is set by the surgeon to a defined orientation with respect to this plane on the basis of preoperative studies. In use, two of the legs of the instrument are positioned by the surgeon at defined anatomical locations on the pelvis (e.g., a point in the region of the posterior/inferior acetabulum and a point on the anterior superior iliac spine). The third leg then lands on the pelvis at a point determined by the position of the first two points, as well as by the separations between the third leg and the other two legs. The separations are adjustable, but are preferably fixed percentages of the separation between the first and second legs. The position of the guide rod then defines with respect to the actual pelvis the direction for insertion of a prosthesis.12-10-2009
20130072944AUTOMATED ALIGNMENT - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.03-21-2013
20130072943EM Guidance Device For A Device Enabled For Endovascular Navigation Placement Including A Remote Operator Capability And EM Endoluminal Imaging Technique - A method and system for placing a device enabled for endovascular navigation, specifically a PICC catheter, and more broadly any device which is manipulated in over the wire or monorail fashion. Variants of the system comprise a guidewire for navigating through a patient's vasculature, having an electromagnetic (EM) based tracking components at or near the a leading end of the guidewire; an EM positioning field generator configured on a reference gantry; a computer and display configured to output position information of the guidewire leading end; and a servomotor delivery system actuator, mechanically coupled to the guidewire and configured for controlling the position of the guidewire.03-21-2013
20110015650INSTRUMENT OF ROBOT ARM FOR SURGERY - An instrument for a surgical robot arm is disclosed. The instrument, which is to be mounted on a front end of a robot arm equipped with an actuator, includes: a housing, which is coupled to the front end of the robot arm; a driving wheel, which is coupled to the housing, and which is operated by way of a driving force transferred from the actuator; and a locking part, which is coupled to the housing, and which locks the operation of the driving wheel in correspondence to the mounting and dismounting of the housing on and from the robot arm. By installing a locking part on the instrument, the locking part can be made to restrain the rotation of the driving wheels when mounting or dismounting the instrument on or from the robot arm, and the driving wheels can be automatically calibrated when the instrument is dismounted from the robot arm. Thus, the driving wheels or the manipulation part may not undergo unnecessary movements, and the driving force of the robot arm can be transferred to the instrument without having to perform a separate aligning process after mounting the instrument onto the robot arm.01-20-2011
20110015649Surgical Guidance Utilizing Tissue Feedback - A surgical system is for use with a surgical tool and a tissue characteristic sensor associated with the surgical tool. The system has an expected tissue characteristic for tissue on a predefined trajectory of the tool in a patient, and a controller to receive a sensed tissue characteristic from the tissue characteristic sensor, such sensed tissue characteristic associated with an actual trajectory of the tool. The controller compares the expected tissue characteristic for the expected location with the sensed tissue characteristic for the actual trajectory. A robot can be used to carry out automated surgical tasks and make adjustments based on differences between the expected characteristic and the sensed characteristic.01-20-2011
20110015648ENDOSCOPIC ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a elongate instrument interface including a plurality of instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The elongate instrument preferably comprises and/or defines other lumens to accommodate instruments such as an optics bundle, a light bundle, a laser fiber, and flush irrigation. The working lumen preferably is configured to accommodate a grasping or capturing tool, such as a collapsible basket or grasper, for use in procedures such as kidney stone interventions. The elongate instrument includes a plurality of instrument control elements operatively coupled to respective drive elements and secured to the distal end of the instrument. The instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.01-20-2011
20110015647POSITIONING APPARATUS WITH LOCKABLE JOINTS AND METHOD OF USE - A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded.01-20-2011
20130060260Multi-actuator array for the specific deformation of an implant - An electronic control device assists in the insertion of an implant into the body of a patient, and allows the implant to be arbitrarily altered in shape by applying control signals. Patient-specific geometric body data from a body region into which the implant is to be introduced is input and stored. Computer-aided simulation of the insertion operation uses the patient-specific body data as a basis for simulating the insertion operation to produce actuation data which control the arbitrary alteration in the shape of the implant. The control device outputs the actuation data to the implant in the form of control signals on the basis of a sensed or calculated current introduction position of the implant according to the prior simulation.03-07-2013
20090270880CLUTCH MECHANISM - A clutch mechanism for use with a carrier of a linear drive device includes a housing, a first gear, and a first clutch arrangement. The first gear coupled to the housing and has gear teeth to engage a threaded shaft of a linear drive device. Rotation of the shaft causes the housing to move along the shaft in a first mode of operation. The first clutch arrangement prevents substantial rotation of the first gear. The first gear permits rotation of the first gear with respect to the housing. The housing can be manually moved along a length of the shaft, in a second mode of operation, by exerting a force on the housing. The rotational force applied to the first gear through the interaction of the threaded shaft and the gear teeth exceeds the first threshold.10-29-2009
20130066335METHOD FOR MOVING AN INSTRUMENT ARM OF A LAPAROSCOPY ROBOT INTO A PREDETERMINABLE RELATIVE POSITION WITH RESPECT TO A TROCAR - A method for moving an instrument aim of a laparoscopy robot into a predeterminable position relative to a trocar placed in a patient is proposed. A spatial marker that can be localized from outside of the patient is applied to the trocar. The spatial position of the trocar is detected based on the spatial marker. The intended position of the instrument arm is established from the spatial position and the relative position. The actual position of the instrument arm is detected. The instrument arm is moved into the intended position based on the actual position, the intended position and an error minimization method.03-14-2013
20130066334Axial Surgical Trajectory Guide - A medical trajectory guide includes a base a configured for alignment with a coordinate axis, a first guide member rotatably attached to the base, a guide sleeve guided by the first guide member, and a motor coupled to the first guide member and configured to rotate the first guide member in relation to the first axis. The first guide member is rotatable about a first axis.03-14-2013
20130066333SURGICAL INSTRUMENT AND MEDICAL MANIPULATOR - A surgical instrument for performing treatment to a treatment target portion includes a cylindrical elongated member; a treatment part, and a connection part. The connection part includes a first turning axis part provided to the elongated member, a second turning axis part provided to the treatment part, a first rolling guide part that is provided to the elongated member and includes a circular-arc-shaped part coaxial with the first turning axis part, a second rolling guide part that is provided to the treatment part and includes a rolling guide part including a circular-arc-shaped part coaxial with the second turning axis part, the rolling guide part rollingly contacting the first rolling guide part, and an engaging part that brings the treatment part and the elongated member into an engaging state. The connection part is detachable between the first turning axis part and the second turning axis part.03-14-2013
20130066332Surgical Tool for Use in MR Imaging - A biopsy tool for MR imaging for operation by a robot arm is formed of relatively brittle ceramic materials which have a magnetic susceptibility which is substantially equal to that of human tissue. The tool has designed slip couplings and bend joints to prevent overloading of forces on the sampling jaws. Cleaning ports are integrated into the design so that sterility can be obtained by flushing the device interior with a cleaning fluid. A novel spring-loaded capstan operated by a crank movable longitudinally of the tool ensures proper cable tension. A unique jaw shape enables a cutting pressure to be applied simultaneously around the desired tissue and does not depend on sharp edges to obtain the sample. Springs in the main casing provide cable tensioning to keep the jaws in a default closed position for movement of the biopsy device along a trajectory to the sample to be acquired.03-14-2013
20110022060SURGICAL ROBOT - A surgical robot is disclosed, which includes: a handle unit; a main body connected to the handle unit; a robot arm connected to the main body and configured to operate in correspondence with a first manipulation on the handle unit; an instrument mounted on a front end of the robot arm; and a manipulation unit coupled to a far end of the instrument and configured to perform an action required for surgery in correspondence with a second manipulation on the handle unit, wherein the main body is coupled to a support unit. The surgical robot can be constructed with a simpler, slimmer structure, by having the arms of the surgical robot moved and rotated manually and having the instruments manipulated by the robot. Thus, the surgical robot can be installed in a narrow space, and the costs for manufacturing and installing the robot can be reduced. In particular, in the case of simple surgical procedures, the operator may readily manipulate the surgical robot next to the patient, for improved applicability and reliability.01-27-2011
20090248039Sterile Drape Interface for Robotic Surgical Instrument - A robotic surgical system includes a sterile surgical instrument, a robotic surgical manipulator, and a sterile drape covering at least a portion of the robotic surgical manipulator. The surgical instrument has a proximal interface and a distal end effector. The proximal interface includes a gimbal assembly with two intersecting rotational axes coupled to the distal end effector. The robotic surgical manipulator has a drive plate that bears against the gimbal assembly. The drive plate has two degrees of rotational freedom about a center of motion that is coincident with an intersection of the axes of the gimbal assembly. The sterile drape includes a sterile sheet covers at least a portion of the robotic surgical manipulator, a frame bonded to the sterile sheet, an instrument interface that covers the drive plate of the robotic surgical manipulator, and a diaphragm that connects the instrument interface to the frame.10-01-2009
20120116417Systems and Methods for Harvesting and Implanting Hair Using Image-Generated Topological Skin Models - Systems and methods are provided for determining the need to change and/or changing orientation of a tool relative to an object on a body in at least partially automated procedure. Also, systems and methods are provided for orienting a hair harvesting tool relative to a follicular unit to be harvested. Further, systems and methods of implanting follicular units are provided, which are based on the orientation of the existing follicular units or based on pre-determined insertion angle. The provided systems and methods use image processing and image-generated topological skin models. In some embodiments surface fit is performed using, for example, a planar fit, quadric fit, cubic fit, mesh fit and parametric fit.05-10-2012
20130165948ROBOTIC CONTROL OF AN ENDOSCOPE FROM BLOOD VESSEL TREE IMAGES - A robot guiding system employs a robot unit (06-27-2013
20130165945METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system.06-27-2013
20130165946APPARATUS FOR A ROBOTIC CONTROL AND GUIDANCE SYSTEM - An apparatus for a robotically controlled medical device guidance system comprises a manipulator assembly and a medical device cartridge. The manipulator assembly includes a housing, an electrical port having a first end configured for mating with a complementary electrical connector of a cable, and a manipulation base disposed within the housing and including an electrical interface. The electrical interface is electrically connected to a second end of the electrical port. The cartridge is configured to be removably attached to the manipulation base. The cartridge includes an electrical interface configured to electrically contact the electrical interface of the manipulation base when the cartridge is attached to the base, and a medical device associated therewith. The medical device includes a sensor and a corresponding lead wire. The lead wire is electrically connected to and between the sensor and the electrical interface of the cartridge.06-27-2013
20130165947CONNECTION METHOD FOR MEMS NAVIGATION UNIT FOR COMPUTER-ASSISTED SURGERY - A computer-assisted surgery (CAS) navigation assembly comprises a micro-electromechanical sensor (MEMS) navigation unit having one or more MEMS to provide at least orientation data. A support receives the MEMS navigation unit therein, the support being adapted to be mounted on the instrument in a fixed orientation relative to established navigated features of the instrument. At least two mating ball-in-socket features are disposed between the MEMS navigation unit and the support at opposed ends thereof for releasably engaging the MEMS navigation unit in precise orientational alignment within the receptacle, the at least two mating ball-in-socket features comprising catches aligned along an axis extending between the opposed ends, at least one of the catches being a biased catch. A method of connecting a MEMS navigation unit with a mating support fixed to a CAS instrument navigated by the CAS system is also provided.06-27-2013
20090012532HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical planning method is provided. A height of a cartilage surface above a bone is detected. A representation of the bone and a representation of the height of the cartilage surface is created. Bone preparation for implanting an implant on the bone is planned based at least in part on the detected height of the cartilage surface.01-08-2009
20090012531HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.01-08-2009
20090012530Insertable Device and System For Minimal Access Procedure - The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations/perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.01-08-2009
20120239060Disposable Sterile Surgical Adaptor - A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.09-20-2012
20110028992SURGERY ASSISTANCE SYSTEM FOR GUIDING A SURGICAL INSTRUMENT - The invention relates to a surgery assistance system for guiding a surgical instrument, in particular a camera system (02-03-2011
20110028989NAVIGATION USING SENSED PHYSIOLOGICAL DATA AS FEEDBACK - A method for controlling a remote navigation system to navigate a medical device in an operating region in a subject is provided, comprising operating the remote navigation system to bring a sensor carried on a medical device successively into a plurality of locations in a predetermined pattern, and using the sensor to sense a physiological property of the subject in each location. At least once thereafter, the method operates the remote navigation system to bring a sensor carried on a medical device successively into a series of locations in a predetermined pattern relative to at least one location selected from the predetermined pattern in the immediately preceding step based upon the sensed physiological property value, and uses the sensor to sense the physiological property in each location. The method automatically determines the location of a local extreme value of the sensed physiological property, and may be selectively used to locate a maximum value of the sensed physiological property or a minimum of the sensed physiological property. The method may be utilized for sensing one or more physiological properties such as a magnitude of an electrical signal, a conductivity, a temperature, a fluid flow rate or a fluid velocity, or a range of motion of a surface.02-03-2011
20120271318ROBOT FOR MINIMALLY INVASIVE INTERVENTIONS - Rather than trying to immobilize a living, moving organ to place the organ in the fixed frame of reference of a table-mounted robotic device, the present disclosure teaches mounting a robot in the moving frame of reference of the organ. A miniature crawling robotic device can be introduced, in the case of the heart, into the pericardium through a port, attach itself to the epicardial surface, and then, under the direct control of the surgeon, travel to the desired location for treatment. The problem of beating-heart motion is largely avoided by attaching the device directly to the epicardium. The device can be used for other organs and animals.10-25-2012
20090149867CONTROLLED STEERING OF A FLEXIBLE NEEDLE - A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.06-11-2009
20110152879INSTRUMENT WRIST WITH CYCLOIDAL SURFACES - An instrument wrist uses members having epicycloidal and hypocycloidal surfaces to bear loads and preserve a separation of reference points in the same manner as circles rolling on each other. The cycloidal surfaces can be uniform, stepped, or blended and can be arranged to ensure geared motion of members without addition of additional gearing structures. A hypocycloidal surface provides a concave contact that improves resistance to deformations under load. The wrist mechanism is tendon stayed, which keeps members in contact, and optionally gear structures can be integrated into the members to ensure geared motion and support roll toques.06-23-2011
20100137880MULTI-APPLICATION ROBOTIZED PLATFORM FOR NEUROSURGERY AND RESETTING METHOD - The invention relates to a multi-application robotized platform for neurosurgery, comprising: a planning console comprising processing means that can especially receive and process digital images; a positioning robot arm comprising a plurality of arm segments, one of which is terminal and proximal and the other is terminal and distal, said segments being interconnected by articulated elements, the terminal distal arm segment comprising a receiving element arranged in such a way as to receive tools, and the robot arm being guided by the planning console; at least one video image recording means able to record images of the anatomical region to be processed, said means being electrically connectable to the processing means of the planning console, and able to be positioned and fixed to the receiving element of the distal arm segment in a removable manner; tools, instruments and others suitable for being positioned and fixed to the receiving element of the terminal distal arm segment in a removable manner; means for observing pre-operating and per-operating images, said means being electrically connected to the planning console for receiving video signals therefrom relating to the images to be displayed, and/or to the image recording means. The invention also relates to a method ensuring an improved resetting of the anatomical region to be processed in relation to its digital model using said platform.06-03-2010
20090099576MINIMALLY INVASIVE SURGICAL TRAINING USING ROBOTICS AND TELECOLLABORATION - A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.04-16-2009
20110282358SURGICAL SYSTEM INSTRUMENT MOUNTING - Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.11-17-2011
20110282357SURGICAL SYSTEM ARCHITECTURE - Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly roll axis. A cannula mount is movably coupled to a proximal end of the distal link, and a cannula is coupled to the cannula mount, the cannula having a longitudinal axis substantially coincident with the instrument manipulator assembly roll axis. The system further includes an entry guide tube at least partially within the cannula, the entry guide tube rotatable about the longitudinal axis of the cannula.11-17-2011
20110282355POSITIONING DEVICE FOR SURGICAL OPERATION - The primary objective of the present invention is to provide a positioning device for surgical operation, which could allow a surgical tool to be positioned precisely at a specific operating spot or a specific operating angle by providing a three axial free-moving function and a vertical and horizontal free-rotating function. Furthermore, the present invention is able to be electrically connected to and controlled by an automatic control system to achieve a more precise and efficient positioning function.11-17-2011
20110282356SURGICAL SYSTEM INSTRUMENT MANIPULATOR - An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.11-17-2011
20120289973INSTRUMENT INTERFACE - A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.11-15-2012
20110276057COMPOUND ANGLE LAPAROSCOPIC METHODS AND DEVICES - Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that include an elongate shaft having a distal portion configured to be movable between a first configuration in which the distal portion of the shaft is substantially straight or linear and a second configuration in which the distal portion of the shaft is articulated at a compound angle. The shaft's distal portion can include two articulation joints to facilitate formation of the compound angle.11-10-2011
20110301615CATHETER AND SYSTEM FOR USING SAME - The present invention describes a system for controlling a thin flexible thermoplastic catheter. The system includes a plurality of shape memory alloy filaments attached to the distal end of the catheter, each filament having a phase and a temperature; a means for receiving a strain value for at least one of the filaments; a means for determining the phase change that will results in the strain value, whereby the phase change is dependent on the temperature and the temperature is dependent on a voltage; and a means for setting the voltage in each filament thereby resulting in movement of the catheter. In addition, a three-degrees of freedom force sensor measures the magnitude and direction of the force exerted on the tip of the catheter. The catheter can be autonomously guided or it can be interfaced to a haptic device. The catheter can also be fitted with microtools.12-08-2011
20120109152SYSTEM AND METHOD FOR USING A HAPTIC DEVICE AS AN INPUT DEVICE - The invention generally pertains to a combination of a haptic device with a computer-assisted surgery system. The haptic device may be used as an input device, allowing information to pass from the user to the computer-assisted surgery system, and providing functionality similar to common user interface devices, such as a mouse or any other input device. When used as an input device, it may be used for defining anatomical reference geometry, manipulating the position and/or orientation of virtual implants, manipulating the position and/or orientation of surgical approach trajectories, manipulating the positions and/or orientation of bone resections, and the selection or placement of any other anatomical or surgical feature.05-03-2012
20120109151System and Computer Assisted Surgery - The present invention relates to a system and method of computer assisted surgery in soft tissue. The system comprises a navigated instrument (05-03-2012
20120109150HAPTIC GUIDANCE SYSTEM AND METHOD - A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.05-03-2012
20110288560SYSTEM AND METHOD FOR TELESURGERY - A system for telesurgery having a plurality of operative end units respectively linked to remote master end units. All the master and operative end units of the system consist of a common module having a base plate to which a slender shaft is slidingly attached. A slender shaft is further rotatable about its axis as well as about a center point disposed above the distal surface of the base plate. Surgical effectors, cameras and/or LEDs can be attached to the distal end of slender shafts of operative end units which is distally disposed relative to the base plate of its respective operative end unit. Operating handles for manipulating and/or activating the respective slender shaft or attached surgical effectors, are attached to the proximal end and/or to the distal end of slender shafts of master end units. Linking a master end unit to its respective operative end unit is accomplished by mechanical, hydraulic, pneumatic and or electric transmission, such that a slender shaft of an operative end units simultaneously move in the same movement in which the slender shaft of the respective master end unit is moved. An operator is able to manipulate a slender shaft within the lumen enclosing the surgical site within a patient's body by sliding, inclining and/or rotating the slender shaft of a remote master end unit as in a common endoscopic procedure. The operator is further able to manipulate and/or activate a surgical effector either as in an endoscopic or in an open surgery by means of the operating handles of a remote master end unit.11-24-2011
20110288561WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM - In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a method for wireless communication in the system are also provided.11-24-2011
20110295271APPARATUS FOR SUPPORTING AN ADJUSTABLE SURGICAL PLATFORM - In one aspect, an apparatus for supporting an adjustable surgical platform is disclosed. In one embodiment, the apparatus includes a supporting platform portion with a body portion that defines bore along a central axis. Arm portions with engaging means extend radially from the supporting platform portion. The apparatus also includes a shaft portion extending from the supporting platform portion in a first direction, with a shaft body portion that defines a bore along a longitudinal axis B. The bore of the shaft body portion is in communication with the bore of the supporting platform portion. The apparatus further includes a base portion connected to the shaft portion, and that defines a bore in communication with the bore of the shaft portion and the bore of the supporting platform portion. Mounting means are configured to secure the base portion to a region of interest of a living subject.12-01-2011
20110295269ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT - A surgical cutting and fastening instrument that is motorized and configured for operation in connection with a robotic system. The instrument comprises in one embodiment a charge accumulator device, separate from a battery, that provides additional power to the motor under certain conditions. In addition, the motor may comprise multiple windings.12-01-2011
20110295268SYSTEM AND METHOD FOR AUTOMATED MASTER INPUT SCALING - Embodiments are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic medical instrument system, comprising an elongate instrument having proximal and distal ends; a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move the instrument; a master input device in communication with the controller and configured to generate input commands in response to a directional movement of the master input device; and a load sensor operatively coupled to the elongate instrument and configured to sense magnitude and direction of loads applied to the distal end of the elongate instrument; wherein the controller is configured to compute an instrument movement command to selectively move the instrument based upon the input commands and an input command scaling factor applied to the input commands, the input command scaling factor being variable with the magnitude of sensed loads.12-01-2011
20110295267SYSTEM AND METHOD FOR AUTOMATED TISSUE STRUCTURE TRAVERSAL - Systems and methods are described for automating aspects of minimally invasive therapeutic treatment of patients. A robotic tissue structure traversal system may comprise a controller including a master input device, an electromechanically controlled elongate instrument having a proximal interface portion and a distal portion, the proximal interface portion being configured to be operatively coupled to an electromechanical instrument driver in communication with the controller, the distal portion comprising a traversing tip and being configured to be interactively navigated about internal structures of a patient's body in response to signals from the controller; and a load sensor operatively coupled between the distal portion of the elongate instrument and the controller; wherein the controller is configured to automatically advance the traversing tip through a thickness of an internal structure by observing loads from the load sensor.12-01-2011
20100191251METHODS FOR PLUGGABLE END-EFFECTORS OF ROBOTIC SURGICAL INSTRUMENTS - In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.07-29-2010
20110295270SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC SYSTEM AND REMOTE SENSOR - A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.12-01-2011
20120191107SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY - Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.07-26-2012
20110264114SURGICAL INSTRUMENT - A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.10-27-2011
20110264110Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.10-27-2011
20110264111Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.10-27-2011
20110270272MEDICAL APPARATUS - A medical instrument includes a swingable operating section formed of a pair of forceps which rock around a first rocking axis. A tubular sheath includes a distal end portion situated on a proximal end side of the operating section having a circular-section portion having a circular cross-section perpendicular to a longitudinal central axis and a pair of flat portions formed by cutting the opposite sides of the circular-section portion and in sliding contact with the proximal end portions of the forceps. A manipulator advances and retreats in a longitudinal direction of the sheath, thereby rocking the forceps. A junction connects the manipulator for rocking motion around a second rocking axis with respect to the forceps in the flat portions, and is situated on or near a reference plane passing through the longitudinal central axis of the sheath and extending parallel to the second rocking axis when the operating section is closed.11-03-2011
20100114115FIBER OPTIC INSTRUMENT SENSING SYSTEM - A medical instrument system comprises an elongate instrument body; an optical fiber coupled in a constrained manner to the elongate instrument body, the optical fiber including one or more Bragg gratings; a detector operably coupled to a proximal end of the optical fiber and configured to detect respective light signals reflected by the one or more Bragg gratings; and a controller operatively coupled to the detector, wherein the controller is configured to determine a geometric configuration of at least a portion of the elongate instrument body based on a spectral analysis of the detected reflected portions of the light signals.05-06-2010
20100268249SURGICAL SYSTEM WITH MEDICAL MANIPULATOR AND STERILE BARRIER - A surgical system for use in performing medical procedures on a body of a patient is provided. The system can include a manipulator having a tool mounting arrangement including a modulated mechanical energy transmitter capable of transferring power. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system also includes a tool support including a modulated mechanical energy receiver capable of receiving power. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween and with the sterile barrier extending between the modulated mechanical energy transmitter and receiver. The modulated mechanical energy transmitter and the modulated mechanical energy receiver can transmit power across the sterile barrier between the manipulator and the tool support when the tool support is engaged with the tool mounting arrangement. The system can further include a retention mechanism configured for engaging the tool support with the tool mounting arrangement with the sterile barrier therebetween only when the tool support and tool mounting arrangement are in at least one desired orientation relative to each other.10-21-2010
20090082782NEEDLE TO PORT TRAJECTOR INDICATOR - A system includes (i) a needle for insertion into a port of an implantable infusion device, and (ii) a receiver apparatus having a port location signal receiver module capable of receiving a signal from the implantable infusion device regarding spatial orientation of the port. The system further includes a processor operably coupled to the receiver apparatus and capable of determining the orientation of the needle relative to the port based on the received signal. The system also includes a display operably coupled to the processor. The processor is configured to cause the display to graphically render trajectory of the needle relative to the port. The port is graphically rendered as a target structure having a reference area. The needle is graphically rendered as an object moveable relative to the target structure. Occupation of the reference area by the object indicates trajectory alignment of the port and the needle.03-26-2009
20110264109Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.10-27-2011
20090048611SYSTEM AND METHOD FOR AUGMENTATION OF ENDOSCOPIC SURGERY - A robotic device for use in surgery includes a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.02-19-2009
20100030234Tool Assembly for Harvesting and Implanting Follicular Units - A multi-part tool assembly for harvesting and implanting follicular units, comprising an outer cannula having an open, tissue-piercing distal end, and an inner cannula coaxially positioned in a lumen of the first cannula, the second cannula having an open, tissue-coring distal end sized to engage and retain single hair follicular units. An obturator may be positioned in the lumen of the second cannula, wherein at least one of the first cannula, second cannula, and obturator are movable relative to the other ones.02-04-2010
20100125282Robotically Steered RF Catheter - A distal end of a stent graft fenestration or other special purpose catheter is guided to a location in a patient's vasculature based on input from a surgeon using a pre-operatively generated image of the patient's vasculature—this can be in proximity to an already implanted device. The movement of the catheter is controlled by a robotic surgical system based upon the input from the surgeon. The distal end of the catheter, at the location, is synchronized to the patient's cardiac cycle so the robotic surgical system maintains the distal end of the catheter at the location throughout a cardiac cycle of the patient. The surgeon is not required to precisely manipulate the catheter to maintain the distal end in the proper location throughout the cardiac cycle. The surgeon can focus on performing the desired procedure such as fenestrating the stent graft, endostapling or endosuturing, for example.05-20-2010
20080262513INSTRUMENT DRIVER HAVING INDEPENDENTLY ROTATABLE CARRIAGES - An instrument driver operable to control catheter instruments. First and second carriages are movably coupled to a frame of an instrument driver. Each carriage is configured to support a catheter instrument. The first and second carriages are independently rotatable about a longitudinal axis of the respective first and second catheter instruments and rotatable independently of an instrument driver frame. Independent carriage control provides for the carriages being independently movable in at least three different directions with at least two different types of motion.10-23-2008
20120035617ARTICULABLE SURGICAL INSTRUMENT - An instrument includes, a lumen, a handpiece affixed to the proximal end of the lumen and including an actuator, a proximal articulable segment, the proximal end of the proximal articulable segment pivotably attached to the distal end of the lumen, an actuation cable extending from the actuator through the lumen and into the proximal articulable segment, and a cable router having a proximal knuckle assembly having a proximal segment knuckle affixed to the proximal end of the proximal articulable segment, a lumen knuckle affixed to the distal end of the lumen, and a proximal hinge pin knuckle positioned about the proximal hinge pin, wherein the cable is bent against the proximal segment knuckle, the lumen knuckle and the proximal hinge pin knuckle when the proximal articulable segment is generally parallel with the lumen.02-09-2012
20100082039METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM - Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.04-01-2010
20110202070ENDOLUMINAL ROBOTIC SYSTEM - A micro-robotic platform and a method for deploying the platform in a body cavity for performing endoluminal surgical interventions in a fully bimanual fashion. The platform comprises a first (08-18-2011
20090287223REAL-TIME 3-D ULTRASOUND GUIDANCE OF SURGICAL ROBOTICS - Laparoscopic ultrasound has seen increased use as a surgical aide in general, gynecological, and urological procedures. The application of real-time three-dimensional (RT3D) ultrasound to these laparoscopic procedures may increase information available to the surgeon and serve as an additional intraoperative guidance tool. The integration of RT3D with recent advances in robotic surgery can also increase automation and ease of use. In one non-limiting exemplary implementation, a 1 cm diameter probe for RT3D has been used laparoscopically for in vivo imaging of a canine. The probe, which operates at 5 MHz, was used to image the spleen, liver, and gall bladder as well as to guide surgical instruments. Furthermore, the 3D measurement system of the volumetric scanner used with this probe was tested as a guidance mechanism for a robotic linear motion system in order to simulate the feasibility of RT3D/robotic surgery integration. Using images acquired with the 3D laparoscopic ultrasound device, coordinates were acquired by the scanner and used to direct a robotically controlled needle towards desired in vitro targets as well as targets in a post-mortem canine. The RMS error for these measurements was 1.34 mm using optical alignment and 0.76 mm using ultrasound alignment.11-19-2009
20100082040IMAGE GUIDED WHOLE BODY STEREOTACTIC NEEDLE PLACEMENT DEVICE - The present invention provides an image guided whole body stereotactic needle placement device comprising a circular base plate (04-01-2010
20100125286Surgical Positioning Device and Image Guided Navigation System Using The Same - A surgical positioning device comprises a base, an upper moving structure, a lower moving structure, an auxiliary operating element, and a plurality of encoders. The upper moving structure and the lower moving structure are coupled to the base individually, such that the upper moving structure and lower moving structure may move on a first plane and a second plane, respectively. The first plane is substantially parallel to the second plane. Each of the upper moving structure and lower moving structure comprise a holder respectively for holding the auxiliary operating element. The plurality of encoders measure the movement of the moving elements of the upper moving structure and the lower moving structure. A surgical tool may be adjusted and positioned by operating the auxiliary operating element to move the upper moving structure and the lower moving structure on the different planes, respectively.05-20-2010
20090248042MODEL CATHETER INPUT DEVICE - An input device for a robotic medical system includes a sheath handle, comprising a flexible shaft defining a lumen therein. The input device also includes a catheter handle comprising a second flexible shaft which is at least partially disposed within the lumen of the first shaft. The sheath handle and the catheter handle are each coupled to a plurality of respective guide wires, which are configured such that movement of the handles causes a corresponding tension response in one or more of the plurality of guide wires. Sensors are connected to the guide wires to measure the movement of the sheath handle and the catheter handle.10-01-2009
20090088773METHODS OF LOCATING AND TRACKING ROBOTIC INSTRUMENTS IN ROBOTIC SURGICAL SYSTEMS - In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.04-02-2009
20100125283UNIVERSAL NEEDLE GUIDE - A universal needle guide is disclosed comprising a body, a first needle aperture and a second needle aperture. The body includes an upper support portion and at least one attachment portion. The first needle aperture defines a first diameter disposed in the upper support portion. The second needle aperture defines a second diameter that is selectively alignable with the first needle aperture. The second diameter is smaller than the first diameter.05-20-2010
20100125284REGISTERED INSTRUMENT MOVEMENT INTEGRATION - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.05-20-2010
20090088772FIBER OPTIC IN-SITU CHEMICAL ANALYSIS IN A ROBOTIC SURGICAL SYSTEM - In one embodiment, a surgical instrument is described, the instrument including a housing that operably interfaces with a manipulator arm of a robotic surgical system, a shaft including a lengthwise axis, a wrist joint operably coupled to the distal end of the shaft, an end portion operably coupled to the wrist joint, and an optical fiber having a first end operably coupled to the end portion and a second end operably coupled to a spectrophotometer. A system and method for using the surgical instrument are also described.04-02-2009
20090287222Method and system for cutting knee joint using robot - A method and a system for cutting the knee joint using a robot. A cantilevered cutter is introduced into the knee joint from inside and outside of upper and lower bones of the knee joint to realize a tunnel cutting technique in which cutting is conducted such that tunnels are defined in bone and remnant bone is cleared. The cutter includes a shaft in which a substantial axial portion is fitted into a sleeve and a remaining axial portion serves as a cantilever extending out of the sleeve, and a head which is formed at a distal end of the shaft. A length of the cantilever and a diameter of the head are determined to have minimum sizes as long as the head can be introduced into bone in such a way as to define a tunnel and can be moved in the bone while cutting the bone.11-19-2009
20090292299OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY - Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.11-26-2009
20090292298RECONFIGURABLE ROBOTIC END-EFFECTORS FOR MATERIAL HANDLING - A tool module associated with an end-effector for a robot arm that includes both linear and rotational locking mechanisms providing movement in five degrees of freedom. The tool module includes an integrated locking assembly that includes a linear locking mechanism and a rotary locking mechanism that are simultaneously locked and unlocked. The linear locking mechanism locks to a rod and the rotary locking mechanism locks and unlocks a shaft that is rigidly coupled to a swing arm. An opposite end of the swing arm includes another linear locking mechanism that locks and unlocks a shaft supporting a vacuum cup at an opposite end. The vacuum cup is mounted to a ball joint on the shaft that allows the vacuum cup to pivot. By locking and unlocking the locking mechanisms of the tool module, the end-effector can be readily configured to grasp and hold various parts of different dimensions and shapes.11-26-2009
20100280526Medical Device With Articulating Shaft Mechanism - A medical device with an articulating shaft assembly includes at least one slat member which has a cross section that allows it to be substantially flexible in a first plane and relatively stiff in the plane perpendicular to the first plane. A bendable section located at the working end of the device includes at least a portion of one or more slat members, such that the bendable section will articulate in the first plane in response to tensive and/or compressive forces applied to the bendable section. The device also includes a shaft section which is coupled to and supports the bendable section, and at least one control mechanism arranged to cause the tensive and/or compressive forces needed to articulate the bendable section to be applied to the bendable section.11-04-2010
20100292708Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity - An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.11-18-2010
20080275466Dual cannula system and method for using same - A cannula system and corresponding method for locating a tip of an elongate member (e.g., a catheter or other therapy delivery device) in a three-dimensional space such as a cranial cavity. One embodiment of the invention may utilize a secondary or device placement cannula that fits within a primary or guide cannula. The device placement cannula may have a length that is indexed relative to a length of a mapping member.11-06-2008
20110270271Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.11-03-2011
20100217278REAL-TIME SURGICAL REFERENCE INDICIUM APPARATUS AND METHODS FOR INTRAOCULAR LENS IMPLANTATION - Described herein are apparatus and associated methods for the generation of at least one user adjustable, accurate, real-time, virtual surgical reference indicium including natural patient vertical for use in ocular surgery. The apparatus used to generate real-time, virtual surgical reference indicium including natural patient vertical includes one or more real-time, multidimensional visualization modules, one or more data processors configured to produce real-time, virtual surgical reference indicia, and at least one user control input for adjusting the at least one real-time virtual surgical reference indicium including natural patient vertical. The associated methods generally involve the steps of providing one or more real-time multidimensional visualizations of a target surgical field, identifying at least one visual feature in a pre-operative dataset, aligning the visual features with the multidimensional visualization, and incorporating one or more real-time, virtual surgical reference indicium including natural patient vertical into the real-time visualization.08-26-2010
20100292707Sterile Barrier For A Surgical Robot With Torque Sensors - The invention relates to a sterile barrier (S) for a surgical robot (11-18-2010
20080281335System and Method For Shaping an Anatomical Component - A system and method for shaping an anatomical component having an existing shape and a desired reconstructed shape include an applicator for depositing material on the anatomical component and a controller in communication with the applicator, the controller controlling the deposition of material by the applicator based on a relationship between the applicator and the existing shape of the anatomical component to create the desired reconstructed shape.11-13-2008
20080281334Method and Device for Computer Assisted Distal Locking of Intramedullary Nails - A method for computer assisted localization of the distal locking holes (11-13-2008
20080287963METHODS AND APPARATUS TO SHAPE FLEXIBLE ENTRY GUIDES FOR MINIMALLY INVASIVE SURGERY - In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.11-20-2008
20080287962DETERMINING A JOINT ORIENTATION FOR AN IMPLANTATION - A method for determining an orientation of an artificial joint, in particular for planning an implantation of at least one artificial joint in a human or animal body, wherein a first part of the artificial joint and a second part of the artificial joint are designed to be able to form an artificial joint connection with each other, wherein the first part is provided for implantation in a first body structure of the human or animal body, and the second part is provided for implantation in a second body structure of the human or animal body, in order to replace an anatomical joint which connects or connected the first body structure to the second body structure, wherein the method comprises the following steps: 11-20-2008
20080228196SURGICAL ROBOTIC SYSTEM FOR PERFORMING MINIMALLY INVASIVE SURGICAL PROCEDURES - The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.09-18-2008
20080306490TRACKABLE DIAGNOSTIC SCOPE APPARATUS AND METHODS OF USE - A surgical procedure is provided. The procedure acquires a plurality of points on or near a bone abnormality and registers them with a surgical navigation system. The navigation system uses the acquired points to make an implant having a surface adapted to contact the bone, and particularly an implant having a portion whose shape substantially matches that of the bone abnormality.12-11-2008
20080312663COMPUTER-ASSISTED JOINT ANALYSIS USING SURFACE PROJECTION - A system and method for computer-assisted joint analysis, wherein the joint elements in a three-dimensional imaging data set are segmented and then projected onto a two-dimensional or three-dimensional reference area for interference analysis and surgical planning.12-18-2008
20130218172MEDICAL ROBOTIC SYSTEM HAVING ENTRY GUIDE CONTROLLER WITH INSTRUMENT TIP VELOCITY LIMITING - A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.08-22-2013
20100298843CLEANING OF A SURGICAL INSTRUMENT FORCE SENSOR - In one embodiment, a force sensing robotic surgical instrument includes a proximal housing linkable with a surgical robot arm, a shaft having a proximal portion and a distal portion, the proximal portion operably coupled to the housing, and a force transducer operably coupled to the distal portion of the shaft, the force transducer having a proximal portion, a distal portion, a plurality of radial ribs, and a strain gauge positioned over each of the plurality of radial ribs, the radial ribs forming a plurality of through passages. The instrument further includes a wrist mechanism coupled to the distal portion of the force transducer, an end effector coupled to the wrist mechanism, and a flush manifold that receives a liquid from the proximal portion of the shaft and directs the liquid along a first subset of through passages of the force transducer toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages different from the first subset of through passages.11-25-2010
20100298845REMOTE MANIPULATOR DEVICE - A system for operating a catheter having a distal end adapted to be navigated in the body, and a proximal end having a handle with a translatable control and a rotatable control for acting on the distal end of the device includes a support for receiving and engaging the handle of the catheter; a translation mechanism for advancing and retracting the support to advance and retract a catheter whose handle is received in the support; a rotation mechanism for rotating the support to rotate a catheter whose handle is received in the support; a translation operator for engaging the translatable control of a catheter whose handle is received in the support and operating the translatable control to act on the distal end of the device; and a rotation operator for engaging the rotatable control of a catheter whose handle is received in the support and operating the rotatable control to act on the distal end of the device.11-25-2010
20120296341SURGICAL MANIPULATION INSTRUMENT - A surgical manipulation instrument which is particularly suitable for minimal invasive surgery, comprising an extra-corporeal drive device to which several axially displaceable first actuation elements are connected. The disclosure also relates to a partial intra-corporeal manipulator part which comprises several axially displaceable second actuation devices for actuating an end effector. Pairs of actuation elements are detachably connected together by means of a coupling device. A pivotable intermediate element is provided between the second coupling element and the second actuation element.11-22-2012
20090264899Method And Apparatus For Cannula Fixation For An Array Insertion Tube Set - An instrument holding system for a drive system is provided. The system can include an array holder that defines at least one bore for receipt of an instrument therethrough. The at least one instrument can be adapted for insertion into an anatomy. The array holder can be in communication with the drive system to receive a driving force. The system can include a fixation plate operable to move relative to the array holder such that the fixation plate is in contact with at least a portion of the at least one instrument to couple the at least one instrument to the array holder to enable the at least one instrument to be driven by the driving force into the anatomy.10-22-2009
20110004225SURGICAL INSTRUMENT AND COUPLING STRUCTURE FOR SURGICAL ROBOT - Disclosed are a surgical instrument and a coupling structure for a surgical robot. The surgical instrument, which may be mounted on a surgical robot for operation, and which may perform a maneuver required for surgery by moving and rotating an effector joined to one end of the surgical instrument, may include: a first driving component that rotates about a first axis, a second driving component joined to the first driving component that rotates the first driving component about a second axis which intersects the first axis, a third driving component joined to the second driving component that rotates the second driving component about a third axis which intersects the second axis, a shaft joined to the third driving component that extends in one direction and has the effector joined to one end, and a housing that holds the first driving component, the second driving component, and the third driving component. As the driving components for moving the effector can be provided in a systematically connected form, instead of having each of the driving components arranged independently, the size of the surgical instrument may be reduced. Also, by forming the driving components as a 3-dimensional structure instead of using 2-dimensional pulleys, the transfer of forces required for the complex movements of the effector can be implemented simultaneously. Embodiments of the present invention can also readily be applied to a snake type surgical instrument.01-06-2011
20080200928Support for Steadying a Surgical Tool - Support or micromanipulator (08-21-2008
20080269778Optically Orienting an Invasive Medical Device - A method of adjusting an orientation of an apparatus relative to a surface of a sample includes positioning the apparatus in an initial orientation relative to the surface; projecting a reference pattern from the apparatus onto a reference surface, the position of the projected reference pattern on the reference surface being responsive to a change in an angular orientation of the apparatus relative to the initial orientation; on the basis of a position of the projected reference pattern determining an angular deviation of the apparatus from a desired orientation; and adjusting the orientation of the apparatus, such that the position of the reference pattern projected on the reference surface indicates a reduction in the angular deviation.10-30-2008
20100137881Arrangement for Planning and Carrying Out a Surgical Procedure - The arrangement for planning and carrying out a surgical procedure comprises a medical imaging device, a computer for storing and generating a computer model by means of the image data generated by the imaging device, and a work means for carrying out a processing operation. The work means is configured as a three-dimensional computer mouse and has a connecting means by means of which a part, such as an instrument, a tool, or an implant, can be positioned. The part is illustrated as a template in a computer model of the part of the patient to be treated.06-03-2010
20100137882System and method for interactive haptic positioning of a medical device - A combination of a haptic device and a computer-assisted medical system is used for interactive haptic positioning of a medical device coupled to the haptic device. A reconfigurable haptic object facilitates the positioning of the medical device and/or the haptic device. The haptic object may be modified in response to application of a force against the haptic object by a user of the haptic device pushing the haptic device against the haptic object. Preferably, the haptic object moves in the direction of the force applied by the haptic device. The medical device may be guided to a desired pose relative to a target area from its current position. The user may approach the target area from its current position and still be provided with haptic cues to enable the user to guide the medical device to the target area.06-03-2010
20100145358DEVICE AND WORKFLOW FOR MINIMALLY-INVASIVE THERAPY, IN PARTICULAR NEEDLE GUIDANCE - In a method or system for minimally-invasive therapy on a patient, a minimally-invasive therapy apparatus is provided. While performing the minimally-invasive therapy on the patient with a minimally-invasive therapy apparatus, the patient is ventilated with a jet ventilator to reduce a magnitude of the patient's breathing and increase a frequency of the patient's breathing.06-10-2010
20090088774APPARATUS AND METHOD OF USER INTERFACE WITH ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.04-02-2009
20120197266INSTRUMENTATION AND METHOD FOR MOUNTING A SURGICAL NAVIGATION REFERENCE DEVICE TO A PATIENT - Instrumentation and methods are provided for mounting a surgical navigation reference frame to a patient. A trocar may be positioned within a cannula to form an insertion device adapted for percutaneous introduction into the patient. A bone anchor having a bone engaging portion is inserted through the cannula for anchoring to bone. The bone anchor cooperates with the cannula to form a mounting device adapted for coupling with the surgical navigation reference frame. An image-guided surgical procedure may be performed at a location remote from the anchoring location. In a specific embodiment, a minimally invasive surgical procedure is performed, with a reference frame anchored to the pelvic bone, and more specifically to the iliac region of the pelvic bone. A second reference frame may be anchored to the femur.08-02-2012
20090030428OPERATING MECHANISM, MEDICAL MANIPULATOR, AND SURGICAL ROBOT SYSTEM - A medical manipulator includes an operation command unit having motors and a working unit detachably mounted on the operation command unit. The operation command unit includes a grip handle for being gripped by a human hand, and a trigger lever movable toward and away from the grip handle. The trigger lever comprises a pulling member which can be pulled toward the grip handle by a finger held against the pulling member, and a pushing member which can be pushed away from the grip handle by the finger held against the pushing member, the pushing member being disposed in facing relation to the pulling member. The pushing member has a hemispherical cavity defined in a surface thereof which faces the pulling member.01-29-2009
20120071895ANTI-BUCKLING MECHANISMS AND METHODS - Anti-buckling devices for supporting flexible elongated members are described herein. In one variation, an anti-buckling device includes a first coupler for coupling to a first device, a second coupler for coupling to a second device that is configured to position a catheter member, a first set of support members coupled between the first coupler and the second coupler, and a plurality of holders coupled to the support members, the holders configured for supporting the catheter member, wherein the first set of support members form a support frame that can be extended by moving the first and second couplers away from each other, and can be collapsed by moving the first and second couplers towards each other.03-22-2012
20090005790System and methods for improved access to vertebral bodies for kyphoplasty, vertebroplasty, vertebral body biopsy or screw placement - A method of determining the size and/or placement of screws or other instruments in pedicles during surgery in a selected spinal area, comprising generating a dimensionally true three-dimensional image of the bony spine in the selected spinal area; hollowing out the vertebra in the three-dimensional image with cortical wall thicknesses selected by a surgeon performing the surgery; determining the narrowest cross section (isthmus) within each pedicle; generating a straight line starting at the center of the isthmus and extending inwardly to a point centered within the anterior cortex so that it is positioned concentrically within the pedicle without touching the walls thereof, the line terminating inside the vertebral body a predetermined distance from the anterior inner cortical wall and extending outwardly in the opposite direction to penetrate the posterior pedicle cortex; expanding the line concentrically and radially to a cross sectional size that is less than that of the isthmus, the line being expanded into a cylinder that stops growing when any portion thereof contacts the inner cortical wall of the hollowed out vertebral body, with the exception of the posterior pedicle cortex; and calculating the ideal pedicle screw or instrument diameter, length and/or trajectory based on the dimensions and trajectory of the cylinder generated for each pedicle. Also, a new and improved method for providing access to the interior of a pedicle for a desired transpedicular procedure, and a new and improved pedicle cannula construction are disclosed herein.01-01-2009
20090054910METHOD AND DEVICE FOR COMPUTER ASSISTED DISTAL LOCKING OF INTRAMEDULLARY NAILS - A method and a device for computer assisted distal locking of intramedullary nails comprising the steps of: A) establishing a virtual geometric representation of an intramedullary nail (02-26-2009
20090054908Surgical instruments with sensors for detecting tissue properties, and system using such instruments - A system is provided that furnishes expert procedural guidance based upon patient-specific data gained from surgical instruments incorporating sensors on the instrument's working surface, one or more reference sensors placed about the patient, sensors implanted before, during or after the procedure, the patient's personal medical history, and patient status monitoring equipment. Embodiments include a system having a surgical instrument with a sensor for generating a signal indicative of a property of a subject tissue of the patient, which signal is converted into a current dataset and stored. A processor compares the current dataset with other previously stored datasets, and uses the comparison to assess a physical condition of the subject tissue and/or to guide a procedure being performed on the tissue.02-26-2009
20090143788Navigation method and system for drilling operation in spinal surgery - The invention is to provide a navigating method and system for drilling operation in spinal surgery. The method and system is applied to the subjects who receive pedicle insertion operation in spinal surgery. The specific vertebras are under radiography using X-ray machine at both anterior/posterior and lateral views. These imaging are then transmitted into a computer system for image distortion correction and registration. By drawing the safety regions of the pedicle on the indicated vertebra in both AP and Lat. images, three-dimensional safety volumes of the pedicle of the vertebra are developed by intersection operation. Therefore, prior to and during the clinical spine operation, surgeons are able to safe navigation by referring the referential orientation via the developed system.06-04-2009
20090326555SUPPORT ASSEMBLY FOR A TRACKING ASSEMBLY AND MOUNTED TRANSRECTAL ULTRASOUND PROBE - Provided herein are devices and methods for supporting and positioning a tracking assembly for mounting variously configured medical devices for prostate imaging, biopsy, and other therapeutic applications. In one aspect, a support assembly provides multiple degrees of freedom for positioning a tracking assembly and mounted probe relative to a patient on a patient support structure such as an examination table or a gurney bed and/or maintaining a tracking assembly and mounted probe in a desired location throughout the rendering of imaging, biopsy, or other therapeutic procedures.12-31-2009
20090326554SUPPORT ASSEMBLY FOR A TRACKING ASSEMBLY AND MOUNTED TRANSRECTAL ULTRASOUND PROBE - Provided herein are devices and methods for supporting and positioning a tracking assembly for mounting variously configured medical devices for prostate imaging, biopsy, and other therapeutic applications. In one aspect, a support assembly provides multiple degrees of freedom for positioning a tracking assembly and mounted probe relative to a patient on a patient support structure such as an examination table or a gurney bed and/or maintaining a tracking assembly and mounted probe in a desired location throughout the rendering of imaging, biopsy, or other therapeutic procedures.12-31-2009
20090326552MEDICAL ROBOTIC SYSTEM HAVING ENTRY GUIDE CONTROLLER WITH INSTRUMENT TIP VELOCITY LIMITING - A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.12-31-2009
20090012534ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M01-08-2009
20100268250SURGICAL SYSTEM WITH MEDICAL MANIPULATOR AND STERILE BARRIER - A surgical system for use in performing medical procedures on a body of a patient is provided. The system includes a manipulator having a tool mounting arrangement including a power transmitter. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system has a tool support including a power receiver. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween. The power transmitter and power receiver can wirelessly transmit power across the sterile barrier between the manipulator and the tool support when the tool support is engaged with the tool mounting arrangement.10-21-2010
20100268248Scaled head frame positioner and tabletop adapter - A scaled head frame positioner and tabletop adapter are provided. The positioner may be employed for any neurosurgical procedure that requires fixed positioning of the stereotactic head frame or ring onto a patient's skull. The positioner employs a generally triangular shaped member with Velcro tapes fixed at each corner. The tapes have measurement markings, such as measurement tapes. The positioner supports the head frame with the tapes engaging means on the frame and fastened back to themselves, with markings indicating distances to adjust the position of the frame about the patient's head. Furthermore, the tabletop adapter clamps the patient with a stereotactic head frame onto a CT or treatment table. The tabletop adapter includes a generally U-shaped bracket secured to a support to be placed on the tabletop. The bracket is attachable to the head frame of the patient to hold his head in a desired position.10-21-2010
20110224689ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20110224687ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20090024142ROBOTIC SURGICAL SYSTEM FOR PERFORMING MINIMALLY INVASIVE MEDICAL PROCEDURES - A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIAs which includes a seat with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanisms cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.01-22-2009
20090024141ROTATIONAL APPARATUS SYSTEM AND METHOD FOR A ROBOTIC INSTRUMENT SYSTEM - Robotic instrument systems, apparatus, and methods for controllably rotating a tool or adapter coupled to a distal portion of a medical instrument such as a catheter. An interface, which may be integral with the medical instrument or a component of a separate rotatable apparatus or adapter, is operably coupled, e.g. fixedly coupled, to the distal end of the instrument. A tool, such as a rotatable portion of a collar or tool base, or a working instrument operably coupled thereto, is rotatable relative to the interface. The interface and collar have guide channels. A control element extends through the medical instrument and respective guide channels such that the tool or collar is controllably rotatable about the instrument axis by axial movement of the control element relative to the instrument.01-22-2009
20090024140Surgical feedback system - The invention pertains to a surgical system. In an embodiment, the system comprises one or more sensors operably responsive to physical boundary limitations of an operating field. Furthermore, the one or more sensors provide information regarding the physical boundary limitations of the operating field. In another embodiment, the system comprises a surgical instrument that is configured to respond to the information by either activation or inactivation. In another aspect the invention includes generating an anatomical image or anatomic positional reference data. Additionally, the method includes creating haptic feedback signals based at least partly on the anatomical image or anatomic positional reference data, and determining a position or orientation of a surgical instrument. Furthermore the method includes activating or inactivating the surgical instrument based at least partly on the haptic feedback signals.01-22-2009
20090198253MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - A manipulator includes a yaw axis and a pitch axis disposed as joints on a distal end of a joint shaft and which are actuatable by motors, a needle variable in orientation by the joints, a coaxial connector disposed at a position closer to a proximal end of the manipulator than the joint shaft, and a coaxial cable providing within the joint shaft at least a portion of an electrical connection between the coaxial connector and the needle. A small board providing an impedance matching circuit, and which includes a coil and a capacitor, is interposed between the coaxial connector and the coaxial cable.08-06-2009
20110144656ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - A medical instrument assembly comprises an elongated shaft, a tool carried by the distal end of the elongated shaft for performing a medical procedure on a patient, a plurality of controllably bendable sections spaced along the elongated shaft and disposed proximal to the tool, a plurality of actuation elements extending within the elongated shaft for respectively actuating the controllably bendable sections, and an instrument coupler mounted to the proximal end of the elongated shaft, with the instrument coupler configured for coupling an electromechanical drive to the actuation elements. A robotic medical system comprises the previously described medical instrument assembly, a user interface configured for generating at least one command, a drive unit coupled to the plurality of actuating elements of the medical instrument assembly, and an electric controller configured, in response to the command(s), for directing the drive unit to moves the actuating elements to actuate the controllably bendable sections.06-16-2011
20110144659N DEGREES-OF-FREEDOM (DOF) LAPAROSCOPE MANEUVERABLE SYSTEM - A laparoscope including a cylindrical device of multiple degrees of freedom which can be inserted through a small surgical incision. This is accomplished by means of a series of coaxial members nested within the aforementioned cylinder, each can rotate independently and actuate a desired motion at the distal end. The laparoscope has multiple consecutive arm sections, each includes several coaxial input shafts adapted to be rotated around an input axis of rotation by multiple sources of torque. In addition, several constant velocity couplers connect the arm sections and are equipped with coaxial input transmission means, coaxial second transmission means and coaxial output transmission means to transfer the input torque to coaxial output shafts and facilitate the independent rotation and motion of the device distal end within the patient's body.06-16-2011
20110144658CATHETER SIMULATION AND ASSISTANCE SYSTEM - A workstation configured for operating and simulating a robotic catheter system and interventional procedure is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling at least two percutaneous intervention devices. The workstation includes a data storage subsystem to store a vascular image data and a simulation subsystem. The control system controls the at least two percutaneous intervention devices based upon the user input received by the user interface to allow the user to perform a real catheterization procedure. The simulation subsystem generates a display as a function of the vascular image data and causes the display of a simulated percutaneous intervention device within the vascular image data as a function of the user input allowing the user to perform a simulated catheterization procedure.06-16-2011
20110144657SYSTEMS AND METHODS FOR DETERMINING THE LIKELIHOOD OF ENDOCARDIAL BAROTRAUMA IN TISSUE DURING ABLATION - A method and system for determining a likelihood of barotrauma occurring in tissue during the formation of a lesion therein is provided. The system includes an electronic control unit (ECU). The ECU is configured to acquire at least one value of at least one component of a complex impedance between an electrode and the tissue. The ECU is further configured to calculate an index responsive to the at least one value of the at least one complex impedance component. The index is indicative of a likelihood of barotrauma occurring in the tissue. The method comprises acquiring at least one value of at least one component of a complex impedance between an electrode and the tissue. The method further comprises calculating an index responsive to the at least one value of the at least one complex impedance component. The calculating index is indicative of a likelihood of barotrauma occurring in the tissue.06-16-2011
20090054909METHODS AND SYSTEMS OF ACTUATION IN ROBOTIC DEVICES - The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient's cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.02-26-2009
20090192523SYNTHETIC REPRESENTATION OF A SURGICAL INSTRUMENT - A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.07-30-2009
20110224684ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20090082784Interventional medical system - The invention relates to an interventional medical diagnosis or therapy system comprising: an imaging device, which is embodied for recording 3D images of an object under examination, with a control unit and an image processing unit; an at least two-axis robot arm, having means for yield control of the robot arm and a robot control unit for control of the robot arm; an instrument holder, which is connected to the robot arm, for holding an instrument; a position detection device, by means of which the position of the instrument is able to be detected for the robot control unit. The robot arm is embodied to yield to system-external force effects or to follow a system-external guidance.03-26-2009
20110224685ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20110230896ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.09-22-2011
20110230895ADJUSTABLE SURGICAL PLATFORM AND SURGICAL INSTRUMENT USING SAME - In one aspect, the present invention relates to a surgical instrument for providing an access to a target of interest of a living subject. In one embodiment, the surgical instrument has a bearing member, a shaft member and a probe. The bearing member has a first end portion, an opposite, second end portion, a body portion defined therebetween having a longitudinal axis, and a shoulder portion extending from the second end portion. The body portion defines a bore therein along the longitudinal axis. The shoulder portion defines a passage substantially coaxial with and in communication with the bore. The shaft member has an first end portion and an opposite, second end portion, and is slidably received in the bore of the bearing member. The shaft member defines a space extending from the first end portion to the second end portion. The probe has a working end portion and is received in the space of the shaft member such that the working end portion is extendable through the passage of the shoulder portion of the bearing member to reach a target of interest of a living subject so as to provide an access thereto.09-22-2011
20100234856ROTATING NEEDLE DRIVER AND APPARATUSES AND METHODS RELATED THERETO - Featured is a medical instrument driver, a robotic apparatus embodying such a medical instrument driver and methods related thereto for inserting a medical instrument into tissue of a mammal (e.g., human). Such medical instruments include medical needles, biopsy needles, trocars, cutters and introducers. Such a medical instrument driver according to the present invention is configured and arranged so that medical instrument is rotated as it is being moved longitudinally for insertion into the tissue such that the medical instrument is spiraling as it pierces and traverses the tissue to the target area.09-16-2010
20110230894SYSTEMS, DEVICES, AND METHODS FOR PROVIDING INSERTABLE ROBOTIC SENSORY AND MANIPULATION PLATFORMS FOR SINGLE PORT SURGERY - The present disclosure relates to systems, devices, and methods for providing foldable, insertable robotic sensory and manipulation platforms for single port surgery. The device is referred to herein as an Insertable Robotic Effector Platform (IREP). The IREP provides a self-deployable insertable device that provides stereo visual feedback upon insertion, implements a backbone structure having a primary backbone and four secondary backbones for each of the robotic arms, and implements a radial expansion mechanism that can separate the robotic arms. All of these elements together provide an anthropomorphic endoscopic device.09-22-2011
20090248040Coupler to Transfer Controller Motion from a Robotic Manipulator to an Attached Instrument - A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.10-01-2009
20090248037MEDICAL ROBOTIC SYSTEM ADAPTED TO INHIBIT MOTIONS RESULTING IN EXCESSIVE END EFFECTOR FORCES - A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.10-01-2009
20090209976SURGICAL ROBOT - The present invention provides a surgical robot for performing surgery of the minimally invasive type on a body to be operated upon, which surgical robot includes a number of surgical arms having respective distal ends, to each of which distal ends a surgical instrument is connected for performing surgical procedures inside a human or animal body, a base element, manipulation means for manipulating the surgical arms relative to the base element for performing the surgery, and control means for controlling the manipulation means. Positioning means are provided for positioning the base element above the body.08-20-2009
20090222022SURGICAL INSTRUMENT FOR ENDOSCOPIC SURGERY - Surgical instrument for endoscopic surgery that permits the simulation of the articulation movements of a surgeon finger, comprising a rigid tube (09-03-2009
20090248043MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS - Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.10-01-2009
20090248045ACTIVE CANNULA CONFIGURATION FOR MINIMALLY INVASIVE SURGERY - The present disclosure provides for systems and methods for active cannula configuration. Active cannula systems include a plurality of telescoping, pre-shaped nitinol tubes configured and dimensioned to reach target locations within a particular anatomical region. A three dimensional image is read for the particular anatomical region. A series of arcs are generated between a point of the anatomical region and a target location. A pathway for the active cannula is calculated from the series of arcs. The pathway is used to configure and dimension the plurality of tubes. The active cannula system is adapted to reach relatively small and complex target locations.10-01-2009
20090248038FORCE AND TORQUE SENSING IN A SURGICAL ROBOT SETUP ARM - An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.10-01-2009
20090248044METHOD AND SYSTEM FOR PLANNING/GUIDING ALTERATIONS TO A BONE - A computer-assisted surgery system for planning/guiding alterations to a bone in surgery, comprises a trackable member adapted to be secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the trackable member A positioning block is adapted to be secured to the bone, with at least an orientation of the positioning block being adjustable once the positioning block is secured to the bone to reach a selected orientation at which the positioning block is used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data for at least two degrees of freedom in orientation of the positioning block. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block from the orientation-based data. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone as a function of the orientation reference and of the orientation of the positioning block.10-01-2009
20090240259System and methods for controlling surgical tool elements - A light-weight, compact, highly dexterous surgical robot system for performing in vivo minimally invasive surgeries that allows precise control of position and orientation of surgical tools. The surgical robot system has three rotational degrees of freedom and one translational degree of freedom and is composed of seven links joined by three gear pairs and six turning pairs. The surgical robot system maintains an open space where a surgical tool element enters the patient to avoid self-collisions within the robot system during surgeries.09-24-2009
20090192524SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT - A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.07-30-2009
20090192521SURGICAL INSTRUMENT COMPRISING AN INSTRUMENT HANDLE AND ZERO POINT ADJUSTMENT - The invention relates to a surgical instrument comprising an instrument handle linked to a proximal end portion of a tube shaft to the distal end portion of which an instrument head is linked so as to be bendable, in which instrument head an effector including at least one pivotal engaging element is rotatably supported. The instrument handle has a number of manipulators and/or operating mechanisms for operating the instrument head and/or the effector via gear trains. According to the invention, a clutch which permits a zero point adjustment individual at least over a predetermined pivoting range of the instrument handle is interposed in the gear train effecting the bending motion of the instrument head. The zero point is defined as a relative position of the instrument handle with respect to the tube shaft in which the instrument head adopts a predetermined bending position with respect to the tube shaft.07-30-2009
20090192519SURGICAL SYSTEM - A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.07-30-2009
20090254097SYSTEM AND DEVICE FOR DESIGNING AND FORMING A SURGICAL IMPLANT - The present invention relates to a method of determining the proper shape of a surgical linking device that is to be attached to a bony body structure such as the spinal column. The present invention also relates to methods of shaping and bending surgical linking devices such that they fit attachment means or are shaped to fit the bony body structure.10-08-2009
20090254098VISUAL ORIENTATION AID FOR MEDICAL INSTRUMENTS - The invention relates to a method for visually assisting the alignment of a medical instrument, wherein the instrument is visually displayed on an image output in a positional relationship to a part of a patient's body by means of a medical navigation system, wherein an orientation aid is displayed as a virtual model shape at the instrument or in a particular positioning with respect to a characteristic part of the instrument. It also relates to a planning method for optimized instrument alignment with the aid of such an image assisting method.10-08-2009
20090248036CONTROLLING A ROBOTIC SURGICAL TOOL WITH A DISPLAY MONITOR - In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.10-01-2009
20090259230Method And Apparatus For Optimal Trajectory Planning - A system and method can increase confidence or other factors of a trajectory, path, etc. for a procedure. The system can use various weighting or determining factors to identify confidence of identified trajectories. The identified trajectories can be used for various purposes, such as diagnosis or treatment.10-15-2009
20100160929 ROLL JOINT AND METHOD FOR A SURGICAL APPARATUS - A roll joint utilizes at least one tendon guide surface to guide actuator tendons for distal roll off and on their respective drums on a central shaft of the roll joint. The tendon guide surface turns the actuator tendon in an axial direction in a more compact space than might be required for a pair of pulleys, while using fewer parts with larger features more easily formed on a small scale.06-24-2010
20100160930SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - The invention is directed to mainpulator assembly (06-24-2010
20100262160Adjustable orthopedic implant and method for treating an orthopedic condition in a subject - An orthopedic implant is described including at least one adjustment mechanism configured for securing to at least one orthopedic structure of a subject, and at least one motor operatively connected to the at least one adjustment mechanism, wherein the at least one motor is configured to move the at least one adjustment mechanism in at least three degrees of freedom.10-14-2010
20100185212SYSTEM FOR POSITIONING ENDOSCOPE AND SURGICAL INSTRUMENTS - The present invention discloses a system for handling a surgical instrument, useful for observation and/or intervention with respect to a patient's body. The system comprising a fixed support; hinge which enable changing of the inclination of the system; actuators system that produce the rotation movement utilized by handling surgical instrument mechanism; a flexible power transmission system; gear housing adapted to change the direction of the motors rotation transmitted by the flexible power transmission system; and, handling surgical instrument mechanism, said mechanism comprising: a first small size moveable element, connected to the gear housing is adapted to simultaneous maneuver of a second moveable element to the four main directions, and/or any other maneuver, e.g., right and left, forward and backward; and, a second moveable element that which is adapted to move the surgical instrument to another directions, zoom in and zoom out, simultaneously rotate the surgical instrument, either clockwise or counter-clockwise, simultaneously rotate the camera housing in respect to the surgical instrument clockwise and counter-clockwise.07-22-2010
20100185211 HYBRID MANUAL-ROBOTIC SYSTEM FOR CONTROLLING THE POSITION OF AN INSTRUMENT - The present invention concerns hybrid manual-robotic system for supporting and moving a surgical instrument having active main structure (07-22-2010
20100262162MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis.10-14-2010
20080215066Apparatus for Positioning a Medical Instrument Relative to a Patient - The present device provides an apparatus for securely positioning a medical instrument through an incision within a patient. The apparatus comprises a trocar for extending through the incision in the patient and receiving the medical instrument. The apparatus also comprises a drive assembly for moving the medical instrument within the trocar in a direction that extends substantially parallel to the length of the trocar. The drive assembly can have a housing that is spaced from the trocar or that forms a portion of the trocar. The apparatus also includes a positioning system for rotating the medical instrument about a plurality of spaced points located outside the body and a plurality of perpendicularly extending axes. The positioning system includes an adapter for securing the trocar to the positioning system. A first motor system rotates the adapter and trocar about a first axis that extends substantially perpendicular to the length of the trocar and a second motor system rotates the adapter, the trocar and the drive assembly about a second axis that extends substantially perpendicular to the first axis.09-04-2008
20100217280Method and Apparatus for a Radiolucent and MRI Compatible Cranial Stabilization Pin - A substantially radiolucent cranial stabilization pin is adapted for use with a fixture for immobilizing a patient's head during a medical procedure. The pin includes a tip and a body, which are secured together to form the pin. The tip and body are constructed from non-ferrous, non-magnetic materials that are biocompatible. The tip and body are safe for use with, and compatible with, imaging techniques including MR imaging and CT imaging. In some examples the tip is a titanium insert and the body is molded within and around at least a portion of the tip. In some versions, the tip includes a hollow portion and one or more openings providing access to the hollow portion. The molded body flows into and around portions of the tip creating a secure pin suitable to withstand torque and axial forces observed in use.08-26-2010
20100228264ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS - A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.09-09-2010
20100228266Master Controller Having Redundant Degrees of Freedom and Added Forces to Create Internal Motion - An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.09-09-2010
20100168763CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING - The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.07-01-2010
20100241136INSTRUMENT POSITIONING/HOLDING DEVICES - Systems are provided that control the positioning of various instruments (e.g., endoscopes or tissue retractors) used during surgical procedures. A positioning mechanism holding the instrument is coupled to a control mechanism such that mechanical manipulation of the control mechanism results in movement of the positioning mechanism relative to a patient's body, thereby eliminating the need to manually hold and position the instruments.09-23-2010
20100217279Marking Articulating Direction For Surgical Instrument - A surgical apparatus for guiding the movement of a surgical tool in relation to the surrounding anatomy of a patient includes a surgical tool having an articulation member. The apparatus also has an image capturing device, a monitor, a control member, and at least one marker on the surgical tool for determining an orientation and attitude of the surgical tool in relation to the visual image on the monitor. The image capturing device takes visual images of the articulating member. The monitor displays the visual images taken by the image capturing device. The control member operates and guides movement of the articulating member. The marker can be colors, symbols, letters, number, or in any combination thereof. An endoscope and a display may also be included.08-26-2010
20130123801METHOD OF REAL-TIME TRACKING OF MOVING/FLEXIBLE SURFACES - The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.05-16-2013
20130123804DEVICE AND METHODS OF IMPROVING LAPAROSCOPIC SURGERY - Methods and devices for improving the interface between a surgeon and an operating medical assistant or between the surgeon and an endoscope system for laparoscopic surgery. A device is useful for controlling an endoscope system for laparoscopic surgery and includes a wearable interface for enhancing the control of an endoscope system during laparoscopic surgery.05-16-2013
20100241135MANIPULATOR JOINT DISPLACEMENT DETECTION MECHANISM - A manipulator joint displacement detection mechanism includes a manipulator which has a actuating unit and a joint. A first transmission member is connected to the joint, and provided movably to displace the joint. A second transmission member moves corresponding to movement of the first transmission member. A guide guides movement of the second transmission member. A guide fixing part fixes one end and the other end of the guide. A sensor detects a moving distance of the second transmission member in the proximal end portion of the manipulator.09-23-2010
20100241137HAND-ACTUATED ARTICULATING SURGICAL TOOL - A double cylinder system is disclosed, comprising at least one controller being adapted to transmit hydraulic control signals; at least one slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave. Also disclosed is a surgical device, comprising at least one controller located at a proximal end of the device, the controller being adapted to transmit hydraulic control signals; at least one manipulator, the manipulator being configured to be controlled by a human hand and to actuate the controller; at least one slave located at a distal end of the device, the slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave.09-23-2010
20100241138SURGICAL SYSTEM WITH ELECTRO-MECHANICAL INTERFACES TO MOUNT ROBOTIC SURGICAL ARMS - In one embodiment of the invention, a method of mounting a surgical robotic arm to a set-up arm of a robotic surgical system is provided that includes sliding a pair of guide slots of the surgical robotic arm over a pair of guide tabs in the set-up arm; aligning electrical connectors in the set-up arm to electrical connectors of the surgical robotic arm; and coincidentally mating male electrical connectors to female electrical connectors while finally mating the guide tabs in the set-up arm to flanges of a housing of the surgical robotic arm.09-23-2010
20100211081Microdrive and Modular Microdrive Assembly for Positioning Instruments in Animal Bodies - Microdrive and modular microdrive assembly for positioning the tips of substantially rigid medical and scientific instruments, such as electrodes, mechanical probes and needles, that are chronically implanted in animals, especially conscious and freely-moving animals, without passing the substantially rigid instruments through tubular guides or using immobilizing stereotactic surgical guide systems, such as arcuate rails mounted on relatively large and unwieldy external surgical headframes. Embodiments of the invention comprise a bottom plate adapted to be surgically attached to the animal and fixedly secured to a frame so that a void in the bottom plate is fixedly disposed over the implantation site. A carriage having a platform for mounting the substantially rigid instrument is alternately lowered and raised by rotating a drive rod connecting the carriage to the frame, enabling precise movement of the tip of the substantially rigid instrument into and out of the animal's body tissue.08-19-2010
20110112549ULTRASOUND GUIDED ROBOT FOR FLEXIBLE NEEDLE STEERING - A robotic system for flexible needle steering under ultrasound imaging. A robot is used to steer the needle along a predetermined curved trajectory by maneuvering the needle base. The needle tip position is detected by an ultrasound sensor and the tracking error of the needle tip from a predetermined needle path is input to a controller which solves the inverse kinematic based on the needle position, and the needle and tissue properties. The control algorithm uses a novel method to detect the elastic properties of the tissue by analyzing tissue motion at the region in front of the needle tip. The inverse kinematic solution may be performed on a model of the needle as a flexible beam having laterally connected virtual springs to simulate lateral forces exerted by the tissue elasticity. The system is able to direct the needle to a target within the tissue while circumventing forbidden regions.05-12-2011
20120130401ERGONOMIC AND SEMI-AUTOMATIC MANIPULATOR, AND APPLICATIONS TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY - A manipulator includes a control unit (05-24-2012
20130218171MEDICAL ROBOTIC SYSTEM HAVING ENTRY GUIDE CONTROLLER WITH INSTRUMENT TIP VELOCITY LIMITING - A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.08-22-2013
20100087835WIRELESS FORCE SENSOR ON A DISTAL PORTION OF A SURGICAL INSTRUMENT AND METHOD - A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.04-08-2010
20100125285AUTOMATED ALIGNMENT - Systems and method are disclosed whereby elongate medical instruments may be registered to adjacent tissue structures and other structures, and may be navigated and operated in a coordinated fashion to maximize ranges of motion, ease of use, and other factors. A method for registering an instrument relative to nearby structures may comprise moving a portion of the instrument between two in situ positions, tracking movement during this movement with both a kinematic model and also a localization sensor based configuration, determining the orientation of the tracked portion relative to both the instrument coordinate system used in the kinematic modeling and also a localization coordinate reference frame, and adjusting the orientation of the instrument coordinate reference frame to minimize the difference between determined orientations using the kinematic model and localization sensors. Methods and configurations for navigating coupled and registered instrument sets are also disclosed.05-20-2010
20110028991Cardiac Tissue Ablation Instrument with Flexible Wrist - An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue. The endoscope may further include couplings to releasably attach an ablation device/catheter or a catheter guide to the endoscope thereby further utilizing the endoscope articulation to facilitate placement of the ablation catheter on hard-to-reach cardiac tissues. In another embodiment, the articulate instrument is a grasper or any other instrument with a flexible wrist and a built-in lumen to allow an endoscope to insert and be guided to the distal end of the instrument.02-03-2011
20110028990Multi-Component Telepresence System and Method - The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween. The drive and control component is shielded from the sterile surgical site, the surgical tool is sterilizable and disposable and the intermediate connector is sterilizable and reusable. In this manner, the intermediate connector can be sterilized after a surgical procedure without damaging the motors or electrical connections within the drive and control component of the robotic system.02-03-2011
20120143211SURGICAL INSTRUMENT AND OPERATION SUPPORT SYSTEM HAVING THE SURGICAL INSTRUMENT - A surgical instrument includes a use measurement unit. The use measurement unit acquires a use time or an operation amount of the surgical instrument in response to the use or operation of the surgical instrument. The use measurement unit acquires motion of a gripper or a joint provided in the surgical instrument as the use time or the operation amount.06-07-2012
20120143212ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M06-07-2012
20090326556MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITIONING AND ORIENTING OF ITS TIP - A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.12-31-2009
20090326553MEDICAL ROBOTIC SYSTEM PROVIDING AN AUXILIARY VIEW OF ARTICULATABLE INSTRUMENTS EXTENDING OUT OF A DISTAL END OF AN ENTRY GUIDE - A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point.12-31-2009
20100198232MINIMALLY INVASIVE SURGICAL SYSTEM - A control system for a minimally invasive surgical system. In one aspect the control system is a distributed system. A control and transform processor receives data from a master arm controller, an instrument controller, an imaging system controller, and a guide tube controller and distributes data received from one controller to the other controllers. The other controllers use the received data, along with received optimization goals, to control associated slave arms in a distributed but coordinated way. In another aspect, the control system is centralized, in which a motion coordinator receives master inputs, sensor inputs from the slave arms, and optimization inputs. The motion coordinator uses the received inputs to output control signals to an instrument, an imaging system, and a guide tube controller.08-05-2010
20100198231METHODS FOR REPLACEABLE END-EFFECTOR CARTRIDGES - In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two end effectors, a fastener to rotatably couple the two end effectors together, and a cam mechanism. At least one of the two end effectors is a moveable end effector having a jaw portion, an off-center portion, and a base portion. The cam mechanism is coupled to the base portion of the at least one moveable end effector to pivot it about the fastener to open and close the jaw portion of the at least one moveable end effector with respect to the other.08-05-2010
20090318935Percutaneous medical devices and methods - Apparatus and methods are described providing improved surgical and similarly invasive procedures. The components may be used individually or collectively as a system. They consist of new apparatus for insertion of transducers and transducer arrays into the body cavity, apparatus and procedures for controlling pressure differential between the body cavity and the atmosphere, imaging techniques to combine the now available real-time images with pre-procedure imaging, and robotic placement techniques that when combined with all of the above provide improved surgical and medical procedures.12-24-2009
20120143213Surgical Apparatus - A patient can be taken to the operating theatre where a measurement arm can be used to locate fiducial markers relative to a fixed substrate. As a result, the location of the region of interest is known. An instrument guide, adapted to constrain movement of an instrument thereon, can then be positioned at a suitable location, and its location checked by way of the measurement arm. A computing means connected to the measurement arm so as to receive information as to the location of the tip can be programmed to determine a desired necessary movement of the guide in order to locate the instrument at a desired location relative to the region of interest. The guide can then be moved in a controlled and accurate manner from its initial position to an accurately determined correct position.06-07-2012
20090112230MANIPULATOR - A manipulator includes a wire which is movable back and forth, a driven wire both ends of which are connected to the wire, an idle pulley, a guide pulley, a driven pulley which is movable back and forth, and an end effector coupled to the driven pulley. The driven wire passes from a terminal along a first side on the idle pulley and extends to a second side opposite to the first side, and then passes along the second side on the driven pulley. The driven wire is then wound around the driven pulley and passes along the first side on the driven pulley and then the second side on the idle pulley, and finally returns to the terminal, thereby making up an 8-shaped configuration path. The driven wire is crossed between the idle pulley and the guide pulley.04-30-2009
20090112229MANIPULATOR FOR MEDICAL USE - A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.04-30-2009
20080269779SURGICAL ANCHOR AND SYSTEM - The present invention is a device and system for manipulating a surgical tool at an intended location, e.g., a confined or inaccessible space, which includes a surgical anchor having at least one opening, wherein the opening provides a catch for a pin; and at least one anchor point to position and orient a surgical tool inside a human body. The apparatus and system of the present invention allows for the use of multiple intra-abdominal surgical tools inserted through a single incision.10-30-2008
20090105727HAND-ACTUATED ARTICULATING SURGICAL TOOL - A double cylinder system is disclosed, comprising at least one controller being adapted to transmit hydraulic control signals; at least one slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave. Also disclosed is a surgical device, comprising at least one controller located at a proximal end of the device, the controller being adapted to transmit hydraulic control signals; at least one manipulator, the manipulator being configured to be controlled by a human hand and to actuate the controller; at least one slave located at a distal end of the device, the slave being in fluid communication with the controller and being configured to respond to the hydraulic control signals transmitted by the controller; and at least one control line providing hydraulic communication between the controller and the slave.04-23-2009
20090105725STEREOTACTIC HEAD FRAME LOCALIZER - A stereotactic head frame localizer having a plurality of fiducial rods disposed in a plurality of sides is disclosed. The stereotactic head frame localizer includes five connected sides with each side including a plurality of the fiducial rods. One of the sides may be removably attached to the stereotactic head frame localizer. The fiducial rods include a material or may be formed from a material that, in cooperation with a selected imaging modality (i.e. CT, MRI, or PET), will appear on the resulting image scan as image points. The fiducial rods may be disposed in an orientation that is horizontal, vertical, or diagonal to an axis of a body of a patient. The stereotactic head frame localizer may be used in cooperation with a head ring attached to a patient for determining the location of a target in an x, y, and z coordinate system.04-23-2009
20090105726MEDICAL DEVICE - A medical device includes: a body electrode disposed in contact with a human body; a tubular instrument having a distal electrode at a distal end portion of an insertion portion inserted into the body and a plurality of active joints for changing an orientation and a position of the distal end portion at the insertion portion; a plurality of joint position information detecting sections for respectively acquiring joint position information of the plurality of active joints; and a storage section for storing the joint position information respectively acquired by the plurality of joint position information detecting sections based on conduction between the body electrode and the distal electrode.04-23-2009
20130131694ROBOTIC DEVICES WITH ARMS AND RELATED METHODS - Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an arm. The arm can have two arm components coupled at a joint.05-23-2013
20130131695ROBOTIC APPARATUS FOR MINIMALLY INVASIVE SURGERY - A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.05-23-2013
20090069821ROBOTIC DEVICES WITH AGENT DELIVERY COMPONENTS AND RELATED METHODS - Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an agent delivery component. The devices include mobile robotic devices and fixed base robotic devices as disclosed herein. The agent delivery component can have at least one agent reservoir and a discharge component in fluidic communication with the at least one reservoir.03-12-2009
20130138118POWERED SIGNAL CONTROLLED HAND ACTUATED ARTICULATING DEVICE - An articulating device for aiding a user, such as, a surgeon or other medical practitioner, in manipulating a hand-actuated articulating device by providing a powered force used for moving the device, thus reducing or eliminating the need for the user to provide all the force required to move the device. The articulating device includes an input device, which receives one or more user inputs to direct a slave portion to perform work. The articulating device further includes a control portion that assists in transferring user input to the slave portion, and that further provides power assistance to at least partially drive the slave portion, in combination with the user input received by the input device.05-30-2013
20090036901MEDICAL MANIPULATOR SYSTEM - A medical manipulator system includes a medical manipulator, an operating unit for inputting operation commands, motors for driving a working unit, a controller for driving the motors based on operation commands supplied from the operating unit, and an LED that displays an operational state. The controller carries out controls for distinguishing between an operational mode in which the operation command is validated and the motors are driven, and a stopped mode in which the motors are halted regardless of whether the operation command is present or not. An illumination state of the LED is switched dependent on whether the system is in the operational mode or the stopped mode. The LED is disposed in the center of an upper surface of a bridge, which interconnects a grip handle and an actuator block.02-05-2009
20100331860MANIPULATOR WITH DECOUPLED MOVEMENTS, AND APPLICATION TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY - A manipulator includes a main arm, of which the proximal end bears a drive, and a proximal manipulation structure, and of which the distal end bears a controlled distal structure that may itself bear a surgical tool. The main arm passes through a surgical trocar. The proximal manipulation structure includes two opposed contact zones and stress sensors positioned in a central zone between the two opposed contact zones. The stress sensors operate the drive as a function of the stresses applied to the contact zones in order to produce the pivoting and rotating movements of the surgical tool with respect to the main arm. This ensures that there is optimal decoupling of the movements in the various degrees of freedom, thus making it easier to obtain movements through stressing operations that are natural to the operating surgeon.12-30-2010
20100331859MEDICAL ROBOT SYSTEM FOR SUPPORTING AN ORGAN IN A POSITION SUITABLE FOR A MEDICAL TREATMENT - Provided is a medical robot system which includes a medical manipulator capable of handling organs such as a uterine of different shapes and sizes. The medical robot system includes a robot arm, a medical manipulator which is detachably provided in the robot arm and supports an organ to a predetermined position, and a controller unit operable by an operator to control the robot arm and the medical manipulator. The medical manipulator also includes a first arm portion in a base side thereof, a second arm portion in a front side thereof for supporting the organ, and a connection portion connecting the first arm portion with the second arm portion. The control unit adjusts a relative direction of the second arm portion and the first arm portion and a length of the second arm portion in a telescopic manner thereby being suitable for organs of various shapes and sizes.12-30-2010
20100331855Efficient Vision and Kinematic Data Fusion For Robotic Surgical Instruments and Other Applications - Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.12-30-2010
20100331858SYSTEMS, DEVICES, AND METHODS FOR ROBOT-ASSISTED MICRO-SURGICAL STENTING - Systems, devices, and methods for robot-assisted microsurgical stenting are described herein. In some embodiments a tele-robotic microsurgical system for eye surgery include: a tele-robotic master and a slave hybrid-robot; wherein the tele-robotic master has at least one master slave interface controlled by a medical professional; wherein the slave hybrid-robot has at least one robotic arm attached to a frame releasably attached to a patient's head; wherein the at least one robotic arm has a parallel robot and a serial robot; and wherein the serial robot includes a stenting unit which includes a support tube, a pre-bent tube mounted within the support tube and a guide wire extending from the support tube for carrying a stent and for piercing a blood vessel.12-30-2010
20100331857FLEXIBLE WRIST-TYPE ELEMENT AND METHODS OF MANUFACTURE AND USE THEREOF - A flexible wrist-type element and methods of operation thereof, including variations having an angularly moveable hub housing a rotatable and operable end effector driven via a drive train having one or more universal-type joints and/or other flexible couplings moveable via an input mechanism within a housing.12-30-2010
20110009880Control System for Reducing Internally Generated Frictional and Inertial Resistance to Manual Positioning of a Surgical Manipulator - 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.01-13-2011
20100262161ARTICULATING INSTRUMENTS WITH JOYSTICK CONTROL - The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.10-14-2010
20110009879APPARATUS FOR STEREOTACTIC NEUROSURGERY - A skull mount (01-13-2011
20110028988SELECTIVE COMPLIANCE WIRE ACTUATED MOBILE PLATFORM, PARTICULARLY FOR ENDOSCOPIC SURGICAL DEVICES - A wire-operated selective compliance mobile platform (02-03-2011
20110040306Medical Robotic System Adapted to Inhibit Motions Resulting in Excessive End Effector Forces - A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.02-17-2011
20110040304Three-Dimensional Positioning Device for Minimally Invasive surgery - A three-dimensional positioning device for minimally invasive surgery comprising: a base, two angle adjustable assemblies, an arc, a sliding assembly, a first positioning assembly, a second positioning assembly and a third positioning assembly. The base includes two first frames and two second frames. Two ends of each second frame connected to the first frames respectively. Each first frame has a pivotal member. The angle adjustable assemblies are pivotably connected to the pivotal member of the first frame respectively. The arc includes a hollow track member. The angle adjustable assemblies are connected to two ends of the arc. The sliding assembly is mounted on the track member of the arc according to a predetermined position of a nidus. Therefore, the three-dimensional positioning device can effectively improve the precision and operate more precisely in the minimally invasive surgery to increase the surgery success rate.02-17-2011
20110040305CONTROLLER ASSISTED RECONFIGURATION OF AN ARTICULATED INSTRUMENT DURING MOVEMENT INTO AND OUT OF AN ENTRY GUIDE - To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.02-17-2011
20110118748PATIENT-SIDE SURGEON INTERFACE FOR A MINIMALLY INVASIVE, TELEOPERATED SURGICAL INSTRUMENT - A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.05-19-2011
20090062814MEDICAL MANIPULATOR SYSTEM - A medical manipulator system includes a manipulator, an operating unit for entering operation commands, motors for actuating a working unit, and a controller for energizing the motors based on operation commands supplied from the operating unit. When an activation resetting switch and a resetting switch are operated according to a predetermined procedure, the controller performs a resetting process to return the motors to an origin. The controller is capable of controlling three manipulators. The activation resetting switch is shared by the three manipulators, and there are three resetting switches corresponding to the three manipulators.03-05-2009
20090062813MEDICAL ROBOTIC SYSTEM WITH DYNAMICALLY ADJUSTABLE SLAVE MANIPULATOR CHARACTERISTICS - A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.03-05-2009
20110087237METHOD AND APPARATUS FOR MULTI-SYSTEM REMOTE SURGICAL NAVIGATION FROM A SINGLE CONTROL CENTER - A system and method are provided for performing remote surgical navigation in multiple systems from a single control center, where there are at least two remote navigation systems in separate procedure rooms having respective control computers. The system includes a Control Center separate from each procedure room that has a set of displays and interface input devices. A switch may also be included for connecting the Control Center to the set of displays, interface input devices, and remote navigation systems. A method is provided for performing multiple simultaneous remote medical procedures that includes displaying information transmitted from a remote navigation system to the Control Center, and accepting user input from a remote navigation system. The method provides for establishing an encryption key with the remote system, converting the user input to a script data and encrypting the data. The transmitted script command is then transmitted to the remote navigation system.04-14-2011
20110245844MEDICAL ROBOT SYSTEM - A medical robot system includes a forceps arm provided with a forceps manipulator and a camera arm provided with an endoscope. The forceps manipulator and the endoscope are inserted into a living body through a common insertion implement. The system further includes an operating unit that generates a control signal to control the forceps manipulator and the forceps arm, a forceps motion control unit that controls motions of the forceps manipulator and the forceps arm according to the control signal from the operating unit, an endoscope motion control unit that controls motions of the endoscope and the camera arm, and an interference avoiding unit that controls an interference avoiding motion of the camera arm to avoid interference between the camera arm and the forceps arm while a visual point of the endoscope is kept constant.10-06-2011
20090082783CONTROL UNIT FOR MRI-GUIDED MEDICAL INTERVENTIONAL SYSTEMS - A control unit for a medical interventional system includes a housing and a plurality of elongate control devices. The housing includes opposite first and second sides and a plurality of adjacent, spaced-apart passageways extending through the housing from the first side to the second side. Each elongate control device is operably associated with a respective one of the housing passageways, and includes an elongated first flexible member having a bore extending longitudinally therethrough and an elongated second flexible member slidably inserted through the bore of the first flexible member. The first flexible member has a proximal end secured to the housing and an opposite distal end. The elongated second flexible member has a proximal end that extends through a housing passageway and outwardly from the housing second side and a distal end with a connector that extends outwardly from the distal end of the first flexible member.03-26-2009
20110213384SURGICAL ROBOT SYSTEM HAVING TOOL FOR MINIMALLY INVASIVE SURGERY - The present invention relates to a surgical robot system having a tool for minimally invasive surgery. More specifically, the present invention relates to a surgical robot system that helps a user such as a surgeon control the tool for minimally invasive surgery in a dexterous and convenient manner.09-01-2011
20110213383SURGICAL INSTRUMENT COUPLING MECHANISM - A medical system and surgical instrument adapter are provided. The medical system comprises a surgical instrument carrying a distal tool configured for performing a medical procedure on a patient, an adapter having a clam-shell configuration configured for removably receiving a proximal end of the surgical instrument, and a drive unit configured for being coupled to the adapter to control the movement of the surgical instrument within at least one degree-of-freedom. The surgical instrument adapter may comprise a base portion configured for receiving a proximal end of the surgical instrument, and a clam-shell that pivots relative to the base portion between a first position that encloses the proximal end of the surgical instrument within the base portion and a second position that allows the proximal end of the surgical instrument to be removed from the base portion.09-01-2011
20110087238METHOD AND APPARATUS FOR PERFORMING MINIMALLY INVASIVE CARDIAC PROCEDURES - A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.04-14-2011
20090138025APPARATUS SYSTEMS AND METHODS FOR FORMING A WORKING PLATFORM OF A ROBOTIC INSTRUMENT SYSTEM BY MANIPULATION OF COMPONENTS HAVING CONTROLLABLY RIGIDITY - Robotic instrument systems, apparatus, and methods for controllably manipulating the rigidity of a distal portion of one or more sheath catheters advanced through an elongate sheath to controllably form a temporary, substantially rigid platform from which other robotically controlled instruments may be manipulated. The platform is formed by one or more multi-segment sheath catheters that can be controlled to be flexible during advancement and substantially rigid at the target site, thereby reducing the length of the operational lever arm of the instrument. For this purpose, a sheath catheter includes a plurality segments that interlock and do not rotate when drawn together, and are connected by a control element, the tension of which may be manipulated by a robotic instrument system to transform the sheath catheter between a flexible state during advancement through the elongate sheath and a substantially rigid state when the sheath catheter is to serve as a platform or component thereof.05-28-2009
20100023021Biological Interface and Insertion - Insertion systems and processes for inserting a medical implant are disclosed. An insertion system used to insert an implant into a patient's body may include a housing and a movable member configured to move relative to the housing. The system may further include an alignment detection mechanism disposed adjacent the housing and configured to detect an alignment information of the movable member with respect to at least one of the implant and a target site of the patient's body.01-28-2010
20110087236LAPAROSCOPIC DEVICE WITH COMPOUND ANGULATION - Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that includes an elongate shaft having a distal portion configured to be movable between a first configuration in which the distal portion of the shaft is substantially straight or linear and a second configuration in which the distal portion of the shaft is bent at a compound angle. The shaft's distal portion can be configured to be articulated in a wide range of compound angles and can be configured to be selectively locked in a fixed position anywhere within that range.04-14-2011
20120245595System and Method for Endovascular Telerobotic Access - A system for manipulating elongate surgical instruments comprises a console, which comprises an input controller. The input controller may have a haptic feedback mechanism. The system further comprises a slave component, which comprises a first linear actuator, a second linear actuator, and a first rotational actuator. Each actuator is in electrical communication with the input controller. The slave component further comprises a force sensor in electronic communication with the input controller. The force sensor is configured to measure a force acting upon the first elongate member on at least one degree of freedom. The force sensor will send a force signal to the haptic feedback mechanism of the input controller.09-27-2012
20110092983MRI Biopsy Targeting Cube with Locking Flap - A biopsy system comprises a control module, a localization assembly, a biopsy device, and a targeting cube. A probe and/or other associated components of the biopsy device are configured to selectively couple with the targeting cube, which is configured to selectively couple with a grid plate. The targeting cube may comprise a locking flap for securing the targeting cube within the grid plate and/or for securing the probe and/or other associated components within the guide hole of the targeting cube. The locking flap may be operatively configured to deflect and/or compress thereby providing assistance in securing the targeting cube within the grid plate and/or securing the probe and/or other associated components within the guide hole of the targeting cube.04-21-2011
20100036393METHODS, SYSTEMS AND DEVICES FOR THREEDIMENSIONAL INPUT, AND CONTROL METHODS AND SYSTEMS BASED THEREON - A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.02-11-2010
20100030233SURGICAL ATTACHMENT FOR USE WITH A ROBOTIC SURGICAL SYSTEM - A surgical attachment includes a surgical tool, an actuator configured to drive the surgical tool, and a power cell for providing electrical power to the actuator, the power cell being configured to accumulate stored electrical energy during an idle state of the actuator and to discharge at least a portion of the stored energy to power the actuator during a peak load of the actuator.02-04-2010
20110251624NEEDLE-COUPLED PARALLEL MECHANISM - A needle-coupled parallel mechanism is provided. The needle-coupled parallel mechanism is structurally improved so as to have a broad working area and a high precision. The needle-coupled parallel mechanism comprises a fixedly positioned frame, a main shaft, three first links, three second links, and a needle. The main shaft is arranged so as to be movable relative to the frame. One end of each of the first links is connected to the frame between both ends of the main shaft and the other end thereof is connected to one end of the main shaft. One end of each of the second links is connected to the frame between both ends of the main shaft and the other end thereof is connected to the other end of the main shaft. The needle is linearly movably coupled to the main shaft to perform a predetermined operation on a target object. Each of the first links and the second links has at least three joints selected from a prismatic joint, a 1-axis revolute joint, a 2-axis revolute joint and a spherical joint. The needle and the main shaft are moved with 6 degrees-of-freedom in conjunction with the operations of the first links and the second links.10-13-2011
20090048612MODULAR AND COOPERATIVE MEDICAL DEVICES AND RELATED SYSTEMS AND METHODS - The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.02-19-2009
20090048610MEDICAL PROBE INTRODUCER - One embodiment of the invention relates to a system for placement of a cannula and an internal shaft into a patient including a base, a linear drive mechanism coupled to the base and a rotation mechanism coupled to the base. The base includes an attachment mechanism configured to be mechanically coupled to the patient to maximize placement accuracy. The system further includes a cannula coupled to the linear drive mechanism. The cannula has a longitudinal axis, a lumen, and a distal opening. The linear drive mechanism is configured to move the cannula in a linear direction along the longitudinal axis into the body and the rotation mechanism is configured to rotate the cannula about the longitudinal axis. The system further includes a shaft drive mechanism coupled to the linear drive mechanism and the rotation mechanism and a shaft slidably housed within the lumen of the cannula. The shaft drive mechanism is configured to move the shaft within the lumen of the cannula to deploy a distal tip of the shaft out of the distal opening of the cannula.02-19-2009
20120245596Surgical Robot, Instrument Manipulator, Combination of an Operating Table and a Surgical Robot, and Master-Slave Operating System - The present invention relates to a surgical robot for performing surgery of the minimally invasive type, comprising an instrument manipulator having a manipulator front end which is provided with a holder for receiving therein one of a number of surgical instruments, and manipulating means for, at least in use, manipulating the manipulator front end with respect to a patient body. The manipulator front end further comprises a container having a number of container holders for receiving therein the number of surgical instruments, and switching means for switching the instrument present in the holder by an instrument present in a container holder. The invention further relates to an instrument manipulator, a combination of an operating table and a surgical robot, and a master-slave operating system.09-27-2012
20100063516Trajectory Guide With Instrument Immobilizer - A trajectory guide assembly that guides an instrument relative to a patient includes a mounting seat configured to be supported by the patient. The assembly also includes a trajectory member moveably supported by the mounting seat. The trajectory member defines a trajectory passage. Also, the assembly includes a cap member moveably supported by the trajectory member. The cap member defines a cap opening, and the cap member is selectively moveable to a first position relative to the trajectory member to retain the instrument in both the cap opening and the trajectory passage. Additionally, the cap member is selectively moveable to a second position relative to the trajectory member to release the instrument.03-11-2010
20100063514Device and method for a medical intervention - The invention relates to a device and a method for a medical intervention on a patient. The device provided for carrying out the method comprises a medical instrument that is to be introduced into a moving body region of the patient, a robot which has a plurality of degrees of freedom of movement and on which the medical instrument can be disposed for guiding, and means for recording the movement of the body region, wherein the medical instrument can be introduced into the body region of the patient by means of the robot taking into account the movement of the body region and guided in the direction of a target tissue in the body of the patient.03-11-2010
20100069920SEVEN OR MORE DEGREES OF FREEDOM ROBOTIC MANIPULATOR HAVING AT LEAST ONE REDUNDANT JOINT - A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic manipulator coupled to the LINAC. The robotic manipulator is configured to move the LINAC along seven or more degrees of freedom, at least one of the seven degrees of freedom being a redundant degree of freedom.03-18-2010
20090216249MANIPULATOR - A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.08-27-2009
20090216248MANIPULATOR - A manipulator includes a hollow joint shaft, wires extending through the joint shaft, pulleys mounted on an end of the joint shaft, for imparting a drive force to the wires, a distal-end working unit mounted on another end of the joint shaft, for being actuated by the wires, and a sealing member for preventing liquid such as blood from flowing from the distal-end working unit through the joint shaft to a connector. The sealing member has holes defined therein, and the wires are slidably inserted through the holes.08-27-2009
20090216247Sighting instrument for determining the mechanical axis of the femur - A device for the determination of a plane containing the mechanical axis of the femur includes a mechanical member of articulated and or/sliding elements for the determination and memorization of two positions in space (F08-27-2009
20100130987CATHETER SYSTEM - A robotic catheter system includes a housing and a drive assembly. The drive assembly is supported by the housing and configured to impart movement to a catheter device and includes a first channel configured to receive the catheter device. The robotic catheter system includes at least one magnet positioned adjacent to the first channel to allow the magnet to interact with the catheter device to assist in the retention of the catheter device within the first channel.05-27-2010
20100057098Apparatus Used to Perform Image Guided Medical Procedures - An apparatus used to assist image guided medical procedures utilizing a navigation system having a computer processing unit having navigation system function that controls a tip of a medical instrument is disclosed. The apparatus has a control handle; an adaptor coupled to the control handle wherein the adaptor has at least one sensor which detects the physical manipulation of the control handle, wherein the adaptor translates the physical manipulation of the control handle into digital signals; a communication channel between the adaptor and the computer processing unit, wherein the communication channel enables the computer processing unit to receive the digital signals from the adaptor; and computer software which enables the computer processing unit to translate the digital signals from the adaptor into navigation system function used to control the tip of the medical instrument.03-04-2010
20100057099LINEAR BODY DRIVE DEVICE - A linear body drive device capable of safely and reliably operating a linear body is provided. A linear body insertion device includes a drive portion, an operation portion, a sensor portion and a processing portion serving as a measurement portion, and an output portion serving as a notification portion. The drive portion drives a linear body having flexibility. The operation portion includes an input member (an operation lever) operated by an operator for controlling performance of the drive portion. The sensor portion included in the measurement portion detects compressive force in a direction of longitudinal axis applied to the linear body, based on a degree of bending of the linear body driven by the drive portion. The output portion provides notification of data of compressive force detected by the measurement portion.03-04-2010
20100069919Electronic Guidance of Spinal Instrumentation - Systems and methods for positioning a connecting element adjacent an anatomical structure in minimally-invasive surgical procedures, including an electronic guidance system associated with the connecting element and at least one receiving portion of a tissue anchor that receives the connecting element in the patient. The electronic guidance system includes a processor subsystem to receive signals from the guidance system and provide relative positional data between the connecting element and the at least one receiving portion to aid the surgeon in guiding the connecting element to the receiving portion. In one embodiment, the systems and methods are used in association with positioning a connecting element adjacent the spinal column in minimally-invasive spinal stabilization procedures.03-18-2010
20110082468SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL - A surgical system for positioning a prosthetic component on an anatomy of a patient includes a surgical tool configured to engage the prosthetic component, a force system configured to provide at least some force to the surgical tool, and a controller programmed to compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement. The haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between at least one aspect of the actual pose of the prosthetic component and a corresponding aspect of the target pose of the prosthetic component. The controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user implants the prosthetic component on the anatomy.04-07-2011
20110098722Stereotactic Therapy System - A fiducial marker system (04-28-2011
20110251625MEDICAL NAVIGATION SYSTEM AND METHOD FOR THE OPERATION THEREOF - In a medical navigation system and an operating method therefor, a navigation device, having a field of view, detects a position indicator attached to a subject within the navigation field of view, and the navigation device, and thus the navigation field of view, are varied in position by a motorized drive connected to the navigation device. The current attitude of the navigation device and the position indicator are detected, and based on this detection, the motorized drive is operated and controlled so as to always maintain the position indicator within the navigation field of view of the navigation device.10-13-2011
20110098721ADJUSTABLE FOOT PEDAL CONTROL FOR OPHTHALMIC SURGERY - A foot pedal control for a surgical system (e.g., an ophthalmic surgery system) that adjusts to a number of different sizes of user's shoes. The foot pedal control has a treadle on which a user places his or her foot and a sensor that tracks the movements thereof. Adjustable lateral guides mount to the treadle and conform to both sides of the foot. The guides are shaped and positioned to conform to a wide variety of feet or shoes, and may easily be adjusted between users. A retractable heel stop converts between up for reference and down to enhance movement of the user's foot. A convertible handle may be stowed in a down position parallel to a base or pivoted up over the treadle for protection and ease of movement of the foot pedal control. The foot pedal control may be wireless and have various other electronic controls, and may have a dual-control treadle.04-28-2011
20110082469A REMOTE CONTOL MECHANISH FOR AN ATRAUMATIC SURGICAL MEEDLE - The invention relates to a remote control mechanism for an atraumatic surgical needle in which there is distance between the hand and the place to be sutured, thus allowing the needle to pass through the tissue (flesh), to be captured and released with a single stitch movement and which is also adaptable to needles of different sizes used for surgical suturing.04-07-2011
20110152880FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH TORSION CONTROL - An instrument for performing minimally invasive surgical procedures includes an elongate body and a support member disposed within or along the elongate body. The support member is configured to support steering, articulation, and angular rotational movement of the elongate body, provide torsion control, and support precise and accurate placement of the distal portion of the elongate body so that complex surgical procedure may be performed using the instrument.06-23-2011
20090088775METHODS OF USER INTERFACE WITH ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.04-02-2009
20110077663Magnetoelectric Surgical Tools for Minimally Invasive Surgery - A magnetoelectric element of a surgical tool positioned in the body of a subject is controllably bent or elongated under the influence of an applied magnetic field. A piezoelectric layer in the magnetoelectric element provides output that can be used to determine the actual amount of bending or elongation of the magnetoelectric element, and this actual amount is compared to a theoretical amount of bending or elongation which would result from the applied magnetic field. Any differences between the actual and theoretical amounts provide feedback to the surgeon for performing the surgical procedure. Preferably, tactile feedback is provided to the surgeon.03-31-2011
20110071542CURVED CANNULA SURGICAL SYSTEM - 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.03-24-2011
20110071544CURVED CANNULA INSTRUMENT - 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. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. 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.03-24-2011
20110060347Device and Method for Superimposing Patterns on Images in Real-Time, Particularly for Guiding by Localisation - The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.03-10-2011
20120123441TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS - 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.05-17-2012
20110060345SURGICAL ROBOT SYSTEM AND EXTERNAL FORCE MEASURING METHOD THEREOF - A surgical robot system and an external force measuring method of the surgical robot system are disclosed. The surgical robot system, which includes: a driving motor unit configured to generate and output an encoder signal corresponding to state information of a system; and a controller unit configured to receive the encoder signal as input and compute an external force applied on an instrument using an SMCSPO (sliding mode control with sliding perturbation observer) algorithm, can obtain information on the operational force of the instrument by an indirect method, making it possible to implement a technology for a realistic sensory device.03-10-2011
20110060346SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - The invention is directed to a system and method for releasably holding a surgical instrument (03-10-2011
20120303044Systems and Methods for Harvesting, Storing, and Implanting Hair Grafts - A system and method for harvesting, storing, and implanting biological units, in particular hair follicular units (FUs). The system is particularly useful to facilitate hair transplant procedures. FUs are harvested from a body surface, either attached to a patient or in a strip of removed tissue, and shuttled into a cartridge having a plurality of receptacles. The receptacles are open in a distal direction toward a removal tool, but a cover over the proximal ends of the receptacles prevents the FUs from continuing out of the cartridge. One way to shuttle the FUs is to provide a pressure differential, such as by applying suction to the proximal end of a receptacle. The shuttle subsystem may be incorporated within an overall automated or robotic system, or the shuttle subsystem may form part of a semi-automated or even manual apparatus.11-29-2012
20110046637SENSORIZED MEDICAL INSTRUMENT - The present invention provides a sensorized medical instrument that is suitable for application to, and training and skills assessment for, a variety of therapeutic, diagnostic, surgical and medical procedures. It is comprised of a sterilizable sensorized instrument capable of measuring forces in five degrees of freedom and tip position in six degrees of freedom. The instrument can be used to perform a variety of tasks through the integration of interchangeable instrument tips and handles. The system is capable of providing feedback to the user regarding critical forces/torques acting on the tissue, position and orientation of the instrument and its tip near critical areas within the body, or user performance during training and skills evaluation.02-24-2011
20110034940SYSTEMS AND METHODS FOR GUIDING A MEDICAL INSTRUMENT - This document discusses, among other things, a system for guiding a medical instrument within a body of a subject. The system includes a generic anatomical representation of at least a portion of the subject, a processing device, and a display device communicatively coupled to the processing device. The processing device is configured to determine a position of the medical instrument relative to the generic anatomical representation based on a position of the medical instrument relative to the subject. The display device configured to display the generic anatomical representation and a representation of the position of the medical instrument relative to the generic anatomical representation.02-10-2011
20120203247ROBOTICALLY-CONTROLLED SURGICAL END EFFECTOR SYSTEM - A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. Various embodiments are configured to be operably attached to a robotic system to receive actuation/control motions therefrom.08-09-2012
20110257661SURGICAL ROBOT FOR LIPOSUCTION - A liposuction surgical robot is disclosed. The liposuction surgical robot, which includes: a control unit, a robot arm driven by a particular control signal received from the control unit, a cannula mounted on the robot arm and extending in one direction, and a suction unit, which is formed on an end portion of the cannula and which is inserted into a surgical site to suction fat, allows the surgeon to perform liposuction surgery conveniently without exerting too much strength. Also, the liposuction operation can be performed with greater convenience, accuracy, and safety, by automatically controlling the surgical robot using a haptic sensor, angle sensor, etc., analyzing visual information obtained from a vision unit to automatically set surgery range, and by mounting an image-taking camera on a front end of the cannula and automatically controlling the operation of the suction unit by analyzing the obtained visual information.10-20-2011
20100280525FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS WITH SHAPE CONTROL AND SUPPORT ELEMENTS - An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body.11-04-2010
20100121347Manipulator for an Instrument for Minimally Invasive Surgery, and a Positioning Aid for Positioning Such an Instrument - A manipulator for an instrument for minimally invasive surgery, having at a proximal end a handle for operating the instrument, and wherein the instrument is removably placed at a distal end, and wherein a parallelogram construction is provided between the proximal end and the distal end for guaranteeing an unambiguous positional relationship between the handle and the instrument, wherein the parallelogram construction is coupled with a system of bars for controlling the position of the parallelogram construction, the bars of the system of bars being connected to the parallelogram construction as well as to each other by means of cardan joints.05-13-2010
20100114116Medical Device Control System - A control system for allowing a physician to control the orientation of a medical device or a medical instrument in a variety of directions with one hand. An actuator selectively tensions one or more control cables having ends secured at or adjacent a distal tip of the medical device in order to bend the distal tip in a desired direction. In one embodiment, a physician can adjust the movement of the distal tip in a desired direction without affecting the orientation of the medical device in other directions.05-06-2010
20110152882CATHETER CONTROL SYSTEM AND GRAPHICAL USER INTERFACE - A remote workstation for the control of percutaneous intervention devices is provided. The remote workstation includes a control system for remotely and independently controlling at least two percutaneous intervention devices. The control system includes at least one input device to control the percutaneous intervention devices. The control system controls movement of at least one of the percutaneous intervention devices along at least two degrees of freedom. The remote workstation also includes a graphical user interface for displaying icons representative of the operational status of each of the percutaneous intervention devices.06-23-2011
20100069921SYSTEM AND METHOD FOR ASSESSING LESIONS IN TISSUE - A method and system for assessing lesion formation in tissue is provided. The system includes an electronic control unit (ECU). The ECU is configured to acquire values for first and second components of a complex impedance between the electrode and the tissue, and to calculate an index responsive to the first and second values. The ECU is further configured to process the ECI to assess lesion formation in the tissue.03-18-2010
20100004663SURGICAL INSTRUMENT WRIST - A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.01-07-2010
20110152883APPARATUS SYSTEMS AND METHODS FOR FLUSHING GAS FROM A CATHETER OF A ROBOTIC CATHETER SYSTEM - Apparatus, systems and methods for flushing a lumen of a catheter instrument to reduce or eliminate bubbles within the lumen. An interface valve is adapted for attachment to a proximal end of the catheter instrument and can receive a working instrument for insertion into the he catheter instrument lumen. A fluid supply line and purge lines are coupled to the interface valve and in fluid communication with at least a portion of the interface valve lumen. Flow of fluid (e.g. saline and a gas such as bubbles) through purge lines is controllable using clamps such that fluid flowing into the interface valve lumen can be manipulated to flow in different directions through different portions of the interface valve lumen for evacuation through different purge lines, thus allowing for purging of forward and backward flows to remove gas or bubbles from the catheter instrument lumen.06-23-2011
20110152878INTERFACE SYSTEMS FOR AIDING CLINICIANS IN CONTROLLING AND MANIPULATING AT LEAST ONE ENDOSCOPIC SURGICAL INSTRUMENT AND A CABLE CONTROLLED GUIDE TUBE SYSTEM - Interface systems for interfacing between at least one endoscopic surgical instrument and a cable-controlled guide tube system. Various embodiments include at least one surgical tool docking assembly that is supportable relative to the cable-controlled guide tube system. The surgical tool docking assembly may comprise a cable drive assembly that is operably couplable to the cable-controlled guide system for applying control motions thereto. The surgical tool docking assembly may further comprise at least one tool docking station that is configured to support an endoscopic surgical instrument therein for selective pivotal travel about a first axis and a second axis. The tool docking stations cooperate with corresponding drive shafts for imparting rotary drive motions to the cable drive assembly. Various docking arrangements are disclosed for coupling the cable drive assembly to the cable-controlled guide tube assembly.06-23-2011
20080243141SURGICAL INSTRUMENT WITH SEPARATE TOOL HEAD AND METHOD OF USE - Surgical instruments are disclosed in which an elongated shaft is used in conjunction with a separate, remotely actuable tool head for performing a procedure on a target tissue. The shaft has a tool engagement member carried at its distal end that is remotely actuable through the shaft to engage and release the tool head.10-02-2008
20090118743Instrument For Guiding Stage Apparatus And Method For Using Same - This documents describes among other things a normalizing stage apparatus, tools and methods. One example includes a base that defines a trajectory. A first stage is moveably coupled to the base and the first stage moves along the trajectory. A second stage is moveably coupled to the first stage and moves an instrument coupled thereto with respect to the base and the first stage. Before movement of the instrument, the first and second stages are in first positions desired (e.g. predetermined) distances from a target area in the body. Another example includes the first stage and a guide tube stop coupled with the first stage. A guide tube is coupled with the guide tube stop and extends through a guide tube stop lumen. The guide tubes outer perimeter is dimensioned and configured to snugly couple with the surface defining the guide tube stop lumen.05-07-2009
20090036900SURGERY METHODS USING A ROBOTIC INSTRUMENT SYSTEM - Various methods for performing various surgical procedures using a robotic instrument system are disclosed. In one embodiment, the method comprises advancing a guide instrument into a patient's body and to the vicinity of a treatment area. The guide instrument may be a robotically controlled catheter which is controlled by a robotic catheter system. The guide instrument comprises an elongate flexible body having a proximal end and a distal end, and an end effector coupled to the distal end. The end effector may comprise various devices for assisting and performing the surgical procedure. For example, the end effector may be a clip applier, a laser fiber, a cryo fiber, or a needle and grasper. An image capture device may also be coupled to the distal end to assist in positioning and operating the guide instrument.02-05-2009
20090005789Force Sensitive Foot Controller - A microsurgical system, and a foot controller for the improved operation of a microsurgical system, are disclosed. A surgeon may use the foot controller to proportionally control a surgical parameter based upon the amount of force applied to a pressure plate of the foot controller.01-01-2009
20100318099VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY - Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.12-16-2010
20080215067MANIPULATORS EMPLOYING MULTIPLE DEFORMABLE ELONGATE MEMBERS - A manipulator is configured with three or more substantially concentric, elongate members configured such that relative rotation and translation of the elongate members adjusts both the spatial position and orientation of the distal end of the manipulator and the spatial positioning of the manipulator along its length. In one arrangement, the elongate members are pre-curved such that the distal end portions of the elongate members have generally arcuate shapes in a resting state. When the three elongate members are combined in a substantially concentric manner, the overall shape of the manipulator is a composite of the individual elongate member shapes. Varying the relative translation and rotational orientation of the component elongate members achieves a family of resulting manipulator shapes as well as a desired spatial position and orientation of the distal end portion of the manipulator.09-04-2008
20080215065Medical robotic arm that is attached to an operating table - A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.09-04-2008
20080255583Method For Guiding Instruments Having Different Sizes - A system and procedure for using the system are disclosed for guiding instruments of varying sizes. The instruments can be guided into various portions of the anatomy for performing a procedure, providing a treatment, measuring a physiological response, or the like. Two or more instruments of varying sizes can be driven or guided relative to one another with the same system.10-16-2008
20080255585Resiliently deformable tool guide for use in minimally invasive telesurgical system - A tool guide for guiding an end effector of a robotically controlled surgical instrument from a position outside a patient body to a position in close proximity to an internal surgical site within the patient body is provided. The tool guide typically comprises a body, a seat formation on the body, the seat formation being arranged to seat in an aperture leading into the patient body so as to mount the tool guide on the patient body, and a sheath formation on the body. The sheath formation typically defines a longitudinally extending internal passage, an inlet leading into the passage and an outlet leading from the passage. The sheath formation is arranged to cooperate with the seat formation such that when the seat formation is seated in the aperture, the outlet of the sheath formation can be positioned in close proximity to the internal surgical site thereby to enable the end effector to be guided to a position in close proximity to the surgical site by passing it through the inlet, along the passage and out from the outlet, so as to emerge from the outlet at the position in close proximity to the internal surgical site.10-16-2008
20080249536INTERFACE ASSEMBLY FOR CONTROLLING ORIENTATION OF ROBOTICALLY CONTROLLED MEDICAL INSTRUMENT - Interface assemblies for controlling an orientation of a working instrument of a robotic medical instrument system. A base member is coupled to a distal end of an instrument such as a robotically controllable catheter. A spacer element is retained between the base member and a platform member, which is movable relative to the base member about the spacer element. One or more control elements extending through a base member aperture can be used to control an orientation of the platform member and working instrument.10-09-2008
20080208212Arrangement for supporting a percutaneous intervention - The invention relates to an arrangement for assisting a percutaneous intervention, comprising an imaging system for tomographic imaging, a robot registered therewith and devices for capturing movements of the patient. A processing unit registers a 4D image dataset recorded before the intervention with a 2D or 3D image dataset of the patient which was recorded immediately before the intervention by the imaging system at a defined respiratory position. From this image data, the access path is transmitted to the robot as a function of the movements captured during recording the 4D image dataset and registration, said robot in turn, depending on the instantaneous movement data, holding the instrument on a predetermined target path and preventing the instrument from being advanced by the person if and as long as the instantaneous movement data does not match the previously recorded movement data. The arrangement reduces the risk of puncture errors.08-28-2008
20110264112Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.10-27-2011
20110264108Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.10-27-2011
20100292706NOVEL ENHANCED HAPTIC FEEDBACK PROCESSES AND PRODUCTS FOR ROBOTIC SURGICAL PROSTHETICS - A modular, scalable, layerable balloon actuator or actuator array. The miniaturized actuator array can be mounted on the hand controls of a surgical robotic system, and pressure or force input is applied to the surgeon's fingers. The input to the fingers is proportional to the applied force or pressure that is sensed on a separate sensor array, which is mounted on the surfaces of the object to be physically manipulated. The force is translated to pressure using a control system, which includes electronic and pneumatic components. The Novel enhanced haptic feedback system enables the detection of force and tactile information on tissues and sutures with high spatial and temporal resolution. This technology shortens the learning curve for MIS training, expands the application of MIS techniques in surgery, and enhances telementoring and teiesurgery applications. The actuator is modular scalable, Iayerable, compact, configurable, flexible, and conformable. It is therefore designed such that it can be adapted to future surgical robotic systems, and can be applied to prosthetics, orthotics, and persons with sensory neuropathy, as well as other robotic applications, simulating machines and apparatus and user-interfacing systems for video-gaming.11-18-2010
20110118755Flexible Wrist for Surgical Tool - The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.05-19-2011
20110118754MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER - Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.05-19-2011
20110118753MASTER FINGER TRACKING DEVICE AND METHOD OF USE IN A MINIMALLY INVASIVE SURGICAL SYSTEM - In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.05-19-2011
20110118752METHOD AND SYSTEM FOR HAND CONTROL OF A TELEOPERATED MINIMALLY INVASIVE SLAVE SURGICAL INSTRUMENT - In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.05-19-2011
20110118756INTERCHANGEABLE SURGICAL INSTRUMENT - A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.05-19-2011
20110118749METHOD AND SYSTEM TO SENSE RELATIVE PARTIAL-POSE INFORMATION USING A SHAPE SENSOR - 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.05-19-2011
20110118750UNIVERSAL DIRECTION MEDICAL POSITIONING STRUCTURE - Provided is a universal direction medical positioning structure, including a positioning unit, a switching head, a fixing rod, and a fixing device. The positioning unit includes a support, a connecting rod, and a spherical connecting element. The support and the spherical connecting element are connectable to two ends of the connecting rod, respectively. One end of the switching head is provided therein with a hemispherical cavity for receiving the spherical connecting element, and the other end of the switching head is coupled to the fixing rod. Upon the coupling of the fixing device and the switching head, the spherical connecting element is fixed in position to the hemispherical cavity of the switching head. Hence, the universal direction medical positioning structure is lightweight and easy to operate.05-19-2011
20110125166Flexible Wrist for Surgical Tool - The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.05-26-2011
20110137322Cooperative Minimally Invasive Telesurgical System - Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.06-09-2011
20110071541CURVED CANNULA - 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.03-24-2011
20100305580Instrument Guide System - A system is provided to align a surgical guide instrument over a burr hole in a patient's body. Adjustments of a surgical instrument can be made in x, y, z, and angular directions using the system. An instrument guide unit can include an instrument guide for guiding a surgical instrument into the body of a patient and a base unit operative to be secured to the body near an area in which surgery is to occur. The base unit is coupled to the instrument guide. An adjustment mechanism, coupled to the base unit and the instrument guide, is operative to adjust the instrument guide in lateral directions with respect the surface of the area.12-02-2010
20090171374MEDICAL MANIPULATOR AND MEDICAL ROBOT SYSTEM - The present invention relates to a medical manipulator and a medical robot system. The manipulator has a connecting block, a joint shaft, and a distal-end working unit. The distal-end working unit has a gripper, a pitch axis, and a yaw axis which serve as distal-end joints for changing the orientation of the gripper. The gripper, the pitch axis, and the yaw axis are operated by rotors around which wires are wound. The joint shaft has a first intermediate joint and a second intermediate joint which are bendable by the wires which are moved back and forth. Since the manipulator can be bent at the first intermediate joint and the second intermediate joint, the joint shaft can appropriately be placed, and the gripper can be adjusted to an appropriate orientation with respect to an organ by being turned around the pitch axis and the yaw axis.07-02-2009
20090171373MULTIFUNCTIONAL OPERATIONAL COMPONENT FOR ROBOTIC DEVICES - The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.07-02-2009
20090171370Navigation System for Hip Replacement Surgery Having Reference Mechanism and Method Using the Same - A navigation system for an acetabular cup, which guides an insertion orientation of the acetabular cup inserted into a pelvis during a total hip replacement surgery, includes: a pelvis position tracer which includes probes in contact with three particular points of the pelvis placed on an anterior pelvic plane and a first reference mechanism disposed to indicate a specific reference plane when the probes come in contact with the particular points; and a pelvis position indicator which is fixed to the pelvis, and includes a second reference mechanism that is adjustable to indicate a plane parallel to the specific reference plane indicated by the first reference mechanism, or to indicate a plane perpendicular thereto, or to indicate the both planes. Accordingly, an insertion orientation of an acetabular cup can be guided by using a reference mechanism having a simple structure, and the acetabular cup can be accurately guided regardless of changes in the patient's pelvic position during surgery, because a plane used in the insertion of the acetabular cup can be indicated continuously.07-02-2009
20090171372MEDICAL DEVICE WITH ORIENTABLE TIP FOR ROBOTICALLY DIRECTED LASER CUTTING AND BIOMATERIAL APPLICATION - A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends through the conduit and tip. A first coupler adjustably secures at least the sheath to the medical device and a second coupler adjustably secures the fiber to at least the sheath. A similar dual coupler mechanism may be used to secure the sheathed catheter to the medical device.07-02-2009
20080269777Method And Apparatus For Controlled Insertion and Withdrawal of Electrodes - A system for a controlled insertion and withdrawal of at least one electrode in the anatomy. The system can include a guide device and at least one electrode located within the guide device to at least one of record or stimulate an anatomy. The system can also include an indicator coupled to the electrode to indicate a position of a distal end of an electrode relative to the guide device.10-30-2008
20110190788ROBOTIC SURGICAL DEVICE IMPLANT SYSTEM - A robotic surgical device positioning system that allows a surgeon to accurately and remotely position a surgical instrument relative to a patient and to provide fluoroscopic images of the instrument without exposing the surgeon to radiation. The system includes a vertical post that is slidebly coupled to an operating table, a clamp mounted to the vertical post and spaced from the table, and a translational arm mounted to the clamp. The system further includes an instrument positioning assembly mounted to the translational arm opposite to the clamp that includes a plurality of sliding elements that are slidebly mounted to the assembly to provide rotational, anterior-posterior and medial-lateral positioning of the surgical instrument. A control unit is mechanically coupled to the instrument positioning assembly at a remote location by flexible cables for controlling the position of the sliding elements.08-04-2011
20110125165SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE - A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.05-26-2011
20100198230MINIATURE BONE-ATTACHED SURGICAL ROBOT - Disclosed are methods for performing a surgical procedure at a surgical site utilizing a surgical robot. Other embodiments are also disclosed.08-05-2010
20100082041Passive preload and capstan drive for surgical instruments - A robotic surgical system uses a passive preload system attached to a tendon that is wrapped around a capstan to control relaxed tension in the tendon. The passive preload system can employ a spring or other structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull on a structural member of the instrument. For example, for the application of clamping pressure or movement of the structural member against resistance, capstan friction can produce the tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the member, the capstan can be freed, so that the spring system provides enough tension to prevent derailment or other malfunctions of the tendon. The low tension in relaxed tendons can reduce tendon friction, particularly in instruments with flexible shafts.04-01-2010
20100082042BIOLOGICAL UNIT REMOVAL TOOL WITH OCCLUDING MEMBER - Tools and methods are provided for removing biological units from a body surface utilizing a removal tool. The tools incorporate occluding members to help retain the biological unit in the removal tool and assist in severing the biological unit from the surrounding connective tissue. The occluding member may be located at a distal end of the tool and close in an iris configuration over the distal tool tip or the occluding member may constrict along the tool midsection. The occluding member may be an elastomeric sleeve or it could comprise filaments that are arranged to constrict upon being twisted or rotated. The tools are especially useful for removing follicular units from a body surface in a hair transplantation process, and especially in the context of a robotic system.04-01-2010
20090012533Robotic instrument control system - A robotic instrument system includes a controller configured to control actuation of at least one servo motor, and an elongate bendable guide instrument defining a lumen and operatively coupled to, and configured to move in response to actuation of, the at least one servo motor. The controller controls movement of the guide instrument via actuation of the at least one servo motor based at least in part upon a control model, wherein the control model takes into account an attribute of an elongate working instrument positioned in the guide instrument lumen.01-08-2009
20100191250ROBOTIC SURGICAL TOOL FOR PLUGGABLE END-EFFECTORS - In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector cartridge may further include a fastener to rotatably couple the end effectors together.07-29-2010
20110190787IMAGE GUIDED WHOLE BODY STEREOTACTIC NEEDLE PLACEMENT DEVICE WITH FALLING ARC. - The present invention provides an Image guided whole body stereotactic needle placement device with falling arc (08-04-2011
20110190790Method For Operating A Medical Robot, Medical Robot, And Medical Work Place - The invention relates to a method for operating a telemanipulated medical robot (R) guided by hand or by means of an input device, to a telemanipulated medical robot (R) guided by hand or by means of an input device, and to a medical work place. The medical robot (R) comprises a robot arm (M) with a plurality of moveable axes (08-04-2011
20110264107Navigated Freehand Surgical Tool and Kit - A handpiece arrangement for a tool having a retaining member configured to receive a portion of the tool in a secure position, a guard configured to cover a portion of the tool, at least one mounting member configured to receive a portion of a tracking system and an actuator mounted to the handpiece. The actuator may be configured to control the exposure of the tool. A navigated surgery kit is also provided including a tracking system, a tool in communication with the tracking system, a platform in communication with the tracking system and the tool. The platform may have a processor, a computer readable storage medium having computer readable program code configured to selectively control shaping of an object with the tool via at least one hidden object associated with a predetermined navigated surgical operation.10-27-2011
20110152881CONTROL PORTION OF AND DEVICE FOR REMOTELY CONTROLLING AN ARTICULATING SURGICAL INSTRUMENT - A remotely controlled surgical device control portion comprises a user moveable bi-directional trigger, a finger loop disposed within the trigger, and a flange coupled to the finger loop. The trigger is configured for receiving a motion input in opposing first and second directions. The motion input is for controlling an articulation motion of an articulating surgical instrument. The finger loop is configured for receiving the motion input in the form of a user squeezing the trigger in the first direction with at least one finger or pushing the trigger in the second direction with said at least one finger. The flange is configured for receiving the motion input in the form of pushing the trigger in the second direction with a thumb.06-23-2011
20110264113SURGICAL INSTRUMENT - A surgical instrument is disclosed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.10-27-2011
20110190789ADJUSTABLE STEREOTACTIC DEVICE AND METHOD FOR FRAMELESS NEUROSURGICAL STEREOTAXY - The system comprises at least three anchors (08-04-2011
20110202069METHOD AND SYSTEM FOR ABSOLUTE THREE-DIMENSIONAL MEASUREMENTS USING A TWIST-INSENSITIVE SHAPE SENSOR - An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.08-18-2011
20110202068MEDICAL ROBOTIC SYSTEM PROVIDING SENSORY FEEDBACK INDICATING A DIFFERENCE BETWEEN A COMMANDED STATE AND A PREFERRED POSE OF AN ARTICULATED INSTRUMENT - A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.08-18-2011
20100030231SURGICAL SYSTEM AND METHOD - Methods, systems and data processing apparatus and methods are described for use in planning and carrying out a surgical procedure on a joint of a subject. The joint includes a first component and a second component, the first and second components being relatively movable. Joint data describing the configuration of the joint is captured while the joint is in a functional state wherein the joint is undergoing its usual load bearing functional behaviour. The joint data is analyzed to determine joint component orientation data specifying the relative orientation of the first and second components. The orientation of prosthetic implants to be used in the surgical procedure to recreate the joint is planned using the joint component orientation data. The planned orientation of the prosthetic implants improves the recreation of the functional state of the joint.02-04-2010
20100030232SYSTEM FOR POSITIONING OF SURGICAL INSERTS AND TOOLS - A tracking and positioning system and method to enable the precise positioning of an object or tool relative to its surgical surroundings, and in accordance with preoperative CT images of the operating site. When used for artificial spinal disc positioning, the system comprises a computing system incorporating in memory the preoperative CT data showing the two vertebrae and the predetermined disc position between them; a 3-D target having radio-opaque markers for attaching to one of the vertebrae to define the position of the vertebra in an intra-operative fluoroscope image of the spine; a tool for intra-operative insertion of the artificial disc, and a registration system for relating the intra-operative fluoroscope image to the preoperative CT data, such that the predetermined disc position is displayed in the fluoroscope image of the subject, thereby enabling the surgeon to place the artificial disc accurately in its intended position.02-04-2010
20120150192METHOD FOR PASSIVELY DECOUPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO AN INDEPENDENTLY ROTATING MEMBER - Surgical assemblies and related methods are disclosed that provide for the transmission of high levels of actuation torque to a rotary mechanism of an end effector supported by an independently rotatable main shaft without causing undesirable rotation of the main shaft. An input drive shaft is coupled with both the rotary mechanism and the main shaft via a transmission and a rotational coupling so that the main shaft is passively subjected to a counteracting torque opposite in direction to the actuation torque transmitted to the rotary mechanism so as to inhibit rotational driving of the main shaft by the transmitted actuation torque.06-14-2012
20110218551INSTRUMENT INTERFACE OF A ROBOTIC SURGICAL SYSTEM - An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.09-08-2011
20110218550SYSTEM AND METHOD FOR DETERMINING AND ADJUSTING POSITIONING AND ORIENTATION OF A SURGICAL DEVICE - A system and method including an elongate member having a proximal end and a distal end, the elongate member defining a longitudinal axis and configured to rotate relative to the longitudinal axis is presented. The instrument further includes a handle member configured to be attached to the proximal end of the elongate member, the handle member operatively associated with a rotation mechanism. The instrument also includes an end effector configured to be attached to the distal end of the elongate member, the end effector operatively associated with an articulation mechanism and configured to be pivotable throughout a plurality of directions relative to the longitudinal axis of the elongate member. A software algorithm is used to identify, track, and control directional movement of the end effector in accordance with rotational movement of the elongate member.09-08-2011
20100016865Gamma guided stereotactic localization system - A stereotactic gamma-guided localization system for imaging a suspected cancer and guiding a physician in the removal of tissue samples for biopsy. The gamma-guided localization system includes a three step procedure including localization, correlation, and verification. The localization system includes a gamma camera with a set of slant-hole collimators for producing stereo images of a region of interest. A positioning system including a fiducial marker is placed adjacent to the object to be imaged and held rigidly in place to provide correlation of the location of the region of interest relative to the fiducial marker. A gamma emitting marker is then positioned at the calculated location of the region of interest and imaged to verify that that the calculated position corresponds to the actual location. The positioning system can then be used to accurately position and support any other hardware that needs to be positioned at the region of interest.01-21-2010
20100228265Operator Input Device for a Robotic Surgical System - A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.09-09-2010
20110118751Integrated Surgical Cutting System - Integrated surgical systems and methods for using same are provided that can receive scanned images and produce a three dimensional model from the images. Based at least in pan on the three dimensional model, a processor generates code defining an optimized tool path, which is sent to a surgical machining system that can machine the desired portion of the patient. In one exemplary aspect, the integrated system operates in a clearly defined and pre-programmed manner with no necessity for in-situ sensory or guidance feedback.05-19-2011
20100036394Magnetic Levitation Based Devices, Systems and Techniques for Probing and Operating in Confined Space, Including Performing Medical Diagnosis and Surgical Procedures - Apparatus, systems and techniques for implementing a servo controlled magnetic levitation system that magnetically levitates and controls a magnetic platform to navigate in a confined space to obtain capture images of or other information of the confined space. Medical surgical or diagnostic systems and various detection systems may be constructed based on the described systems.02-11-2010
20110071543CURVED CANNULA SURGICAL SYSTEM CONTROL - 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.03-24-2011
20120041450MINIMAL ACCESS TOOL - A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.02-16-2012
20110306985Surgical Assistance System - A surgical assistance system for operating on biological tissue using a surgical tool attached to an arm of an automatically-controlled surgical instrument so that an optimal feed rate of the tool is calculated and outputted to the surgical instrument, the system including: a device for storing and voxelizing medical image data obtained from a biological tissue subject to surgery; a device for setting an operative location based on the shape of the biological tissue; a device for calculating a tool path along which the tool travels to perform surgery at an operative location; a device for determining the region of interference between the tool and the voxels; a device for determining the hardness of the biological tissue in the interference region; a device for calculating an optimal tool feed rate corresponding to the hardness; and a device for outputting the feed rate obtained by the calculations to the surgical instrument.12-15-2011
20110306986SURGICAL ROBOT SYSTEM USING AUGMENTED REALITY, AND METHOD FOR CONTROLLING SAME - Disclosed are a surgical robot system using augmented reality or history information and a control method thereof. A master interface for a surgical robot is provided, where the master interface is configured to be mounted on a master robot, which is configured to control a slave robot having a robot arm. The interface includes: a screen display unit configured to display an endoscope picture corresponding to a picture signal provided from a surgical endoscope; one or more arm manipulation unit for respectively controlling the robot arm; and an augmented reality implementer unit configured to generate virtual surgical tool information according to a user manipulation on the arm manipulation unit for displaying a virtual surgical tool through the screen display unit. This makes it possible to display an actual surgical tool and a virtual surgical tool together using augmented reality and thus enables surgery in a facilitated manner.12-15-2011
20090326557FRICTION COMPENSATION IN A MINIMALLY INVASIVE SURGICAL APPARATUS - Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.12-31-2009
20100042111TRAJECTORY GUIDE - A trajectory guide for providing access to a target site of a living subject along a desired path comprises a baseplate including a clamp lock, a guide member at least partially contained within the baseplate and having a channel therein, a plurality of adjustable legs each including a first end and a second end, wherein the first end is coupled to the baseplate, and a leg lock coupled to each adjustable leg and moveable between an unlocked position and a locked position in order to set a desired length of the adjustable leg, wherein the adjustable legs and the guide member are structured to be adjusted to provide an infinite number of trajectories in thee-dimensional space extending through the channel in the guide member toward a target.02-18-2010
20100331856MULTIPLE FLEXIBLE AND STEERABLE ELONGATE INSTRUMENTS FOR MINIMALLY INVASIVE OPERATIONS - Configurations are described for conducting minimally invasive medical interventions utilizing elongate robotically controlled instruments and assemblies thereof. In one embodiment, a junction sheath may be utilized to facilitate surgical triangulation of two interventional instrument assemblies, while also directing them to the surgical theater through a minimal single wound or surgical port. One or more instrument drivers, and one or more master input devices comprising an operator workstation, may be utilized to independently and simultaneously control multiple degrees of freedom pertinent to each instrument comprising one or more instrument assembly.12-30-2010
20120022553Side Looking Minimally Invasive Surgery Instrument Assembly - Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.01-26-2012
20110172680OPTICAL FIBER SHAPE SENSING SYSTEMS - A medical instrument system includes an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis and an optical fiber sensor coupled to the instrument body. A detector is operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor. A controller is operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals.07-14-2011
20120310258COCHLEAR IMPLANT WITH IMPROVED ELECTRODE ARRAY AND CONTROLLER - A cochlear implant device includes a deformable and stretchable flexible strip composed of a biological compatible material and positioned about a longitudinal axis so as to form a spiral. The implant device has a plurality of conductive strips with electrode windows formed so as to expose a segment of each conductive strip. A density of the electrode windows is sufficient to monitor a distance of the flexible strip from a non-conductive tissue of a patient in a 360 degree field of view about the longitudinal axis. A method of inserting a cochlear implant includes providing a multi-joint robot comprised of a series of actuator units, guiding the multi-joint robot into an inner ear of a patient, monitoring the position of the multi-joint robot relative to a non-conductive portion of the patient; and applying current to the multi-joint robot so as to adjust the position of the actuator units.12-06-2012
20120310257SYSTEMS AND METHODS FOR PROVIDING VIBRATION FEEDBACK IN ROBOTIC SYSTEMS - Systems and methods for providing vibration feedback in robotic systems are disclosed. A system for configuring a robotic surgery system to provide vibration feedback during robot-assisted surgery includes a sensor, an actuator, and a controller. The sensor is coupled to the robotic surgery system such that the sensor senses a vibration of a surgical tool. The actuator is coupled to the surgery system such that the actuator provides a vibration to a user at a control station. The controller is electrically coupled with the sensor and the actuator. The controller is configured to receive data corresponding to a sensed vibration from the sensor. The controller is further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the user when the sensor senses the vibration of the tool. The above system may be configured to provide tactile and/or audio feedback.12-06-2012
20120310256GRIP FORCE CONTROL IN A ROBOTIC SURGICAL INSTRUMENT - Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A surgical assembly includes an end effector including a jaw operable to grip a patient tissue and a spring assembly. The spring assembly includes an output link drivingly coupled with the jaw, an input link drivingly coupled to an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link. The spring is preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level.12-06-2012
20120310255SURGICAL INSTRUMENT WITH SINGLE DRIVE INPUT FOR TWO END EFFECTOR MECHANISMS - Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.12-06-2012
20120310254SURGICAL INSTRUMENT WITH MOTOR - A surgical instrument including a shaft having proximal and distal ends, an end effector, a transmission mechanism and a limit switch, and a method of operating the end effector is provided. The end effector is disposed at the distal end of the shaft and has an end effector component configured to move between a first position and a second position. The transmission mechanism includes a motor and a drive system coupled with the end effector component to move the end effector component between the first position and the second position. The limit switch is operably coupled to the motor and has a first state corresponding to the end effector component being between the first position and the second position, and a second state corresponding to the end effector component being at one of the first position or the second position.12-06-2012
20120310253SURGICAL DEVICE - A surgical device including first and second joint parts that are connected in series is provided. The surgical device includes a plurality of link arms that pass through an inner portion of the first joint part so as to drive the second joint part. The link arms are serially connected so as to rotate with respect to each other, and are rotatably connected to a driving unit for driving the plurality of link arms.12-06-2012
20120310252SURGICAL DEVICE - A surgical device, the surgical device including a mounting part mounted on a robot arm of a surgical robot; an extension part extending from the mounting part; a joint driving part that comprises a driving motor having a driving axis, that comprises a driving rod connected to the driving axis and reciprocating, and that is connected to an end of the extension part; and a joint part that is connected to the joint driving part, that is driven at one or more degrees of freedom by the driving rod, wherein the driving motor is connected to the driving axis with an elastic connection member.12-06-2012
20120046668ROBOTIC SURGERY SYSTEM - A surgical apparatus, system and methodology are provided that may be utilized to treat a plurality of medical conditions. A robotic apparatus may be utilized in the treatment of a medical condition or to assist a medical professional in a surgical procedure. Additionally, the robotic apparatus and system may be utilized during a surgical procedure to provide guidance and to narrow the margin of error. In an exemplary embodiment, a scan may first be performed on a patient to determine a plurality of surgically necessary characteristics, such as bone density, locations, and the like. A virtual treatment plan may be provided by the system. An active and/or passive robotic apparatus may be provided to assist in the surgical technique. The robotic apparatus may be an active robotic which includes surgical tools whereby the medical professional may perform the surgical technique with the assistance of the active robotic apparatus.02-23-2012
20120046669RETROGRADE INSTRUMENT - A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.02-23-2012
20120004668ROBOTIC CATHETER SYSTEM - A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.01-05-2012
20120209292Telescoping Insertion Axis of a Robotic Surgical System - A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.08-16-2012
20120209288Indicator for Knife Location in a Stapling or Vessel Sealing Instrument - Systems and methods are provided for displaying an image of a tracked tool on a user interface, wherein at least a portion of the tool is hidden from view in any image on a user interface at any point during a procedure. The tool may include a cutting tool having jaws for clamping a material and a knife for cutting the clamped material, and superimposing an indicator of a knife position on the display during and/or after cutting. The knife position may include a location and/or orientation of the knife, including any or all of a pre-cut, cut-complete, cut-incomplete and an exposed position. The disclosed systems and methods allows a user to view the knife position in applications where the knife may not be visible to a user, which is particularly useful for clamping and cutting a body tissue with a robotic surgical system in minimally invasive procedures.08-16-2012
20120209287METHOD AND STRUCTURE FOR IMAGE LOCAL CONTRAST ENHANCEMENT - A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.08-16-2012
20120010628Sheaths for Jointed Instruments - Sheaths for medical instruments cover wrist mechanisms to provide a barrier to infiltration of biological material into the instrument, electrical isolation of energized portions of the instrument, seal the instrument to help maintain cavity pressure within a patient, or reduce the chance that two jointed instruments will tangle during a medical procedure.01-12-2012
20120010629SURGICAL ASSEMBLY WITH FLEXIBLE ARM - A surgical assembly includes a tensioner having a first end and a second end. A tension member extends from the first end of the tensioner. A mounting member is connected to the second end of the tensioner. An arm extends from the first end of the tensioner and includes a series of relatively moveable links that define an axial bore configured for disposal of the tension member. Each link defines a first mating surface and a second mating surface disposed in a configuration such that tensioning of the tension member interlocks the first mating surface with the second mating surface of an adjacent link in the series to selectively fix the links in a selected orientation.01-12-2012
20120022552Method For Operating A Medical Robot, A Medical Robot, And A Medical Workstation - A method for operating a medical robot, a medical robot, and a medical work station.01-26-2012
20120022554SURGICAL INSTRUMENT - The invention relates to a surgical instrument (01-26-2012
20110082467SURGICAL TOOL CALIBRATING DEVICE - A surgical tool calibrating device for calibrating a surgical tool is provided. The surgical tool calibrating device includes a calibration block, an electronic sensing module, a diameter measurement module, and a signal communication module. The calibration block has a tool inserting portion in which the surgical tool can be inserted. The electronic sensing module is disposed on the bottom of the tool inserting portion for sensing the tip of the surgical tool and generating a measuring signal accordingly. The diameter measurement module is mounted around the tool inserting portion. The diameter measurement module is actuated to sense the surgical tool and measure the diameter of the surgical tool upon reception of the measuring signal. The signal communication module is electrically connected to the electronic sensing module and the diameter measurement module for transmitting the measuring signal.04-07-2011
20120059392METHOD AND SYSTEM FOR MOVING A PLURALITY OF ARTICULATED INSTRUMENTS IN TANDEM BACK TOWARDS AN ENTRY GUIDE - A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.03-08-2012
20120059390INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTIARM TELESURGERY - Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.03-08-2012
20100179564MICROSTEREOTACTIC TABLE - The present invention, in another aspect, relates to a microstereotactic table. In one embodiment, the microstereotactic table includes a plate member having a first surface, an opposite, second surface, a body portion defined therebetween, a plurality of leg members, each of them removably engaged with the plate member, respectively, and a passage is formed between the first surface and the opposite, second surface of the body portion of the plate member and along a longitudinal axis, wherein a step is formed within the passage, and wherein the step is formed such that the distance from the step to one of the first surface and the opposite, second surface along the longitudinal axis is a predetermined length.07-15-2010
20110092984Real-time Surgical Reference Indicium Apparatus and Methods for Astigmatism Correction - Described herein are apparatus and associated methods for the generation of at least one user adjustable, accurate, real-time, virtual surgical reference indicium including data for making at least one limbal and/or corneal relaxing incision for use in astigmatism correcting procedures. The apparatus used to generate real-time, virtual surgical reference indicium including data for making at least one limbal and/or corneal relaxing incision includes one or more real-time, multidimensional visualization modules, one or more data processors configured to produce real-time, virtual surgical reference indicia, and at least one user control input for adjusting the at least one real-time virtual surgical reference indicium including data for making at least one limbal and/or corneal relaxing incision. The associated methods generally involve the steps of providing one or more real-time multidimensional visualizations of a target surgical field, identifying at least one visual feature in a pre-operative dataset, aligning the visual features with the multidimensional visualization, and incorporating one or more real-time, virtual surgical reference indicium including data for making at least one limbal and/or corneal relaxing incision into the real-time visualization.04-21-2011
20120065645PROTECTIVE SHEATH - A protective sheath including a first portion configured to receive a medical instrument. The protective sheath also includes a second portion configured to accommodate movement of a distal end of the medical instrument within the second portion. The second portion is moveably coupled to the first portion. The protective sheath is configured to control contamination of the medical instrument when the medical instrument and the protective sheath are placed within a patient.03-15-2012
20120116416Medical Workstation - The invention relates to a medical work station (05-10-2012
20120209293Robotic catheter systems and methods - A robotic instrument system having an elongate sheath instrument and an elongate catheter instrument positioned within a working lumen of the sheath instrument is controlled by selectively operating an instrument driver coupled to the catheter instrument to place a control element extending through the catheter instrument in tension, and thereby articulate at least a distal end portion the catheter instrument, while automatically compensating for a torsional force exerted on the sheath instrument in a first direction due to articulation of the distal end portion of the catheter, by urging the sheath instrument to twist in a second direction opposite of the first direction.08-16-2012
20120209290RIGIDLY GUIDED IMPLANT PLACEMENT - A system for guiding an implant to an optimal placement within a patient includes a trajectory guide for guiding instruments along a selected trajectory and a trajectory fixation device for fixing the trajectory guide in a selected position. The trajectory guide defines a path configured to align with the selected trajectory. A movable support mounts the trajectory guide and selectively moves the trajectory guide to align the trajectory guide with the selected trajectory prior to fixing the trajectory guide in the selected position. After fixing the trajectory guide, instruments can be inserted along the trajectory through the path defined by the trajectory guide.08-16-2012
20120209291Surgical Accessory Clamp and System - A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.08-16-2012
20120209289SEALS AND SEALING METHODS FOR A SURGICAL INSTRUMENT HAVING AN ARTICULATED END EFFECTOR ACTUATED BY A DRIVE SHAFT - Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.08-16-2012
20120071892METHOD AND SYSTEM FOR HAND PRESENCE DETECTION IN A MINIMALLY INVASIVE SURGICAL SYSTEM - In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.03-22-2012
20120071891METHOD AND APPARATUS FOR HAND GESTURE CONTROL IN A MINIMALLY INVASIVE SURGICAL SYSTEM - In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.03-22-2012
20120071893Robotic Guided Femoral Head Reshaping - A method of performing hip surgery with a robotic guided system on a patient with femoral acetabular impingement can include identifying the femoral acetabular impingement on the patient. Data related to a proximal femur and an acetabulum of the patient is acquired. A three-dimensional model of at least one of the patient's proximal femur and acetabulum is created based on the data acquired. A location and amount of bone to be removed is determined. Dynamic movement limits of a cutting tool associated with the robotic guided system is set based on the determination. The determined bone of at least one of the proximal femur and acetabulum is removed with the tool while being inhibited from moving the tool outside of the dynamic limit by the robotic guided system.03-22-2012
20120158017SEVEN OR MORE DEGREES OF FREEDOM ROBOTIC MANIPULATOR HAVING AT LEAST ONE REDUNDANT JOINT - A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic manipulator coupled to the LINAC. The robotic manipulator is configured to move the LINAC along seven or more degrees of freedom, at least one of the seven degrees of freedom being a redundant degree of freedom.06-21-2012
20120158015INSERTABLE DEVICE AND SYSTEM FOR MINIMAL ACCESS PROCEDURE - The present invention provides a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures. The insertable device may be configured such that the functional elements have various degrees of freedom of movement with respect to orienting the functional elements or elements to provide access to the site from multiple and different orientations/perspectives as the procedure dictates, e.g., to provide multiple selectable views of the site, and may provide a stereoscopic view of the site of interest.06-21-2012
20120158016AUTOMATIC ATHERECTOMY SYSTEM - An automatic atherectomy system uses a rotary burr at the tip of a catheter as a sensing device, in order to measure both electrical conductivity and permittivity of surrounding tissue at multiple frequencies. From these parameters it is determined which tissue lies in different directions around the tip. A servo system steers the catheter tip in the direction of the tissue to be removed. In non-atherectomy applications the rotary burr can be replaced with any desired tool and the system can be used to automatically steer the catheter to the desired position. The steering may be done hydraulically, by pressurizing miniature bellows located near the catheter tip.06-21-2012
20120158014Surgical System and Methods for Mimicked Motion - The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.06-21-2012
20120158013Surgical System and Methods for Mimicked Motion - The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.06-21-2012
20120158012SYSTEM AND METHOD OF AUTOMATIC DETECTION AND PREVENTION OF MOTOR RUNAWAY - A robotic catheter control system includes a plurality of electric motors. Diagnostic logic automatically detects motor runaway fault conditions based on the current motor position, the target motor position and a predetermined tolerance parameter. Fault conditions include overshoot, movement in the a non-prescribed direction, exceeding a prescribed maximum motor speed and exceeding a prescribed maximum motor acceleration. The diagnostic logic terminates operating power to the electric motor when a fault condition is detected for any one of the motor. An error message is generated to notify the operator of the fault.06-21-2012
20120158011PROXIMITY SENSOR INTERFACE IN A ROBOTIC CATHETER SYSTEM - A robotic catheter control system includes a proximity sensing function configured to generate a proximity signal that is indicative of the proximity of the medical device such as an electrode catheter to a nearest anatomic structure such as a cardiac wall. The control system includes logic that monitors the proximity signal during guided movement of the catheter to ensure that unintended contact with body tissue is detected and avoided. The logic includes a means for defining a plurality of proximity zones, such as a GREEN, YELLOW and RED designated zones, each having associated therewith a respective proximity (distance) criterion, with the RED zone being the nearest to the body tissue and the YELLOW zone being the next nearest to the body tissue. When the logic detects entry of the catheter into the RED zone, the logic terminates the operating power to the actuation units of the control system, to thereby stop movement of the catheter entirely. When the logic detects entry of the catheter into the YELLOW zone, the logic automatically reduces a pre-planned navigation speed of the catheter.06-21-2012
20110066161Multi-Component Telepresence System and Method - The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween. The drive and control component is shielded from the sterile surgical site, the surgical tool is sterilizable and disposable and the intermediate connector is sterilizable and reusable. In this manner, the intermediate connector can be sterilized after a surgical procedure without damaging the motors or electrical connections within the drive and control component of the robotic system.03-17-2011
20110106102Surgical Instrument and Systems with Integrated Optical Sensor - A surgical instrument has a surgical tool that has a proximal end and a distal end, and an optical sensor that has at least a portion attached to the surgical tool. The surgical tool has a portion that is suitable to provide a reference portion of the surgical tool, and the optical sensor has an end fixed relative to the reference portion of the surgical tool such that the reference portion of the surgical tool can be detected along with tissue that is proximate or in contact with the distal end of the surgical tool while in use.05-05-2011
20120316574Medical Instrument - A medical instrument comprises an elongated shaft having a distal end, a proximal end and at least one bent portion between the distal end and the proximal end, a working part arranged at the distal end of the shaft, a handle arranged at the proximal end of the shaft, the working part being connected to the handle through an elongated element extending through the shaft and having a distal end connected to the working part and a proximal end connected to the handle. The shaft is rotatable relative to the handle about a longitudinal axis of the shaft. The working part and the elongated element are rotationally fixed relative to the handle and the shaft is rotatable relative to the working part and to the elongated element.12-13-2012
20120316573POSITIVE CONTROL OF ROBOTIC SURGICAL INSTRUMENT END EFFECTOR - A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user's readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user's readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.12-13-2012
20120165829MEDICAL DEVICE CONTROL SYSTEM - A control system for allowing a user to control the orientation of a medical device or a medical instrument in a variety of directions. An actuator selectively tensions one or more control cables having ends secured at or adjacent a distal tip of the medical device in order to bend the distal tip in a desired direction. In one embodiment, a physician can adjust the movement of the distal tip in a desired direction without affecting the orientation of the medical device in other directions.06-28-2012
20090131955METHODS AND APPARATUSES FOR TREATMENT OF HOLLOW ORGANS - An apparatus for treating a lumen, comprising: at least one mapping tool, wherein the at least one mapping tool is adapted and constructed to provide at least a partial map of an internal surface of the lumen; a display, adapted and constructed to permit the identification of at least one point of interest in the lumen, using the at least partial map; at least one sensor, wherein data retrieved from the at least one sensor is compared to the at least partial map for navigating at least one procedural instrument within the lumen; and, wherein treatment by the at least one procedural instrument occurs when sensed data compared with the at least partial map indicates the that least one procedural instrument is at at least one point of interest. In some exemplary embodiments of the invention, treatment is performed from a remote location in relation to the patient. Optionally, a propulsion apparatus navigates at least one procedural instrument in a lumen in response to commands from a controller.05-21-2009
20100249800BI-PLANAR FLUOROSCOPY GUIDED ROBOT SYSTEM FOR A MINIMALLY INVASIVE SURGICAL AND THE CONTROL METHOD - Disclosed is a computer-integrated surgery aid system for minimally invasive surgery and a method for controlling the same. The system includes a surgery planning system for creating three-dimensional information from two-dimensional images obtained by means of biplanar fluoroscopy so that spinal surgery can be planned according to the image information and a scalar-type 6 degree-of-freedom surgery aid robot adapted to be either driven automatically or operated manually.09-30-2010
20120221017METHODS FOR ROBOTIC ARTHROPLASTY - A computer navigation system may be used with the robot to guide movement of a cutting tool. A robot may perform cutting and/or implant placement operations on a portion of a patient. A robot may have computer controls that could be utilized to form the cuts without using guide members.08-30-2012
20120130400FLEXIBLE INSTRUMENT - A robotic medical system comprises a catheter having an elongated shaft with a plurality of flexible segments spaced apart along the catheter, and a drive unit coupled to the catheter. The catheter may have a plurality of cables respectively terminating at the flexible segments, in which case, the drive unit will be coupled to the plurality of cables. The robotic medical system further comprises a user interface remote from the drive unit and configured for generating at least one command, and an electric controller configured, in response to the command(s), for directing the drive unit to independently bend the flexible segments (e.g., three flexible segments).05-24-2012
20120130399Cooperative Minimally Invasive Telesurgical System - Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.05-24-2012
20120165830METHOD AND SYSTEM FOR CUTTING KNEE JOINT USING ROBOT - A method and a system for cutting the knee joint using a robot. A cantilevered cutter is introduced into the knee joint from inside and outside of upper and lower bones of the knee joint to realize a tunnel cutting technique in which cutting is conducted such that tunnels are defined in bone and remnant bone is cleared. The cutter includes a shaft in which a substantial axial portion is fitted into a sleeve and a remaining axial portion serves as a cantilever extending out of the sleeve, and a head which is formed at a distal end of the shaft. A length of the cantilever and a diameter of the head are determined to have minimum sizes as long as the head can be introduced into bone in such a way as to define a tunnel and can be moved in the bone while cutting the bone.06-28-2012
20100204714MINIATURE BONE-ATTACHED SURGICAL ROBOT - Disclosed are methods for performing a surgical procedure at a surgical site utilizing a surgical robot. Other embodiments are also disclosed.08-12-2010
20100204713MEDICAL ROBOTIC SYSTEM - A medical robotic system (08-12-2010
20120083802OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY - Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.04-05-2012
20120083801TOOL GRIP CALIBRATION FOR ROBOTIC SURGERY - Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.04-05-2012
20120083800SYSTEMS AND METHODS FOR DEFINING A TRANSITION POINT OF A FOOT PEDAL OF AN OPHTHALMIC SURGERY SYSTEM - An ophthalmic surgery system includes an ophthalmic surgical console and a foot control assembly operably coupled to the ophthalmic surgical console and including a foot pedal depressible through a range of motion. The range of motion includes a first region for controlling a first function associated with a surgical handpiece operably coupled to the ophthalmic surgical console, a second region for controlling a second function associated with the surgical handpiece, and a transition point between the first region and the second region. The ophthalmic surgical console is configured to assign the transition point, in response to a setup routine, to an actual position of the foot pedal as defined by a user depressing the foot pedal.04-05-2012
20120083799INTERFACE MECHANISM BETWEEN A DETACHABLE SHAFT AND A STERILIZING DRAPE - An interface mechanism comprising: a ring defining an opening and configured for sealingly receiving a shaft there through, the ring comprising: an inner portion; and an outer portion, wherein the inner portion is sealingly coupled with a portion of a distal end of a mechanical slave cylinder of a surgical device, and the outer portion is coupled with the inner portion and is sealingly coupled with a draping material, the draping material configured for isolating a portion of the surgical device within a sterile environment.04-05-2012
20120136372Robotic System for Laparoscopic Surgery - It comprises a supporting structure in which at least one arm is slidably attached. Each arm comprises first and second members hinged to each other. The first member is rotatably hinged to the supporting structure and it can be rotated about a longitudinal axis and the second member may receive a joint having at least two degrees of freedom for attaching a tool. The longitudinal axis of the first member is substantially perpendicular to an axis joining the first member and the second member to each other. A simplified architecture is obtained allowing for accurate and efficient spatial movement of the tool holding arm.05-31-2012
20120136370MEDICAL MANIPULATOR - A medical treatment device includes: a treatment portion including a first forceps piece and a second forceps piece that are coupled to each other so as to be relatively rotatable about a forceps rotation shaft; an operation member at least a part of which has flexibility and a front end of which is connected to a base end of the treatment portion; and a sheath portion which has flexibility and through which the operation member is inserted so as to be movable forward and backward in a longitudinal direction, wherein in the operation member, a range with a predetermined length from a front end is a hard portion with rigidity higher than that of an other portion.05-31-2012
20120136373Tools and Methods for Harvesting Follicular Units - Tools and methods are provided for removing biological units from a body surface utilizing a removal tool. The tool is of a concentric tube configuration comprising first and second elongated bodies, in which the second elongated body can be retracted into the first elongated body. The tool may incorporate retention members and mechanisms configured to impede movement of the biological unit in the direction of a distal end of the tool and to improve retention of the biological unit in the tool. Distal fluid or gas delivery may supplement a vacuum in a luminal space to help extract biological units from surrounding tissue.05-31-2012
20120136371SYSTEMS AND METHODS FOR MEDICAL TELEPRESENCE - A medical telepresence system includes, at a first location, a local video camera having a field of view and a medical treatment device having a device display for displaying real-time information and also having a device control interface. The local video camera is coupled to a communications link for transmitting video images to a second location that is physically remote from the first location. The medical treatment device is positioned so that the device display and the device control interface are within the field of view of the local video camera and the field of view also simultaneously accommodates a patient. The local video camera can be a robot video camera carried by a mobile telepresence robot, which may include a physical manipulator or a manually positionable arm to hold the medical treatment device.05-31-2012
20100174293STERILE SURGICAL ADAPTOR - A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.07-08-2010
20120316575SYSTEM AND METHOD OF DEPLOYING AN ELONGATE UNIT IN A BODY CAVITY - A system and method are disclosed for deploying an elongated unit in a body cavity, for introducing an interchangeable tool to a slender shaft having a distal end. The system comprising: an elongated unit comprising a longitudinal axis and a distal portion arranged to protrude through a first port into the body cavity. At least one maneuvering unit connected to the elongated unit for maneuvering the distal portion of the elongated unit in a 3D coordinate system to a determined depth and orientation in the body cavity. The at least one maneuvering unit is arranged to selectively deploy the distal portion of the elongated unit at the determined depth and orientation at a distance with respect to the distal end of the slender shaft and selectively align the longitudinal axis thereof with a longitudinal axis of the slender shaft. The elongated unit and/or the slender shaft is arranged advanceable relative each other, such that once the distal portion of the elongated unit is deployed the distal portion of the elongated unit reaches and/or captures the distal end of the slender shaft.12-13-2012
20090118742System and Method for Navigated Drill Guide - A system for tracking a navigated instrument. The system can include a first elongated instrument and a second elongated instrument. The first elongated instrument can have a first proximal end and a first distal end. The first elongated instrument can be adapted to be positioned relative to an anatomy. The second elongated instrument can move adjacent to the first elongated instrument. The second elongated instrument can have a second proximal end and a second distal end. The system can also include at least one tracking device coupled to the second elongated instrument. When the second elongated instrument is in a first position, the at least one tracking device tracks the first distal end of the first elongated instrument, and when the second elongated instrument is in a second position, the at least one tracking device tracks the second distal end of the second elongated instrument.05-07-2009
20100298846ADJUSTABLE UNIVERSAL SURGICAL PLATFORM - A surgical platform usable for performing a surgical procedure. In one embodiment, the surgical platform comprises a base portion configured to receive at least one probe; a plurality of adjustable legs configured to support the base portion, each adjustable legs having a first end portion and an opposite, second end potion defining a length therebetween; and at least one movable portion configured to adjust the length of at least one adjustable leg.11-25-2010
20100298844POLARIZATION AND TEMPERATURE INSENSITIVE SURGICAL INSTRUMENT FORCE TRANSDUCER - A force sensor apparatus, operatively mounted in a surgical instrument includes the force transducer. The force transducer includes a transducer body having a coefficient of thermal expansion, and at least one optic fiber, fixedly attached to the transducer body, including a Bragg grating; and having a coefficient of thermal expansion matched to the coefficient of thermal expansion of the transducer body to mitigate polarization and calibration drift effects on the force transducer. The transducer body comprises a metal transducer body, and the metal transducer body is selected from a group of metal bodies including an aluminum alloy transducer body, a stainless steel alloy transducer body, a maraging steel alloy transducer body, and a titanium alloy transducer body. The at least one optic fiber comprises an optic fiber having a negative thermo-optic coefficient, such as a phosphate glass optic fiber reducing the thermal sensitivity of the transducer.11-25-2010
20120179166PATIENT SIDE SYSTEMS WITH A COUNTERBALANCE SUBSYSTEM - In one embodiment of the invention, a patient side-system is provided that includes a column with a rail and a counterbalance subsystem. The patient side-system may further include a braking subsystem. The counterbalance subsystem includes a spring assembly coupled at one end to the column with a spring member, and a housing movably coupled to the rail. The housing includes a drum to receive the spring member and a plurality of roller elements to guide a movement of the spring member winding or unwinding on the drum. If present, the braking subsystem includes a first pulley rotatably coupled to the column, a second pulley with a locking mechanism spaced apart from the first pulley and rotatably coupled to the column, and at least one brake cable wrapped around the first pulley and the second pulley with ends coupled to the housing. The locking mechanism can set a position of the housing along the column.07-12-2012
20120179167ROBOTIC CATHETER SYSTEM - A robotic catheter system including a housing and a drive mechanism configured to engage and to impart motion to a catheter device is provided. The drive mechanism is supported by the housing. The robotic catheter system includes a guide catheter support coupled to the housing. The guide catheter support is located in front of the drive mechanism, and the guide catheter support has a longitudinal axis. The guide catheter support includes a first surface configured to engage a guide catheter and a rotation joint allowing the first surface to be rotated about the longitudinal axis such that the surface is able to engage the guide catheter at a plurality of angular positions relative to a patient.07-12-2012
20120179168METHODS, SYSTEMS, AND DEVICES FOR SURGICAL ACCESS AND PROCEDURES - The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various actuation system embodiments, including fluid actuation systems, drive train actuation systems, and motorless actuation systems. Additional embodiments include a reversibly lockable tube that can provide access for a medical device to a patient's cavity and further provides a reversible rigidity or stability during operation of the device. Further embodiments include various operational components for medical devices, including medical device arm mechanisms that have both axial and rotational movement while maintaining a relatively compact structure. medical device winch components, medical device biopsy/stapler/clamp mechanisms, and medical device adjustable focus mechanisms.07-12-2012
20120179169USER INTERFACE WITH STATE MACHINE FOR ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.07-12-2012
20080275467Intraoperative guidance for endovascular interventions via three-dimensional path planning, x-ray fluoroscopy, and image overlay - A method for planning a path for an endovascular intervention includes acquiring and displaying 3D angiographic images; selecting a target on the displayed images; extracting a skeleton of a vascular tree from the displayed images; extracting a symbolic vessel path to the target based on the skeleton of the vascular tree; and overlaying and displaying the symbolic vessel path on 2D fluoroscopic images for guiding the endovascular intervention.11-06-2008
20100010504SYSTEMS, DEVICES, AND METHODS FOR SURGERY ON A HOLLOW ANATOMICALLY SUSPENDED ORGAN - Systems, devices, and methods for surgery on a hollow anatomically suspended organ are described herein. In some embodiments a tele-robotic microsurgical system for eye surgery include: a tele-robotic master and a slave hybrid-robot; wherein the tele-robotic master has at least two master slave interfaces controlled by a medical professional; wherein the slave hybrid-robot has at least two robotic arms attached to a frame releasably attached to a patient's head; wherein the at least two robotic arms each have a parallel robot and a serial robot; and wherein the serial robot includes a tube housing a cannula.01-14-2010
20100010506Method of Computer-Assisted Ligament Balancing and Component Placement in Total Knee Arthroplasty - Systems, methods and processes for computer-assisted soft tissue balancing, including ligament balancing, determining surgical cuts, and positioning or placement of the components of the prosthetic knee during TKR. The improved methods, systems, and processes consider and correlate anatomical landmarks and dynamic interactions of the knee bones and soft tissues. The improved methods, systems and processes resolve several problems related to the prosthetic knee component positioning and soft-tissue balancing during computer-assisted TKR. The improved methods, systems and processes are flexible and versatile, provide reliable recommendations to the surgeon, and improve restoration of the knee function and patient recovery.01-14-2010
20100010505METHODS AND APPARATUS FOR INTRODUCING A MEDICAL DEVICE INTO THE BODY OF A PATIENT - An image guided robotic device is provided to perform a diagnostic or therapeutic medical procedure. In one embodiment, the robotic device includes an imaging machine, an actuator, and a controller for controlling the actuator. The robotic device may be configured to introduce a needle, a catheter, or a cannula into an anatomical structure. The device and its components may be sized for use as a portable device and/or operable using one hand of the operator.01-14-2010
20090157092RIBBED FORCE SENSOR - In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.06-18-2009
20120221016Path-Following Robot - A path-following robot, such as for creating a path to a target surgical site, includes a series of interconnected elements including a lead element at one end thereof, and a plurality of actuators each operably coupled to one of the plurality of elements. Each actuator is capable of effecting rotational and spherical motion of one element with respect to another element. The actuators are arranged to receive commands which individually control the relative position of one element compared with another element, where a position of the lead element determines a path and corresponding positions for all subsequent elements to create a path-following motion.08-30-2012
20120259345IN VIVO ACCESORIES FOR MINIMALLY INVASIVE ROBOTIC SURGERY - Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.10-11-2012
20120232566STERILE SURGICAL DRAPE - An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.09-13-2012
20130172902Neural Monitor-Based Dynamic Haptics - A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.07-04-2013
20110004224TRACKING CAS SYSTEM - A computer-assisted surgery system for tracking an object during surgery comprises a first tracker device and a second tracker device secured to different parts of the object. The first and the second tracker device are secured to the object separately in such a way that a geometrical pattern is defined with trackable elements from the first tracker device and from the second tracker device. A tracking system has a sensor unit tracking the trackable members. A calibration unit defines a geometrical pattern from the trackable members. A pattern identifier identifies the geometrical pattern. A position and orientation calculator calculates a position and orientation of the geometrical pattern The tracking system calculates position and orientation of the object as a function of the position and orientation of the geometrical pattern and of object/geometrical pattern relation data gathered during surgery.01-06-2011
20120239059Computer Controlled Laser Therapy Treatment Table - A multi-function, adjustable chiropractic table comprises a body section fixed to a table frame. A cervical section is pivotally attached to the table frame and securable at a desired angle. The cervical section comprises a padded head support, forehead strap, and neck bolsters. The head support is slidably mounted in a tray and translatable therein using a scissors mechanism, for linear axial traction. Pivotally mounting the tray to the cervical section permits lateral traction. A four-bar linkage, including a base frame, permits raising/lowering of the table using an actuator activated by a foot triggered wave switch comprising proximity sensors. The body section comprises a chest, lumbar, and leg sections. The chest section is replaceable with a treatment module comprising hot and cold compresses, or a laser enhanced spinal decompression therapy apparatus comprising a laser driven by two linear actuators to emit light according to one or more treatment protocols.09-20-2012
20120239058SURGICAL SYSTEM - According to one embodiment, a surgical system includes an imaging system, a determination unit, and a control unit. The imaging system is configured to acquire image information. The determination unit is configured to determine, based on the image information, whether an abnormal state has occurred in the surgical system. The control unit is configured to switch to an abnormality time control mode of executing abnormality-handling processing, when the determination unit determines that an abnormal state has occurred.09-20-2012
20120265214LOCKING MECHANISM FOR DEFLECTABLE INSTRUMENT SHAFTS AND METHOD OF USE - An instrument having a deflectable section on an instrument shaft utilizes an actuator having first and second actuator sections moveable relative to one another to actuate a system of actuation elements such as pull cables. An actuator lock is operable to selectively fix the relative positions of the first and second actuator sections, thus setting the position of the instrument shaft's deflectable section.10-18-2012
20110046636Surgical Guide Instrument Capable of Omni-Directional Positioning and Omni-Directional Positioning Unit Thereof - A surgical guide instrument capable of omni-directional positioning and an omni-directional positioning unit thereof are provided. The surgical guide instrument includes the omni-directional positioning unit, which is coupled with the surgical instrument. The omni-directional positioning unit is configured as a pyramid, and a plurality of reflectors is deposited on vertices of the pyramid, respectively. As the reflectors of the omni-directional positioning unit are arranged as a three-dimensional pyramid, the omni-directional positioning unit can be connected in any position to the surgical instrument and be detected correctly by a surgical guide system, thereby reducing surgical complexity.02-24-2011
20120323255LOCALIZATION OF A RADIOACTIVE SOURCE WITHIN A BODY OF A SUBJECT - A system and method is provided for automatic navigation of medical tools. The system can include a tracking system operable to provide information relating to the position of at least a portion of a tool which is inside a body, and an automated navigation system operable to apply forces upon a portion of the tool. The automated navigation system can include a computer operable to store a 3-dimensional route. Furthermore, the automated navigation system can be operable to use the information relating to the position of at least the portion of the tool from the tracking system to apply calculated forces upon the tool, the calculated forces being associated with movement of the tool along the 3-dimensional route.12-20-2012
20120271319CATHETER SYSTEM WITH PERCUTANEOUS DEVICE MOVEMENT ALGORITHM - A workstation configured for operating a robotic catheter system is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling movement of at least a first percutaneous device and a second percutaneous device. At least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about a longitudinal axis of the first percutaneous device. The workstation also includes a device movement algorithm subsystem including at least one set of instructions. The control system controls the first percutaneous device based upon both the user input and the at least one set of instructions of the device movement algorithm subsystem.10-25-2012
20120323256ROBOTIC TOOLKIT - A surgical instrument kit comprising: (a) a robotic arm comprising a first jaw including a first bipolar electrode and a second jaw including a second bipolar electrode, wherein at least one of first jaw and second jaw is repositionable with respect to the other jaw; (b) a first surgical tool head including a first electrical load in electrical communication with a first pair of electrical terminals, the first surgical tool head adapted to be removably coupled to the robotic arm; and, (c) a second surgical tool head including a second electrical load in electrical communication with a second pair of electrical terminals, the second surgical tool head adapted to be removably coupled to the robotic arm, where the first pair of electrical terminals of the first surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the first pair of electrical terminals and between the second bipolar electrode and a second of the first pair of electrical terminals, and where the second pair of electrical terminals of the second surgical tool head are adapted to engage the first bipolar electrode and the second bipolar electrode to establish electrical communication between the first bipolar electrode and a first of the second pair of electrical terminals and between the second bipolar electrode and a second of the second pair of electrical terminals.12-20-2012
20110224686ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20110238084SURGICAL INSTRUMENT - A surgical instrument is discussed. The surgical instrument, which has an effector for engaging the surgical site joined to one end and a driving part for operating the effector joined to the other end, includes: a first shaft, which has one end joined with the driving part, and which extends along a first lengthwise direction; and a second shaft, which extends along a second lengthwise direction that forms a particular angle with the first shaft, and which has one end joined with the other end of the first shaft such that the second shaft is rotatable about an axis following the second lengthwise direction. Thus, it is possible to conduct surgery using several of such surgical instruments without having the instruments obstruct one another, and the surgical instrument can be made to have different usage modes according to what length it is set to.09-29-2011
20110238083ROBOTIC CATHETER SYSTEM AND METHODS - The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.09-29-2011
20110238081SURGICAL INSTRUMENT CONTROL AND ACTUATION - Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.09-29-2011
20110238080Robotic Surgical Instrument System - A robotic surgical instrument system for performing a surgical procedure is envisaged wherein the system is a dual articulated arm configuration robot that enables entry into an operative space via an access port. Surgical arms are inserted into the operative space in a substantially straight line and then articulated inside the operative space. The articulation of the surgical arms by a surgical console is achieved using ‘triangulation’.09-29-2011
20100234857MEDICAL ROBOTIC SYSTEM WITH OPERATIVELY COUPLABLE SIMULATOR UNIT FOR SURGEON TRAINING - A medical robotic system has a surgeon console which is operatively couplable to a patient side unit for performing medical procedures or operatively couplable to a simulator unit for training purposes. The surgeon console has a monitor, input devices and foot pedals. The patient side unit has robotic arm assemblies coupled to instruments and an endoscope. When the surgeon console is coupled to the patient side unit, the instruments move in response to movement of the input devices to perform a medical procedure while captured images of the instruments are displayed on the monitor. When the surgeon console is coupled to the simulator unit, virtual instruments move in response to movement of the input devices to perform a user selected virtual procedure while virtual images of the virtual instruments are displayed on the monitor.09-16-2010
20120277764MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY - A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.11-01-2012
20120277763DYNAMIC ABLATION DEVICE - In an interventional ablation therapy planning system (11-01-2012
20120277762DEXTEROUS SURGICAL MANIPULATOR AND METHOD OF USE - A surgical manipulator includes an internal working end having an internal joint, and an external control interface linked to the internal working end for controlling the internal working end. The external control interface includes at least one lever defining a grip volume for a surgeon's hand when gripping and operating the at least one lever, and an external joint linked to the internal joint for controlling the internal joint. The external joint is positioned substantially within the grip volume.11-01-2012
20120089155SURGERY EQUIPMENT HOLDING DEVICE - A surgery equipment holding device including a holder for holding surgical equipment, a bar connected to the holder, a brake which operatively engages the bar for stopping movement of the bar, and a pair of switches for switching being an active state and an inactive state of the brake. The surgery equipment holding device is characterized in the operation thereof at the time of disengaging the fixation state, and exhibits excellent operability.04-12-2012
20120089154SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - A manipulator assembly (04-12-2012
20110276059Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses - Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.11-10-2011
20120330325Indicator for Tool State and Communication in Multi-Arm Robotic Telesurgery - Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.12-27-2012
20110282359SURGICAL SYSTEM COUNTERBALANCE - A counterbalancing link, a surgical system, and a method of adjusting a counterbalancing link are provided. In one embodiment, a counterbalancing link of a robotic surgical system includes a housing, and a compression spring disposed along a lengthwise axis of the housing, the compression spring having a first end and a second end. The counterbalancing link further includes a base at a first end of the housing, the base coupled to the first end of the compression spring and including at least one adjustment screw configured to adjust an orientation of the first end of the spring. A plug is disposed at a second end of the housing, the plug coupled to the second end of the compression spring and including an adjustment pin configured to adjust an orientation of the second end of the spring. The counterbalancing link further includes a cable having a first end coupled to a load and a second end coupled to the plug, the cable passing through a pulley at the base and the compression spring counterbalancing at least a part of the load.11-17-2011
20110319913APPARATUS AND METHODS FOR PERCUTANEOUS COCHLEAR IMPLANTATION - A method and apparatus of percutaneous cochlear implantation (PCI). In one embodiment, the method includes the steps of (a) implanting a plurality of anchor members in a skull of a patient surrounding an ear of the patient, (b) attaching a docking frame to the plurality of anchor members, wherein the docking frame has a docking platform and a plurality of fiducial members, (c) acquiring a computed-tomography (CT) image of an area of the patient's head including the ear and the plurality of fiducial members, (d) determining a centroid of each of the plurality of fiducial members and a trajectory for a PCI according to the CT image, (e) configuring a parallel robot by a computer processor according to the CT image such that a top platform of the parallel robot is aligned with the trajectory with respect to the centroids of the plurality of fiducial members, (f) attaching the configured parallel robot to the docking frame, and (g) performing the PCI using one or more surgical tools received by the top platform of the parallel robot.12-29-2011
20110319912NAVIGATION SYSTEM FOR REMOTE-CONTROLLED ACTUATOR - A remote controlled actuator (12-29-2011
20110319911REMOTELY CONTROLLING AN ARTICULATING SURGICAL INSTRUMENT - A surgical device for remotely controlling an articulating surgical instrument comprises an articulating surgical instrument, a control portion, and a slave portion. The control portion is configured for receiving motion inputs in a plurality of degrees of freedom from a human shoulder, arm, and hand and translating the motion inputs into one or more control signals for controlling motion of the articulating surgical instrument. The control signals are generated within the control portion and wherein at least one of the control signals comprises displacement of hydraulic fluid. The slave portion is coupled between the control portion and the articulating surgical instrument. The control portion is configured for moving the articulating surgical instrument in response to the one or more control signals.12-29-2011
20110319910METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT - Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include of controlling a shapeable instrument within an anatomical region using a robotic medical system.12-29-2011
20120101508METHOD AND DEVICE FOR CONTROLLING/COMPENSATING MOVEMENT OF SURGICAL ROBOT - A movement compensating device of a surgical robot in which a surgical operation processing unit mounted with a surgical instrument is coupled to one end of a body section includes: an image information creating unit that creates image information corresponding to an image signal supplied from a camera unit; a recognition point information analyzing unit that creates analysis information on a distance and an angle between a recognition point recognized from image information pieces corresponding to a predetermined number of image frames and a predetermined reference point; a variation analyzing unit that creates variation information in distance and angle between two analysis information pieces continuously created; and a control command creating and outputting unit that creates and outputs a control command for adjusting the position of the surgical operation processing unit so that the variation in distance and angle included in the variation information be 0 (zero).04-26-2012
20120289974INSTRUMENT ACTUATION INTERFACE - A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.11-15-2012
20090036902INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS - In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.02-05-2009
20100168766PUNCTURE NEEDLE HOLDER - A puncture needle holder comprising a base frame, a link bar, a first seat part, a second seat part, and a positioning mechanism is disclosed.07-01-2010
20100168762Ophthalmic surgery support device - An ophthalmic surgery support device assisting an operator in the operation of a surgical instrument in order to position to a fine location in an eye the tip end of the surgical instrument to be inserted into the eye through a wound opening opened in the eyeball of a patient, comprising a moving mechanism for holding the surgical instrument so as to be movable in the longitudinal direction of the surgical instrument to be inserted into the eye or in the Z-axis direction, a tilting mechanism for holding the moving mechanism so that the surgical instrument can be tilted in an arbitrary direction about a specified point that is to be positioned to the wound opening and positioned on the Z-axis, and a tilt fixing mechanism for fixing the tilt of the surgical instrument by the tilting mechanism, wherein the tilting mechanism has a rough-motion tilting mechanism, a fine-motion tilting mechanism finer in tilting range than the rough-motion tilting mechanism, a tilt switching mechanism for switching the tilt of the surgical instrument by the rough-motion tilting mechanism to that by the fine-motion tilting mechanism, and a resistance imparting means for imparting resistance for damping the tilting operation of the surgical instrument by the fine-motion tilting mechanism than that by the rough-motion tilting mechanism.07-01-2010
20100168765SURGICAL MECHANISM CONTROL SYSTEM - A surgical mechanism control system comprising: a beam emitter unit configured to emit only a single beam and adapted to be attached to a surgeon; a first pair of discrete beam detectors each adapted to detect an incident beam emitted by the beam emitter unit and output a corresponding control signal when in incident beam is detected; and a control unit configured to receive one or more control signals output by the beam detectors and control a surgical mechanism in accordance with the one or more control signals.07-01-2010
20100168764SYSTEM AND METHOD FOR DETERMINING DISTANCE WITH PRECISION IN THE PRESCENCE OF MULTIPATH INTERFERENCE - Various aspects of the present invention are shown and described, each of which has stand alone utility in a navigated medical environment. A receiver position calibration system and method facilitates calibration of a reference frame prior to each navigated procedure. A concept and application of confidence weights is introduced. Confidence weights can be applied to distance calculations to mitigate the effects of interference and increase the tolerance of the navigated medical system. Multi-path interference is minimized through the transmission of a signal having a pattern of unique frequencies and filtering of the distance calculations for each frequency to identify the ‘best’ distance in the presence of multi-path interference. A position determination method and system that transmits a signal having multiple frequency components permits positions to be identified with high resolution over a large area.07-01-2010
20130012958Surgical Device with Articulation and Wrist Rotation - A surgical instrument comprising a handle assembly, an elongated shaft, an end effector, a rotation mechanism, and an articulation mechanism is disclosed. The rotation mechanism is disposed in mechanical cooperation with the handle assembly and effects rotation of the end effector about the second longitudinal axis. The articulation mechanism is disposed in mechanical cooperation with the handle assembly and effects movement of the end effector from a first position where the first longitudinal axis is substantially aligned with the second longitudinal axis to a second position where the second longitudinal axis is displaced from the first longitudinal axis. The articulation mechanism comprises a first articulation control disposed in mechanical cooperation with the handle assembly, a first cable and a second cable. Actuation of the first articulation control in a first direction causes the first cable to move distally and causes the second cable to move proximally.01-10-2013
20130012959MEDICAL MANIPULATOR - A medical manipulator includes a trigger lever operated by hands, a shaft that extends from a body in which the trigger lever is provided, and a tip operating unit that is provided at a tip of the shaft. The tip operating unit includes an end effector to which the operation of the trigger lever is mechanically transmitted and in which the operation is performed, and a detection mechanism that detects an operation state of the first input unit.01-10-2013
20130012957AUTOMATED END EFFECTOR COMPONENT RELOADING SYSTEM FOR USE WITH A ROBOTIC SYSTEM - A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system A second sensor has an output that represents a position of the anvil. An third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.01-10-2013
20100130986SURGICAL ROBOTIC SYSTEM - In one embodiment, a surgical robotic system includes a main controller and a motor unit assembly that is associated with a robot and is in communication with the main controller. The motor unit assembly has a non-sterile motor unit and a sterile enclosure that surrounds and contains the motor unit. The motor unit includes at least one motor and a motor controller that is operatively connected to the motor unit, wherein the motor unit and the enclosure are configured to permit attachment between the motor unit and the controller.05-27-2010
20130018388Assembly For Use With Surgery System - The present disclosure provides systems, assemblies and methods for surgery (e.g., robotic surgery). More particularly, the present disclosure provides systems and methods for releasably securing or attaching an assembly for use in a surgical procedure with respect to a user-operable surgical device. In general, the present disclosure provides systems and methods for releasably securing or attaching an assembly with respect to and for use with a user-operable surgery system. Systems and methods for releasably securing or attaching an assembly (e.g., imaging/surgical assembly) having a receiver member with respect to a user-operable grasper member of a surgery system are provided. The receiver member may be releasably and/or detachably securable to the surgical/imaging assembly.01-17-2013
20110160745Frame Mapping and Force Feedback Methods, Devices and Systems - Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.06-30-2011
20110160744Optically-implemented microsurgery system and approach - According to an example embodiment of the present invention, a vibration-actuated microsurgical system includes an optical force detection arrangement having an optical encoding device configured to modulate an intensity of light in response to a displacement of a portion of the microsurgical system. Light sensing circuitry is configured to detect a force applied to the microsurgical system (e.g., and thereby to a sample) based on the intensity of light sensed from the optical encoding device. This detected force is used in controlling the application of the microsurgical system.06-30-2011
20130023899METHOD AND APPARATUS FOR TRANSFORMING COORDINATE SYSTEMS IN A TELEMANIPULATION SYSTEM - In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence.01-24-2013
20130023900REMOTE-CONTROLLED ACTUATOR ASSEMBLY - A remote controlled actuator assembly includes an elongated guide section (01-24-2013
20130023898MINIMALLY INVASIVE SURGICAL TRAINING USING ROBOTICS AND TELECOLLABORATION - A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.01-24-2013
20130172903Surgical Tool for Robotic Arm with Rotating Handle - A surgical tool is disclosed that may be rotatably mounted to a surgical robotic arm. The surgical tool is rotatable about a first axis that is at least substantially vertical when the robotic arm is in a horizontal position. The surgical tool includes a housing that is coupled to the arm and rotatable about the first axis. The housing is at least substantially cylindrical and defines a second axis that is at least substantially perpendicular to the first axis. The tool also includes a handle that includes a grip that is coupled to a sleeve. The sleeve rotatably accommodates at least part of the housing. As a result, the handle and sleeve may be rotated about the second axis while the housing remains fixed with respect to the second axis.07-04-2013
20130172904Interactive CSG Subtraction - A system and method for surgical visualization transform a cut procedure into a visual representation, e.g., during resection via a cutting tool. The system and method obtain shape data, e.g., bone shape data for the bone to be resected, and generate a CSG object model such as a bone model. Another CSG model is also generated, based, for example, on the cutting tool shape. During resection, tool position data is collected and multiple CSG subtraction models are generated based on the cutting tool model and the position data. The CSG bone model and subtraction models are used to create an image space visual representation by merging the CSG subtraction models into a single merged CSG subtraction model and subtracting the single merged CSG subtraction model from the CSG bone model.07-04-2013
20130172905SYSTEMS AND METHODS FOR GUIDING AN INSTRUMENT USING HAPTIC OBJECT WITH COLLAPSING GEOMETRY - A computer-implemented method for guiding an instrument, comprises determining, by a processor associated with a computer, a current orientation angle of an instrument axis relative to a target axis. The method also comprises establishing, by the processor, a haptic boundary associated with the instrument based on the determined orientation angle of the instrument axis relative to the target axis. The haptic boundary is configured to constrain the instrument axis from being moved to an angle substantially greater than the current orientation angle.07-04-2013
20130172907SYSTEM AND METHOD FOR SPATIAL LOCATION AND TRACKING - Method and system for navigated medical procedures includes a transmitter array having at least three ultrasound transmitters and at least one optical transmitter, and a receiver array having at least three ultrasound receivers and at least one optical receiver. In each transmission, the optical transmitter and only one ultrasound transmitter transmit signals. Distance measurements between each ultrasound transmitter and each ultrasound receiver are calculated based on time delays between reception of signals transmitted in each transmission and a speed of sound. A three-dimensional location of a transmitter relative to a receiver, or vice versa, is determined from at least three calculated distance measurements. Placement of the transmitter or receiver array on a surgical tool, a medical implant or instrument, or a part or point in or on a patient's body, or other object used in the medical procedure, enables the three-dimensional location thereof to be viewed on a display.07-04-2013
20130172908MEDICAL ROBOTIC SYSTEM AND CONTROL METHOD THEREOF - A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.07-04-2013
20080255584Acetabular Cup Positioning - A computer aided surgery system, method, surgical method and instrument for guiding the positioning of an acetabular cup in a pelvis are described. The position of the transverse acetabular ligament of the pelvis and the position of the acetabular labrum of the pelvis are determined. The orientation of an acetabular plane including the acetabular labrum and the transverse acetabular ligament is calculated. A planned position for the acetabular cup is determined, in which an inlet plane of the cup is substantially parallel to the acetabular plane. The instrument comprises a mounting for attaching the instrument to a patient, a support, a guide defining a longitudinal axis, and for receiving a further instrument bearing the acetabular cup implant, and an adjustment mechanism. The adjustment mechanism can allow the angular orientation of the guide to be adjusted about at least two different axes to allow the inclination and version or anteversion of the longitudinal axis to be altered.10-16-2008
20080243142Videotactic and audiotactic assisted surgical methods and procedures - The present invention provides video and audio assisted surgical techniques and methods. Novel features of the techniques and methods provided by the present invention include presenting a surgeon with a video compilation that displays an endoscopic-camera derived image, a reconstructed view of the surgical field (including fiducial markers indicative of anatomical locations on or in the patient), and/or a real-time video image of the patient. The real-time image can be obtained either with the video camera that is part of the image localized endoscope or with an image localized video camera without an endoscope, or both. In certain other embodiments, the methods of the present invention include the use of anatomical atlases related to pre-operative generated images derived from three-dimensional reconstructed CT, MRI, x-ray, or fluoroscopy. Images can furthermore be obtained from pre-operative imaging and spacial shifting of anatomical structures may be identified by intraoperative imaging and appropriate correction performed.10-02-2008
20080228195INSTRUMENT GUIDE FOR USE WITH A SURGICAL NAVIGATION SYSTEM - An instrument guide system for use with a surgical navigation system, the instrument guide system comprising a handle assembly, an instrument attachment assembly, a shaft connecting the handle assembly to the instrument attachment assembly, an electromagnetic sensor assembly removably mounted within an opening in the handle assembly, and an instrument removably attachable within a bore of the instrument attachment assembly.09-18-2008
20080221592MEDICAL CONTROL APPARATUS - A controller includes a servo controller that performs attitude control of the bending portion. A point lock computing section is provided at the servo controller. Based on supplied distal end command value information and position F/B information, the point lock computing section performs computational processing by a distal end link root coordinate position calculating section and an inverse kinematics computing section in order to obtain a servo position command signal for a distal end-side link member and a servo position command signal for a link member other than the link member, and outputs the same to a driving section. Accordingly, point lock is enabled at two locations, namely, the distal end-side link member and an arbitrary link member, while other link members are controlled so as to assume attitudes having redundancy.09-11-2008
20080221591METHODS, SYSTEMS, AND DEVICES FOR SURGICAL VISUALIZATION AND DEVICE MANIPULATION - A surgical device includes a console having a visual display and a manipulator arm, a robotic device having a camera and a connection component. The robotic device is configured to be positioned completely within a body cavity. The camera is configured to transmit visual images to the visual display. The connection component operably couples the console and the robotic device. The manipulator arm is positioned relative to the visual display so as to appear to be penetrating the visual display.09-11-2008
20080221590APPARATUS FOR POSITIONING AND HOLDING IN PLACE A MANUALLY MANIPULATED MEDICAL DEVICE DURING THE PERFORMANCE OF A ROBOTICALLY ASSISTED MEDICAL PROCEDURE - An apparatus includes two clamp assemblies on opposing sides of an operating table. A cross bar is attached to the assemblies and extends across a lowered leg section of the table. A pivot joint is coupled to the cross bar, a first linkage couples the pivot joint to a first ball joint, a second linkage couples the first ball joint to a second ball joint, and a medical device is coupled to the second ball joint through an adapter. Each joint has a spring mechanism resisting its movement and a hydraulic cylinder to allow its movement. Depression of a foot pedal actuates all hydraulic cylinders so that an operator may position the medical device by moving the pivot joint and attached first linkage rotationally about and directionally along the cross bar, the second linkage rotationally about the first ball joint, and the medical device rotationally about the second ball joint.09-11-2008
20130204272METHOD FOR ROBOTIC ARTHROPLASTY USING NAVIGATION - A method for robotic knee surgery on a femur and tibia of a knee joint. A navigation system tracks positions of the femur and tibia during the surgery as the femur and tibia move during the surgery. Information relating to the tracked positions of the femur and tibia is communicated from the navigation system to the robotic system. This information is used to guide movement of a cutting tool of the robotic system relative to the femur and tibia so that material from the femur and tibia can be removed by the cutting tool without the use of physical resection guides.08-08-2013
20130178867Robotic Surgical Devices, Systems, and Related Methods - The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.07-11-2013
20130178868SURGICAL ROBOT AND METHOD FOR CONTROLLING THE SAME - A surgical robot includes a console and a manipulator assembly. The manipulator assembly includes at least one arm having a plurality of links and a motor provided between links adjacent to each other among the plurality of links, and a control unit configured to determine whether a mode is changed between a tele-operation mode and a manual mode. The control unit sets output data of the motor provided before the mode is changed as input data of the motor provided after the mode is changed, if it is determined that the mode is changed between the tele-operation mode and the manual mode, thereby preventing the vibration and the rapid change of the posture from occurring at the arm of the surgical robot during the change of the mode between the manual mode and the tele-operation mode, thereby increasing stability of the surgical robot.07-11-2013
20130178869Pneumatic System for Deployment of Articulating Arms for an Access Port - A surgical apparatus for positioning within a tissue tract accessing an underlying body cavity is adapted to articulate instruments inserted therein. The surgical apparatus includes an anchor member configured to form a sealing relation with a tissue, a balloon member and a plurality of articulating arms extending distally from the anchor member. Inflating and/or deflating the balloon member effectuate articulation of the articulating arms.07-11-2013
20130178870ROBOTIC SURGICAL SYSTEM WITH PATIENT SUPPORT - A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.07-11-2013
20120253361Microdrive for Use in Stereotactic Surgery - Instrument (10-04-2012
20120253360MOTION AND VIDEO CAPTURE FOR TRACKING AND EVALUATING ROBOTIC SURGERY AND ASSOCIATED SYSTEMS AND METHODS - The present technology is directed to motion and video capture for tracking and evaluating robotic surgery. In one embodiment, the system includes at least one tracking device coupled to a remote surgical tool. The tracking device is configured to use one or more sensors to sense one or more physical variables such as movement and electrical contact. In some embodiments, the data from multiple individual sensors is synchronized, received, and stored by a digital information system. The digital information system is configured to analyze the data to objectively assess surgical skill.10-04-2012
20130172906Intuitive user interface control for remote catheter navigation and 3D mapping and visualization systems - The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.07-04-2013
20110270273SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS - A robotic surgical system (11-03-2011
20110270270METHOD FOR DETERMINING AN INSERTION TRAJECTORY OF A TOOL IN A DEFORMABLE TISSULAR MATRIX AND ROBOTIC SYSTEM EXECUTING THE METHOD - A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix is provided, the method comprising: acquiring images of the tissular matrix; constructing a three-dimensional representation of the tissular matrix; determining coordinates of the initial position of the target object and of the obstacles; determining at least one potential trajectory of the tool from the coordinates of the obstacles of the tissular matrix and of the initial position of the target object; simulating insertion of the tool in the tissular matrix to determine displacement of the target object within the tissular matrix during insertion of the tool up to the initial position of the target object along the potential trajectory; determining a new position of the target object based on the determined displacement; and determining the insertion trajectory for the new position of the target object.11-03-2011
20130090668HYDRAULIC DEVICE INCLUDING A SPOOL VALVE AND METHOD OF USE THEREOF - A spool valve for controlling fluid communication among hydraulic cylinders operating control and slave portions of a surgical device. The spool valve may be used to disconnect the control and the slave portions from one another such that there is no fluid communication between the control and slave portions. The spool valve may be used to engage or allow fluid communication between the control and slave. The spool valve may also be used to allow fluid communication between the slave and control portion and a fluid reservoir, thus allowing the hydraulic system to replenish fluid lost to evaporation, leakage, or other escape. The spool valve includes a body portion having at least two ports and a spool having at least one passageway moveable to a position so as to communicate with the at least two ports.04-11-2013
20130096574SYSTEM AND METHOD FOR ROBOTIC SURGERY - In one embodiment, a robotic surgery system comprises a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising a bone cutting tool comprising an end effector portion, a frame assembly, and a motion compensation assembly movably coupled to the frame assembly and bone cutting tool. A controller may be operatively coupled to the manipulator and configured to operate one or more actuators within the frame assembly to cause the motion compensation assembly to automatically move relative to the frame assembly to defeat aberrant movement of the bone cutting tool that would place the end effector portion of the tool out of a desired bone cutting envelope that is based at least in part upon one or more images of the bone, while allowing the bone cutting tool to continue cutting one or more portions of the bone.04-18-2013
20130096573SYSTEM AND METHOD FOR SURGICAL TOOL TRACKING - Systems and methods for robotic surgery are disclosed. In one embodiment, a system comprises a controller configured to control actuation of at least one servo motor; a surgical instrument configured to be movable in a workspace controlled, at least in part, by actuation of the at least one servo motor; and a mechanical tracker linkage coupled between the elongate instrument and a portion of skeletal anatomy of a patient, the tracker linkage comprising one or more joints associated with one or more joint rotation sensors and being configured to send joint signals to the controller; wherein the controller controls positioning of the instrument based at least in part upon the joint signals received from the mechanical tracker.04-18-2013
20130096572CATHETER SENSOR SYSTEMS - 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.04-18-2013
20130096576MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY - A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.04-18-2013
20130096575SYSTEM AND METHOD FOR CONTROLLING A REMOTE MEDICAL DEVICE GUIDANCE SYSTEM IN THREE-DIMENSIONS USING GESTURES - A system for enabling a user to remotely control a robotic medical device system includes a motion capture apparatus to capture motion of a user in a sensing volume and generate indicative output data. The system includes a control unit configured to execute gesture recognition logic that recognizes a user gesture based on analysis of the indicative output data. The control unit executes interpreter logic that is configured to translate the recognized user gesture into a corresponding robotic medical device control command configured to control an aspect of the operation of the robotic medical device system.04-18-2013
20130103051Method and Means for Transferring Controller Motion From a Robotic Manipulator to an Attached Instrument - A method of transmitting controller motion from a robotic manipulator to a surgical instrument includes rotating a plate included in the robotic manipulator. The plate has a driving surface that bears against an inner gimbal of a gimbal assembly included in the surgical instrument. The plate is rotated about a center of motion that coincides with an intersection of two rotational axes of the gimbal assembly.04-25-2013
20130103050GRIP FORCE CONTROL FOR ROBOTIC SURGICAL INSTRUMENT END EFFECTOR - Methods of controlling a gripping force of an end effector of a robotically-controlled surgical instrument are provided. The method includes receiving a first input signal indicative of a high grip level input at a master gripping mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and outputting an actuation signal in response to receiving the first input signal and the second input signal together to increase the slave gripping force from a first level to a second level higher than the first level during the surgical procedure.04-25-2013
20130123802MOTIVE DEVICE FOR USE IN MAGNETICALLY-SENSITIVE ENVIRONMENTS - A motive device for use in magnetically sensitive environments includes a front supporting plate, a rear supporting plate, and at least one guiding rail extending longitudinally between the front and rear supporting plates and supported thereby. At least one module is supported by the guiding rail, is located longitudinally between the front and rear supporting plates, and is configured to provide at least one of translational and rotational motions to a moved structure extending from the at least one module longitudinally toward and beyond the front supporting plate. The translational motion is guided by motion of the module between the front and rear supporting plates longitudinally along the at least one guiding rail. The module provides the at least one of translational and rotational motions to the moved structure entirely pneumatically. The structures comprising the motive device are all made entirely from non-ferromagnetic materials.05-16-2013
20110276058SURGICAL ROBOT SYSTEM, AND METHOD FOR CONTROLLING SAME - A master interface for a surgical robot, mounted on a master robot for controlling a slave robot, may include two or more robot arms each having a mounted surgical instrument. The master interface may include: a screen display unit configured to display an on-screen image corresponding to a picture signal inputted from a surgical endoscope; two or more arm manipulation units equipped for controlling the two or more robot arms, respectively; and a control unit configured to provide control such that the on-screen image is rotated or mirrored in a pre-designated direction according to a user manipulation, and configured to provide control such that control conditions for the robot arm are renewed to match the rotated or mirrored on-screen image. Thus, the display screen on a surgical monitor can be suitably controlled according to the intent of the surgeon, to remove the non-intuitiveness of a surgical procedure.11-10-2011
20130144306Surgical Devices with Intracorporeal Elbow Joint - Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.06-06-2013
20130144307SURGICAL ROBOT SYSTEM FOR REALIZING SINGLE-PORT SURGERY AND MULTI-PORT SURGERY AND METHOD FOR CONTROLLING SAME - Provided is a surgical robot system for realizing single-port surgery and multi-port surgery, the system comprising: an operating device; and a controlling device for electro-mechanically controlling the operating device, wherein the operating device includes an alignment section having a plurality of main robot arms, and a plurality of manipulating sections each having a plurality of auxiliary robot arms, and in the multi-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be placed in correspondence with each of a plurality of incisions, and in the single-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be aligned in correspondence with one incision.06-06-2013
20130158565AUTOMATED IN-BORE MR GUIDED ROBOTIC DIAGNOSTIC AND THERAPEUTIC SYSTEM - A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.06-20-2013
20080200927Automatic identification of tracked surgical devices using an electromagnetic localization system - A method and apparatus for identifying a member used in a navigation system. The navigation system can determine the identification of an instrument via an input. The input can be substantially automatic when an instrument is introduced into the navigation system field or assembly.08-21-2008
20080200926Automatic identification of instruments used with a surgical navigation system - A system and apparatus taught to determine the identification and selected information relating to surgical instruments near a reader. The information can be stored on a member operable to transmit the information to a reader at a selected time. The information can be used in a navigation system to assist in navigation of the instrument relative to a patient.08-21-2008
20110224688ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS - A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.09-15-2011
20110224683METHOD AND APPARATUS FOR SKIN STABILIZATION AND POSITIONING - Exemplary embodiments of a method, device, and apparatus for positioning an apparatus on a location of a tissue. For example, a substantially rigid film over an area of tissue to be treated can be provided. The film can include a positioning arrangement that facilitates a particular spatial engagement with the apparatus. The exemplary method can further include applying a portion of the film to a portion of a surface of the tissue and positioning the apparatus at the location by the engagement of the film to the apparatus using the feature of the film.09-15-2011
20100286713Image Guided Spinal Surgery Guide System And Method For Use Thereof - A guide is disclosed for use in performing spinal surgery to prepare across a spinal disc and adjacent vertebrae an implantation space. The guide is associated with a computer controlled surgical navigation system employing an energy-detecting array to track positions of the guide in three dimensional space relative to a known reference point. The guide comprises a body for providing protected access to prepare across the spinal disc and into the adjacent vertebrae the implantation space. The body has a passage adapted to receive a bone removal device for forming the implantation space through the body. At least one electrically energizable energy emitter array is attached to the body for use in identifying the location of the guide relative to the adjacent vertebrae. A system and method for using the guide in spinal surgery are also disclosed.11-11-2010
20100286712BED INTEGRATED SURGICAL ROBOT - Disclosed is a bed integrated surgical robot. The bed integrated surgical robot comprises a supporting part, a frame supported by the supporting part, a table supported by the frame and on which a surgical patient is laid and a surgical robot arm installed on the frame and manipulated to reach for the surgical patient, wherein the robot arm is formed of a plurality of joints and deposited on the frame by driving the plurality of joints, and is easy to deposit, install, move, allows an assistant surgeon to easily access a patient under surgery, requires no additional space to install the robot, and functions as a patient bed.11-11-2010
20100286711HAND ACTUATED, ARTICULATING DEVICE HAVING AN ELECTRIC FORCE ENHANCEMENT SYSTEM - An articulating device element and methods of operation thereof, including a compensating force enhancement for compensating for any unwanted friction and/or other such resistance forces experienced by the device when being manipulated.11-11-2010
20100286710Device and Method For Instrument Adjustment in Computer Assisted Surgery - The present invention relates to a device for adjusting the position of a surgical instrument (11-11-2010
20110238082REMOTE CATHETER PROCEDURE SYSTEM - A catheter procedure system including a bedside system and a remote workstation is provided. The bedside system includes a catheter including an expandable percutaneous intervention device, a robotic catheter system configured to move the catheter, and an inflation device configured to cause expansion of the expandable percutaneous intervention device. The remote workstation includes a user interface configured to receive a at least first user input and a second user input and a control system operatively coupled to the user interface for remotely controlling both the robotic catheter system and the inflation device. The remote workstation includes a monitor configured to display information related to the expandable percutaneous intervention device. The control system controls the robotic catheter system to move the catheter based upon at least the first user input and controls the inflation device to cause expansion of the expandable percutaneous intervention device based upon at least the second user input.09-29-2011
20110238079Surgical Cockpit Comprising Multisensory and Multimodal Interfaces for Robotic Surgery and Methods Related Thereto - Local surgical cockpits comprising local surgical consoles that can communicate with any desired remote surgical module (surgical robot), for example via a shared Transmission Control Protocol/Internet Protocol (TCP/IP) or other unified open source communication protocol or other suitable communication system. The systems and methods, etc., herein can also comprise a modular approach wherein multiple surgical consoles can network supporting collaborative surgery regardless of the physical location of the surgeons relative to each other and/or relative to the surgical site. Thus, for example, an operator operating a local surgical cockpit can teleoperate using a remote surgical module on a patient in the same room as the surgeon, or surgeons located in multiple safe locations can telemanipulate remote multiple surgical robots on a patient in or close to a war zone.09-29-2011
20130150865MEDICAL ROBOT SYSTEM AND METHOD FOR CONTROLLING THE SAME - A medical robot system and a method for controlling the same. The medical robot system includes a trocar, inserted into an incision of a patient, to guide a surgical apparatus and transmit at least one of position information of the surgical apparatus and pressure information of the surgical apparatus, and a console to display a screen including at least one of the position information and the pressure information.06-13-2013
20130150866METHOD OF PERFORMING A SURGICAL PROCEDURE - A method of performing a surgical procedure on an affected region in a body cavity includes steps of introducing the distal end, and first and second bendable joints, of a rod-shaped member into the body cavity having the affected region, engaging a body portion in the body cavity, other than the affected region, with the manipulating element, manipulating the body portion other than the affected region using the manipulating element, so as to increase a spacing around the affected region in the body cavity, and bending at least one of said first and second joints so as to increase a spacing between the rod-shaped member and the affected region in the body cavity.06-13-2013
20090248041ROBOTIC SURGICAL TOOLS FOR LASER MARKING AND LASER CUTTING - In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.10-01-2009
20100318101COUPLING STRUCTURE OF SURGICAL INSTRUMENT - Disclosed is a coupling structure of surgical instrument. The coupling structure for a surgical instrument comprises a housing and a plurality of disc shaped driving wheels disposed in the housing, wherein the driving wheels are stacked along a driving axis that passes through the driving wheels, and are supplied with driving power from a plurality of actuators that are disposed to correspond respectively to the plurality of driving wheels, and provides a light compact surgical robot by disposing driving wheels in a piling arrangement, which also allows an used instrument to be automatically replaced with a new one.12-16-2010
20100318100MEDICAL SYSTEM - A medical system includes an insertion slave apparatus to be inserted into a body, a treatment slave apparatus to be inserted into the body together with the insertion slave apparatus to treat an object, an insertion master portion having a similar figure to the insertion slave apparatus and including a movable portion, wherein the insertion slave apparatus is to perform following actuation according to operation input to the insertion master portion, a treatment master portion to be operated by an operator, wherein the treatment slave apparatus is to perform following actuation according to operation input to the treatment master portion, and a connecting portion coupling the insertion master portion and the treatment master portion to each other, wherein the movable portion is to be moved through the connecting portion to operate the insertion master portion by holding and operating the treatment master portion.12-16-2010
20120283747HUMAN-ROBOT SHARED CONTROL FOR ENDOSCOPIC ASSISTANT ROBOT - A surgical system includes a robot with both an active mode and an inactive mode of operation, and a holding arm for holding a surgical tool, and an immediate deactivator for determining when a human operator manually manipulates a holding arm or a surgical tool depending on signals from at least one condition sensor. Immediately upon that determination, the immediate deactivator deactivates the robot. The holding arm includes a stiffener/destiffener for increasing or decreasing the flexibility of the holding arm. The stiffness of the holding arm can be sufficiently decreased in the inactive mode to allow a human operator to skillfully control repositioning the surgical tool into a new position while the flexible holding arm is connected between the robot and the surgical tool. Also, the stiffness of the holding arm can be sufficiently increased, for essentially locking it into a rigid fixed shape for providing sufficient rigidity in the active mode for the robot to reposition the rigid holding arm for repositioning the surgical tool to perform preprogrammed tasks initiated by surgeon command inputs. The holding arm is completely inactive in both the active and inactive modes of the robot.11-08-2012
20120283746Mobile Medical Robotic System - A medical robotic system comprises a drive track unit being operable for moving the medical robotic system along a floor. An upper torso unit is joined to the drive track unit. The upper torso unit comprises at least one actuator assembly. At least one bimanual dexterous manipulator is joined to the actuator assembly in which the actuator assembly imparts torque and movement to the bimanual dexterous manipulator for lifting an object. The bimanual dexterous manipulator comprises a pair of dexterous manipulators. Each of the dexterous manipulators comprises a length being configured to support lifting an adult patient, and an end comprising a planar structure being configured for placing between the adult patient and a patient platform. The drive track unit is operable for moving the medical robotic system to the patient platform and the bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.11-08-2012
20120283745SELECTIVE ADDITIONAL CONTROL IN A CONTROL CONSOLE FOR SURGICAL INSTRUMENTS - A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.11-08-2012
20110282360ROBOTIC ARMS DLUs FOR PERFORMING SURGICAL TASKS - Disposable loading units (DLUs) configured for mounting to a robotic arm for performing at least one surgical task are presented. Each DLU includes an attachment platform having at least one connector for engaging at least one connector on a distal end of the robotic arm for connecting the DLU to the robotic arm, a head portion connected to the attachment platform at one end and configured for housing an electromechanical actuation assembly therein, and at least one surgical tool member extending from the head portion and operatively associated with the electromechanical actuation assembly for controlling the operation and movement of the at least one surgical tool member. The at least one surgical tool member may include a cutting assembly, an aortic hole punch assembly, a lasing assembly, a coring assembly, or a vascular suturing assembly.11-17-2011
20130123805SHEATH FOR SURGICAL INSTRUMENT - A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an initial pressure lower than the insufflation gas pressure.05-16-2013
20130123803Robotic catheter rotatable device cartridge - A robotic catheter rotatable device cartridge may include a housing member attachable to a drive mechanism for rotating the cartridge and a catheter attached to the cartridge along an axial direction of the catheter. A slider block may be generally slidable relative to the housing and engaged with one or more steering wires for controlling movement of the catheter in a transverse direction relative to the axial direction. The catheter may include the steering wire(s) engaged therewith and movable in the transverse direction when the slider block is linearly driven in a predetermined direction.05-16-2013
20130123800Surgical Instrument - An endoscopic surgical instrument with an elongate shaft, a surgical tool arranged at a distal end of the shaft for conducting surgical manipulations and a handle arranged at a proximal end of the shaft for actuating the surgical tool. The shaft has an elongate shaft tube and an elongate actuation rod arranged movably within the shaft tube, the tool and the handle both being connected to the shaft tube and the actuating rod such that the tool can be actuated by the handle through a motion of the actuating rod relative to the shaft tube.05-16-2013
20130123799METHOD AND SYSTEM FOR PERFORMING INVASIVE MEDICAL PROCEDURES USING A SURGICAL ROBOT - A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.05-16-2013
20130123798APPARATUS, SYSTEM, AND METHOD FOR ROBOTIC MICROSURGERY - A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device; and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.05-16-2013
20110301616MULTIFUNCTIONAL HANDLE FOR A MEDICAL ROBOTIC SYSTEM - A handle used to control movement of a medical instrument. The medical instrument may be coupled to a robotic aim that is connected to a controller. The medical instrument may have a plurality of functions such as wrist locking and motion scaling. One of the functions may be selected through a graphical user interface operated by the end user. The handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist locking/unlocking is selected, depressing the button can toggle the medical instrument wrist between a locked state and an unlocked state.12-08-2011
20110313428Bracing of Bundled Medical Devices for Single Port Entry, Robotically Assisted Medical Procedures - Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.12-22-2011
20130190774MECHANICAL POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS - An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the distal end of an instrument shaft. Due to this specific kinematics, the instrument shaft is able to perform two rotations, one translation, and a fourth orientation degree of freedom about a remote centre of rotation, coincident with the surgical incision port. Because of its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fulfils the workspace specifications for surgical procedures.07-25-2013
20130190775EXPANDABLE DEVICES, RAIL SYSTEMS, AND MOTORIZED DEVICES - Provided herein are expandable devices, rail systems, and motorized devices. In one embodiment, an expandable device comprises an expandable sac having a tool housed therein. The expandable device is optionally configured for operation while inside a body cavity. The expandable device optionally comprises at least one rail in the sac, and at least one railed device coupled to the rail for movement there on. Movement of the railed device on the rail is provided by, for example, a motor such as an electromagnetic motor or an inch-worm type motor. Expandable devices can be used, for example, to perform minimally invasive medical procedures requiring access to a body cavity. Expandable devices can also be used, for example, to provide safe and stable transport of instruments to the body cavity.07-25-2013
20120029529MEDICAL ROBOTIC SYSTEM AND METHOD OF CONTROLLING THE SAME - A medical robotic system and method for controlling the system are provided to precisely measure contact force during the minimally invasive surgery. In one embodiment, a medical robotic system includes an input device, a robotic arm assembly, a surgical instrument operably coupled to the robotic arm assembly, the surgical instrument including a contact detection unit configured to detect a contact of the surgical instrument with tissue of a patient, a current measurement unit configured to measure a joint current in the robotic arm assembly, a position/velocity measurement unit configured to measure a joint position and a joint velocity in the robotic arm assembly, an external force calculation unit configured to calculate size and direction of a contact force caused by the contact of the surgical instrument to the tissue based on the joint currents, positions and velocities measured when the contact is occurred and measured when the contact is not occurred.02-02-2012
20130197539DEVICES, SYSTEMS AND METHODS FOR MINIMALLY INVASIVE SURGERY OF THE THROAT AND OTHER PORTIONS OF MAMMALIAN BODY - Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.08-01-2013
20130197540DEVICES, SYSTEMS AND METHODS FOR MINIMALLY INVASIVE SURGERY OF THE THROAT AND OTHER PORTIONS OF MAMMALIAN BODY - Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.08-01-2013
20130197542METHOD OF PREPARING A FEMUR AND TIBIA IN KNEE ARTHROPLASTY - A cutting tool of a robotic system cuts away material from the femur without the use of physical resection guides while a navigation system tracks movement of the femur, with the navigation system cooperating with the robotic system to provide information associated with the position of the femur to the robotic system. The cutting tool of the robotic system also cuts away material from the tibia without the use of physical resection guides while the navigation system tracks movement of the tibia, with the navigation system cooperating with the robotic system to provide information associated with the position of the tibia to the robotic system. The navigation system enables separate tracking of the femur and tibia so that their respective positions can be determined when the femur and tibia move during surgery, with movement of the cutting tool relative to the femur and tibia represented on a display.08-01-2013
20130197543ROBOTIC ARTHROPLASTY SYSTEM INCLUDING NAVIGATION - A system for performing surgery on a femur and tibia of a knee joint. The system includes a robotic subsystem; a navigation subsystem in communication with the robotic subsystem; a control unit in communication with the robotic subsystem; and a display in communication with the control unit. The navigation subsystem provides the robotic subsystem with information relating to positions of the femur and tibia thereby enabling their separate tracking when the femur and tibia move during surgery. The navigation subsystem cooperates with the robotic subsystem to determine a position of the cutting tool relative to the femur and tibia to guide movement of the cutting tool to cut away material from the femur and tibia. The control unit receives information relating to the position of the cutting tool such that movement of the cutting tool relative to the femur and tibia during surgery is viewable on the display.08-01-2013
20130197538ROBOTIC HAND CONTROLLER - A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.08-01-2013
20130197541EXTENDABLE SUCTION SURFACE FOR BRACING MEDICAL DEVICES DURING ROBOTICALLY ASSISTED MEDICAL PROCEDURES - Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction surface is ring-shaped with holes distributed about the ring so that controllably extendable and retractable tubes coupled at distal ends to the holes provide suction to the suction surface when coupled at proximal ends to a vacuum source.08-01-2013
20120059391APPLICATION OF FORCE FEEDBACK ON AN INPUT DEVICE TO URGE ITS OPERATOR TO COMMAND AN ARTICULATED INSTRUMENT TO A PREFERRED POSE - A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.03-08-2012
20130204271Systems and Methods for Controlling a Robotic Surgical System - A method comprises generating a command to move a surgical robotic manipulator to a predetermined safety configuration and locking the robotic manipulator in the safety configuration in response to receiving the command. The method further comprises detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration. If the mock instrument is detected, an override command is generated to unlock the robotic manipulator from the safety configuration.08-08-2013
20120071894ROBOTIC MEDICAL SYSTEMS AND METHODS - Systems and methods for robotically controlling flexible medical apparatus are described herein. In one embodiment, a robotic surgical system includes a flexible elongated member, a first member movably disposed around at least a portion of the flexible elongated member, a second member movably disposed around at least a portion of the first member, a drive assembly coupled to each of the flexible elongated member, the first member, and the second member, and a control interface for receiving an input command from a user, wherein the drive assembly is configured to automatically move one or both of the first member and the second member while maintaining the flexible elongated member at a fixed axial position in response to the received input command.03-22-2012
20130211419SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system includes a mobile base configured to be movably coupled to the operating room; a first robotic arm coupled to the mobile base and comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and a first element of a fluoroscopic imaging system comprising a source element and a detector element; a second element configured to be repositionable relative to a patient tissue structure that may be placed between the first and second elements; and a controller operatively coupled to the first robotic arm, the controller configured to receive signals from a sensing system operatively coupled to the controller, the sensing system configured to detect motion of one or more sensor elements coupled to each of the first and second elements of the fluoroscopic imaging system and determine a relative spatial positioning between each of the first and second elements.08-15-2013
20130211421INTEGRATED SURGERY METHOD - A method for conducting a medical procedure in an operating room includes the steps of using a first camera-based 3-D motion sensor mounted in a known position and orientation relative to a global coordinate system of the operating room to generate signals related to the 3-D position of a procedure object in the operating room based upon an outer shape of the procedure object relative to the first camera-based 3-D motion sensor; and automatically monitoring progress of the medical procedure with a controller based at least in part upon one or more positions of the procedure object relative to time as compared with a predetermined operational plan for moving the procedure object over time, the one or more positions based at least in part upon the signals from the first camera-based 3-D motion sensor.08-15-2013
20130211422COMPACT ROTARY ACTUATOR WITH INTERNAL PLANETARY - A rotary actuator for use in surgical instruments is provided, including a plurality of engine elements placed symmetrically around a rotation axis; a disk in contact with the engine elements, centered on the rotation axis, the engine elements providing a first rotation to the disk; an input shaft coupled to the disk to rotate with the first rotation; and a coupling mechanism to provide a second rotation to an output shaft from the first rotation of the input shaft. A surgical manipulator is also provided, including a base to provide stability and support; a first rotary actuator as above coupled to the base; and a first arm coupled to the rotary actuator.08-15-2013
20130211423LOW FRICTION CANNULA SEALS FOR MINIMALLY INVASIVE ROBOTIC SURGERY - Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.08-15-2013
20130211424ADJUSTABLE FIXATION SYSTEM FOR NEUROSURGICAL DEVICES - The system comprises at least a support (08-15-2013

Patent applications in class Stereotaxic device