Patent application number | Description | Published |
20090062813 | MEDICAL 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 |
20090099520 | Methods of fluid flow control with robotic surgical instruments for irrigation, aspiration, and blowing - In one embodiment of the invention, a first control signal is generated to control a robotic surgical instrument. The first control signal is then coupled into the robotic surgical instrument. In response to the first control signal, a first valve in the robotic surgical instrument is opened to flow a first fluid over a surgical site. | 04-16-2009 |
20100161129 | SYSTEM AND METHOD FOR ADJUSTING AN IMAGE CAPTURING DEVICE ATTRIBUTE USING AN UNUSED DEGREE-OF-FREEDOM OF A MASTER CONTROL DEVICE - An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated. | 06-24-2010 |
20100225209 | ERGONOMIC SURGEON CONTROL CONSOLE IN ROBOTIC SURGICAL SYSTEMS - 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. | 09-09-2010 |
20100228264 | ADAPTABLE 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 |
20120197182 | Robotic Surgical Systems With Fluid Flow Control For Irrigation, Aspiration, and Blowing - In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids. | 08-02-2012 |
20120221147 | CONTROL PANEL FOR AN ADJUSTABLE ERGONOMIC CONTROL CONSOLE - 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. | 08-30-2012 |
20120277663 | SURGICAL INSTRUMENT WITH ROBOTIC AND MANUAL ACTUATION FEATURES - In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses. | 11-01-2012 |
20120283745 | SELECTIVE 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 |
20120283876 | ADJUSTABLE ERGONOMIC CONTROL CONSOLE WITH USER LOGIN - 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 |
20130231681 | ADAPTABLE 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. | 09-05-2013 |
20140081455 | METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS - A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device. | 03-20-2014 |
20140180272 | FLUX TRANSMISSION CONNECTORS, SYSTEMS, AND METHODS - A surgical flux transmission conduit for operationally coupling a surgical flux supply pathway with a surgical flux delivery instrument may include a data signal transmission pathway, a surgical flux transmission pathway, and a connector interface. The connector interface can include a data signal transmission connector feature in communication with the data signal transmission pathway, and a surgical flux transmission connector feature in communication with the surgical flux transmission pathway. A surgical flux delivery instrument may include an electronic circuit encoded with identification data corresponding to the instrument and a connector interface configured to mate with the connector interface of the conduit. A surgical flux supply source may include a connector interface including a data signal transmission connector to receive a data signal from the instrument and a surgical flux transmission connector feature. | 06-26-2014 |
20140358161 | SYSTEMS AND METHODS FOR COMMANDED RECONFIGURATION OF A SURGICAL MANIPULATOR USING THE NULL-SPACE - Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center. | 12-04-2014 |