| Entries |
| Document | Title | Date |
|---|
| 20080200926 | Automatic 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 |
| 20080200927 | Automatic 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 |
| 20080200928 | Support for Steadying a Surgical Tool - Support or micromanipulator ( | 08-21-2008 |
| 20080208212 | Arrangement 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 |
| 20080215065 | Medical 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 |
| 20080215066 | Apparatus 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 |
| 20080215067 | MANIPULATORS 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 |
| 20080221590 | APPARATUS 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 |
| 20080221591 | METHODS, 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 |
| 20080221592 | MEDICAL 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 |
| 20080228195 | INSTRUMENT 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 |
| 20080228196 | SURGICAL 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 |
| 20080243141 | SURGICAL 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 |
| 20080243142 | Videotactic 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 |
| 20080249536 | INTERFACE 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 |
| 20080255583 | Method 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 |
| 20080255584 | Acetabular 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 |
| 20080255585 | Resiliently 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 |
| 20080262513 | INSTRUMENT 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 |
| 20080269777 | Method 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 |
| 20080269778 | Optically 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 |
| 20080269779 | SURGICAL 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 |
| 20080275466 | Dual 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 |
| 20080275467 | Intraoperative 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 |
| 20080281334 | Method and Device for Computer Assisted Distal Locking of Intramedullary Nails - A method for computer assisted localization of the distal locking holes ( | 11-13-2008 |
| 20080281335 | System 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 |
| 20080287962 | DETERMINING 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 |
| 20080287963 | METHODS 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 |
| 20080306490 | TRACKABLE 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 |
| 20080312663 | COMPUTER-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 |
| 20090005789 | Force 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 |
| 20090005790 | System 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 |
| 20090012530 | Insertable 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 |
| 20090012531 | HAPTIC 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 |
| 20090012532 | HAPTIC 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 |
| 20090012533 | Robotic 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 |
| 20090012534 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M | 01-08-2009 |
| 20090024140 | Surgical 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 |
| 20090024141 | ROTATIONAL 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 |
| 20090024142 | ROBOTIC 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 |
| 20090030428 | OPERATING 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 |
| 20090030429 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M | 01-29-2009 |
| 20090036900 | SURGERY 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 |
| 20090036901 | MEDICAL 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 |
| 20090036902 | INTERACTIVE 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 |
| 20090048610 | MEDICAL 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 |
| 20090048611 | SYSTEM 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 |
| 20090048612 | MODULAR 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 |
| 20090054908 | Surgical 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 |
| 20090054909 | METHODS 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 |
| 20090054910 | METHOD 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 |
| 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 |
| 20090062814 | MEDICAL 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 |
| 20090069821 | ROBOTIC 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 |
| 20090082782 | NEEDLE 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 |
| 20090082783 | CONTROL 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 |
| 20090082784 | Interventional 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 |
| 20090088772 | FIBER 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 |
| 20090088773 | METHODS 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 |
| 20090088774 | APPARATUS 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 |
| 20090088775 | METHODS 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 |
| 20090099576 | MINIMALLY 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 |
| 20090105725 | STEREOTACTIC 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 |
| 20090105726 | MEDICAL 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 |
| 20090105727 | HAND-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 |
| 20090112229 | MANIPULATOR 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 |
| 20090112230 | MANIPULATOR - 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 |
| 20090118742 | System 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 |
| 20090118743 | Instrument 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 |
| 20090131955 | METHODS 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 |
| 20090138025 | APPARATUS 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 |
| 20090143787 | Robotic 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 |
| 20090143788 | Navigation 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 |
| 20090149867 | CONTROLLED 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 |
| 20090157092 | RIBBED 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 |
| 20090157093 | SURGICAL 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 |
| 20090171370 | Navigation 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 |
| 20090171371 | MEDICAL 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 |
| 20090171372 | MEDICAL 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 |
| 20090171373 | MULTIFUNCTIONAL 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 |
| 20090171374 | MEDICAL 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 |
| 20090192519 | SURGICAL 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 |
| 20090192520 | TOOL 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 |
| 20090192521 | SURGICAL 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 |
| 20090192522 | FORCE 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 |
| 20090192523 | SYNTHETIC 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 |
| 20090192524 | SYNTHETIC 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 |
| 20090198253 | MEDICAL 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 |
| 20090209976 | SURGICAL 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 |
| 20090216247 | Sighting 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 (F | 08-27-2009 |
| 20090216248 | MANIPULATOR - 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 |
| 20090216249 | MANIPULATOR - 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 |
| 20090222022 | SURGICAL 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 |
| 20090240259 | System 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 |
| 20090248036 | CONTROLLING 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 |
| 20090248037 | MEDICAL 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 |
| 20090248038 | FORCE 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 |
| 20090248039 | Sterile 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 |
| 20090248040 | Coupler 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 |
| 20090248041 | ROBOTIC 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 |
| 20090248042 | MODEL 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 |
| 20090248043 | MECHANICAL 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 |
| 20090248044 | METHOD 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 |
| 20090248045 | ACTIVE 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 |
| 20090254097 | SYSTEM 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 |
| 20090254098 | VISUAL 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 |
| 20090259230 | Method 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 |
| 20090264898 | Steerable 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 |
| 20090264899 | Method 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 |
| 20090270880 | CLUTCH 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 |
| 20090287222 | Method 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 |
| 20090287223 | REAL-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 |
| 20090292298 | RECONFIGURABLE 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 |
| 20090292299 | OFFSET 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 |
| 20090306679 | METHOD 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 |
| 20090318935 | Percutaneous 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 |
| 20090326552 | MEDICAL 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 |
| 20090326553 | MEDICAL 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 |
| 20090326554 | SUPPORT 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 |
| 20090326555 | SUPPORT 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 |
| 20090326556 | MEDICAL 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 |
| 20090326557 | FRICTION 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 |
| 20100004663 | SURGICAL 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 |
| 20100010504 | SYSTEMS, 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 |
| 20100010505 | METHODS 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 |
| 20100010506 | Method 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 |
| 20100016865 | Gamma 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 |
| 20100023021 | Biological 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 |
| 20100030231 | SURGICAL 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 |
| 20100030232 | SYSTEM 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 |
| 20100030233 | SURGICAL 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 |
| 20100030234 | Tool 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 |
| 20100036393 | METHODS, 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 |
| 20100036394 | Magnetic 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 |
| 20100042111 | TRAJECTORY 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 |
| 20100042112 | STEREOTACTIC 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 |
| 20100057098 | Apparatus 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 |
| 20100057099 | LINEAR 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 |
| 20100063514 | Device 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 |
| 20100063515 | ERGONOMIC 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 |
| 20100063516 | Trajectory 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 |
| 20100069919 | Electronic 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 |
| 20100069920 | SEVEN 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 |
| 20100069921 | SYSTEM 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 |
| 20100076453 | SYSTEMS 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 |
| 20100076454 | POSITIONING DEVICE FOR POSITIONING AN OBJECT ON A SURFACE - The present invention relates to a positioning device for positioning an object ( | 03-25-2010 |
| 20100076455 | SURGICAL 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 |
| 20100082039 | METHOD 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 |
| 20100082040 | IMAGE 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 |
| 20100082041 | Passive 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 |
| 20100082042 | BIOLOGICAL 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 |
| 20100082043 | SURGICAL 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 |
| 20100087835 | WIRELESS 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 |
| 20100094312 | FORCE 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 |
| 20100106165 | RETENTION 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 |
| 20100114115 | FIBER 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 |
| 20100114116 | Medical 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 |
| 20100114117 | INSTRUMENT 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 |
| 20100121347 | Manipulator 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 |
| 20100125282 | Robotically 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 |
| 20100125283 | UNIVERSAL 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 |
| 20100125284 | REGISTERED 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 |
| 20100125285 | AUTOMATED 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 |
| 20100125286 | Surgical 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 |
| 20100130986 | SURGICAL 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 |
| 20100130987 | CATHETER 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 |
| 20100137880 | MULTI-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 |
| 20100137881 | Arrangement 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 |
| 20100137882 | System 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 |
| 20100145358 | DEVICE 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 |
| 20100152749 | Table-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 |
| 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 |
| 20100160930 | SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - The invention is directed to mainpulator assembly ( | 06-24-2010 |
| 20100168762 | Ophthalmic 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 |
| 20100168763 | CONFIGURATION 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 |
| 20100168764 | SYSTEM 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 |
| 20100168765 | SURGICAL 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 |
| 20100168766 | PUNCTURE 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 |
| 20100174293 | STERILE 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 |
| 20100179564 | MICROSTEREOTACTIC 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 |
| 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 |
| 20100185212 | SYSTEM 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 |
| 20100191250 | ROBOTIC 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 |
| 20100191251 | METHODS 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 |
| 20100198230 | MINIATURE 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 |
| 20100198231 | METHODS 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 |
| 20100198232 | MINIMALLY 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 |
| 20100204713 | MEDICAL ROBOTIC SYSTEM - A medical robotic system ( | 08-12-2010 |
| 20100204714 | MINIATURE 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 |
| 20100211081 | Microdrive 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 |
| 20100217278 | REAL-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 |
| 20100217279 | Marking 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 |
| 20100217280 | Method 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 |
| 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 |
| 20100228265 | Operator 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 |
| 20100228266 | Master 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 |
| 20100234856 | ROTATING 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 |
| 20100234857 | MEDICAL 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 |
| 20100241135 | MANIPULATOR 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 |
| 20100241136 | INSTRUMENT 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 |
| 20100241137 | HAND-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 |
| 20100241138 | SURGICAL 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 |
| 20100249800 | BI-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 |
| 20100262160 | Adjustable 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 |
| 20100262161 | ARTICULATING 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 |
| 20100262162 | MEDICAL 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 |
| 20100268248 | Scaled 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 |
| 20100268249 | SURGICAL 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 |
| 20100268250 | SURGICAL 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 |
| 20100280525 | FLEXIBLE 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 |
| 20100280526 | Medical 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 |
| 20100286710 | Device 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 |
| 20100286711 | HAND 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 |
| 20100286712 | BED 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 |
| 20100286713 | Image 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 |
| 20100292706 | NOVEL 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 |
| 20100292707 | Sterile Barrier For A Surgical Robot With Torque Sensors - The invention relates to a sterile barrier (S) for a surgical robot ( | 11-18-2010 |
| 20100292708 | Articulated 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 |
| 20100298843 | CLEANING 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 |
| 20100298844 | POLARIZATION 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 |
| 20100298845 | REMOTE 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 |
| 20100298846 | ADJUSTABLE 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 |
| 20100305580 | Instrument 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 |
| 20100318099 | VIRTUAL 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 |
| 20100318100 | MEDICAL 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 |
| 20100318101 | COUPLING 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 |
| 20100331855 | Efficient 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 |
| 20100331856 | MULTIPLE 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 |
| 20100331857 | FLEXIBLE 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 |
| 20100331858 | SYSTEMS, 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 |
| 20100331859 | MEDICAL 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 |
| 20100331860 | MANIPULATOR 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 |
| 20110004224 | TRACKING 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 |
| 20110004225 | SURGICAL 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 |
| 20110009879 | APPARATUS FOR STEREOTACTIC NEUROSURGERY - A skull mount ( | 01-13-2011 |
| 20110009880 | Control 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 |
| 20110015647 | POSITIONING 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 |
| 20110015648 | ENDOSCOPIC 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 |
| 20110015649 | Surgical 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 |
| 20110015650 | INSTRUMENT 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 |
| 20110022060 | SURGICAL 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 |
| 20110028988 | SELECTIVE COMPLIANCE WIRE ACTUATED MOBILE PLATFORM, PARTICULARLY FOR ENDOSCOPIC SURGICAL DEVICES - A wire-operated selective compliance mobile platform ( | 02-03-2011 |
| 20110028989 | NAVIGATION 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 |
| 20110028990 | Multi-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 |
| 20110028991 | Cardiac 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 |
| 20110028992 | SURGERY 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 |
| 20110034940 | SYSTEMS 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 |
| 20110040304 | Three-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 |
| 20110040305 | CONTROLLER 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 |
| 20110040306 | Medical 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 |
| 20110046636 | Surgical 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 |
| 20110046637 | SENSORIZED 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 |
| 20110060345 | SURGICAL 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 |
| 20110060346 | SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - The invention is directed to a system and method for releasably holding a surgical instrument ( | 03-10-2011 |
| 20110060347 | Device 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 |
| 20110066161 | Multi-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 |
| 20110071541 | CURVED 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 |
| 20110071542 | CURVED 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 |
| 20110071543 | CURVED 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 |
| 20110071544 | CURVED 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 |
| 20110077663 | Magnetoelectric 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 |
| 20110082467 | SURGICAL 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 |
| 20110082468 | SURGICAL 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 |
| 20110082469 | A 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 |
| 20110087236 | LAPAROSCOPIC 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 |
| 20110087237 | METHOD 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 |
| 20110087238 | METHOD 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 |
| 20110092983 | MRI 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 |
| 20110092984 | Real-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 |
| 20110098721 | ADJUSTABLE 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 |
| 20110098722 | Stereotactic Therapy System - A fiducial marker system ( | 04-28-2011 |
| 20110106102 | Surgical 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 |
| 20110112549 | ULTRASOUND 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 |
| 20110118748 | PATIENT-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 |
| 20110118749 | METHOD 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 |
| 20110118750 | UNIVERSAL 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 |
| 20110118751 | Integrated 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 |
| 20110118752 | METHOD 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 |
| 20110118753 | MASTER 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 |
| 20110118754 | MOTOR 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 |
| 20110118755 | Flexible 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 |
| 20110118756 | INTERCHANGEABLE 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 |
| 20110125165 | SYSTEM 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 |
| 20110125166 | Flexible 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 |
| 20110137322 | Cooperative 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 |
| 20110144656 | ROBOTICALLY 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 |
| 20110144657 | SYSTEMS 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 |
| 20110144658 | CATHETER 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 |
| 20110144659 | N 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 |
| 20110152878 | INTERFACE 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 |
| 20110152879 | INSTRUMENT 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 |
| 20110152880 | FLEXIBLE 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 |
| 20110152881 | CONTROL 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 |
| 20110152882 | CATHETER 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 |
| 20110152883 | APPARATUS 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 |
| 20110160744 | Optically-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 |
| 20110160745 | Frame 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 |
| 20110172680 | OPTICAL 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 |
| 20110178531 | Control 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 |
| 20110178532 | System 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 |
| 20110190787 | IMAGE 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 |
| 20110190788 | ROBOTIC 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 |
| 20110190789 | ADJUSTABLE STEREOTACTIC DEVICE AND METHOD FOR FRAMELESS NEUROSURGICAL STEREOTAXY - The system comprises at least three anchors ( | 08-04-2011 |
| 20110190790 | Method 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 |
| 20110196385 | ABLATED 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 |
| 20110202068 | MEDICAL 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 |
| 20110202069 | METHOD 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 |
| 20110202070 | ENDOLUMINAL 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 |
| 20110213383 | SURGICAL 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 |
| 20110213384 | SURGICAL 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 |
| 20110218550 | SYSTEM 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 |
| 20110218551 | INSTRUMENT 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 |
| 20110224683 | METHOD 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 |
| 20110224684 | ROBOTIC 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 |
| 20110224685 | ROBOTIC 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 |
| 20110224686 | ROBOTIC 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 |
| 20110224687 | ROBOTIC 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 |
| 20110224688 | ROBOTIC 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 |
| 20110224689 | ROBOTIC 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 |
| 20110230894 | SYSTEMS, 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 |
| 20110230895 | ADJUSTABLE 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 |
| 20110230896 | 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 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 |
| 20110238079 | Surgical 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 |
| 20110238080 | Robotic 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 |
| 20110238081 | SURGICAL 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 |
| 20110238082 | REMOTE 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 |
| 20110238083 | ROBOTIC 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 |
| 20110238084 | SURGICAL 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 |
| 20110245844 | MEDICAL 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 |
| 20110251624 | NEEDLE-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 |
| 20110251625 | MEDICAL 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 |
| 20110257661 | SURGICAL 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 |
| 20110264107 | Navigated 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 |
| 20110264108 | Software 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 |
| 20110264109 | Software 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 |
| 20110264110 | Software 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 |
| 20110264111 | Software 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 |
| 20110264112 | Software 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 |
| 20110264113 | SURGICAL 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 |
| 20110264114 | SURGICAL 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 |
| 20110270270 | METHOD 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 |
| 20110270271 | Software 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 |
| 20110270272 | MEDICAL 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 |
| 20110270273 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGICAL OPERATIONS - A robotic surgical system ( | 11-03-2011 |
| 20110276057 | COMPOUND 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 |
| 20110276058 | SURGICAL 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 |
| 20110276059 | Software 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 |
| 20110282355 | POSITIONING 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 |
| 20110282356 | SURGICAL 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 |
| 20110282357 | SURGICAL 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 |
| 20110282358 | SURGICAL 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 |
| 20110282359 | SURGICAL 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 |
| 20110282360 | ROBOTIC 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 |
| 20110288560 | SYSTEM 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 |
| 20110288561 | WIRELESS 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 |
| 20110295267 | SYSTEM 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 |
| 20110295268 | SYSTEM 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 |
| 20110295269 | ROBOTICALLY-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 |
| 20110295270 | SURGICAL 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 |
| 20110295271 | APPARATUS 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 |
| 20110301615 | CATHETER 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 |
| 20110301616 | MULTIFUNCTIONAL 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 |
| 20110306985 | Surgical 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 |
| 20110306986 | SURGICAL 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 |
| 20110313428 | Bracing 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 |
| 20110319910 | METHODS 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 |
| 20110319911 | REMOTELY 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 |
| 20110319912 | NAVIGATION SYSTEM FOR REMOTE-CONTROLLED ACTUATOR - A remote controlled actuator ( | 12-29-2011 |
| 20110319913 | APPARATUS 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 |
| 20120004668 | 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 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 |
| 20120010628 | Sheaths 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 |
| 20120010629 | SURGICAL 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 |
| 20120022552 | Method 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 |
| 20120022553 | Side 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 |
| 20120022554 | SURGICAL INSTRUMENT - The invention relates to a surgical instrument ( | 01-26-2012 |
| 20120029529 | MEDICAL 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 |
| 20120035617 | ARTICULABLE 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 |
| 20120041450 | MINIMAL 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 |
| 20120046668 | ROBOTIC 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 |
| 20120046669 | RETROGRADE 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 |
| 20120059390 | INDICATOR 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 |
| 20120059391 | APPLICATION 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 |
| 20120059392 | METHOD 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 |
| 20120065645 | PROTECTIVE 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 |
| 20120071891 | METHOD 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 |
| 20120071892 | METHOD 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 |
| 20120071893 | Robotic 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 |
| 20120071894 | ROBOTIC 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 |
| 20120071895 | ANTI-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 |
| 20120083799 | INTERFACE 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 |
| 20120083800 | SYSTEMS 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 |
| 20120083801 | TOOL 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 |
| 20120083802 | OFFSET 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 |
| 20120089154 | SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - A manipulator assembly ( | 04-12-2012 |
| 20120089155 | SURGERY 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 |
| 20120101508 | METHOD 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 |
| 20120109150 | HAPTIC 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 |
| 20120109151 | System 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 |
| 20120109152 | SYSTEM 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 |
| 20120116416 | Medical Workstation - The invention relates to a medical work station ( | 05-10-2012 |
| 20120116417 | Systems 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 |
| 20120123441 | TENSION 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 |
| 20120130399 | Cooperative 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 |
| 20120130400 | FLEXIBLE 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 |
| 20120130401 | ERGONOMIC AND SEMI-AUTOMATIC MANIPULATOR, AND APPLICATIONS TO INSTRUMENTS FOR MINIMALLY INVASIVE SURGERY - A manipulator includes a control unit ( | 05-24-2012 |
| 20120136370 | MEDICAL 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 |
| 20120136371 | SYSTEMS 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 |
| 20120136372 | Robotic 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 |
| 20120136373 | Tools 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 |
| 20120143211 | SURGICAL 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 |
| 20120143212 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M | 06-07-2012 |
| 20120143213 | Surgical 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 |
| 20120150192 | METHOD 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 |
| 20120158011 | PROXIMITY 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 |
| 20120158012 | SYSTEM 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 |
| 20120158013 | Surgical 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 |
| 20120158014 | Surgical 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 |
| 20120158015 | INSERTABLE 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 |
| 20120158016 | AUTOMATIC 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 |
| 20120158017 | SEVEN 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 |
| 20120165828 | ALTERNATE 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 |
| 20120165829 | MEDICAL 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 |
| 20120165830 | METHOD 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 |
| 20120172893 | OPTICAL 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 |
| 20120179166 | PATIENT 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 |
| 20120179167 | ROBOTIC 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 |
| 20120179168 | METHODS, 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 |
| 20120179169 | USER 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 |
| 20120184968 | ROBOTIC 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 |
| 20120191107 | SYSTEMS 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 |
| 20120197266 | INSTRUMENTATION 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 |
| 20120203247 | ROBOTICALLY-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 |
| 20120209287 | METHOD 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 |
| 20120209288 | Indicator 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 |
| 20120209289 | SEALS 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 |
| 20120209290 | RIGIDLY 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 |
| 20120209291 | Surgical 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 |
| 20120209292 | Telescoping 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 |
| 20120209293 | Robotic 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 |
| 20120221016 | Path-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 |
| 20120221017 | METHODS 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 |
| 20120232566 | STERILE 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 |
| 20120239058 | SURGICAL 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 |
| 20120239059 | Computer 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 |
| 20120239060 | Disposable 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 |
| 20120245595 | System 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 |
| 20120245596 | Surgical 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 |
| 20120253360 | MOTION 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 |
| 20120253361 | Microdrive for Use in Stereotactic Surgery - Instrument ( | 10-04-2012 |
| 20120259345 | IN 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 |
| 20120265214 | LOCKING 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 |
| 20120265215 | SYSTEMS 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 |
| 20120271318 | ROBOT 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 |
| 20120271319 | CATHETER 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 |
| 20120277762 | DEXTEROUS 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 |
| 20120277763 | DYNAMIC ABLATION DEVICE - In an interventional ablation therapy planning system ( | 11-01-2012 |
| 20120277764 | MODULAR 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 |
| 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 |
| 20120283746 | Mobile 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 |
| 20120283747 | HUMAN-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 |
| 20120289973 | INSTRUMENT 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 |
| 20120289974 | INSTRUMENT 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 |
| 20120296341 | SURGICAL 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 |
| 20120303044 | Systems 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 |
| 20120310252 | SURGICAL 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 |
| 20120310253 | SURGICAL 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 |
| 20120310254 | SURGICAL 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 |
| 20120310255 | SURGICAL 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 |
| 20120310256 | GRIP 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 |
| 20120310257 | SYSTEMS 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 |
| 20120310258 | COCHLEAR 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 |
| 20120316573 | POSITIVE 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 |
| 20120316574 | Medical 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 |
| 20120316575 | SYSTEM 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 |
| 20120323255 | LOCALIZATION 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 |
| 20120323256 | ROBOTIC 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 |
| 20120330325 | Indicator 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 |
| 20130006267 | Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes - A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and/or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone. | 01-03-2013 |
| 20130006268 | USER INTERFACE METHODS FOR ALTERNATE TOOL MODES 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. | 01-03-2013 |
| 20130006269 | MEDICAL INSTRUMENT - A hydraulically actuated medical instrument includes an elongated shaft having proximal and distal ends, a hydraulically actuated end effector at the distal end of the shaft and a fluid flow path extending through the shaft to the end effector. The end effector may be directly manually operated by way of a handle located at the proximal end of the shaft or remotely, for example, via robotic controller. Articulation joints may be provided along the shaft, between the shaft and end effector or handle, or elsewhere. The hydraulic actuation of the present invention permits multiple axis instrument articulation, miniaturization and simplified instrument fabrication. | 01-03-2013 |
| 20130006270 | FLOW CONTROL IN COMPUTER-ASSISTED SURGERY BASED ON MARKER POSITION - The invention is in particular directed to a data processing method for use in computer-assisted surgery, comprising the following steps: a) providing marker data which describe a spatial arrangement of at least one marker device and/or a change in a relative spatial arrangement of at least two marker devices ( | 01-03-2013 |
| 20130012957 | AUTOMATED 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 |
| 20130012958 | Surgical 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 |
| 20130012959 | MEDICAL 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 |
| 20130018388 | Assembly 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 |
| 20130023898 | MINIMALLY 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 |
| 20130023899 | METHOD 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 |
| 20130023900 | REMOTE-CONTROLLED ACTUATOR ASSEMBLY - A remote controlled actuator assembly includes an elongated guide section ( | 01-24-2013 |
| 20130030448 | OFFSET 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 |
| 20130030449 | RIGIDLY-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 |
| 20130035696 | METHOD 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 |
| 20130035697 | MEDICAL 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 |
| 20130046317 | MEDICAL 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 |
| 20130046318 | Surgical 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 |
| 20130053866 | SURGICAL ROBOT WITH HYBRID PASSIVE/ACTIVE CONTROL - A surgical robot with seven degrees of freedom, including various types of joints, offers a hybrid active-passive control for operation both manually and by programmed navigation. One of the degrees of freedom allows the robot to be moved efficiently around the axis of a patient's body to provide ample workspace for surgical procedures in an operating room. | 02-28-2013 |
| 20130053867 | STEREOTACTIC ACCESS DEVICES AND METHODS - This invention is directed to devices and methods for stereotactic access, and particularly to a frameless stereotactic access device for accessing a body cavity and methods therefor. In general, a stereotactic device may include portions or features for fixing the device to a portion of a patient's body, such as, for example, a skull, such that the device may be generally spatially fixed in relation to the patient's body or part thereof. The stereotactic device may also generally include portions or features for guiding a medical device or other device at a particular trajectory in relation to the patient's body or part thereof. | 02-28-2013 |
| 20130053868 | SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY - A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. 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 guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled. | 02-28-2013 |
| 20130060260 | Multi-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 |
| 20130066332 | Surgical 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 |
| 20130066333 | SURGICAL 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 |
| 20130066334 | Axial 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 |
| 20130066335 | METHOD 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 |
| 20130072943 | EM 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 |
| 20130072944 | AUTOMATED 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 |
| 20130079799 | PRECISE 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 |
| 20130085509 | METHODS 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 |
| 20130085510 | ROBOT-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 |
| 20130085511 | Novel 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 |
| 20130090668 | HYDRAULIC 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 |
| 20130096572 | CATHETER 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 |
| 20130096573 | SYSTEM 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 |
| 20130096574 | SYSTEM 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 |
| 20130096575 | SYSTEM 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 |
| 20130096576 | MODULAR 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 |
| 20130103050 | GRIP 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 |
| 20130103051 | Method 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 |
| 20130110128 | MAGNETIC END EFFECTOR AND DEVICE FOR GUIDING AND POSITIONING THE SAME | 05-02-2013 |
| 20130110129 | Surgical Instrument Motor Pack Latch | 05-02-2013 |
| 20130110130 | METHODS FOR MAXIMUM TORQUE DRIVING OF ROBOTIC SURGICAL TOOLS | 05-02-2013 |
| 20130110131 | Articulated Surgical Instrument for Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity | 05-02-2013 |
| 20130116705 | Steerable Delivery Sheaths - Steerable medical delivery devices and their methods of use. | 05-09-2013 |
| 20130116706 | SURGICAL ROBOT AND CONTROL METHOD THEREOF - A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot. | 05-09-2013 |
| 20130116707 | ROBOT STRUCTURE - A robot structure, in particular for minimally invasive surgery, is provided with a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and/or cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis. The robot structure further has a force transmitting device for moving the grasping and/or cutting elements of the movable robot element and at least one sensor element comprising a sensitive end for receiving forces and/or torques that occur on the movable robot element and includes a base element that is fixed to the first robot element. | 05-09-2013 |
| 20130123798 | APPARATUS, 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 |
| 20130123799 | METHOD 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 |
| 20130123800 | Surgical 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 |
| 20130123801 | METHOD 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 |
| 20130123802 | MOTIVE 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 |
| 20130123803 | Robotic 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 |
| 20130123804 | DEVICE 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 |
| 20130123805 | SHEATH 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 |
| 20130131694 | ROBOTIC 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 |
| 20130131695 | ROBOTIC 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 |
| 20130138118 | POWERED 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 |
| 20130144306 | Surgical 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 |
| 20130144307 | SURGICAL 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 |
| 20130150865 | MEDICAL 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 |
| 20130150866 | METHOD 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 |
| 20130158565 | AUTOMATED 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 |
| 20130165945 | METHODS 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 |
| 20130165946 | APPARATUS 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 |
| 20130165947 | CONNECTION 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 |
| 20130165948 | ROBOTIC CONTROL OF AN ENDOSCOPE FROM BLOOD VESSEL TREE IMAGES - A robot guiding system employs a robot unit ( | 06-27-2013 |
| 20130172902 | Neural 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 |
| 20130172903 | Surgical 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 |
| 20130172904 | Interactive 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 |
| 20130172905 | SYSTEMS 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 |
| 20130172906 | Intuitive 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 |
| 20130172907 | SYSTEM 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 |
| 20130172908 | MEDICAL 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 |
| 20130178867 | Robotic 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 |
| 20130178868 | SURGICAL 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 |
| 20130178869 | Pneumatic 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 |
| 20130178870 | ROBOTIC 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 |
| 20130190774 | MECHANICAL 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 |
| 20130190775 | EXPANDABLE 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 |
| 20130197538 | ROBOTIC 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 |
| 20130197539 | DEVICES, 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 |
| 20130197540 | DEVICES, 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 |
| 20130197541 | EXTENDABLE 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 |
| 20130197542 | METHOD 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 |
| 20130197543 | ROBOTIC 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 |
| 20130204271 | Systems 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 |
| 20130204272 | METHOD 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 |
| 20130211418 | APPARATUS 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 |
| 20130211419 | SYSTEM 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 |
| 20130211420 | METHOD 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 |
| 20130211421 | INTEGRATED 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 |
| 20130211422 | COMPACT 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 |
| 20130211423 | LOW 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 |
| 20130211424 | ADJUSTABLE FIXATION SYSTEM FOR NEUROSURGICAL DEVICES - The system comprises at least a support ( | 08-15-2013 |
| 20130218171 | MEDICAL 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 |
| 20130218172 | MEDICAL 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 |
| 20130226197 | CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM - A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position. | 08-29-2013 |
| 20130231678 | ROBOTIC CATHETER SYSTEM WITH VARIABLE DRIVE MECHANISM - A robotic catheter procedure system is provided. The robotic catheter procedure system includes a bedside system and a remote workstation. The bedside system includes a percutaneous device and a drive mechanism configured to engage and to impart an axial force to the percutaneous device and to advance and retract the percutaneous device. The bedside system includes an actuator providing torque to the drive mechanism to impart the axial force to the percutaneous device, and the torque provided by the actuator is variable. The remote workstation includes a user interface configured to receive a first user input and a control system operatively coupled to the user interface. The control system is configured to communicate a control signal to the actuator. The control signal is based upon the first user input and a second input, and the actuator provides torque to the drive mechanism in response to the control signal. | 09-05-2013 |
| 20130231679 | 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 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. | 09-05-2013 |
| 20130231680 | METHOD 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 after a delay. 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. | 09-05-2013 |
| 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 |
| 20130231682 | INSTRUMENT FOR A MANIPULATOR ARM OF AN ENDOSCOPIC ROBOT - An instrument for a manipulator arm of an endoscopic robot is provided. The instrument has a treatment head for carrying out a medical measure in a patient, an instrument base carrying the treatment head, a coupling element that can be fastened to the manipulator arm, and a sterilizable sleeve enclosing the instrument and having at least one opening which can be sealingly placed on the instrument base. The coupling element protrudes from the opening. | 09-05-2013 |
| 20130231683 | APPARATUS 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. | 09-05-2013 |
| 20130237995 | SURGERY ROBOT SYSTEM, SURGERY APPARATUS AND METHOD FOR PROVIDING TACTILE FEEDBACK - A surgery robot system provides tactile feedback. The surgery robot system includes a master robot and a slave robot mounted with a surgery tool including at least one tactile sensor that generates a tactile signal upon contact with a surgery region. The master robot is adapted to generate a control signal to control operation of the surgery tool and to receive and reproduce the tactile signal from the slave robot. | 09-12-2013 |
| 20130245640 | DEVICE AND SYSTEM FOR NARROW GAUGE MEDICAL INSTRUMENT NAVIGATION - A device and system for medical instrument navigation is provided including a handle, a stylet having a distal end, a proximal end and an axially disposed aperture, the proximal end affixed to the handle. A navigation sensor capable of registering positional information is disposed adjacent to the handle for tracking the location of the handle. A pair of thin fibers forming an optic cable is disposed in the aperture, wherein the optic cable measures deflection and the location and direction of the distal end of the stylet relative to the electromagnetic sensor. An interrogator is coupled to the optic cable. The navigation sensor reports its position in space while the interrogator reports the amount and direction of the deflection of the distal end of the stylet in relation to the navigation sensor. A processor analyzes data to determine the location of the distal end of the stylet in space. | 09-19-2013 |
| 20130245641 | RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT - A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip. | 09-19-2013 |
| 20130253533 | ROBOTIC SURGICAL SYSTEM WITH MECHANOMYOGRAPHY FEEDBACK - A robotic surgical system for performing a surgical procedure within the body of a subject includes an elongate surgical instrument, a robotic controller configured to control the motion of the distal end portion of the surgical instrument, and a mechanomyography feedback system in communication with the robotic controller. The mechanomyography feedback system includes a mechanical sensor configured to monitor a physical motion of a muscle and to provide a mechanomyography signal corresponding to the monitored physical motion. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced muscle response, and to provide a control signal to the robotic controller if an induced muscle response is detected. | 09-26-2013 |
| 20130253534 | APPARATUS 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 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. | 09-26-2013 |
| 20130261640 | SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME - A robot system including a surgical robot inserted into a subject may include: a photographing device that is disposed on an end portion of the surgical robot, is inserted into a body part of the subject, which is to be treated, and captures a real-time image with a resolution at which the body part to be treated may be observed in units of cells; a control device that receives a control signal for controlling the surgical robot by referring to the real-time image received from the photographing device; and an energy generating device that is disposed adjacent to the photographing device, and transmits energy to a region corresponding to the body part to be treated which is being photographed by the photographing device according to the control signal. | 10-03-2013 |
| 20130267963 | MEDICAL INSTRUMENT GUIDING DEVICE WITH AN INTEGRATED GUIDE BALL - A medical instrument guiding device includes a body base component, and a guide body upper component assembled to the body base component. The guide body upper component has a substantially semi-spherical shape to house a medical instrument guide ball resting on a friction surface located within the body base component. The surface of the guide body upper component includes a cut out working area, and a surface of the medical instrument guide ball is exposed by the cut out working area. A medical instrument port is arranged on a truncated surface of the medical instrument guide ball, and a medical instrument may be passed through the medical instrument port. The medical instrument guide ball permits the medical instrument to be moved in three dimensions. The medical instrument port permits the medical instrument to be advanced into a patient. | 10-10-2013 |
| 20130267964 | CANNULA MOUNTING FIXTURE - A cannula mounting fixture may include a base, a first arm with a first cannula mounting bracket and a second arm with a second cannula mounting bracket. The first arm may be coupled to the base so that a first cannula mounted at the first mounting bracket is positioned within an opening in a patient's body. The second arm may be coupled to the base and includes a joint that allows a second cannula mounted at the second mounting bracket to be inserted through the opening. A cannula stabilizing fixture may include a base and a repositionable arm. The base may be configured to be securely and removably coupled to a first cannula that extends into an opening in a patient's body. The repositionable arm may include a first cannula holder coupled to the base and is configured to support a second cannula that extends into the opening. | 10-10-2013 |
| 20130274760 | ROBOTIC FASTENING SYSTEM - An improved apparatus and method of securing body tissue may be performed with a robotic mechanism. The robotic mechanism may be utilized to tension a suture with a predetermined force and urge a suture retainer toward body tissue with a predetermined force. Ultrasonic vibratory energy may be transmitted to the suture retainer to effect a gripping of the suture by the suture retainer. The body tissue may be secured with a staple. Legs of the staple may be bonded together to secure the staple. The legs of the staple may be bonded together by transmitting ultrasonic vibratory energy to the legs of the staple. A tissue positioning assembly may be used to hold the body tissue in a desired position. Images of the body tissue being secured may be obtained using various known devices including one or more endoscopes, a fluoroscope, a magnetic resonance imaging device, and/or other known imaging devices. | 10-17-2013 |
| 20130274761 | Wireless 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. | 10-17-2013 |
| 20130282021 | CLIP APPLIER ADAPTED FOR USE WITH A SURGICAL ROBOT - A clip applier adapted for use with a surgical robot is disclosed. The clip applier comprises a shaft having clips stored therein and jaws adapted for receiving a clip from the shaft. The shaft is in mechanical communication with a robotic mounting portion. The robotic mounting portion contains a gear drive assembly for rotating the shaft, feeding clips into the jaws and forming clips in the jaws. | 10-24-2013 |
| 20130282022 | Manipulator For Surgical Tools - The invention is a novel compact robotic manipulator with a special configuration that supports a remote center-of-motion attribute, so it has the ability to accurately and conveniently manipulate and re-orient in 2 degrees of freedom, and to firmly “lock” in place, special purpose surgical tools necessary for minimally invasive therapy. The new features include a sophisticated joint-link structure and configuration that comprises two arcuate links that enable comfortable maneuverability of the end effector or the tool about a pivot point, typically the port of entry of the tool to the patient's body, while preventing the enlargement of the key hole, in the constrained and limited workspace of surgical environments. Also the configuration of the joints provides an open structure that keeps the robots' main parts out of the surgeon's field of view and out of the work area, providing sufficient space in the vicinity of the operative field, or the entry port of the tool to the patient's internal organs. The manipulator can be used in manual, autonomous or remote-control modes. | 10-24-2013 |
| 20130282023 | DOUBLE UNIVERSAL JOINT - Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft. | 10-24-2013 |
| 20130282024 | POLARIZATION 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. | 10-24-2013 |
| 20130289579 | MAGNETIC-ANCHORED ROBOTIC SYSTEM - A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes. | 10-31-2013 |
| 20130289580 | MAGNETIC-ANCHORED ROBOTIC SYSTEM - A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes. | 10-31-2013 |
| 20130289581 | MAGNETIC-ANCHORED ROBOTIC SYSTEM - A robotic actuator includes an internal anchor and an instrument. The internal anchor is adapted to be inserted into a body via an entrance port, positioned inside the body, and magnetically coupled with an external anchor positioned outside the body. The instrument is adapted to be inserted into the body via the entrance port and secured to the internal anchor. The instrument includes an end-effector having multiple degrees of movement via multiple axes, and a plurality of actuators that provide the multiple degrees of movement. | 10-31-2013 |
| 20130296882 | APPARATUS FOR SURGERY - A surgical manipulator comprising: a master module configured to be controlled by a user; a slave module configured to move according to movement of the master module; and a transmission module comprising gears and configured to operably connect the master module and the slave module. | 11-07-2013 |
| 20130296883 | AUTOMATED DETECTION, DIAGNOSTIC AND THERAPEUTIC METHOD AND 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. | 11-07-2013 |
| 20130296884 | METHOD AND APPARATUS FOR ROBOTICALLY ASSISTED COCHLEAR IMPLANT SURGERY - A novel sensing system and methods for preventing damage to the cochlea during cochlear implant surgery are disclosed, using optical sensing to determine the distance of a stylet or the end of the implant itself from the interior wall of the scalar tympani. A variety of feedback methods are proposed to enable the surgeon to perform the procedure safely without damage to the basilar membrane or other delicate anatomic structures. Although a number of embodiments are disclosed, one preferred embodiment comprises a robotically manipulated end-effector. | 11-07-2013 |
| 20130296885 | ACTUATED STEERABLE PROBE AND SYSTEMS AND METHODS OF USING SAME - A steerable probe having high-power-density actuators positioned at joints along the length of the probe. The actuators are moveable about and between a straight position and a curved position in response to selective actuation. | 11-07-2013 |
| 20130296886 | SURGICAL MANIPULATOR FOR A TELEROBOTIC SYSTEM - The invention is directed to mainpulator assembly ( | 11-07-2013 |
| 20130304083 | Medical Instrument with Bendable Shaft - An articulation device for a medical instrument includes a coupling for releasable mechanical connection of the articulation device to a tool or to the distal end of a shaft, a locking device on the coupling for locking the mechanical connection, and an articulation, which enables the coupling to be angled relative to an end of the articulation device remote from the coupling. The locking device is designed such that the mechanical connection is locked in a predetermined working angular position of the articulation and is releasable in a predetermined release angular position of the articulation. | 11-14-2013 |
| 20130304084 | MECHANICAL MANIPULATOR FOR SURGICAL INSTRUMENTS - A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition). The unique design of the proposed system provides an intuitive user interface to achieve such enhanced manoeuvrability, allowing each joint of a teleoperated slave system to be driven by controlling the position of a mechanically connected master unit. | 11-14-2013 |
| 20130304085 | ROBOTIC SYSTEM FOR ENGAGING A FASTENER WITH BODY TISSUE - An improved apparatus and method of securing body tissue may be performed with a robotic mechanism. The robotic mechanism may be utilized to tension a suture with a predetermined force and urge a suture retainer toward body tissue with a predetermined force. Ultrasonic vibratory energy may be transmitted to the suture retainer to effect a gripping of the suture by the suture retainer. The body tissue may be secured with a staple. Legs of the staple may be bonded together to secure the staple. The legs of the staple may be bonded together by transmitting ultrasonic vibratory energy to the legs of the staple. A tissue positioning assembly may be used to hold the body tissue in a desired position. Images of the body tissue being secured may be obtained using various known devices including one or more endoscopes, a fluoroscope, a magnetic resonance imaging device, and/or other known imaging devices. | 11-14-2013 |
| 20130304086 | ROBOTIC 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. | 11-14-2013 |
| 20130304087 | MANIPULATOR - A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom. | 11-14-2013 |
| 20130310847 | FRICTION 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. | 11-21-2013 |
| 20130310848 | HANDLE ASSEMBLY FOR ENDOSCOPIC SUTURING DEVICE - A handle assembly for operating an articulatable surgical instrument is provided and includes a housing; an actuation shaft translatably and rotatably supported in the housing; a first trigger supported on the housing and connected to the actuation shaft, the first trigger being configured to translate the actuation shaft to operate a first function of the surgical instrument; a second trigger supported on the housing and connected to the actuation shaft, the second trigger being configured to rotate the actuation shaft to operate a second function of the surgical instrument; and a second-trigger release supported in the housing, the second-trigger release having a first position blocking actuation of the second trigger and a second position permitting actuation of the second trigger, where the second-trigger release is actuated from the first position to the second position upon and complete actuation of the first trigger. | 11-21-2013 |
| 20130317519 | LOW FRICTION INSTRUMENT DRIVER INTERFACE FOR ROBOTIC SYSTEMS - A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion. | 11-28-2013 |
| 20130317520 | SURGICAL IMPLEMENT AND MANIPULATION SYSTEM INCLUDING THE SAME - A surgical implement and a manipulation system including the surgical implement may include at least one instrument including at least one joint portion. The joint portion may include a first part, a second part connected to the first part, and a force applying element for applying a force for bending (or rotating) the second part. A distance between a joint point and a force application point where a force is applied may be greater than a diameter of at least one of the first part and the second part. The instrument may further include a second joint portion spaced apart from the joint portion, and a surgical tool connected to an end portion of the second joint portion. The manipulation system may include a supporting structure, at least one instrument supported by the supporting structure, and an operating device for operating the instrument. | 11-28-2013 |
| 20130317521 | SUPPORTER DEVICE AND SURGICAL ROBOT SYSTEM INCLUDING THE SAME - A supporter device supports an instrument which is inserted in an object. The supporter device includes a base member having an insertion region through which the instrument passes, a movable member installed on the base member so as to move around the insertion region, and a pivot member installed to be pivotable based on a pivot axis that passes through the insertion region, wherein the instrument may be mounted on the pivot member. A movable central axis of the movable member and an extension axis of the instrument may cross at a single crossed point. | 11-28-2013 |
| 20130317522 | MULTI-DEGREE-OF-FREEDOM FORCEPS - A multi-degree-of-freedom forceps includes a insertion portion that has a first bending portion and a second bending portion connected to each other at both ends via an operating member; a treatment portion that is attached to the first bending portion and is used for tissue treatment; and an operating portion that is attached to the second bending portion to bend the second bending portion to thereby bend the first bending portion. The operating portion has a handle body capable of being swung relative to the insertion portion with the second bending portion as an operation center. The handle body has a grip portion that is gripped by a user in use. The grip portion is provided around the operation center or closer to the insertion portion side than the operation center. | 11-28-2013 |
| 20130317523 | Total Knee Arthroplasty Apparatus and Method of Use - A bicruciate-retaining femoral implant component for a knee implant system comprises a first surface comprising two distinct single radii of curvature in a sagittal plane matching a predetermined cylindrical axis of the knee along with a medial surface comprising a first asymmetric geometry substantially congruent with respect to a first native knee geometry and a lateral surface comprising a second asymmetric geometry substantially congruent with respect to the first native knee geometry. In an embodiment, bone resectioning proximate a medial condyle and a posterior condyle for total knee arthroplasty (TKA) comprises using the femoral component after obtaining a pre-operative image of a predetermined region on a knee to be replaced and morphing data collected from the image into a three dimensional model of the knee sufficient to allow modeling software to define a patient specific cylindrical axis. The femoral component is designed as a dual single-radius femoral implant component to conform to a geometry defined about that cylindrical axis. | 11-28-2013 |
| 20130325028 | ENDOSCOPY-GUIDED DEPLOYMENT OF VESSEL PUNCH - A robotic punch system employs a robot unit ( | 12-05-2013 |
| 20130325029 | MANIPULATOR ARM-TO-PATIENT COLLISION AVOIDANCE USING A NULL-SPACE - Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space. | 12-05-2013 |
| 20130325030 | SYSTEMS AND METHODS FOR AVOIDING COLLISIONS BETWEEN MANIPULATOR ARMS USING A NULL-SPACE - Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center. | 12-05-2013 |
| 20130325031 | REDUNDANT AXIS AND DEGREE OF FREEDOM FOR HARDWARE-CONSTRAINED REMOTE CENTER ROBOTIC MANIPULATOR - A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed. | 12-05-2013 |
| 20130325032 | SURGICAL INSTRUMENT MANIPULATOR ASPECTS - A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees. | 12-05-2013 |
| 20130325033 | MULTI-PORT SURGICAL ROBOTIC SYSTEM ARCHITECTURE - A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position. | 12-05-2013 |
| 20130325034 | INSTRUMENT CARRIAGE ASSEMBLY FOR SURGICAL SYSTEM - A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, and a plurality of output drive couplings driven by the drive motors. One or more of the drive motors includes one or more magnetic flux shields to inhibit magnetic interference with an adjacent drive motor and/or with an adjacent motor orientation sensor. | 12-05-2013 |
| 20130325035 | Robotic surgical system and method for automated therapy delivery - A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path. | 12-05-2013 |
| 20130325036 | METHODS OF USING A ROBOTIC SPINE SYSTEM - A tissue retractor assembly may be moved through an opening formed in vertebrae in a patient's spinal column. The robotic mechanism may be utilized to form the opening in the vertebrae and to move the contracted tissue retractor assembly into the vertebra. The tissue retractor assembly may include a cannula or scope which is utilized to position the balloon or bladder relative to the vertebra and to conduct the fluid (gas or liquid) into the balloon or bladder to effect expansion of the balloon or bladder. The balloon or bladder may be formed of a biodegradable material. The robotic mechanism may be utilized to position the cannula through which the flow of synthetic bone material or cement is conducted into the space created in the vertebra by expansion of the balloon or bladder. | 12-05-2013 |
| 20130331857 | INSTRUMENT 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. | 12-12-2013 |
| 20130331858 | INSTRUMENT 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. | 12-12-2013 |
| 20130331859 | MULTI-USER MEDICAL ROBOTIC SYSTEM FOR COLLABORATION OR TRAINING IN MINIMALLY INVASIVE SURGICAL PROCEDURES - A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users. | 12-12-2013 |
| 20130331860 | SURGICAL OPERATION SUPPORT SYSTEM AND SURGICAL INSTRUMENT - A surgical operation support system includes: a surgical instrument provided with a usage count accumulation portion that includes a moving portion and a moving mechanism which is configured to move the moving portion; and a body which includes a driving portion that is configured to move the moving portion through the moving mechanism. The usage count accumulation portion is configured to accumulate a usage count of the surgical instrument by a movement of the moving portion. | 12-12-2013 |
| 20130331861 | SURGICAL ROBOT SYSTEM FOR PERFORMING SURGERY BASED ON DISPLACEMENT INFORMATION DETERMINED BY THE SPECIFICATION OF THE USER, AND METHOD FOR CONTROLLING SAME - There is provided a surgical robot system comprising a robot, a control system and a user control device, wherein the robot comprises an endoscope and at least one surgical instrument; the user control device comprises a display means by which a user may make an indication on an internal body part; and the control system comprises a displacement information processing unit and a surgical instrument control unit. | 12-12-2013 |
| 20130338679 | Surgical Robot - A surgical robot for performing minimally invasive surgery (e.g. in the eye) is provided. A cannula connection is positioned at a fixed surgical arm part and aligned with a movable surgical arm part movable with respect to the fixed surgical arm part. A surgical instrument can be mounted at the movable part. The surgical instrument can pass through the cannula connection. Reference arm(s) and manipulation arm(s) connect a base element with the fixed surgical arm part. The base element could have a surgical operating table attachment part to movably attach to a surgical operating table and rotating parts movably attached to the surgical operating table attachment part | 12-19-2013 |
| 20130345717 | Local Control Robotic Surgical Devices and Related Methods - The various embodiments disclosed herein relate to various robotic medical devices, including robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices. | 12-26-2013 |
| 20130345718 | SURGICAL ROBOT PLATFORM - A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers. | 12-26-2013 |
| 20130345719 | Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors - A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument. | 12-26-2013 |
| 20130345720 | ROBOTIC ULTRASONIC ENERGY SYSTEM - The robotic mechanism may include a programmable computer which is connected with a drive member by a motor. In addition to the motor, a force measurement assembly may be connected with the drive member and computer. The force measurement assembly has an output to the computer indicating the magnitude of resistance encountered. The force measurement device may be a piezoelectric cell or a spring assembly which controls energization of the electric motor. A position sensor is connected with drive member and the computer. The position sensor has an output which is indicative of the position. The output from the position sensor may indicate the depth or distance. Ultrasonic vibratory energy may be transmitted to the force transmitting member from a source or generator of ultrasonic vibratory energy. The force transmitting member may function as a horn and apply the ultrasonic vibratory energy. | 12-26-2013 |
| 20140005676 | ROTARY ACTUATABLE CLOSURE ARRANGEMENT FOR SURGICAL END EFFECTOR | 01-02-2014 |
| 20140005677 | ROTARY DRIVE SHAFT ASSEMBLIES FOR SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS | 01-02-2014 |
| 20140005678 | ROTARY DRIVE ARRANGEMENTS FOR SURGICAL INSTRUMENTS | 01-02-2014 |
| 20140005679 | SURGICAL INSTRUMENT SYSTEM INCLUDING REPLACEABLE END EFFECTORS | 01-02-2014 |
| 20140005680 | ELECTRODE CONNECTIONS FOR ROTARY DRIVEN SURGICAL TOOLS | 01-02-2014 |
| 20140005681 | ULTRASONIC SURGICAL INSTRUMENTS WITH CONTROL MECHANISMS | 01-02-2014 |
| 20140005682 | HAPTIC FEEDBACK DEVICES FOR SURGICAL ROBOT | 01-02-2014 |
| 20140005683 | HIGHLY ARTICULATED ROBOTIC PROBES AND METHODS OF PRODUCTION AND USE OF SUCH PROBES | 01-02-2014 |
| 20140005684 | AUTOMATED SURGICAL AND INTERVENTIONAL PROCEDURES | 01-02-2014 |
| 20140005685 | METHOD FOR PREPARING THE RECONSTRUCTION OF A DAMAGED BONE STRUCTURE | 01-02-2014 |
| 20140005686 | Cannula Anchor | 01-02-2014 |
| 20140005687 | CURVED CANNULA SURGICAL SYSTEM | 01-02-2014 |
| 20140012286 | SURGICAL TOOL, SURGICAL ROBOT HAVING THE SAME, AND REMOTE CONTROL ROBOT SYSTEM - A remote control robot system includes a surgical robot having a surgical tool which is used to perform minimally invasive surgery. The surgical tool includes a detection member having a plurality of detection parts, a support member, and an optical fiber disposed between the detection member and support member. A magnitude of force and a distribution of the force may be measured by individually disposing a plurality of optical fiber bragg gratings (FBGs) below the plurality of detection parts, respectively. Accordingly, the surgical robot or the remote control robot system may provide a more precise control function and a hand-touch diagnosis function. | 01-09-2014 |
| 20140012287 | SURGICAL POSITIONING AND SUPPORT SYSTEM - A system for performing a medical procedure is provided comprising at least one tool and a tool support for supporting a distal portion of the tool. An operator manipulates a human interface device and produces control signals sent to a controller. The controller manipulates the tool support based on the received control signals. | 01-09-2014 |
| 20140012288 | INTRODUCTION DEVICES FOR HIGHLY ARTICULATED ROBOTIC PROBES AND METHODS OF PRODUCTION AND USE OF SUCH PROBES - In an introduction assembly for an articulated probe, a feeding mechanism has actuators for controlling the articulated probe. The introduction device is fixed in a positional relationship to the feeding mechanism. The introduction device includes a support member configured to support an articulated probe. A proximal end of the support member has an entrance configured to guide the articulated probe into contact with the support member. A distal end of the support member has an exit configured to guide the articulated probe from the support member into a region of interest. | 01-09-2014 |
| 20140012289 | APPARATUS FOR ENDOSCOPIC PROCEDURES - A surgical device is provided. The surgical device includes a jaw assembly defining a first longitudinal axis and including a first jaw and a second jaw moveable relative to the first jaw; an elongated body defining a second longitudinal axis and coupled to a proximal end of the jaw assembly, wherein the jaw assembly is configured to articulate about an articulation axis transverse to the second longitudinal axis relative to the elongated body; and a handle assembly coupled to a proximal end of the elongated body and including at least one motor mechanically coupled to the jaw assembly and a control assembly including a first control button and a second control button, wherein actuation of the first control button moves the second jaw in approximation relative to the first jaw and actuating the second control button moves the second jaw away from the first jaw, and actuating the first and second control buttons moves the jaw assembly to a centered position in which the first and second longitudinal axes are substantially aligned, the handle assembly further includes an illumination member configured to output a light pattern indicative of a status of the surgical instrument. | 01-09-2014 |
| 20140012290 | REMOTELY ACTUATED SURGICAL GRIPPER WITH SEIZE RESISTANCE - A surgical end effector includes a clevis and one or more jaws pivotally coupled to the clevis. At least one jaw includes a slot. An axle assembly includes a bearing axle that rotatably supports a bearing, which may be a plain bearing. An actuator coupling is coupled to the bearing axle. The bearing engages the slot such that pushing and pulling on the actuator coupling causes one jaw to close against the other jaw. The bearing axle and the jaws may be made from materials that are prone to galling and the bearing may be made from a material that resists galling. The slot may include a lip that supports the bearings in a spaced apart relationship. The bearing axle may be less than 1.5 millimeters in diameter and each bearing may be less than 3.0 millimeters in diameter. | 01-09-2014 |
| 20140018819 | Anthro-Centric Multisensory Interface for Sensory Augmentation of Telesurgery - A multisensory interface for a tele-robotic surgical control system. The invention allows the surgeon to use natural gestures and motions to control the actions of end effectors in the robotic surgical apparatus. Multiple feedback mechanisms are provided to allow the physician a more intuitive understanding of what is being controlled, along with a greater situational awareness. Prior art robotic end effectors are inserted into the patient through a small incision—as is already known in the art. The invention presents an improved method of controlling these effectors. | 01-16-2014 |
| 20140018820 | PALPATION APPARATUS AND METHOD USING ROBOT - A palpation apparatus and method using a robot may include a motion controller to control a motion of the robot based on an input of a user, and a force measuring unit to measure a magnitude of a reaction force of an object in contact with the robot based on the motion, through a sensor attached to the robot. | 01-16-2014 |
| 20140018821 | SURGICAL MANIPULATOR - The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis. | 01-16-2014 |
| 20140018822 | SURGICAL POSITIONING ASSEMBLY AND SURGICAL INSTRUMENT - A surgical positioning assembly for use with a surgical instrument which has an elongated shaft defining a longitudinal axis, for example a minimally invasive surgical instrument. The positioning assembly comprises: a base member comprising a skin contact surface, wherein the base member defines an opening for the elongated shaft; a rotating assembly configured to rotate relative to the base member about a rotation point located below the skin contact surface wherein the rotating assembly defines an opening for the elongated shaft; and a locking mechanism for locking the position of the positioning assembly on the elongated shaft and for locking the orientation of the rotating assembly relative to the base member. | 01-16-2014 |
| 20140018823 | CURVED 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. | 01-16-2014 |
| 20140018824 | In Vivo Accessories for Minimally Invasive 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. | 01-16-2014 |
| 20140025088 | ROBOT FOR MINIMALLY INVASIVE NEUROSURGERY - A robotic device for performing intracranial procedures, comprising a baseplate for mounting on the subject's skull and a rotatable base element rotating on the baseplate. The rotatable base element has a central opening through which a cannulated needle can protrude such that it can rotate around an axis perpendicular to the baseplate. This cannulated needle is robotically controlled to provide motion into and out of the subject's skull. A flexible needle is disposed coaxially within the cannulated needle, and it is controlled to move into and out of a non-axial aperture in the distal part of the cannulated needle. Coordinated control of the insertion motion of the cannulated and flexible needles, and rotation of the combined cannulated/flexible needle assembly enables access to be obtained to a volume of a region of the brain having lateral dimensions substantially larger than the width of the cannulated needle. | 01-23-2014 |
| 20140025089 | MOTORIZED SURGICAL INSTRUMENTS - A motorized surgical instrument that may be held by the surgeon or be attached to the surgeon's limb by means of a special adapter that includes an interface between the surgeon and the surgical tool. The motorized surgical instrument includes mechanism, motors, gears, interface and power source that enable the surgeon to easily control the motorized surgical tools in order perform the surgical procedure. The system differs from prior art systems in that the surgeon operates the tools by using the natural hand motions he would use if he were performing direct manual surgery on the subject. The described motorized surgical tool has a wider range of movement and reach than commonly used surgical tools. These new properties increase the possibilities of tool maneuvering by the surgeon, while allowing the surgeon to operate the motorized surgical tool segments easily while maintaining a comfortable posture. | 01-23-2014 |
| 20140031838 | CONTROL DEVICE AND CONTROL METHOD FOR SURGICAL SYSTEM - A control device for surgical system that controls a surgical tool attached to a slave arm in accordance with manipulation input values for a position and an orientation from a remote control device, comprising a control unit that stores setting information for setting the position and the orientation of a first target portion of the surgical tool, corrects the manipulation input values in accordance with the setting information, and controls a position and an orientation of a post-correction second target portion of the surgical tool in compliance with corrected manipulation input values. | 01-30-2014 |
| 20140039515 | Single Site Robotic Device and Related Systems and 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 medical devices for in vivo medical procedures. | 02-06-2014 |
| 20140039516 | Precision External Control of Interventional Medical Procedures - A method and apparatus providing precision external control of interventional medical procedures is presented. The apparatus includes a fixed frame, the fixed frame attachable to a patient and to a secure structure. The apparatus also includes a precision actuator in mechanical communication with the fixed frame, the actuator directing motion of a wire within a catheter or a catheter within the patient. Additionally the apparatus includes a control device in electrical communication with the actuator, wherein the control device controls the actuator. | 02-06-2014 |
| 20140039517 | Navigation System for use with a Surgical Manipulator Operable in Manual or Semi-Autonomous Modes - A navigation system for use with a surgical manipulator operable in manual or semi-autonomous modes. The navigation system includes a tracker for attaching to the patient and a localizer to receive signals from the tracker or transmit signals to the tracker. The navigation system includes a navigation processor that runs a plurality of software modules. | 02-06-2014 |
| 20140039518 | COMPOUND 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. | 02-06-2014 |
| 20140039519 | SURGICAL INSTRUMENT DEVICE - A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit. | 02-06-2014 |
| 20140039520 | METHOD AND APPARATUS FOR COMPUTER AIDED SURGERY - A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure. | 02-06-2014 |
| 20140039521 | METHOD 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. | 02-06-2014 |
| 20140039522 | STEERING MECHANISM - A hand-holdable steering mechanism is used as part of a medical device such as a catheter or an endoscope to allow movement of a steerable distal portion of the catheter or endoscope. The mechanism can include a housing, a first actuator, and a second actuator. The first actuator is configured to move the steerable portion along a first plane when the first actuator is moved between first and second positions. The second actuator is configured to move the steerable portion along a second plane different than the first plane when the second actuator is moved between first and second positions. | 02-06-2014 |
| 20140046340 | Robotic 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. | 02-13-2014 |
| 20140046341 | AUTO EXPOSURE OF A CAMERA IN A SURGICAL ROBOT - A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value. | 02-13-2014 |
| 20140046342 | METHOD AND SYSTEM FOR AIDING IN THE POSITIONING OF A MEDICAL INSTRUMENT ON THE HEAD OF A PATIENT - A system for aiding in the positioning of a medical instrument on the head of a patient, characterized in that it includes a means for predicting the location of a target intracranial area of the medical instrument, comprising a generic three-dimensional model of a head comprising a scalp and a generic target intracranial area, a three-dimensional working image of the scalp of the head of the patient, surface registration means suitable for establishing a registration transform from the scalp of the generic model toward the working image of the scalp of the head of the patient, a means for resampling the generic target intracranial area into a converted target area using with the registration transform, and a means for locating the target intracranial area of the patient from the locating of the converted target area, thereby enabling the positioning of the medical instrument on the head of the patient. | 02-13-2014 |
| 20140046343 | GUIDE SHEATH AND GUIDE SHEATH SYSTEM - Provided is a guide sheath that is prevented from coming out of a body cavity so as to allow for stable operation. A tubular guide sheath that guides an insertion section of a medical device to be inserted into a body cavity includes a base-end opening that is provided at a base end of the guide sheath and into which the insertion section is inserted; a distal-end opening that is provided at a distal end of the guide sheath; a flexible bent section that is provided at the distal end of the guide sheath and is elastically bent; and an exit opening that is provided in an outer side surface of the bent section and from which the insertion section extends out. | 02-13-2014 |
| 20140052149 | HIP REPLACEMENT NAVIGATION SYSTEM AND METHOD - In another embodiment, a hip joint navigation jig is provided that includes an anatomical interface comprising a bone engagement portion. A registration jig is also provided that is coupled, e.g., removeably, with the anatomical interface. A rotatable member is provided for rotation about an axis that is not vertical when the jig is mounted to the bone adjacent to a hip joint and the registration jig is coupled with the anatomical interface. An anatomy engaging probe is coupled with the rotatable member for rotation about the axis and is translatable to enable the probe to be brought into contact with a plurality of anatomical landmarks during a procedure. An inertial sensor is coupled with the probe to indicate orientation related to the landmarks, the sensor being disposed in a different orientation relative to horizontal when the probe is in contact with the landmarks. | 02-20-2014 |
| 20140052150 | METHOD FOR PRESENTING FORCE SENSOR INFORMATION USING COOPERATIVE ROBOT CONTROL AND AUDIO FEEDBACK - A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation. | 02-20-2014 |
| 20140052151 | PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS - Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions. | 02-20-2014 |
| 20140052152 | PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL - Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints. | 02-20-2014 |
| 20140052153 | MOVABLE SURGICAL MOUNTING PLATFORM CONTROLLED BY MANUAL MOTION OF ROBOTIC ARMS - Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform. | 02-20-2014 |
| 20140052154 | USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM - Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices. | 02-20-2014 |
| 20140052155 | SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE - Devices, systems, and methods for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may be overlaid the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein. | 02-20-2014 |
| 20140052156 | ROLL-PITCH-ROLL SURGICAL TOOL - A robotic surgical tool includes an elongate shaft having a working end and a shaft axis. The proximal end of a wrist member is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. | 02-20-2014 |
| 20140058406 | Robotic Device and Systems for Image-Guided and Robot-Assisted Surgery - Provided herein are robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical procedures and methods for using the same to perform such surgical procedures on a patient. The robotic systems comprise a robotic manipulator device or global positioner, means for actuating the robotic manipulator or global positioner that is mechanically linked thereto and a computer having a memory, a processor and at least one network connection in electronic communication with the robotic system. The actuating means comprises at least one transmission line having a flexible component comprising a displaceable medium, a rigid component comprising rigid pistons or a combination through which actuation is transmitted to the robotic manipulator or global positioner. The computer tangibly stores in memory software modules comprising processor-executable instructions to provide interfaces between the robotic system, an imaging system and an operator and to control operation thereof. | 02-27-2014 |
| 20140058407 | Robotic Device and System Software, Hardware and Methods of Use for Image-Guided and Robot-Assisted Surgery - Provided herein are systems, modules and methods of using the same for in-situ real time imaging guidance of a robot during a surgical procedure. The systems comprise a plurality of modules that intraoperatively link an imaging modality, particularly a magnetic resonance imaging modality, a medical robot and an operator thereof via a plurality of interfaces. The modules are configured to operate in at least one computer having a memory, a processor and a network connection to enable instructions to generally control the imaging modality, track the robot, track a tissue of interest in an area of procedure, process data acquire from imaging modality and the robot and visualize the area and robot. Also provided are non-transitory computer-readable data storage medium storing computer-executable instructions comprising the modules and a computer program produce tangibly embodied in the storage medium. | 02-27-2014 |
| 20140058408 | METHOD FOR ROBOTIC ARTHROPLASTY USING NAVIGATION - A method for robotic surgery on a joint using a robotic system and a navigation system. The robotic system includes a base, a plurality of arms, and a cutting tool. The navigation system tracks movement of bones associated with the joint during the surgery. Information related to tracked positions of the bones is communicated from the navigation system to the robotic system. The navigation system may include a plurality of locating devices. | 02-27-2014 |
| 20140066952 | ARTICULATION JOINT WITH BENDING MEMBER - The present disclosure provides an articulation joint that can include a plurality of articulation links, wherein each articulation link can include an elongate body having a proximal end, a distal end, an outer surface, and a first lumen extending from the proximal end to the distal end. Each articulation link can further include a plurality of arms extending radially outward from the elongate body, wherein each arm includes an inner end attached to the outer surface of the elongate body and a second lumen extending from a proximal side of the arm to a distal side of the arm. The articulation joint can also include a bending member positioned within the first lumen of the elongate body and a control member positioned within a plurality of second lumens, wherein each of the plurality of second lumens includes a common longitudinal axis. | 03-06-2014 |
| 20140066953 | LAPAROSCOPIC SYSTEM - A laparoscopic surgical system configured for cooperation with a trocar is described. In one configuration, the system is configured to expand to accommodate trocars of varying dimensions. In another configuration, which is not necessarily exclusive of the first configuration, the system may function to provide an anchoring and closure system for use in laparoscopic surgery. | 03-06-2014 |
| 20140066954 | INSERTABLE 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. | 03-06-2014 |
| 20140066955 | Robotic Devices with Arms and Related Methods - Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices has an arm. The arm can have two arm components coupled at a joint. | 03-06-2014 |
| 20140074115 | Skin Tensioning Devices and Methods of Their Use - Devices and methods for applying tension to an area of skin during various cosmetic or dermatological procedures, in particular for follicular unit removal and/or implantation in a hair transplantation procedure, are provided. The systems and methods utilize a segmented structure configured to conform to the body surface of various sizes, shapes and/or textures, thus allowing for customization in order to fit a variety of persons. In some embodiments, the tensioning device may be temporary secured, for example, to a patient chair. | 03-13-2014 |
| 20140074116 | APPARATUS, SYSTEMS, AND METHODS FOR IDENTIFYING INSTRUMENTS IN LAPAROSCOPIC AND OTHER MINIMALLY INVASIVE SURGERY - Systems and methods are provided for identifying surgical instruments, e.g., MIS instruments, including a shaft including a proximal end and a distal end sized for introduction into a patient's body, a tool tip on the distal end including an end effector, and a handpiece or connector on the proximal end. One or more identifier members may be provided on the proximal end and/or distal end of the shaft, on the handpiece, and/or on the tool tip to identify one of a type and a class of the end effector. For example, a set of surgical instruments may be provided that include identifier knobs added onto the shafts to identify different tool tips, the shafts may include different outer shapes and/or textures, or colored and/or luminescent features may be provided on the instruments. | 03-13-2014 |
| 20140074117 | NAVIGATION INSTRUMENTS FOR SUBCHONDRAL BONE TREATMENT - Navigation instruments and guides for targeting a subchondral region of bone and subchondral bone defects are provided. The instruments and guides may be used in reference to an anatomical landmark of a joint. | 03-13-2014 |
| 20140081290 | Robotically controlled catheter and method of its calibration - A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired. | 03-20-2014 |
| 20140081291 | COMPREHENSIVE MEDICAL SYSTEM FOR MAGNETIC NAVIGATION - For an improved use even with medical imaging a comprehensive medical system for magnetic navigation of an object with a magnetic element within a human body is provided, having a magnet apparatus for generating a variable magnetic field in the region of the object, wherein the magnet apparatus has a plurality of electromagnets, which electromagnets are disposed in a flexibly-embodied net type structure, which net-type structure is especially able to be disposed directly on the body such that it surrounds the object on four sides. | 03-20-2014 |
| 20140081292 | ROBOTIC 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. | 03-20-2014 |
| 20140088612 | ROBOTIC SURGICAL SYSTEM WITH MECHANOMYOGRAPHY FEEDBACK - A robotic surgical system for performing a surgical procedure within the body of a subject includes an elongate surgical instrument, a robotic controller configured to control the motion of the distal end portion of the surgical instrument, and a mechanomyography feedback system in communication with the robotic controller. The mechanomyography feedback system includes an elongate sphincter contraction sensor configured to monitor a physical response of a sphincter of the subject and to provide a mechanomyography signal corresponding to the monitored response. Additionally, the feedback system includes a processor configured to receive the mechanomyography signal, to determine if the received signal is indicative of an induced sphincter response, and to provide a control signal to the robotic controller if an induced sphincter response is detected. | 03-27-2014 |
| 20140088613 | MEDICAL ROBOT APPARATUS - A medical apparatus includes a moving unit supported on the base and configured to move in a longitudinal direction of the bed. The moving unit is configured to extend in a width direction of the bed. The medical apparatus also includes a mount unit on the moving unit and configured to move in the width direction and including a medical applicator mounted thereon. | 03-27-2014 |
| 20140088614 | Force Sensor Temperature Compensation - A force sensor apparatus includes a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each of the plurality of radial ribs. The strain gauges comprise a negative thermo-optic coefficient optical fiber material. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument and a distal end of the tube portion is proximally couplable to a wrist joint. Optionally, a thermal shunt shell is over an outer surface of the tube portion. 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. | 03-27-2014 |
| 20140094824 | OFFSET 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. | 04-03-2014 |
| 20140094825 | ROBOTIC SYSTEMS, ROBOTIC SYSTEM USER INTERFACES, HUMAN INTERFACE DEVICES FOR CONTROLLING ROBOTIC SYSTEMS AND METHODS OF CONTROLLING ROBOTIC SYSTEMS - A system includes an articulating probe, a surgical tool, and a controller. The controller is constructed and arranged to manipulate at least one of the articulating probe and the surgical tool. The system further includes a human interface device (HID) configured to generate a first control signal and a second control signal. The articulating probe is manipulated in response to the first control signal and the surgical tool is manipulated in response to the second control signal. | 04-03-2014 |
| 20140100587 | Robotic 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. | 04-10-2014 |
| 20140100588 | WIRELESS 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. | 04-10-2014 |
| 20140107665 | MECHANIZED MULTI-INSTRUMENT SURGICAL SYSTEM - A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity. | 04-17-2014 |
| 20140107666 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master. | 04-17-2014 |
| 20140107667 | TREATMENT TOOL, MANIPULATOR, AND SURGERY SUPPORT SYSTEM - A treatment tool of which a treatment unit operates with a driving force generated from a driving source includes a driving force transmission member that is connected to the driving source, a connecting portion that is formed in the treatment unit, that is connected to the driving wire, that is supplied with the driving force from the driving source via the driving force transmission member, and that converts the driving force into movement of the treatment unit, and a member for detecting amount of movement that is moved by the connecting portion. | 04-17-2014 |
| 20140114327 | SURGEON FEEDBACK SENSING AND DISPLAY METHODS - Various embodiments described herein are directed to surgical instruments with visual feedback. In one embodiment, a surgical instrument with visual feedback comprises an end effector. The end effector has a first jaw member and a second jaw member. At least one sensor is coupled to the end effector. The at least one sensor is configured convert at least one state of the end effector to a feedback signal. The feedback signal is corresponding to the at least one state of the end effector. The feedback signal may be transmitted to a display to render a visual representation of the at least one state of the end effector. The surgical instrument may further comprise an instrument mounting portion to mount to a robotic surgical system. The instrument mounting portion comprises an interface to mechanically and electrically interface to the surgical instrument. | 04-24-2014 |
| 20140121675 | APPARATUS FOR GUIDING A MEDICAL TOOL - There is provided a guide apparatus for orienting a medical tool relative to and through a remote fulcrum or remote center of motion. The guide apparatus may comprise: at least one crank arm comprising at least a portion of a first hinged coupling for hinged coupling to a stabilizer; at least one link arm comprising at least a portion of a second hinged coupling for hinged coupling to the crank arm at a location spaced from the first hinged coupling; a tool holder for supporting a medical tool on the link arm at a location spaced from the first hinged coupling; wherein the rotational axes of the first and second hinged couplings intersect to define a remote fulcrum. The guide apparatus may be configured to be an open-loop spherical chain or a closed-loop spherical chain. | 05-01-2014 |
| 20140121676 | ROBOTIC SYSTEM AND METHOD FOR SPINAL AND OTHER SURGERIES - The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. | 05-01-2014 |
| 20140121677 | Clutched-Gear Handle and System for Fiducial Deployment - Embodiments include a fiducial deployment system with a handle configured for actuation of same. A fiducial may include one or more protuberances configured to engage one or more slots in a needle of the system. The needle may be configured to deliver a plurality of fiducials to a target location in serial fashion, one at a time. In certain embodiments, echogenic placement of fiducials may present certain advantages. The handle includes a clutched-gear actuation mechanism configured for incrementally or otherwise controlled deploying one or more fiducials at a time by advancing a stylet through and/or retracting the body of a slotted needle in which fiducials are disposed with a fiducial protrusion extending into the needle slot, which also includes retaining structures that do not impede the needle lumen. | 05-01-2014 |
| 20140121678 | INTERFACE 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. | 05-01-2014 |
| 20140128881 | IMAGE-GUIDED THERAPY OF A TISSUE - Image-guided therapy of a tissue can utilize magnetic resonance imaging (MRI) or another medical imaging device to guide an instrument within the tissue. A workstation can actuate movement of the instrument, and can actuate energy emission and/or cooling of the instrument to effect treatment to the tissue. The workstation and/or an operator of the workstation can be located outside a vicinity of an MRI device or other medical imaging device, and drive means for positioning the instrument can be located within the vicinity of the MRI device or the other medical imaging device. The instrument can be an MRI compatible laser probe that provides thermal therapy to, e.g., a tissue in a brain of a patient. | 05-08-2014 |
| 20140128882 | SURGICAL INSTRUMENT, SUPPORT EQUIPMENT, AND SURGICAL ROBOT SYSTEM - A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle. | 05-08-2014 |
| 20140128883 | OPEN ARCHITECTURE IMAGING APPARATUS AND COIL SYSTEM FOR MAGNETIC RESONANCE IMAGING - This invention discloses a method and apparatus to deliver medical devices to targeted locations within human tissues using imaging data. The method enables the target location to be obtained from one imaging system, followed by the use of a second imaging system to verify the final position of the device. In particular, the invention discloses a method based on the initial identification of tissue targets using MR imaging, followed by the use of ultrasound imaging to verify and monitor accurate needle positioning. The invention can be used for acquiring biopsy samples to determine the grade and stage of cancer in various tissues including the brain, breast, abdomen, spine, liver, and kidney. The method is also useful for delivery of markers to a specific site to facilitate surgical removal of diseased tissue, or for the targeted delivery of applicators that destroy diseased tissues in-situ. | 05-08-2014 |
| 20140128884 | ABLATED 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. | 05-08-2014 |
| 20140128885 | SYSTEMS AND METHODS FOR MAPPING FLUX SUPPLY PATHS - A method of supplying flux may include receiving first data at a control system identifying which of a plurality of remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of flux supply pathways and receiving second data at the control system identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. A system for supplying flux may include a plurality of flux supply pathways, a plurality of remotely-controllable kinematic flux delivery structures, and a control system receiving first data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of the flux supply pathways and receiving second data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. | 05-08-2014 |
| 20140128886 | FLUX DISAMBIGUATION FOR TELEOPERATED SURGICAL SYSTEMS - A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state. A system for detecting an operative condition of a surgical instrument of a teleoperated surgical system includes a surgical instrument comprising a housing for coupling the surgical instrument in an installed position at a patient side cart of a teleoperated surgical system, the housing comprising a connector feature. A flux transmission conduit is engageable with the connector feature to place the surgical instrument in a flux connection state. The system further includes a sensing device associated with the patient side cart and disposed to detect a presence of the flux transmission conduit in a flux connection state of the surgical instrument. | 05-08-2014 |
| 20140135790 | SYSTEM AND METHOD FOR GUIDING A MEDICAL DEVICE TO A TARGET REGION - A device guiding apparatus comprises support framework, a counterbalance supported by the support framework at a position above a surface on which the support framework rests, and a manipulation assembly supported by the counterbalance. The manipulation assembly comprises at least one support assembly for supporting a medical device at a position intermediate the counterbalance and the surface such that a user has a direct line-of-site of the at least one support assembly. | 05-15-2014 |
| 20140135791 | SYSTEMS AND METHODS FOR NAVIGATION AND CONTROL OF AN IMPLANT POSITIONING DEVICE - Systems and methods for navigation and control of an implant positioning device are discussed. For example, a method can include operations for accessing an implant plan, establishing a 3-D coordinate system, receiving tracking information, generating control signals, and sending the control signals to the implant positioning device. The implant plan can include location and orientation data describing an ideal implant location and orientation in reference to an implant host. The 3-D coordinate system can provide spatial orientation for the implant positioning device and the implant host. The tracking information can identify current location and orientation data within the 3-D coordinate system for the implant positioning device and implant host during a procedure. The control signals can control operation of the implant positioning device to assist a surgeon in positioning the implant according to the implant plan. | 05-15-2014 |
| 20140135792 | SYNTHETIC 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. | 05-15-2014 |
| 20140135793 | SYSTEMS AND METHODS FOR A DUAL CONTROL SURGICAL INSTRUMENT - A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration. | 05-15-2014 |
| 20140135794 | Microsurgical Robot System - Designs for modular microsurgical robotic devices and systems are provided, which could include one or multiple master-slave units coupled to a central microscope-based suspension structure. One of the main objectives is to provide robotic assistance during tasks which require long-term user concentration and high precision. The microsurgical robotic devices pay attention to motion scaling and tremor filtration in a 6 Degrees-of-Freedom (DOF) master-slave setup with force feedback. An extra DOF is included to actuate a 1-DOF instrument tip. Embodiments of this invention can be used in the medical environment as well as in other areas such as printed circuit board repair, watch and jewelry making, laboratory tasks, or other areas which require high precision over extended periods of time. | 05-15-2014 |
| 20140135795 | OPERATION SUPPORT DEVICE - An operation support device includes an operation part in which the operation input is performed by an operator, an action part to which a surgical tool is attached and which is driven by the operation input, a drive source that is provided in the operation part, and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets the magnitude and direction of the driving force, wherein the control unit sets the magnitude and direction of the driving force based on the operation input to the operation part. | 05-15-2014 |
| 20140135796 | Trajectory Storage Apparatus and Method for Surgical Navigation Systems - A method and apparatus for determining, calculating, and/or viewing a trajectory. The trajectory can be displayed on a display relative to image data of a patient. A user can use the system to determine relationships between two or more trajectories that have been determined. The relationships can be within two dimensional, three-dimensional, or four dimensional space. The relationships can include distance, angle, etc. The relationships can also be determined between real time trajectories and stored trajectories, or combinations thereof. | 05-15-2014 |
| 20140135797 | POSITIONING APPARATUS 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. | 05-15-2014 |
| 20140142591 | METHOD, APPARATUS AND A SYSTEM FOR ROBOTIC ASSISTED SURGERY - A solution to facilitate robotic assisted surgery is discussed that allows for improved vision and manipulation. | 05-22-2014 |
| 20140142592 | SURGICAL ROBOT AND SURGICAL ROBOT CONTROL METHOD - A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit. | 05-22-2014 |
| 20140142593 | Frame 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. | 05-22-2014 |
| 20140142594 | Apparatus for rotating medical devices, systems including the apparatus, and associated methods - A rooter includes a rotatable element, an actuator for causing the rotatable element to rotate, and a coupling feature for rotatably coupling an elongated medical instrument to the rotatable element. The rotatable element may be at least partially contained within the interior of a housing or another element that remains substantially stationary as the actuator causes the rotatable element to rotate. The rooter may be used with a variety of elongated medical instruments, such as wires, mascerators, needles, drill bits, trocars, catheters, tubes and other elongated instruments that are used to enable or effect medical procedures within the body of a subject. The rooter may be used for a variety of purposes, including, without limitation, the introduction of an elongated medical instrument into the body of a subject or its removal from the subject's body; removing, breaking up, or eliminating obstructions (e.g., blood clots, plaques, etc.) from the body of a subject; and obtaining samples from a subject's body. | 05-22-2014 |
| 20140142595 | MINIMAL 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. | 05-22-2014 |
| 20140148816 | SURGERY PORT PLACEMENT SYSTEM AND RELATED METHODS - A surgical port placement system is to be adjacent a surgical table. The surgical port placement system may include a surgical port placement device for storing parameter sets respectively associated with past surgical procedures, generating a surgical port placement model based upon the parameter sets, receiving a given parameter set for a given surgical procedure for a given patient, the given parameter set having physical characteristics of the given patient, and generating a surgical port placement position for the given patient for the given surgical procedure based upon the given parameter set and the surgical port placement model. | 05-29-2014 |
| 20140148817 | MEDICAL MANIPULATOR - A medical manipulator including a base section at which a support surface is formed, a movable part movably supported on the support surface, when a reference direction parallel to the support surface is defined, between a distal end position, which is a distal end side in the reference direction with respect to the base section, and a proximal end position, which is a proximal end side in the reference direction, a positioning mechanism configured to position the movable part at the distal end position with respect to the base section, a holding section movably supported in the reference direction with respect to the movable part and configured to detachably hold a proximal end portion of a treatment tool, and a driving unit configured to move the holding section in the reference direction with respect to the movable part. | 05-29-2014 |
| 20140148818 | SURGICAL ASSISTANT SYSTEM - A surgical assistant system includes: an operation unit configured to give an input; an arm unit on which a treatment tool is mounted; an operation imaging unit configured to acquire an operation image that is an image including the operation unit; an endoscope configured to acquire an internal-body image; a mode control unit having a plurality of operation modes and configured to enable one of the plurality of operation modes to be set as a setting operation mode; a driving unit configured to enable the arm unit to be operated based on the input given by the operation unit and the setting operation mode; a synthetic image creation unit configured to synthesize images using at least the operation image to create a synthetic image based on the setting operation mode; and a display unit configured to display the synthetic image. | 05-29-2014 |
| 20140148819 | SURGICAL INSTRUMENT AND CONTROL METHOD THEREOF - A surgical instrument includes an end effector, a manipulation unit, a grip detecting unit, a driving unit, and a control unit. When the control unit determines that the end effector is applying the acting force to the target based on the information acquired by the grip detecting unit, the control unit sets an acting force increasing zone of a predetermined range in a first movable range in the first direction of the manipulation unit, sets a neutral zone in a remaining area of the first movable range, controls the driving unit so that the acting force increases with a constant gradient with respect to an amount of manipulation of the manipulation unit in the acting force increasing zone, and controls the driving unit so that the acting force is kept constant regardless of the amount of manipulation of the manipulation unit in the neutral zone. | 05-29-2014 |
| 20140148820 | OPERATION SUPPORT DEVICE AND CONTROL METHOD THEREOF - An operation support device includes a manipulation input unit that outputs a manipulation command in accordance with an input from an operator, and a motion unit that causes a surgical instrument to move in accordance with the manipulation command. The manipulation input unit includes an object-to-be-detected that is gripped by the operator and a detection device that detects the object-to-be-detected. The object-to-be-detected includes a body part that has a first marker, which is detected by the detection device, disposed thereon, a manipulation part that is disposed in the body part and that is manipulated by the operator, and a second marker that is disposed in at least one of the body part and the manipulation part. | 05-29-2014 |
| 20140148821 | MEDICAL EQUIPMENT - A medical equipment includes a surgical instrument having a movable part to perform medical treatment on a target spot, an actuator configured to operate the movable part, and a detachable interface installed on the surgical instrument and configured to attachably and detachably couple the surgical instrument to the actuator. The detachable interface has an origin return mechanism configured to move the movable part to a predetermined origin position when the surgical instrument is detached from the actuator. | 05-29-2014 |
| 20140155909 | MEDICAL DEVICE ANCHORING APPARATUS AND METHODS - Methods and apparatus for anchoring an elongate medical device within a body portal, for example, a stimulation lead in a cranial burr hole, employ a securing element attached to a plate member, which may be held over a body portal by a base ring. The securing element includes a spring member and an engagement surface; a retaining member holds the engagement surface, spaced apart from a side of a slot of the plate member, in an open position, against a bias of the spring member. In the open position, the device may be received between the engagement surface and the side of the slot, through an opening of the slot. Disengaging the retaining member releases a moveable portion of the spring member to move the engagement surface toward the side of the slot and into a closed position, at which the inserted device is anchored. The anchored device may be routed through one of a plurality of base ring channels. | 06-05-2014 |
| 20140155910 | Spherical Motion Mechanism - This document discusses, among other things, a mechanism for providing motion having two degrees of freedom and centered on a single point within a sphere. Methods to design the mechanism consistent with specified parameters are also described. | 06-05-2014 |
| 20140155911 | CUTTING APPARATUS FOR JOINT CUTTING SYSTEM USING ROBOT - A cutting apparatus for joint cutting system using robot includes a shaft combined with a motor in a part of a robot arm, a cutter having a cutting head at the end of the shaft, a sleeve in which the shaft is inserted, and a cutter support member having a sleeve base where the sleeve is fixed, characterized in that the sleeve is a standalone member of a hollow bar with a center hole and is separable from and combinable with the sleeve base. The sleeve and the sleeve base are so separable that it is possible to reinforce the strength of the sleeve, which retrains the bending force to the sleeve, though the diameter of the sleeve is minimized. | 06-05-2014 |
| 20140155912 | Automated System and Method for Harvesting or Implanting Follicular Units - Automated systems and methods for operating a procedure tool to perform a procedure (for example, hair transplantation) on a body are provided. One or more mechanisms are configured to produce a combination movement of the procedure tool in response to control signals. A force sensor monitors resistance as the tool moves and transmits information from the force sensor to a computer. Movement of the procedure tool is controlled at least in part based on information from the force sensor. | 06-05-2014 |
| 20140163581 | Telescoping 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 | 06-12-2014 |
| 20140171962 | REGISTRATION AND NAVIGATION USING A THREE-DIMENSIONAL TRACKING SENSOR - Systems and methods for registration and navigation using a 3D tracking sensor are shown and described. The systems and methods utilize a 3D tracking sensor coupled to a portable surgical element to track a trackable element fixed to an object. The pose of the trackable element is determined based at least in part on information provided by the 3D tracking sensor, and the object is registered to a three-dimensional representation of the object. The 3D tracking sensor can also be used to track various objects during a surgical procedure. | 06-19-2014 |
| 20140171963 | METHOD AND DEVICE FOR SELECTIVE APPLICATION OF A LIQUID JET - A method for selectively applying a liquid jet onto and/or into human or animal skin is provided. The method includes the steps of detecting and storing a position, orientation and shape of a skin patch to be processed and moving a liquid nozzle over the skin patch. The liquid nozzle is guided by a robot arm within boundaries of the skin patch and the liquid jet is applied in a pulsed manner into and/or onto the skin. At each spot of the skin patch to be processed at each point of time in processing only one liquid jet pulse each is applied and the next pulse is applied to another spot of the skin patch to be processed to prevent accumulation of liquid in the skin to thus attain penetration of the liquid jet. | 06-19-2014 |
| 20140171964 | MEDICAL MASTER/SLAVE TYPE DEVICE FOR MINIMALLY INVASIVE SURGERY - Apparatus for Minimal Invasive Surgery (MIS) comprising a master device, a slave device, a detector for detecting a parameter of or associated with the slave device, and a shape locking system for locking the shape of the master device in response to a parameter detected by the detector. | 06-19-2014 |
| 20140171965 | WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM - In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided. | 06-19-2014 |
| 20140171966 | SURGICAL 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. | 06-19-2014 |
| 20140171967 | PROXIMITY-TRIGGERED COMPUTER-ASSISTED SURGERY SYSTEM AND METHOD - A computer-assisted surgery system comprises a first surgical device with a tracking unit tracked during a surgical procedure and adapted to perform a first function associated to the surgical procedure. A second surgical device is adapted to perform a second function associated to the surgical procedure. A triggered unit is triggered when the first surgical device and the second surgical device reach a predetermined proximity relation. A surgical procedure processing unit tracks the first surgical device. A trigger detector detects a triggering of the triggered unit. A CAS application operates steps of a surgical procedure. A controller commands the CAS application to activate a selected step associated with the second function in the surgical procedure when the trigger detector signals a detection. An interface displays information about the selected step in the surgical procedure. | 06-19-2014 |
| 20140180308 | Active Device for Positioning a Surgical Instrument and a Surgical Robotic System Comprising this Device - The present invention relates to an active positioning device for a surgical instrument arranged on a robot arm, comprising a carrier plate ( | 06-26-2014 |
| 20140180309 | MOUNTING AND POSITIONING DEVICE OF A SURGICAL INSTRUMENT AND.OR AN ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY AND ASURGICAL ROBOT SYSTEM - The invention describes a mounting and positioning device of a surgical instrument and/or an endoscope for minimally-invasive surgery, in particular for use within a surgical robot system, comprising a first axis of rotation ( | 06-26-2014 |
| 20140180310 | MEDICAL-TECHNICAL DEVICE CALIBRATION - 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. | 06-26-2014 |
| 20140188128 | SYSTEMS, APPARATUS AND METHODS FOR TISSUE DISSECTION AND MODIFICATION - Systems, apparatus and methods for tissue dissection and modification are disclosed herein. A method for tissue dissection and modification may comprise inserting a tissue dissecting and modifying wand (TDM) through an incision in a patient's body. The TDM may comprise a tip having a plurality of protrusions with lysing segments positioned between the protrusions to dissect and/or modify tissue. The TDM may also comprise an energy window positioned on top of the TDM that is configured to deliver energy to modify tissues. After separating tissue using the lysing segment(s) to define a target region, the energy window may be activated and moved around within the target region to modify tissues. In some implementations, the energy window may be activated prior to and/or during dissection of the tissue such that the tissue is separated while tissue is modified within the target region. | 07-03-2014 |
| 20140188129 | MOTORIZED JOINT POSITIONER - A motorized joint positioner includes a first robotic arm coupled to a first holder and a second robotic arm coupled to a second holder. At least one of the first and second robotic arms includes an actuator controllable to position the corresponding first or second holder. | 07-03-2014 |
| 20140188130 | PIVOT POINT ARM FOR A ROBOTIC SYSTEM USED TO PERFORM A SURGICAL PROCEDURE - A pivot port that can provide a pivot point for a surgical instrument. The pivot port may be held in a stationary position by a support arm assembly that is attached to a table. The pivot port may include either an adapter or a ball joint that can support the surgical instrument. The pivot port allows the instrument to pivot relative to a patient. | 07-03-2014 |
| 20140188131 | TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY - Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading. | 07-03-2014 |
| 20140188132 | SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system having a mobile base and a first moveable support structure coupled between the mobile base and a first element of a fluoroscopic imaging system. The first element is a source element or a detector element, and a second element of the imaging system is a source element or a detector element. The second element is configured to be repositionable relative to patient tissue disposed between the first and second elements. The system further includes a coupling member configured to fixedly couple the first element to the second element, and a surgical instrument for conducting a procedure on the patient tissue. The system further includes a second moveable support structure coupled between the coupling member and the surgical instrument. The second moveable support structure includes one or more actuators which may be controlled to electromechanically characterize movement of the surgical instrument relative to the coupling member. | 07-03-2014 |
| 20140188133 | Iconic Representations for Guidance of an Indwelling Medical Device - An integrated catheter placement system for accurately placing a catheter within a patient's vasculature is disclosed. In one embodiment, the integrated system comprises a system console, a tip location sensor for temporary placement on the patient's chest, and an ultrasound probe. The tip location sensor senses a magnetic field of a stylet disposed in a lumen of the catheter when the catheter is disposed in the vasculature. The ultrasound probe ultrasonically images a portion of the vasculature prior to introduction of the catheter. ECG signal-based catheter tip guidance is included in the integrated system to enable guidance of the catheter tip to a desired position with respect to a node of the patient's heart. Iconic representations for depiction on the display of the system and relating to positional and other characteristics of the catheter or medical device are also disclosed. | 07-03-2014 |
| 20140188134 | PROSTHETIC DEVICE, METHOD OF PLANNING BONE REMOVAL FOR IMPLANTATION OF PROSTHETIC DEVICE, AND ROBOTIC SYSTEM - A robotic system for preparing a bone to receive a prosthetic device. The robotic system includes a controllable guide structure configured to guide cutting of the bone into a shape for receiving the prosthetic device, and a computer readable medium for storing data representative of the prosthetic device. The prosthetic device includes a body portion having an implantation surface configured to face the bone upon implantation and at least one feature that provides a constraint structure that will constrain the prosthetic device in the bone. The robotic system includes a control system for controlling the guide structure, and is configured to define at least one bone-cutting pattern for (i) removing a first portion of bone in a first area sufficient to seat the body portion and (ii) at least one of removing and maintaining a second portion of bone in a second area configured to interact with the constraint structure. | 07-03-2014 |
| 20140194893 | MINIMALLY INVASIVE SURGICAL INSTRUMENT - The present invention relates to a convenient, minimally invasive surgical instrument, and more particularly to a minimally invasive surgical instrument to allow a user to operate an end effector by manipulating a handling unit or the like to perform a minimally invasive surgery in a delicate and convenient manner. According to one aspect of the invention, there is provided a minimally invasive surgical instrument comprising: a shaft; an end effector being connected to one end of the shaft via a joint unit; a rotation manipulation unit being connected to to the other end of the shaft, the rotation manipulation unit comprising a gyro link including a gyro wheel; and a plurality of wires being connected between the joint unit and the gyro wheel, wherein the end effector carries out joint motion by the joint unit according to the action of at least some of the plurality of wires caused by a manipulation of the gyro wheel. | 07-10-2014 |
| 20140194894 | Motor 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. | 07-10-2014 |
| 20140194895 | SURGICAL INSTRUMENTS HAVING IMPROVED WEAR RESISTANCE, AND METHODS OF MAKING THE SAME - A surgical apparatus includes a cannula and a surgical instrument. The cannula includes a curved longitudinal axis along at least a portion of its length. The surgical instrument includes an elongated shaft having a distal end and a proximal end, and an end effector coupled to the distal end of the elongated shaft. At least a portion of the end effector is configured to contact an inner surface of the cannula during insertion of the surgical instrument into the curved cannula. A threshold galling stress between the portion of the end effector and an inner surface of the curved cannula is at least 10,000 pounds per square inch. | 07-10-2014 |
| 20140194896 | DEVICE AND METHOD FOR ASSISTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH - Surgical controlling systems and methods. A surgical controlling system includes: at least one surgical tool adapted to be inserted into a surgical environment of a human body for assisting a surgical procedure; at least one location estimating unit to real-time locate the 3D spatial position of at least one surgical tool at any given time t; and at least one movement detection unit in communication with a movement's database and with the location estimating means. The system also includes a controller having a processing unit in communication with a controller's database. The controller controls the spatial position of at least one surgical tool. | 07-10-2014 |
| 20140194897 | Robotic catheter system input device - An input device for a robotic medical system includes a handle configured to be rotatable about a center axis, and to be longitudinally displaceable along the center axis. The input device also includes a deflection control element disposed on the handle and configured to selectively control deflection of the distal end of a flexible medical instrument electrically coupled to the input device. Longitudinal displacement of the handle may cause or result in a corresponding longitudinal motion or deflection of the flexible medical instrument. Rotation of the handle may cause or result in a corresponding rotation of the deflection plane. Longitudinal displacement and rotation of the handle may be detected or sensed electronically. | 07-10-2014 |
| 20140194898 | Robotic catheter system with dynamic response - An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range. | 07-10-2014 |
| 20140194899 | ARTICULATED 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. | 07-10-2014 |
| 20140200594 | SURGICAL INSTRUMENT WITH DISENGAGEABLE HANDLE - The invention relates to a surgical instrument comprising:—a distal tool ( | 07-17-2014 |
| 20140207150 | ENDOSCOPIC INSTRUMENT WITH SUPPORT FOOT - The invention relates to an endoscopic instrument ( | 07-24-2014 |
| 20140207151 | INSTRUMENT FOR ENDOSCOPIC APPLICATIONS OR THE LIKE - An instrument for endoscopic applications, including a tubular member having a handling end portion having a flexible portion and actuating devices located at the other end portion, and longitudinal elements for transferring the movement of the actuating devices to the handling end portion resulting in a change of orientation thereof, whereby the handling end portion includes at least two independent flexible portions, whereby the actuating end portion has a corresponding number of actuating devices, and whereby each actuating device is connected by its own set of longitudinal elements to a part of the handling end portion for effecting a change of orientation of one of the flexible portions. | 07-24-2014 |
| 20140214049 | MINIMALLY INVASIVE SURGICAL INSTRUMENT HAVING JOINT SECTION COMPRISING SPHERICAL COMPONENTS - The present invention relates to a minimally invasive surgical instrument having a joint section comprising spherical components. According to one embodiment of the present invention, a minimally invasive surgical instrument comprises a shaft, a joint section connected to one end of the shaft, and an end effector which is connected to the joint section and thus is capable of articulatory movement, wherein the joint section comprises multiple spherical components and multiple joint links, and at least some of the multiple joint links move in the pitch direction or in the yaw direction in accordance with the shape of slots formed in the spherical components housed therein, enabling the end effector to move in the pitch or the yaw direction. | 07-31-2014 |
| 20140222019 | Surgical Instrument - A surgical instrument according to the invention, particularly a robot-guided surgical instrument, has a shaft end ( | 08-07-2014 |
| 20140222020 | TELESCOPING REINFORCEMENTS FOR INSTRUMENT CHANNEL SHAFTS - An instrument channel device for receiving a medical instrument having a distal tip includes an elongate tubular shaft including a proximal shaft portion and a distal shaft portion positionable within a body cavity. The shaft defines a lumen for passage of the distal tip of a flexible medical instrument therethrough, allowing positioning of the medical instrument such that its distal tip is disposed distally of the distal shaft portion. A telescoping reinforcement is positioned on the distal shaft portion. The reinforcement has a collapsed position in which the telescoping reinforcement has a length that is shorter than the length of the telescoping reinforcement in an expanded position. As an instrument is advanced from the distal end of the lumen, the telescoping reinforcement is engaged by a distal portion of the instrument such that advancement of the distal tip to a position beyond a distal end of the telescoping reinforcement moves the telescoping reinforcement to the expanded position. The reinforcement minimizes unintended flexion of the portion of the instrument shaft that extends beyond the distal end of the lumen. | 08-07-2014 |
| 20140222021 | MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES - In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system. | 08-07-2014 |
| 20140222022 | Unknown - A sealing device for a medical instrument includes a fastening area and a sealing area designed to either bear on the circumference of a medical instrument inserted into the sealing device or to close the sealing device when no medical instrument is inserted. The sealing device further includes a first elastic wall enclosing the sealing area in a ring shape, with an annular first edge, which is connected to the sealing area, and an annular second edge, and a second elastic wall which encloses the first wall in a ring shape and is spaced apart therefrom, with an annular first edge and an annular second edge, which is connected to the fastening area. | 08-07-2014 |
| 20140222023 | HYBRID CONTROL SURGICAL ROBOTIC SYSTEM - The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm. | 08-07-2014 |
| 20140222024 | MEDICAL MANIPULATOR - A medical manipulator includes: a longitudinal member; a pair of arms which are provided in a distal end of the longitudinal member; a bending portion which is provided in at least one of the pair of arms; a first connecting rod which is connected to the bending portion; a second connecting rod which is connected to the pair of arms; an operating lever which is fixed to a proximal end of the first connecting rod and a proximal end of the second connecting rod; a first guide portion which is configure to guide movement of the operating lever from a first position to a second position; a second guide portion which is configured to guide movement of the operating lever from the second position to a third position; and a guide member which is configured to switch between a first state and a second state. | 08-07-2014 |
| 20140222025 | ENVIRONMENT PROPERTY ESTIMATION AND GRAPHICAL DISPLAY - A surgical robot including an imaging system comprising at least one camera, a processor in communication with the imaging system, a manipulation system in communication with the processor, and a visual display in communication with the processor. The processor is operable to calculate a mechanical property estimate for an area of an environment based on an environment model of tool-environment interaction data, create a composite image comprising a mechanical property map of the mechanical property estimate overlaid on an environment image from the at least one camera, and output the composite image on the visual display. | 08-07-2014 |
| 20140236173 | Apparatus for Endoscopic Procedures - A shaft assembly is provided for interconnecting at least one rotatable drive shaft of a hand-held electromechanical surgical device, and an end effector actuatable by an axial drive force. The shaft assembly includes a flexible drive cable rotatably supported in an outer tube, the flexible drive cable includes a proximal end operatively connected to a respective rotatable drive shaft of the hand-held surgical device. The flexible drive cable being off set a radial distance from a central longitudinal axis of the outer tube. The shaft assembly includes an articulation rod at least partially slidably supported in the outer tube, and an articulation link having a proximal end pivotally connected to the distal end of the articulation rod and a distal end pivotally connected to a distal neck housing. The articulation rod being off set a radial distance from the central longitudinal axis of the outer tube. | 08-21-2014 |
| 20140236174 | Apparatus for Endoscopic Procedures - An electromechanical surgical device includes an end effector configured to perform at least one function, the end effector including an input drive axle projecting therefrom; and a shaft assembly. The shaft assembly includes a rotatable drive shaft; a proximal neck housing supported at a distal end of an outer tube; a distal neck housing pivotally connected to the proximal neck housing; a pivot pin interconnecting the proximal neck housing and the distal neck housing; and a gear train supported in the proximal neck housing, on the pivot pin, and in the distal neck housing. The gear train includes a proximal gear; an intermediate gear; a distal gear; and a pair of output gears, wherein each output gear defines a coupling socket each configured to selectively receive the drive axle of the end effector. | 08-21-2014 |
| 20140236175 | Systems and Methods For Proximal Control Of A Surgical Instrument - A robotic surgical system comprises an instrument chassis having a proximal mounting section and a distal mounting section. The system also comprises an instrument guide movably coupled to the distal mounting section and an actuator coupled to the proximal mounting section. A linkage system operably interconnects the actuator and the instrument guide to transmit motion from the actuator to the instrument guide. | 08-21-2014 |
| 20140236176 | Method for mapping sensor signals to output channels for neural activation - A method for mapping sensor signals to stimulation values and a device using the same are disclosed. The method includes the steps of receiving sensor signal from sensors, mapping the sensor signals to stimulation values, and delivering stimulation signals based on the stimulation values. The mapping may be performed using a linear, piecewise linear, or non-linear function. The method may be incorporated in an advanced prosthetic system that activates sensory neurons in a residual limb to provide an amputee with sensations related to grip force and hand opening. The method for implementing sensory feedback may also be incorporated into mechanical or robotic devices such as those used for surgery, games, and/or tele-manipulation. | 08-21-2014 |
| 20140236177 | ACTUATED CANNULA SEAL - Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft. | 08-21-2014 |
| 20140236178 | MEDICAL TREATMENT TOOL AND MANIPULATOR INCLUDING THE SAME - A medical treatment tool includes a treatment section which has a pair of treatment tool pieces that is rotatably supported with respect to a substrate, a manipulating member which rotates the pair of treatment tool pieces, and opens and closes the pair of treatment tool pieces, a link member which has a first end and has a second end, a coupling member which couples the link member and the manipulating member at the second end; a movement indicating part which moves interlocking with a movement of the coupling member in an advance and retraction direction of the manipulating member and is provided so that an amount of movement with respect to the substrate is visually recognized from an outside of the substrate; and a reference index part which is provided at the substrate and refers to a amount of relative movement of the movement indicating part to the substrate. | 08-21-2014 |
| 20140243849 | REMOTELY-OPERATED ROBOTIC CONTROL SYSTEM FOR USE WITH A MEDICAL INSTRUMENT AND ASSOCIATED USE THEREOF - A manipulator, for use with a robotic control system, to maneuver an existing instrument (e.g., medical instrument) to a desired location within a target zone includes at least one controller, a rotation mechanism in communication with the at least one controller and being rotated about a first axis, a horizontal movement mechanism in communication with the at least one controller and being displaced along a first path, and a deflection mechanism capable of receiving a portion of the existing instrument. Such a deflection mechanism is in communication with the at least one controller and displaced along a second path in such a manner that causes deflection of a distal end (e.g., portion of an insertion tube) of the existing medical instrument. | 08-28-2014 |
| 20140243850 | SURGICAL INSTRUMENT WITH CURVED JAWS FOR SURGICAL SYSTEM - A teleoperated surgical system including a rigid cannula and a surgical instrument is provided. The rigid cannula may include at least a portion having a curved longitudinal axis. The teleoperated surgical system may include a force transmission mechanism configured to engage a patient side manipulator of the teleoperated surgical system, a flexible shaft, and an end effector coupled to the shaft. The end effector may have a shape enhancing visibility of the end effector and/or enhancing visibility of procedures performed with the end effector. Further, the shape of the end effector may enhance grasping of objects. The end effector may comprise a pair of jaws. At least a portion of each jaw may have a curved longitudinal axis. A surgical instrument and a teleoperated surgical system including a surgical instrument and a needle are also provided. | 08-28-2014 |
| 20140243851 | REMOTELY CONTROLLED CATHETER INSERTION SYSTEM - Embodiment methods of treating a human or animal patient using a remotely controlled robotic catheter device inserting a handle of a catheter into a handle controller, inserting the catheter tubular portion into a resealable delivery channel forming a sterile barrier to a sled base, engaging a tip of the catheter with a sterile introducer disposed at an end of the sled base and engaged with the patient's body, positioning the catheter into the patient's body by remotely sending commands to the tele-robotic device to cause the sled member to advance toward the patient's body, and performing a diagnostic or therapeutic procedure on the patient using the catheter. Diagnostic or therapeutic procedures may include a mapping procedure, an ablation procedure, an angioplasty procedure, a drug delivery procedure; an electrophysiology procedure, a radiological procedure, and a medical device implantation or positioning procedure. | 08-28-2014 |
| 20140243852 | MODULAR 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. | 08-28-2014 |
| 20140249544 | MEDICAL ROBOTIC SYSTEM HAVNG 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. | 09-04-2014 |
| 20140249545 | MEDICAL TREATMENT TOOL AND MANIPULATOR INCLUDING THE SAME - Provided is a medical treatment tool, the distance between a first advance and retraction axis, and a tip end is shorter than the length of the first link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the first advance and retraction axis is shorter than the length is projected on the first advance and retraction axis. The distance between a second advance and retraction axis, and a tip end is shorter than the length of the second link member, and the length when a line segment connecting the base end and the center of a forceps rotation shaft is projected on the second advance and retraction axis is shorter than the length projected on the second advance and retraction axis. | 09-04-2014 |
| 20140249546 | APPARATUS AND METHOD FOR SUPPORTING A ROBOTIC ARM - An apparatus and method for medical procedures are provided. The apparatus includes a base, a member having first and second ends, and a curved support configured to support a robotic arm. The method involves adjusting a member to position a curved support configured to support a robotic arm, positioning the robotic arm at a location on the curved support, and adjusting the robotic arm in accordance with a non-surgical adjustment such that the robotic instrument is within range of a target area. | 09-04-2014 |
| 20140257326 | INFINITELY ROTATABLE TOOL WITH FINITE ROTATING DRIVE SHAFTS - A catheter rotation drive apparatus includes first and second drives that are engageable to an output shaft. When the first drive is engaged to the output shaft and rotated, the output shaft rotates in an output rotation direction, and when the second drive is engaged to the output shaft and rotated, the output shaft rotates in the output rotation direction. | 09-11-2014 |
| 20140257327 | MEDICAL DEVICE POSITIONER FOR REMOTE CATHETER GUIDANCE SYSTEMS - A medical device positioner for use with a remote catheter guidance system (RCGS) is provided, which can address angular, lateral and/or translational misalignment of an elongate medical device between the RCGS and an access point on a patient's body. Such a medical device positioner can comprise a base configured to attach to a remote catheter guidance system and a first support member extending from the base and having a receiving portion for receiving at least a portion of the elongate medical device. The medical device positioner can further include a second support member movably coupled to the first support member and including a second receiving area sized and configured to receive at least a portion of the elongate medical device. The medical device positioner can also include first and second tube sections with at least a portion of the first tube section being adapted to be inserted into a vascular system of a patient at an access point. A joint septum can be included for connecting the first and second tube sections. | 09-11-2014 |
| 20140257328 | SURGICAL ROBOT SYSTEM AND METHOD OF OPERATING THE SAME - A surgical robot system for a single port surgery includes: a first robot arm in which a joint-type instrument is installed and providing a motion displacement to the joint-type instrument with respect to a remote center of motion (RCM); and a second robot arm pairing the first robot arm, in which a non-joint-type instrument is installed and providing a motion displacement to the non-joint-type instrument with respect to the RCM. | 09-11-2014 |
| 20140257329 | CONTROL METHODS OF SINGLE-PORT SURGICAL ROBOT - A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector. | 09-11-2014 |
| 20140257330 | SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME - A surgical robot system capable of storing all data transmitted and received in the surgical robot system and a method of controlling the same includes a slave device performing surgery on a patient, a master device controlling a surgical operation of the slave device, an imaging device transmitting a medical image regarding the patient to the slave device and the master device, and a monitoring device comprising a storage module receiving all data transmitted and received among the slave device, the master device, and the imaging device, serializing the received data on a per transmission-time-information basis to generate serial packets, and storing the generated serial packets, and a reproduction module dividing the stored serial packets into a plurality of unit packets and transmitting the unit packets to a device for display. | 09-11-2014 |
| 20140257331 | LAPAROSCOPIC SURGICAL DEVICES HAVING WIRE REDUCER - Laparoscopic surgical devices include a first member having a first gear, a second member having a second gear corresponding to the first gear, a connection member configured to connect the first member and the second member; first and second wire mounting pieces respectively at the first and second members, a first wire wound on the first wire mounting pieces so as to be pulled upon receiving a first drive force; and a second wire wound on the second wire mounting pieces so as to be pulled upon receiving a second drive force. The drive unit is configured to selectively transmit the first and second amplified driving forces to a respective one the first member and the second member to cause tilting of the first member and the second member. | 09-11-2014 |
| 20140257332 | MODULAR NAVIGABLE PROBE - A navigable probe system and method of use is provided. The system may include a handle assembly having a locking mechanism enclosed and a stylus, a cannula, and a tracking device extending from the handle assembly. The stylus may include undercuts for receiving pins of the locking mechanism. A cam of the handle assembly may rotate such that in a first position, the pins of the locking mechanism may be engaged with the undercuts and in a second position, the pins of the locking mechanism may be disengaged from the undercuts releasing the stylus from the locking mechanism. The stylus may be slidably engaged with an inner diameter of the cannula. In some arrangements, the handle assembly may include a quick connect system that in a first position attaches the cannula to the handle assembly and in a second position releases the handle assembly and thus stylus from the cannula. | 09-11-2014 |
| 20140257333 | HYBRID MANUAL AND ROBOTIC INTERVENTIONAL INSTRUMENTS AND METHODS OF USE - A system comprises a handpiece body configured to couple to a proximal end of a medical instrument and a manual actuator mounted in the handpiece body. The system further includes a plurality of drive inputs mounted in the handpiece body. The drive inputs are configured for removable engagement with a motorized drive mechanism. A first drive component is operably coupled to the manual actuator and also operably coupled to one of the plurality of drive inputs. The first drive component controls movement of a distal end of the medical instrument in a first direction. A second drive component is operably coupled to the manual actuator and also operably coupled to another one of the plurality of drive inputs. The second drive component controls movement of the distal end of the medical instrument in a second direction. | 09-11-2014 |
| 20140257334 | SLIDER CONTROL OF CATHETERS AND WIRES - One exemplary user interface for a medical robotics system may include a control panel and one or more sliders that may be slidably carried by the control panel to actuate one or more motors for moving a surgical instrument of the medical robotics system. The sliders may be configured to actuate the motors to move the surgical instrument along a respective one of a plurality of degrees of freedom. | 09-11-2014 |
| 20140257335 | Multifunctional 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. | 09-11-2014 |
| 20140257336 | ENDOSCOPIC SURGICAL INSTRUMENTS - An endoscopic surgical instrument may include: two surgical instrument modules, each of which is provided with a surgical instrument portion; and/or an endoscopic module configured to form a triangular shape with the two surgical instrument modules and configured to capture operations of the surgical instrument modules at different angles using a plurality of joints. Wires connecting respective members coupled by the plurality of joints may be configured to amplify drive forces of a drive portion applied to the plurality of joints. The plurality of joints may include rolling joints at which teeth of gears engage and rotate with each other. The plurality of joints may provide three or more degrees of freedom to the endoscopic module. | 09-11-2014 |
| 20140276931 | ROBOTIC ULTRASONIC SURGICAL DEVICE WITH ARTICULATING END EFFECTOR - An apparatus for operating on tissue comprises an end effector, a shaft assembly, and an interface assembly. The end effector comprises an ultrasonic blade. The shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis. The interface assembly is operable to drive the end effector. The interface assembly comprises a base and a plurality of drive shafts. The base is configured to couple with a dock of a robotic control system. The drive shafts are oriented perpendicular to the longitudinal axis of the shaft assembly. A first drive shaft may be operable to rotate the shaft assembly relative to the base. A second drive shaft may be operable to drive the articulation section. A third drive shaft may be operable to drive a clamping arm to pivot toward the ultrasonic blade. | 09-18-2014 |
| 20140276932 | APPARATUS FOR ENDOSCOPIC PROCEDURES - An electromechanical surgical device is provided and includes an end effector configured to perform at least one function; and a shaft assembly. The end effector includes a rotatable drive screw having a coupling member at a proximal end thereof; and a flexible drive cable rotatably supported therein and extending therefrom, wherein the flexible drive cable receives rotational forces and transmits said rotational forces to the drive screw to actuate the end effector. The shaft assembly includes a proximal neck housing supported at a distal end of the outer tube; and a distal neck housing pivotally connected to the proximal neck housing, wherein a distal end of the distal neck housing is configured and adapted for operative connection with the end effector. In use, when the end effector is connected to the shaft assembly, the flexible drive cable extends through the proximal neck housing and the distal neck housing. | 09-18-2014 |
| 20140276933 | TORQUE-BASED CATHETER ARTICULATION - A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer. | 09-18-2014 |
| 20140276934 | TOUCH-FREE CATHETER USER INTERFACE CONTROLLER - A command interpreter may be in communication with a wireless controller. The command interpreter may be configured to identify a reference location of the wireless controller, identify a second location of the wireless controller, and determine, based on the reference location and the second location, a sequence of instrument commands configured to adjust positioning of the instrument device. | 09-18-2014 |
| 20140276935 | ROTATIONAL SUPPORT FOR AN ELONGATE MEMBER - Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a guidewire or catheter. An exemplary drive apparatus for driving an elongated member may include a rotational component configured to apply a torque to the elongated member, where the rotational component is positioned a first distance away from an insertion site along the elongated member. The drive apparatus may further include a rotational support configured to apply an assistance torque to the elongated member. The rotational support may be positioned a second distance from the rotational component along the elongated member that is larger than the first distance. | 09-18-2014 |
| 20140276936 | ACTIVE DRIVE MECHANISM FOR SIMULTANEOUS ROTATION AND TRANSLATION - An exemplary drive apparatus is disclosed having a roller assembly configured to impart axial motion to the elongate member along a first continuous surface configured to maintain contact with the elongate member during axial motion. The drive apparatus may further include a roller support configured to rotate the roller assembly, thereby imparting rotational motion to the elongate member. The roller support may be configured to rotate the roller assembly about a second continuous surface configured to maintain contact with the roller support during rotational motion. Moreover, the roller assembly and roller support may be configured to impart axial and rotational motion independently of one another, such that a first one of the roller assembly and the roller support imparts their associated motion regardless of a presence or absence of motion by the other of the roller assembly and the roller support. | 09-18-2014 |
| 20140276937 | SYSTEMS AND METHODS FOR TRACKING ROBOTICALLY CONTROLLED MEDICAL INSTRUMENTS - Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image. | 09-18-2014 |
| 20140276938 | USER INPUT DEVICES FOR CONTROLLING MANIPULATION OF GUIDEWIRES AND CATHETERS - A robotic surgical system with an input device has two operational modes by which both steerable and non-steerable elongate instruments can be effectively controlled, such as steerable catheters which can move in at least three orthogonal axes and non-steerable guidewires which can move via axial insertion/retraction or axial rotation. The robotic surgical system may include mapping schemes and haptic feedback to enhance the functionality, operation and ease of use of the input device when controlling non-steerable elongate instruments such as guidewires. | 09-18-2014 |
| 20140276939 | ACTIVE DRIVE MECHANISM WITH FINITE RANGE OF MOTION - Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a catheter, sheath, or guidewire. An exemplary drive apparatus may include a first component and a moveable component, each configured to selectively grip the elongated member. In some examples, the first and moveable components may each include a gripping device. The moveable component may be configured to selectively move axially and rotationally with respect to a support surface to effect axial movement and rotation movement, respectively, of the elongated member with respect to the support surface within a range of motion of the moveable component. The moveable component may be configured to move the elongated member across a predetermined movement having a magnitude greater than the range of motion. | 09-18-2014 |
| 20140276940 | SURGICAL ROBOT AND METHOD OF CONTROLLING THE SAME - Disclosed herein is a surgical robot including a slave device performing a surgical operation upon a patient and a master device controlling the surgical operation of the slave device. The slave device includes an image capture unit including a first lighting unit radiating visible light, a second lighting unit radiating UV light, and a camera capturing a visible-light image and a surgical tool coated with a UV reactive material emitting light in response to UV light radiated by the second lighting unit. | 09-18-2014 |
| 20140276941 | MAGNETIC CONTROL ASSEMBLIES AND SYSTEMS THEREFOR - Described here are devices and systems for applying an adjustable strength magnetic field to a magnetic device located within the body. In some variations, the devices may comprise a force modulation device comprising an adjustable shielding device. In other variations, the devices may comprise a force modulation device comprising a distance adjustment device. In some variations, the force modulation device may be adjusted by an automated control mechanism based on information from a sensor in the magnetic device. | 09-18-2014 |
| 20140276942 | Robotic catheter device cartridge - A robotic catheter device cartridge may include a finger or a slider block generally disposed in a channel and engaged with a steering wire. The steering wire may control movement of a component having the steering wire engaged thereto when the finger or the slider block is linearly driven in a predetermined direction. The cartridge may be a transseptal cartridge having a transseptal needle connected thereto, a catheter cartridge having a catheter connected thereto, or a sheath cartridge having a sheath connected thereto. | 09-18-2014 |
| 20140276943 | Systems and Methods for Establishing Virtual Constraint Boundaries - Systems and methods for establishing and tracking virtual boundaries. The virtual boundaries can delineate zones in which an instrument is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures to be treated by the instrument or to be avoided by the instrument during the surgical procedure. | 09-18-2014 |
| 20140276944 | Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers - The various embodiments disclosed herein relate to improved robotic surgical systems, including robotic surgical devices having improved arm components and/or biometric sensors, contact detection systems for robotic surgical devices, gross positioning systems and devices for use in robotic surgical systems, and improved external controllers and consoles. | 09-18-2014 |
| 20140276945 | TROCAR CANNULA ASSEMBLY WITH LOW PROFILE INSERTION CONFIGURATION AND METHOD OF MANUFACTURE - A cannula assembly having a retention member and a method of manufacture of the cannula assembly is provided. The cannula assembly includes a cannula and a sleeve disposed around the cannula from a proximal end to a distal end. The sleeve can include a balloon formed by a stretch blow molding process following local heating once advanced over the cannula. Once formed, the balloon can be conditioned to constrict against the cannula. A conditioning aid can be advanced over the balloon when it is still formable to constrict the balloon against the cannula. | 09-18-2014 |
| 20140276946 | Sealing Multiple Surgical Instruments - In accordance with aspects of the present invention, an instrument guide is provided. An instrument guide according to some embodiments of the present invention includes a channel portion, the channel portion including a plurality of channels through which surgical instruments can be inserted; a lower part mechanically fixed to the channel portion, the lower part including doors to seal each of the channels; an upper part, the upper part mechanically attached to the lower part and including a funnel for guiding the instruments into the plurality of channels; and one or more seals fixed between the upper part and the lower part, the seal(s) having openings corresponding to the channels and sealing against the doors when the doors are closed and sealing against surgical instruments when surgical instruments are inserted into the channels. | 09-18-2014 |
| 20140276947 | Sealing Multiple Surgical Instruments - In accordance with aspects of the present invention, an instrument is provided. An instrument seal according to some embodiments includes a seal body that can be captured between an upper part and a lower part of an instrument guide; and openings in the seal body that align with channels on the instrument guide, wherein the seal body seals against doors in the lower part and an instrument shaft inserted through the openings. | 09-18-2014 |
| 20140276948 | CATHETER SYSTEM WITH MAGNETIC COUPLING - A robotic catheter system including a first drive mechanism comprising a drive which interacts with a catheter device to cause the catheter device to move along its axis. A first encoder assembly that detects the motion of the catheter device by a magnetic interaction with the catheter device. | 09-18-2014 |
| 20140276949 | End Effector of a Surgical Robotic Manipulator - An end effector of a surgical robotic manipulator includes a removeable cutting accessory. The cutting accessory includes a cutting tip and a shaft extending along an axis. A drive member is configured to rotatably drive the shaft of the cutting accessory. An actuator is coupled to the drive member for rotatably driving the drive member. A clutch assembly is supported by and is selectively rotatable relative to the drive member and receives the shaft of the cutting accessory along the axis of the shaft for selectively locking the shaft to the drive member. | 09-18-2014 |
| 20140276950 | Inter-Operative Switching of Tools in a Robotic Surgical System - Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled. | 09-18-2014 |
| 20140276951 | Software Configurable Manipulator Degrees of Freedom - Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly. | 09-18-2014 |
| 20140276952 | SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT - Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein. | 09-18-2014 |
| 20140276953 | SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE - Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein. | 09-18-2014 |
| 20140276954 | SYSTEMS AND METHODS FOR FACILITATING ACCESS TO EDGES OF CARTESIAN-COORDINATE SPACE USING THE NULL SPACE - Devices, systems, and methods for providing increased range of movement of the end effector of a manipulator arm having a plurality of joints with redundant degrees of freedom. Methods include defining a position-based constraint within a joint space defined by the at least one joint, determining a movement of the joints along the constraint within a null-space and driving the joints according to a calculated movement to effect the commanded movement while providing an increased end effector range of movement, particularly as one or more joints approach a respective joint limit within the joint space. | 09-18-2014 |
| 20140276955 | MONOLITHIC INTEGRATED THREE-DIMENSIONAL LOCATION AND ORIENTATION TRACKING MARKER - A rigid positioning and orienting portion of a handheld apparatus has a three-dimensional tracking marker monolithically integrated within its structure, thereby making it possible to track the apparatus using a suitable a tracker. The tracker may track the position or orientation, or both, of the monolithically integrated tracking marker. The tracker may be a two-dimensional imaging tracker. The tracking marker may be monolithically integrated with a rigid positioning and orienting portion of the handheld apparatus during the manufacture of the rigid positioning and orienting portion of the handheld apparatus. In a surgical monitoring system the monolithically integrated tracking marker is trackable by a tracker and may have markings containing a plurality of contrasting portions arranged in a rotationally asymmetric pattern; wherein at least one of the contrasting portions has a perimeter that has a mathematically describable curved section recognizable to a controller in communication with the tracker. | 09-18-2014 |
| 20140276956 | APPARATUS AND METHOD FOR CONTROLLING AN END-EFFECTOR ASSEMBLY - An apparatus for controlling an end-effector assembly having a first working member and a second working member is provided. The apparatus includes a first set of at least one cable, a second set of at least one cable, a first pulley configured to guide the first set of at least one cable, a second pulley configured to guide the first set of at least one cable when the second pulley is in a first position, a third pulley configured to guide the second set of at least one cable, and a rotatable element rotatable about a first axis. | 09-18-2014 |
| 20140288578 | TRAJECTORY GUIDE, ACCESS PORT, AND FIDUCIAL MARKER ALIGNMENT - A trajectory guide for introducing an instrument into a human or animal subject is described. A guide stem can be removed in sections without disturbing the aligned instrument. An access port portion of the trajectory guide can be left in place, without disturbing trajectory alignment, and can allow overlying skin to be sutured closed. The access port can provide infusate delivery, such as using an injection port, catheter or the like. A fiducial marker arrangement can provide easy and accurate trajectory alignment, for use with the present trajectory guide, another trajectory guide, or without any trajectory guide. | 09-25-2014 |
| 20140296869 | SURGICAL INSTRUMENT SHAFT - A surgical instrument may include a shaft, a force transmission mechanism, and an end effector. The shaft may have a proximal end and a distal end. The force transmission mechanism may be coupled to the proximal end of the shaft. The end effector may be coupled to the distal end of the shaft. The shaft may include a body having an outer surface and an inner surface. The inner surface may surround a lumen configured to receive a drive member that extends through the lumen. The outer surface of the body may form an outer surface of the shaft. The body may be made of a single material from the inner surface of the body to the outer surface of the body. | 10-02-2014 |
| 20140296870 | AUTOFOCUS AND/OR AUTOSCALING IN TELESURGERY - Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator. | 10-02-2014 |
| 20140296871 | SURGICAL GUIDING AND POSITION SYSTEM - The present invention discloses a surgical guiding and positioning system, comprising: a global information device, a local information device, and a computing device. The global information device is capable of collecting an overall information of a surgical site before a surgical procedure begins. The local information device can comprise a surgical device including at least one sensor and provide a real-time information of a section of the surgical site. The computing device is capable of calculating a position data of the surgical device in the surgical site by comparing the overall information and the real-time information. Therefore, the present invention is capable of providing the real-time guidance and monitoring during a surgical procedure so that the surgeon can acquire precise real-time information of the surgical site and perform the surgery efficiently. | 10-02-2014 |
| 20140296872 | SURGICAL SYSTEM ENTRY GUIDE - An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube. | 10-02-2014 |
| 20140296873 | ROBOTICALLY-CONTROLLED END EFFECTOR - The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors. | 10-02-2014 |
| 20140296874 | ROBOTICALLY-CONTROLLED END EFFECTOR - The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors. | 10-02-2014 |
| 20140296875 | ROBOTIC 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. | 10-02-2014 |
| 20140296876 | DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED INTO A NATURAL DUCT OR AN ARTIFICAL DUCT OF A PATIENT - The invention relates to a device for guiding a medical instrument ( | 10-02-2014 |
| 20140303642 | Multi-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. | 10-09-2014 |
| 20140303643 | SURGICAL ROBOT SYSTEM - A surgical robot system includes a slave device provided with a surgical instrument and a master device to control motion of the surgical instrument. The master device includes a master manipulation module having a manipulation tool, to which a pose recognizer is attached, and a master control module that estimates a pose of the manipulation tool using pose information acquired via the pose recognizer, generates a surgical instrument pose control signal corresponding to the estimated pose of the manipulation tool, and transmits the control signal to the slave device. | 10-09-2014 |
| 20140303644 | SURGICAL ROBOT - A surgical robot including a slave device provided with a surgical instrument includes a body having at least one link that includes a plurality of solenoid segments, and an end effector mounted to one end of the body. | 10-09-2014 |
| 20140303645 | ROBOTICALLY-CONTROLLED END EFFECTOR - A surgical end effector can comprise a first jaw comprising a proximal jaw end, a distal jaw end, and a staple cartridge comprising a plurality of staples removably stored therein. The end effector can further comprise a second jaw comprising an anvil, wherein the anvil is configured to deform the staples when the staples are driven from the staple cartridge, and a rotatable shaft, comprising a threaded shaft portion and a distal shaft end. The end effector can further comprise a movable member threadably engaged with the threaded shaft portion, wherein said rotatable shaft is configured to drive said movable member toward said distal jaw end when said rotatable shaft is rotated in a drive direction to drive said staples from said staple cartridge, and a distal bearing positioned in the distal jaw end which rotatably supports the distal shaft end. | 10-09-2014 |
| 20140303646 | ROBOTICALLY-CONTROLLED END EFFECTOR - The present invention is directed to a surgical instrument with a robotics system, a memory device and an end effector having an elongate channel, knife position sensor(s) and a firing bar coupled to a knife. In response to drive motions initiated by the robotics system, the firing bar may translate within the elongate channel. As the firing bar translates, the sensor(s) transmit a signal to the memory device. The position of the knife may be determined from the output signals and may be communicated to the robotics system or instrument user. The sensors may be Hall Effect sensors. | 10-09-2014 |
| 20140309658 | OCCLUSION TRAVERSAL ROBOTIC CATHETER SYSTEM - A robotic catheter procedure system for performing a procedure to treat a vascular lesion including a bedside system and a remote workstation is provided. The bedside system includes a first percutaneous device including an end section, the end section structured to allow the first percutaneous device to create a bore through the vascular lesion. The bedside system includes a second percutaneous device. The bedside system also includes a first actuating mechanism configured to engage and to impart movement to the first percutaneous device and a second actuating mechanism configured to engage and to impart movement to the second percutaneous device. The remote workstation includes a user interface and a control system operatively coupled to the user interface and to the bedside system. The control system controlling the first actuating mechanism to cause movement of the first percutaneous device to create a bore through the lesion and the second actuating mechanism to cause movement of the second percutaneous device through the bore created by the first percutaneous device. | 10-16-2014 |
| 20140309659 | SURGICAL ROBOT AND CONTROL METHOD THEREOF - A surgical robot including a slave arm and an instrument provided at the slave arm to be introduced into a single port to perform surgery. The instrument includes a plurality of surgical instrument members to perform surgery while coming into contact with a surgical object, and a plurality of arm members. The arm members include surgical position regulators to move the surgical instrument members from the single port to a first surgical region where the surgical object is located, and surgical workers connecting the surgical position regulators and the surgical instrument members to each other, the surgical workers serving to move the surgical instrument members to a position close to surgical object within the first surgical region. The single-port surgical robot may effectively perform simultaneous surgery upon various surgical regions like multi-port surgery. | 10-16-2014 |
| 20140309660 | INTELLIGENT SURGERY SYSTEM - The present invention relates to an intelligent surgery system. According to one embodiment of the present invention, provided is an intelligent surgery system that comprises: a data-matching unit that receives, from an information-collecting apparatus, data on a part of the body of a patient that is to undergo surgery, and searches for control data matching the data on the part of the body to undergo surgery on the basis of a data-matching matrix; and a surgery control unit, which enables surgery tools or suturing devices to operate in accordance with the control data from the data-matching unit. | 10-16-2014 |
| 20140309661 | CONTROLLED STEERING FUNCTIONALITY FOR IMPLANT-DELIVERY TOOL - Apparatus for percutaneous access to a patient's body comprising a first steerable tube ( | 10-16-2014 |
| 20140316430 | SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS - Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof. | 10-23-2014 |
| 20140316431 | SYSTEMS AND METHODS FOR USING THE NULL SPACE TO EMPHASIZE MANIPULATOR JOINT MOTION ANISOTROPICALLY - Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein. | 10-23-2014 |
| 20140316432 | Constant Value Gap Stabilizer for Articulating Links - A surgical instrument is adapted and configured for use in a minimally invasive surgical procedure. The surgical instrument includes at least one pair of segments including a plurality of articulating links having gaps therebetween. At least one gap stabilizer stabilizes the articulating links and facilitates maintaining equally sized gaps between the articulating links during bending of the surgical instrument. | 10-23-2014 |
| 20140316433 | RELAY BASED TOOL CONTROL - Medical apparatus, including a local medical tool and a remote medical tool, located remotely from the local medical tool. The apparatus includes a lockable joint, physically connected to the local medical tool, that is operable in a locked state or in an unlocked state. A handle is physically connected to the lockable joint, so that in the locked state of the joint, movements of the handle are directly transferred to corresponding movements of the local medical tool. The apparatus includes sensors that are configured, in the unlocked state of the joint, to measure motions of the handle with respect to the lockable joint. The apparatus also includes a controller, which in the unlocked state of the joint receives indications of the motions of the handle with respect to the lockable joint, and which is configured to apply the indications to generate corresponding motions for the remote medical tool. | 10-23-2014 |
| 20140316434 | SYSTEMS AND METHODS FOR ROBOT-ASSISTED TRANSURETHRAL EXPLORATION AND INTERVENTION - Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture. | 10-23-2014 |
| 20140316435 | METHODS, SYSTEMS AND DEVICES FOR THREE DIMENSIONAL 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. | 10-23-2014 |
| 20140316436 | ACTIVE BED MOUNT FOR SURGICAL ROBOT - A robotic surgical system incorporating a surgical robot attached to a patient's bone by an attachment member, such that motion of the bone induces corresponding motion of the robot, maintaining the robot/bone positional relationship. The robot is supported on a mechanical mounting member attached through a controlled joint to a bed-mounted base element. The controlled joint can alternatively enable the mechanical mounting member to move freely relative to the base element, or its position can be controlled by signal inputs adapted to prevent excessive force being applied in the system. Two modes of operation are available (i) free motion in which the control system is decoupled from the mounting member, which rides freely with patient bone motion, and (ii) servo-controlled motion, in which drive mechanisms control the joint motion to prevent application of excessive force on the patient bone or attachment member. | 10-23-2014 |
| 20140324070 | SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF - A surgical robot system and a control method thereof include a slave device and a master device to control motion of the slave device. The surgical robot system further includes a monitoring device that inspects a signal transmitted within the system in real time to stop motion of the slave device if an abnormal signal is detected. | 10-30-2014 |
| 20140324071 | REAL-TIME SURGICAL REFERENCE INDICIUM APPARATUS AND METHODS FOR ASTIGMATISM CORRECTION - A system, method, and apparatus for generating 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 are disclosed. An example method includes providing at least one real-time multidimensional visualization of at least a portion of an eye to a surgeon and producing at least one rotationally accurate virtual indicium including data for making at least one limbal relaxing incision, at least one corneal relaxing incision or a combination thereof on the eye in conjunction with the real-time multidimensional visualization of at least a portion of the eye. | 10-30-2014 |
| 20140330288 | Articulating Arm for a Robotic Surgical Instrument System - An articulating arm for a robotic surgical instrument system includes arm elements, an elongate support element, end effectors and a wrist joint. The arm elements are joined by a first pitch joint. The elongate support element is connected at one end thereof to a first arm element by a second pitch joint and other end of the elongate support element is connected to a support structure and is functionally coupled to a control. The elongate support element, arm elements, pitch joints and end effectors are linearly inserted via an aperture of a port into an operation site and once inserted are articulated and moved to perform a single port procedure with at least seven axes of movement. The robotic surgical instrument system includes a pair of articulating arms, a control and a resilient access port. | 11-06-2014 |
| 20140336669 | HAPTIC GLOVES AND SURGICAL ROBOT SYSTEMS - A haptic glove configured to transmit haptic feedback to an operator of a surgical robot system may include: a plurality of vibrators on a first surface of the haptic glove, the plurality of vibrators configured to apply vibrations; at least one pressure sensor at a finger part of a second surface of the haptic glove opposite to the first surface, the at least one pressure sensor configured to sense grip force in the finger part; at least one sensation applier on the second surface, the at least one sensation applier configured to apply sensations including vibration or force to the finger part; and/or a controller configured to output the grip force sensed by the at least one pressure sensor, and configured to control the vibrations applied by the plurality of vibrators and the sensations applied by the at least one sensation applier. | 11-13-2014 |
| 20140336670 | NEEDLE HOLDER - A needle holder for use in an image guided intervention procedure. The needle holder includes a clip for holding a needle and a guide arrangement for supporting the clip and directing the needle at a desired angle relative to a patient's body. The clip includes a releasable connection such that the needle can be disengaged from the guide arrangement by a lateral movement of the clip and/or the guide arrangement relative to the longitudinal axis of the needle. | 11-13-2014 |
| 20140336671 | System for accurate guide wire positioning - The present invention provides system for accurate guide wire positioning. The said system comprises Jigs with series of holes at different angle. Guide wire can be positioned at different version with or without change in angle depending on the position of guide wire. Also, jig provides flexibility of change in version with or without change of entry point of insertion of guide wire in bone. Also, system comprises external drive which superimposes grid guide of parallel lines or line extensions on the image of guide wire. This drive also projects the future position of the said wire guide. From the projection, if correction is required in the guide wire positioning then it can be changed with the help of said jig. | 11-13-2014 |
| 20140343566 | CATHETER 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. | 11-20-2014 |
| 20140343567 | SYSTEMS AND DEVICES FOR A COUNTER BALANCED SURGICAL ROBOT - Described herein are systems and devices for counterbalancing a surgical robotic system using a counterbalanced Z-axis drive. The counterbalanced Z-axis drive includes a self-centering ball screw assembly having a linear actuator and a counter weight. The counter weight is configured to substantially support a load associated with an arm of the robotic system when the driving portion is engaged or disengaged. In some embodiments, the counterbalanced Z-axis drive controls the arm and a movable effector mounted on the arm. Also disclosed herein are systems and devices for direct drive actuation of rotary axes of the arm which reduce the size and weight of the arm. | 11-20-2014 |
| 20140343568 | GUIDE APPARATUS FOR DELIVERY OF A FLEXIBLE INSTRUMENT AND METHODS OF USE - An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument. | 11-20-2014 |
| 20140343569 | GRIP FORCE NORMALIZATION FOR SURGICAL INSTRUMENT - A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector. | 11-20-2014 |
| 20140343570 | SURGICAL PATIENT SIDE CART WITH SUSPENSION SYSTEM - A patient side cart for a teleoperated surgical system comprises a base, a manipulator portion extending from the base and configured to hold one or more surgical instruments, four wheels mounted to the base to permit movement of the cart, and a suspension system. The suspension system may be configured to transition the cart between a first state in which the cart behaves as a three-wheeled cart and a second state in which the cart behaves as a four-wheeled cart. | 11-20-2014 |
| 20140343571 | ROBOTIC GUIDANCE OF ULTRASOUND PROBE IN ENDOSCOPIC SURGERY - Systems and methods for surgical robotic guidance include a robotic system ( | 11-20-2014 |
| 20140343572 | METHOD AND A DEVICE FOR COMPUTER ASSISTED SURGERY - A method for computer assisted determination of values of correction parameters for positioning a medical device relative to a target structure or to a reference base. The method includes a numerical procedure that includes the steps of:
| 11-20-2014 |
| 20140343573 | METHOD OF PREPARING A FEMUR AND TIBIA IN KNEE ARTHROPLASTY - A method of preparing a femur and tibia in surgery on a knee joint using a navigation system and a robotic system. The navigation system tracks movement of the femur and tibia during the surgery. The robotic system includes a cutting tool for cutting away material from the femur and tibia. Femoral and tibial implants on installed on the femur and tibia. | 11-20-2014 |
| 20140350569 | MINIMALLY INVASIVE SURGICAL INSTRUMENT IMPLEMENTING A MOTOR - The present invention relates to a minimally invasive surgical instrument implementing a motor. According to one embodiment of the present invention, a minimally invasive surgical instrument comprises a shaft, an end effector connected to one end of the shaft, and a handle unit connected to the other end of the shaft. The handle unit includes a pair of linearly moving members, at least one rotating member for moving the pair of linear moving members away from each other in opposite directions, and a driving element for driving said at least one rotating member. The pair of linearly moving members operates the end effector in the pitch direction or in the yaw direction. | 11-27-2014 |
| 20140350570 | SURGICAL INSTRUMENT - Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations. | 11-27-2014 |
| 20140350571 | ROBOTIC-ASSISTED DEVICE FOR POSITIONING A SURGICAL INSTRUMENT RELATIVE TO THE BODY OF A PATIENT - The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm. | 11-27-2014 |
| 20140350572 | POSITIONING AND ORIENTATION OF SURGICAL TOOLS DURING PATIENT SPECIFIC PORT PLACEMENT - A positioning apparatus includes a first portion ( | 11-27-2014 |
| 20140350573 | FRICTION 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. | 11-27-2014 |
| 20140350574 | Methods, 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. | 11-27-2014 |
| 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 |
| 20140358162 | ROBOTIC PLATFORM FOR MINI-INVASIVE SURGERY - Robotic platform for mini-invasive surgery comprising robotic arms ( | 12-04-2014 |
| 20140358163 | LAPAROSCOPIC GRASPERS - An actuator for controlling a compressive force of a detachable laparoscopic grasper head. The actuator includes a handle unit comprising a movable lever, an outer tube member proximally connected to the handle unit and, when in use, distally connected to a first member of a detachable grasper head, a transmission member which comprises at least partially an elastic portion. The transmission member is axially arranged inside said outer tube member. The transmission member is proximally connected to the movable lever and, when in use, distally connected to a second member of the detachable grasper head. The transmission member is configured to transfer a lever force applied when moving the movable lever for actuating a compressive force by the grasping head depending on the lever force. | 12-04-2014 |
| 20140364870 | METHOD, APPARATUS, AND A SYSTEM FOR ROBOTIC ASSISTED CATARACT SURGERY - Systems and processes for facilitating the removal of cataract material with a robotically assisted tool with laser, irrigation capabilities, aspiration capabilities. Tool guidance systems that make use of vision technologies, including optical coherence tomography (OCT), white light imaging, and structured light imaging. Emulsification patterns optimized to minimize risk to the patient and reduce procedure time. Robotic tools with articulation capabilities that allow for precise control during capsulorhexis and emulsification procedures. Robotic instrument drive mechanisms combined with pumps, flow meters, and valves regulate and control irrigation and aspiration functionalities during robotic ophthalmologic procedures. | 12-11-2014 |
| 20140364871 | ATRAUMATIC ARTHROSCOPIC INSTRUMENT SHEATH - A method of performing arthroscopic surgery using an arthroscopic inflow and outflow sheath which provides an improved inflow and outflow system reducing the diameter of a continuous flow system while eliminating the need for a third portal during arthroscopy. The improved arthroscopic inflow and outflow sheath comprises an elongated atraumatic sheath having an inner surface, outer surface, proximal end, and distal end. The atraumatic sheath further comprises plurality of ribs extending from the inner surface of the sheath and designed to contact an outer surface of the arthroscope creating outer lumens facilitating the inflow and outflow of fluid to a surgical site. The atraumatic sheath further comprises a ridge to prevent the sheath from being easily removed from a surgical site. | 12-11-2014 |
| 20140371761 | PORTABLE STAND-ALONE DEVICE, PARTICULARLY SUITABLE FOR USE IN SURGERY, MICRO-COMPONENT HANDLING AND THE LIKE - The invention relates to a portable stand-alone device ( | 12-18-2014 |
| 20140371762 | Methods, Systems, and Devices Relating to Force Control Surgical Systems - The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user. | 12-18-2014 |
| 20140371763 | SHEATH FOR HAND-HELD AND ROBOTIC LAPAROSCOPES - A sheath for providing a dynamic air shield relative to a distal portion of a laparoscope disposed within the sheath includes a sheath elongate body having an inner surface and an outer surface, a plurality of lumens, and a distal portion configured to deflect air from the lumens across the surface of a laparoscope. The sheath can include a registration and alignment feature configured to align the sheath with a laparoscope. Further, the sheath can be configured to work with robotic laparoscope systems. | 12-18-2014 |
| 20140371764 | HIGHLY ARTICULATED PROBES WITH ANTI-TWIST LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF PERFORMING MEDICAL PROCEDURES - An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link. | 12-18-2014 |
| 20140378994 | SPHERICAL LINKAGE TYPE SURGICAL ROBOTIC ARM - In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation. | 12-25-2014 |
| 20140378995 | METHOD AND SYSTEM FOR ANALYZING A TASK TRAJECTORY - A computer-implemented method of analyzing a sample task trajectory including obtaining, with one or more computers, position information of an instrument in the sample task trajectory, obtaining, with the one or more computers, pose information of the instrument in the sample task trajectory, comparing, with the one or more computers, the position information and the pose information for the sample task trajectory with reference position information and reference pose information of the instrument for a reference task trajectory, determining, with the one or more computers, a skill assessment for the sample task trajectory based on the comparison, and outputting, with the one or more computers, the determined skill assessment for the sample task trajectory. | 12-25-2014 |
| 20140378996 | SUPPORT COUPLING FOR SURGICAL INSTRUMENT - A coupling attachment includes a sleeve configured to at least partially surround a shaft or one or more other portions of a surgical instrument, such as a laparoscopic, during a surgical procedure. A grip is attached to the sleeve and used to hold the coupling steadily during the procedure. | 12-25-2014 |
| 20140378997 | SURGICAL TRAJECTORY ALIGNMENT DEVICE - A surgical trajectory alignment device is disclosed, including an alignment trajectory guide holding portion shaped to receive and secure an alignment trajectory guide along a longitudinal patient entry axis, the longitudinal patient entry axis falling within a plane. The surgical trajectory alignment device further includes a first alignment trajectory guide holding portion activator operable to rotate an alignment trajectory guide secured by an alignment arm holding portion within the plane; and a second alignment trajectory guide holding portion activator operable to translate an alignment trajectory guide secured by the alignment arm holding portion in a direction away from the plane. | 12-25-2014 |
| 20140378998 | TWIN FORCEPS FOR SINGLE ACCESS LAPAROSCOPY - The patent is relative to a new instrument for single access laparoscopy that tries to overcome the limits of the present instrumentation used in this technique, that usually allows to use only one forceps, which does not allow to keep the tissues tenses to work with the surgical instrument. To overcome this limitation, the proposed instrument presents two arms, arranged in parallel presenting a diameter equal to half of the main body in the opening direction of the same, while in the direction perpendicular to this these arms can have an higher diameter, provided its shape be entirely circumscribed by the external dimension of the initial body, and each bearing at the tip a forceps, which may be mounted directly on the arms or on two auxiliary arms. The internal mechanism allows opening the two arms, not necessarily in the plane of rotation of the control rings, while the forceps bend toward the inside, keeping their configuration, being all this controlled by a single command. Two additional commands allow then to open and close the forceps individually, and each command can be locked in any position. The forceps can be opened in any direction relative to the plane of the arms, which can also be adjustable in a particular version, as well as it is possible that one or both of the forceps are replaced by a tool of a different type. The instrument can also be made with curvature of the body opposite to that of the arms, the latter being also controlled with a further command. Finally, there are versions of different pliers with robotic motion control and implementation. | 12-25-2014 |
| 20140378999 | Methods for Performing Invasive Medical Procedures Using a Surgical Robot - Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice. | 12-25-2014 |
| 20140379000 | METHOD, APPARATUS, AND A SYSTEM FORFACILITATING BENDING OF AN INSTRUMENT IN ASURGICAL OR MEDICAL ROBOTIC ENVIRONMENT - An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed. | 12-25-2014 |
| 20150012010 | ROBOTIC SURGERY - A robotic tool holder, including a housing, configured to be gripped by a human hand, and a wireless transmitter, located within the housing. The holder further includes a plurality of individual controls attached to the housing, the controls being configured, in a first mode of operation of the robotic tool holder, to activate respective motions of a first surgical tool physically attached to the housing in response to manipulation of the controls by the human hand, and in a second mode of operation of the robotic tool holder, to activate via the wireless transmitter respective motions of a second surgical tool remote from and disconnected from the housing in response to the manipulation. | 01-08-2015 |
| 20150012011 | INTERSTITAL LUNG ACCESS USING NESTED CANNULAS - A cannula configuration method involves a generation of a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula. The method further involves a selection of a tube target location ( | 01-08-2015 |
| 20150018840 | MRI-COMPATIBLE, INTEGRATED FORCE AND TORQUE SENSORS AND SYSTEMS THAT INCORPORATE THE SENSORS - A magnetic resonance imaging (MRI) compatible sensor for measuring torque with respect to an axis of rotation in conjunction with an applied linear force includes a shaft arranged in a longitudinal direction substantially along the axis of rotation, a base component arranged along the axis of rotation and displaced with respect to the shaft, a torque detector assembly configured to be coupled to rotational motion of the shaft about the axis of rotation relative to the base component, and a linear-force detector assembly configured to be coupled to linear motion of the shaft from a force applied in a direction substantially coincident with the axis of rotation relative to the base component. The torque detector assembly and the linear-force detector assembly are substantially de-coupled from each other such that torque measurements are substantially independent of linear force measurements. The MRI compatible sensor consists essentially of MRI compatible materials. | 01-15-2015 |
| 20150018841 | SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF - A surgical robot system may include a slave device provided with surgical tools and a master device remotely controlling motion of the surgical tools. The master device may include handles controlling the motion of the surgical tools, a master external force estimator estimating external force applied to the handles, a force compensator generating a first force control signal to cancel out the estimated external force, and a master controller moving and rotating respective joints of the handles in such a way that the external force applied to the handles is canceled out using the generated force control signal. | 01-15-2015 |
| 20150018842 | SYSTEMS AND METHODS FOR FRAMELESS IMAGE-GUIDED BIOPSY AND THERAPEUTIC INTERVENTION - A system and a method of performing a frameless image-guided biopsy uses imaging, a six-dimensional robotic couch system, a laser guidance system, an optical distance indicator, and a needle control apparatus. A planning CT scan is made of the patient with stereotactic fiduciary markers to localize and produce digitally reconstructed radiographs. Two stereoscopic images are generated using an imaging device to visualize and identify a target tumor. The images are fused with the digitally reconstructed radiographs of the planning CT scan to process tumor location. The tumor location data are communicated to the movable robotic couch to position the target tumor of the patient at a known isocenter location. A biopsy needle is guided with a laser alignment mechanism towards the isocenter at the determined depth using a needle positioning apparatus and an Optical Distance Indicator, and a biopsy sample of the target tumor is obtained. | 01-15-2015 |
| 20150018843 | ARTICULABLE 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 via a proximal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen, an actuation cable extending from the actuator through the lumen and into the proximal articulable segment, and a cable router comprising a proximal pulley assembly rotatable about the proximal hinge pin, wherein the cable is wrapped about the proximal pulley assembly. | 01-15-2015 |
| 20150025547 | SURGICAL COCKPIT COMPRISING MULTISENSORY AND MULTIMODAL INTERFACE 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. | 01-22-2015 |
| 20150025548 | Patient and Procedure Customized Fixation and Targeting Devices for Stereotactic Frames - Provided herein are methods and apparatuses for performing precise medical procedures. Provided are methods of providing unitary positioning interfaces for stereotactic devices or medical devices. The methods include implanting emitters in a patient, scanning the patient using any suitable scanning technique, determining orientation and location data of the emitters and any suitable anatomic structures, generating a digital image, and fabricating a solid model from the digital image. Also provided herein are methods of verifying medical treatments and systems for performing medical procedures. | 01-22-2015 |
| 20150025549 | HYPERDEXTEROUS SURGICAL SYSTEM - A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena. | 01-22-2015 |
| 20150032125 | MINIMALLY INVASIVE SURGICAL INSTRUMENT - A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect. | 01-29-2015 |
| 20150032126 | SOFTWARE 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. | 01-29-2015 |
| 20150032127 | TRANSAPICAL MITRAL VALVE REPAIR METHOD - Methods and devices for repairing a cardiac valve. A minimally invasive procedure includes creating an access in the apex region of the heart through which one or more instruments may be inserted. The device can implant artificial heart valve chordae tendineae into cardiac valve leaflet tissues to restore proper leaflet function and prevent reperfusion. The device punctures the apex of the heart and travels through the ventricle. The tip of the device rests on the defective valve and punctures the valve leaflet. A suture or a suture/guide wire combination is inserted, securing the top of the leaflet to the apex of the heart. A resilient element or shock absorber mechanism adjacent to the outside of the apex of the heart minimizes the linear travel of the device in response to the beating of the heart or opening/closing of the valve. | 01-29-2015 |
| 20150038980 | ROBOT FOR HOLDING AND FOR HANDLING MEDICAL INSTRUMENTS AND EQUIPMENT - A robot for holding and for handling medical instruments/equipment ( | 02-05-2015 |
| 20150038981 | HYPERDEXTEROUS SURGICAL SYSTEM - A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena. | 02-05-2015 |
| 20150038982 | HYPERDEXTEROUS SURGICAL SYSTEM - A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena. | 02-05-2015 |
| 20150038983 | TELE-PRESENCE ROBOT SYSTEM WITH SOFTWARE MODULARITY, PROJECTOR AND LASER POINTER - A remote control station that accesses one of at least two different robots that each have at least one unique robot feature. The remote control station receives information that identifies the robot feature of the accessed robot. The remote station displays a display user interface that includes at least one field that corresponds to the robot feature of the accessed robot. The robot may have a laser pointer and/or a projector. | 02-05-2015 |
| 20150038984 | MANIPULATOR SYSTEM - A manipulator system includes a treatment unit treating a subject, an imaging unit capturing the subject and the treatment unit, a display unit displaying an image captured by the imaging unit, a display unit driving unit supporting and moving the display unit, an operation unit operating the treatment unit, an operation unit driving unit supporting and moving the operation unit, and a control unit controlling the display unit driving unit and the operation unit driving unit to bring a relative positional relationship between the display unit and the operation unit closer to a relative positional relationship between the treatment unit and the imaging unit. This allows intuitive operation of the treatment unit displayed on the display unit even if an observation direction of the subject is switched. | 02-05-2015 |
| 20150045812 | SURGICAL ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME - A surgical robot system may include a slave device having a surgical instrument; and a master device configured to transmit a control signal to the surgical instrument. The slave device may include a guide tube to which the surgical instrument is coupled; and a controller operating the surgical instrument in response to the control signal transmitted from the master device, and operate the guide tube so as to move the surgical instrument to a target position if the target position of the surgical instrument according to the control signal corresponds to a position out of a range of a current working space for the surgical instrument. | 02-12-2015 |
| 20150045813 | ROBOTIC SYSTEM AND METHOD FOR SPINAL AND OTHER SURGERIES - The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. | 02-12-2015 |
| 20150045814 | CURVED 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. | 02-12-2015 |
| 20150051617 | SURGERY ASSISTANCE DEVICE AND SURGERY ASSISTANCE PROGRAM - A personal computer ( | 02-19-2015 |
| 20150051618 | ROTARY INPUT FOR LEVER ACTUATION - A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction. | 02-19-2015 |
| 20150051619 | ROTARY INPUT LEVER GIMBAL - A force transmission transmits a force received by two rotational inputs to an output gimbal plate. Two capstans receive the rotational input. The capstans drive cables connected to three levers. A cable is connected directly from each of the capstans to one of two levers. Another cable is connected to both capstans and passes over a pulley rotatably coupled to the third lever. Each of three linkages has a first end coupled to one of the three levers and a second end coupled to the output gimbal plate. Rotation of each of the first and the second input capstans causes the three cables to move the three levers such that there is no net movement of the three seconds ends of the linkages with respect to the center of motion of the output gimbal plate. The output gimbal plate may orient a mechanically actuated surgical tool. | 02-19-2015 |
| 20150057675 | SYSTEM AND METHOD FOR AUTOMATING MEDICAL PROCEDURES - A system and a method for automating a medical process including a memory storing a software program, a computer connected to the memory for running the software program, a display connected to the computer for generating a visual representation of output data generated by the computer running the program, a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory, a robot arm connected to the computer, and a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path without human guidance, and wherein the data generated during the treatment procedure is stored, analyzed, and shared among collaborating computer systems. | 02-26-2015 |
| 20150057676 | MAGNETIC NAVIGATION SYSTEM WITH SOFT MAGNETIC CORE ELECTROMAGNETS FOR OPERATION IN THE NON-LINEAR REGIME - The present invention relates to a magnetic manipulation and navigation system for moving a magnetic element through a body comprising at least six electromagnets ( | 02-26-2015 |
| 20150057677 | CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM - A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position. | 02-26-2015 |
| 20150066050 | INSTRUMENTS FOR MECHANIZED SURGICAL SYSTEM - A surgical instrument for use with a mechanized surgical system that includes a roll drive unit operable by a motor. The instrument includes an elongate shaft having a longitudinal axis, and an end effector and handle on the shaft. The handle includes an actuator manually operable by a user to mechanically actuate the end effector. The shaft includes a roll joint positioned between proximal and distal shaft portions, such that the distal shaft portion is longitudinally rotatable relative to the proximal shaft portion at the roll joint. The instrument further includes a drive segment on the distal shaft portion, the drive segment including first features rotationally engageable with second features of the roll drive unit such that operation of the motor causes the distal shaft portion to axially roll relative to the proximal shaft portion. | 03-05-2015 |
| 20150066051 | SURGICAL ROBOT AND CONTROL METHOD THEREOF - A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals. | 03-05-2015 |
| 20150066052 | COMPONENTS AND METHODS FOR BALANCING A CATHETER CONTROLLER SYSTEM WITH A COUNTERWEIGHT - Various embodiments provide systems and methods for controlling a catheter with a catheter positioning device by using a remote controller. As the catheter is advanced by the catheter positioning device, a counterweight may be adjusted to balance the catheter positioning system. In further embodiments, the counterweight may be configured to move to balance a sled member such that any total moment exerted on a sled base remains constant. In further embodiments, the counterweight may be controlled by a control system based on one or more sensors coupled with the catheter positioning system. | 03-05-2015 |
| 20150066053 | RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT - A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip. | 03-05-2015 |
| 20150066054 | Methods and Systems for Directing Movement of a Tool in Hair Transplantation Procedures - Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria. | 03-05-2015 |
| 20150073433 | MR Compatible Fluorescence Viewing Device for Use in the Bore of an MR Magnet - In an MR guided surgical system which is carried out in the bore of an MR magnet and uses fluorescence to detect tumor cells, there is provided a microscope system for viewing the required part of a patient which includes stereoscopic viewing components arranged for use in generating 2D and 3D images displayed to the surgeon. The optical assembly is adjustable to change the view and the visual images are overlaid by the MR images. The visual image can be adjusted in response to movement of the surgical tool and the MR image displayed and/or the image obtained can be modified in response to change in the visual image and/or movement of the tool. The components in the bore are made compatible with the MR environment. A fluorescence delivery system is operated to automatically activate the delivery system in response to detection of the level of fluorescence. | 03-12-2015 |
| 20150073434 | DEXTEROUS WRISTS FOR SURGICAL INTERVENTION - A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments. | 03-12-2015 |
| 20150073435 | CONTROL 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. | 03-12-2015 |
| 20150073436 | OPERATION SUPPORT DEVICE - An operation support device includes a manipulation input unit and an operating section to which a surgical instrument is attached and which operates the surgical instrument. The surgical instrument includes a treatment section, a flexible insertion section, and a manipulation section which is fixed to the flexible insertion section. The manipulation input unit further includes a detection body which is attached to the manipulation section, and a detecting device which detects the detection body. The detecting device calculates information which is capable of specifying a position and/or an orientation of the detection body. On the basis of the information which is calculated by the detecting device, a control device controls an operation of the surgical instrument by outputting to the operating section an order of moving the surgical instrument as a manipulation order. | 03-12-2015 |
| 20150073437 | Indicator 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 as 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. | 03-12-2015 |
| 20150080907 | SYSTEM AND METHOD FOR ENDOSCOPIC DEPLOYMENT OF ROBOTIC CONCENTRIC TUBE MANIPULATORS FOR PERFORMING SURGERY - An apparatus ( | 03-19-2015 |
| 20150080908 | ENERGY BALANCE MECHANISM FOR FLEXURE JOINT - Systems and method are described for counterbalancing the force required to deform a flexure joint. The system includes an elastically deformable flexure joint, a control joint, and an energy balance system. The control joint is mechanically linked to the flexure joint such that movement of the control joint causes a corresponding deformation of the flexure joint. The energy balance system provides a spring force to aid movement of the control joint and to overcome an elastic force required to deform the flexure joint. | 03-19-2015 |
| 20150080909 | Method 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. | 03-19-2015 |
| 20150088158 | MECHANIZED MULTI-INSTRUMENT SURGICAL SYSTEM - A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity. | 03-26-2015 |
| 20150088159 | MECHANIZED MULTI-INSTRUMENT SURGICAL SYSTEM - A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity. | 03-26-2015 |
| 20150088160 | SURGICAL ROBOT FOR CHANGING POSITION OF SURGICAL EQUIPMENT - Provided is a surgical robot for changing a position of surgical equipment capable of selectively using the surgical equipment appropriate for affected areas by rotating the surgical equipment instead of changing a position of the surgical equipment by detachment, by integrating a plurality of flexible shafts having a surgical equipment attached to a leading end thereof to configure a single shaft assembly and allowing each flexible shaft to perform translation, rotation, and bending motions and rotating the shaft assembly. According to the embodiment of the present invention, the surgical robot for changing a position of surgical equipment includes: a housing | 03-26-2015 |
| 20150088161 | CONTROL APPARATUS AND TENDON-DRIVEN DEVICE - An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time. | 03-26-2015 |
| 20150094736 | System and Method of Controlling a Robotic System for Manipulating Anatomy of a Patient During a Surgical Procedure - System and methods of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure include applying a force to the anatomy to generate a response by the anatomy. The response of the anatomy is measured and a characteristic of the anatomy is calculated based on the response. An instrument is autonomously controlled in relation to the anatomy based on the calculated characteristic. | 04-02-2015 |
| 20150094737 | MEDICAL MANIPULATOR AND TREATMENT TOOL REPLACEMENT METHOD - A medical manipulator includes: an operation member configured to drive so as to operate a treatment tool; a treatment tool side drive shaft configured to rotate about an axis thereof so as to drive the operation member; an operation amount detection member connected to the treatment tool; a treatment tool side detection shaft configured to rotate about an axis thereof in accordance with displacement of the operation amount detection member; a drive unit side drive shaft engaged with the treatment tool side drive shaft; a drive unit side detection shaft engaged with the treatment tool side detection shaft; a shape regulation section configured to regulate a shape of the treatment tool to a predetermined operation state; and a phase setting section configured to set phases in rotational directions of the treatment tool side drive shaft and the treatment tool side detection shaft. | 04-02-2015 |
| 20150100065 | INTERLEAVED MANIPULATOR - Various apparatuses and methods involve flexible components for insertion into tissue, such as for minimally-invasive surgical procedures. As consistent with one or more embodiments, an apparatus includes a plurality of elongated flexible segments and one or more rigid actuators coupled between the flexible segments. One or more tendons extend within and moves the flexible segments, which elastically flex upon insertion into tissue. Each rigid actuator also operates to move one or more of the flexible segments, providing further movement control. A manipulator circuit is coupled to each rigid actuator and operates to position one or more of the segments by actuating the rigid actuator (e.g., via electrical and/or mechanical input). | 04-09-2015 |
| 20150100066 | APPARATUS, SYSTEMS, AND METHODS FOR PRECISE GUIDANCE OF SURGICAL TOOLS - Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not require increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems. | 04-09-2015 |
| 20150100067 | METHODS AND SYSTEMS FOR COMPUTER-GUIDED PLACEMENT OF BONE IMPLANTS - The present technology relates generally to systems and methods for computer-guided placement of bone implants. In some embodiments, for example, a method of computer-guided surgical insertion of an implant into a target bone includes imaging the target bone to obtain three-dimensional (3D) image data, and, based on the 3D image data, determining an entry point and trajectory for insertion of the implant. The method also includes mapping the 3D image data, the entry point, and the trajectory into a surgical field, followed by instructing a clinician to insert the implant into the target bone based on the determined entry point and trajectory. | 04-09-2015 |
| 20150100068 | METHOD FOR PROVIDING SURGICAL ACCESS - One embodiment is directed to a method for advancing a needle into a tissue structure, comprising: advancing a distal end of a needle insertion assembly, the assembly comprising an insertion member coupled to a tissue interface indentor member and movably coupled to an elongate needle member, against a targeted tissue structure such that a distally protruding shape feature of the tissue interface indentor member engages one or more portions of the targeted tissue structure adjacent a distal tip of the elongate needle member at a position at which the elongate needle member distal tip is configured to be advanced through the insertion member and into the tissue structure, and locally changes an available angle of penetration between such portions and the distal tip of the elongate needle member; and inserting the elongate needle member relative to the insertion member and tissue interface indentor member. | 04-09-2015 |
| 20150100069 | SURGERY ASSISTANCE DEVICE - A surgery assistance device includes an operation input section, a motion section which is formed with a channel into which a surgical instrument is insertable and is capable of moving through the channel, a movement amount detection means detecting a treatment section movement amount, a motion section information calculation means calculating motion section information, and a motion control unit controlling motion in the motion section based on a manipulation order. | 04-09-2015 |
| 20150105797 | MOTION CONTROL SYSTEM FOR MODULE TYPE CAPSULE ROBOT IN BODY - A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force. | 04-16-2015 |
| 20150105798 | Robotic Surgery System And Surgical Instrument - A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module. | 04-16-2015 |
| 20150105799 | Robotic Surgery System And Surgical Instrument - A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module. | 04-16-2015 |
| 20150105800 | Robotic Surgery System And Surgical Instrument - A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module. | 04-16-2015 |
| 20150112362 | MEDICAL MANIPULATOR - This medical manipulator includes a body section, an insertion section, a channel, a movement amount detection section configured to detect an amount of movement of a medical treatment tool inserted through a body-side channel provided in the body section, a distal-end-side contact section provided to be in contact with the medical treatment tool inserted through an insertion-side channel arranged in the insertion section and configured to rotate about its own axis to move the medical treatment tool, a first drive section configured to rotate the distal-end-side contact section. The distal-end-side contact section is rotated so as to move the medical treatment tool with respect to the insertion-side channel by an amount of movement which is the same as the amount of movement detected by the movement amount detection section. | 04-23-2015 |
| 20150112363 | SURGICAL TOOL - A surgical tool for minimally invasive surgery. The surgical tool in one embodiment includes a manipulator as a user interface, a proximal universal joint mounted to the manipulator, a hollow elongated member such as a tube mounted to the proximal universal joint, and a distal universal joint mounted to the other end of the elongated member. An end effector is mounted to the distal universal joint second end. Pivoting of the first end of the proximal universal joint causes the second end of the distal universal joint to move in a corresponding motion, and cabling operatively couples the proximal and distal universal joints. The proximal and distal universal joints may each include two yokes and a center block. Cabling may include four cables that each engage two round elements at the proximal and distal universal joints mounting locations to the center block. | 04-23-2015 |
| 20150112364 | Methods and Systems for Modifying a Parameter of an Automated Procedure - A variety of systems and methods are described which enable quantitative information to be extracted regarding automated procedures, including those performed at a high speed that may require a user input, without having to interrupt the procedure. In addition, these systems and methods serve to provide information on one or more parameters of the automated procedure, whereby they may be modified, if required, to improve the automated procedure or the results from such a procedure. The systems and methods provided are especially useful in automated hair transplantation procedures. | 04-23-2015 |
| 20150119900 | ROBOTIC DEVICE FOR ESTABLISHING ACCESS CHANNEL - A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment. | 04-30-2015 |
| 20150119901 | SURGICAL TOOL - A surgical instrument including a manipulator, a proximal joint mounted to the manipulator, a hollow elongated member mounted to the proximal joint, a distal joint mounted to the hollow elongated member, and an end effector mounted to the distal joint. The proximal joint and the distal joint may each include a base at each end with a central feature disposed between the bases. The central features may provide for articulation about two perpendicular axes, may be substantially ball-shaped, and may define guides in their surfaces to receive cables, and perpendicular slots may be provided to receive projections from the bases. Cables engage the central features to operatively couple the manipulator, proximal joint, and distal joint, and may concurrently operatively couple the manipulator and the end effector. | 04-30-2015 |
| 20150119902 | FRAME FOR FIXATION OF EQUIPMENT TO THE HEAD OF A PATIENT DURING NEUROLOGICAL DIAGNOSIS, STEREOTACTIC IMAGING, THERAPY OR SURGERY - A frame for fixation of equipment to the head of a patient during neurological diagnosis, therapy or surgery is adapted to enclose the head of the patient. The frame includes a number of mounting slots arranged in the frame. The mounting slots are adapted to receive a number of fixation pins adapted to fixate the frame to a bone in the head. The frame further includes two anterior longitudinal posts and two posterior longitudinal posts, extending along a longitudinal axis A, an anterior portion, adapted to be arranged at the anterior side of the head, the anterior portion interconnecting the two anterior longitudinal posts, and a posterior portion, adapted to be arranged at the posterior side of the head, the posterior portion interconnecting the two posterior longitudinal posts. The anterior longitudinal posts and the posterior longitudinal posts are interconnected with two lateral portions, adapted to extend one on each side of the head, and wherein the lateral portions are axially offset, along the longitudinal axis A, with respect to the anterior and posterior portion. A stereotactic frame system includes such a frame. | 04-30-2015 |
| 20150119903 | LINK SYSTEMS AND ARTICULATION MECHANISMS FOR REMOTE MANIPULATION OF SURGICAL OR DIAGNOSTIC TOOLS - An articulating mechanism for remote manipulation of a surgical or diagnostic tool comprises an elongate shaft having a longitudinal axis and a plurality of axially aligned links located at the distal end of the shaft. The articulating mechanism also includes an actuating element connected to and configured to cause movement of the axially aligned links and a locking mechanism located proximal of the axially aligned links. The locking mechanism including a collar mechanism through which the actuating element extends and a locking member movable between first and second positions. The collar mechanism frictionally impedes motion of the actuating element when the locking member is in the first position and the collar mechanism allows translation of the actuating element when the locking member is in the second position. | 04-30-2015 |
| 20150127018 | WALKING ASSISTANCE ROBOT AND METHOD OF CONTROLLING THE WALKING ASSISTANCE ROBOT - Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint. | 05-07-2015 |
| 20150127019 | MEDICAL MANIPULATOR - A medical manipulator includes an insertion part including an external cylindrical tube that has a bendingly manipulable bending part and that has flexibility; a manipulation part; an arm part which is provided on a distal end part of the insertion part; a mode-input part which is provided on the manipulation part and is capable of inputting a mode; and a control part that selectively controls the bending part and the arm part such that the bending part and the arm part are controlled to enter one of two states consisting of a locked state in which the bending part and the arm part are locked in a predetermined state in which the manipulation input is not accepted, and a non-locked state, on the basis of the manipulation input and a mode input to the mode-input part. | 05-07-2015 |
| 20150133957 | MEDICAL DEVICE ADAPTER WITH WRIST MECHANISM - A surgical device adapter for coupling an end effector to a surgical device is disclosed. The surgical device adapter includes: a proximal joint housing including a proximal end and a distal end, the proximal joint housing couplable at the proximal end thereof to the surgical device; a middle joint housing having a proximal end and a distal end, the middle joint housing pivotally coupled at the proximal end thereof to the distal end of the proximal joint housing, the middle joint housing pivotable about a first pivot axis defined between the proximal joint housing and the middle joint housing; and a distal joint housing having a proximal end and a distal end, the distal join housing pivotally coupled at the proximal end thereof to the distal end of the middle joint housing, the distal joint housing coupleable at the distal end thereof to the end effector and pivotable about a second pivot axis defined between the middle joint housing and the distal joint housing, the second pivot axis being transverse to the first pivot axis. | 05-14-2015 |
| 20150133958 | REPOSITIONABLE MEDICAL INSTRUMENT SUPPORT SYSTEMS, DEVICES, AND METHODS - The disclosure herein provides repositionable medical instrument support systems, devices, and methods. A repositionable medical instrument support system comprises a frame for rigidly connecting the system to a patient support, a ball and socket joint configured to provide three degrees of rotational freedom, a frame mounting arm configured to releasably mount the ball and socket joint to the frame, a sliding joint configured to provide one degree of translational freedom, a connecting arm configured to connect the sliding joint to the ball and socket joint, and a docking member configured to engage a medical instrument to support the medical instrument during a medical procedure. | 05-14-2015 |
| 20150133959 | MEDICAL APPARATUS - To prevent a medical apparatus such as an endoscope or an electrophysiological catheter that includes an insertion portion to be inserted into the body of a patient from breaking at any unexpected positions. | 05-14-2015 |
| 20150133960 | Robotic Surgery System - One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot and an instrument assembly comprising at least one instrument that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part containing a cavity designed to hold the drive unit, said drive unit housing part having a seal for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated;; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly. | 05-14-2015 |
| 20150133961 | ROBOTIC SURGICAL APPARATUS AND FLUID EJECTING APPARATUS FOR ROBOTIC SURGICAL APPARATUS - A robotic surgical apparatus including a robot arm portion, an operation portion that receives an input by a user, and a tool control portion configured to operate the robot arm portion based on the input which the operation portion receives from a user. The robotic surgical apparatus includes a fluid chamber, a pulsating flow-provision portion configured to provide a fluid within the fluid chamber with a pulsating flow, a fluid ejection tube which includes a fluid ejection port for ejecting a fluid, a fluid supply portion which supplies a fluid to the fluid chamber, and a fluid ejection control portion which controls the pulsating flow-provision portion. The fluid ejection tube is mechanically fixed to the robot arm portion, and the fluid ejection control portion is configured such that the ejection amount of a fluid per unit time is changed in accordance with the movement speed of the fluid ejection port. | 05-14-2015 |
| 20150133962 | Systems 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. The system may comprise an implanting tool, a cartridge with a plurality of receptacles for biological units and one or more control mechanisms. The device and cartridge for storing biological units may be incorporated within an overall automated or robotic system, or may form part of a semi-automated or even manual apparatus. | 05-14-2015 |
| 20150133963 | ROBOTIC INSTRUMENT SYSTEM - A robotic instrument system includes a master input device and an instrument driver in communication with the controller, the instrument driver having a guide instrument interface including one or more guide instrument drive elements responsive to control signals generated, at least in part, by the master input device, for manipulating a guide instrument operatively coupled to the instrument interface. The master input device includes an operator interface coupled to a linkage assembly, with one or more load cells interposed between the operator interface and the linkage assembly, wherein control signals generated by the master input device are based at least in part on output signals generated by the one or more load cells in response to movement of the operator interface relative to the linkage assembly. | 05-14-2015 |
| 20150142012 | Robotic Surgery System - One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot and an instrument assembly comprising at least one instrument that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part containing a cavity designed to hold the drive unit, said drive unit housing part having a seal for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly. | 05-21-2015 |
| 20150142013 | SYSTEMS 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. | 05-21-2015 |
| 20150142014 | SURGICAL TOOL AND MEDICAL MANIPULATOR - In a surgical tool, the treatment tool piece operating joint includes a first operating rotation member which is coupled to the moving member and is rotated around a predetermined rotation center; a second operating rotation member which is coupled to the first operating rotation member so as to relatively rotate around a rotation center coaxial with the second bending rotary shaft in a rotation direction opposite to a rotation direction of the first operating rotation member or around a rotation center that is a position closer to the first bending rotary shaft than the second bending rotary shaft in a rotation direction opposite to a rotation direction of the first operating rotation member; and a link which converts a rotational force of the second operating rotation member into the operation of the treatment tool piece. | 05-21-2015 |
| 20150142015 | Path-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. | 05-21-2015 |
| 20150148816 | ROBOTIC ASSISTER FOR CATHETER INSERTION - Apparatus for controlling motion of an invasive probe relative to a sheath enclosing the probe. The apparatus includes an outer casing, configured for connection to the sheath. The apparatus further includes a drive mechanism, fixedly connected to the outer casing. The drive mechanism has a first set of components, configured to translate the probe along a direction parallel to an axis of the probe, in order to advance and retract the probe with respect to the sheath in a translational stepwise manner. The drive mechanism also includes a second set of components, configured to rotate the probe around the axis of the probe, in order to rotate the probe clockwise and counter-clockwise, with respect to the sheath, in a rotational stepwise manner. | 05-28-2015 |
| 20150148817 | Robotic Surgery System - One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot and an instrument assembly comprising at least one instrument that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part containing a cavity designed to hold the drive unit, said drive unit housing part having a seal for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly. | 05-28-2015 |
| 20150148818 | Surgical robot system - One aspect of the robotic surgery system according to the invention relates to a robot assembly comprising at least one robot and an instrument assembly comprising at least one instrument that is guided by said robot assembly. Said instrument assembly comprises at least one instrument housing having at least one drive unit housing part containing a cavity designed to hold the drive unit, said drive unit housing part having a seal for the sterile sealing of an insertion opening of the cavity in addition to a dynamic sterile barrier which delimits the cavity in a sterile manner and across which the drive train arrangement can be actuated; and/or the drive unit is offset laterally in relation to a longitudinal axis of the instrument shaft towards a connection between the instrument housing and the robot assembly. | 05-28-2015 |
| 20150148819 | Surgical Instrument Positioning System and Method - A surgical instrument positioning system includes articulating arms for coarse adjustment and a micro manipulator connectable to the articulating arms for fine adjustment. The micro manipulator selectively holds the surgical instrument and is operable to adjust the position of the surgical instrument. The micro manipulator includes two adjustment assemblies for providing linear adjustment and two adjustment assemblies for providing rotational adjustment. Features of the system also provide for control of the amount of free movement or play within the micro manipulator. Also a stop feature works in conjunction with the adjustment assemblies to maintain the tip of the instrument at an intersection of the two rotational axes facilitating rotational adjustment of the micro manipulator without linear displacement of the instrument tip. | 05-28-2015 |
| 20150289941 | Robotic System and Method for Reorienting a Surgical Instrument Moving Along a Tool Path - Robotic system and method for positioning an energy applicator extending from a surgical instrument. The robotic system includes a surgical manipulator operable in a manual mode or a semi-autonomous mode. The surgical manipulator moves the energy applicator along a tool path in the semi-autonomous mode, monitors output of a force/torque sensor as the energy applicator moves along the tool path, and reorients the surgical instrument based on the output in response to a user applying reorienting forces and torques to the surgical instrument. | 10-15-2015 |
| 20150289942 | Tension Control In Actuation Of Multi-Joint Medical Instrument - 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. | 10-15-2015 |
| 20150293596 | MANUALLY OPERATED ROBOT CONTROL SYSTEM AND METHOD FOR CONTROLLING A ROBOT SYSTEM - The invention relates to a device ( | 10-15-2015 |
| 20150297205 | MANUAL RETRACTION TOOL FOR USE WITH AN ELECTROMECHANICAL SURGICAL DEVICE - A manual retraction tool for use with an electromechanical surgical assembly includes a handle and a shaft. The handle includes an elongated handle body having a first end and a second end, and a channel recessed within at least a portion of the handle body. The shaft includes an elongated shaft body having a tip dimensioned to be inserted into a recess of a connector sleeve of an adapter of the electromechanical surgical assembly and to effect rotation of the connector sleeve upon rotation of the shaft, and a second end pivotally connected to the handle body. The shaft body is movable between a first position wherein the shaft is at least partially disposed within the channel of the handle body and longitudinally aligned with the handle body, and a second position wherein the shaft body is perpendicular to the handle body. | 10-22-2015 |
| 20150297300 | CONTROLLER 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. | 10-22-2015 |
| 20150305817 | SURGICAL INSTRUMENT HOLDER FOR USE WITH A ROBOTIC SURGICAL SYSTEM - Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency. | 10-29-2015 |
| 20150313619 | Forceps Manipulator and Forceps System Comprising Forceps Manipulator - The present invention is intended to improve durability and operability of a forceps manipulator, as well as to facilitate roll motions of the forceps manipulator. In the forceps manipulator, a flexible shaft | 11-05-2015 |
| 20150313676 | WRISTED SURGICAL INSTRUMENT CAPABLE OF MULTIPLE FUNCTIONS, WITHOUT REQUIRING EXTRA INPUTS - The present invention is generally related to the art of surgical instruments for use in minimally invasive surgery and more specifically to robotic laparoscopic surgery. According to one aspect of the invention, this articulated instrument is capable of producing a wrist-like motion, i.e. the end effector generally has three degrees of freedom. Additionally, it also has another degree of freedom for actuation of the end effector. The end effector has a configurable set of arms which are capable of performing a first function in a first mode and a second function in a second mode. This end effector also has the capability to dynamically switch between two modes of different functions (e.g.: scissor and grasper). These actions of switching back and forth between the different modes (e.g.: scissor and grasper) can be described as extra actions. These extra actions are achieved without increasing the number of inputs. | 11-05-2015 |
| 20150313677 | REMOTE 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. | 11-05-2015 |
| 20150313678 | SHEATH FOR SURGICAL INSTRUMENT - A method using a sheathed surgical apparatus includes equalizing a pressure differential between a surgical insufflation gas pressure and an initial pressure lower than the insufflation gas pressure. The insufflation gas pressure is external to a portion of a surgical apparatus upon which a sheath is disposed, and the initial pressure is within the surgical apparatus. The equalizing of the pressure differential occurs via permeation of insufflation gas through the sheath. | 11-05-2015 |
| 20150320501 | FLEXIBLE 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. | 11-12-2015 |
| 20150320514 | SURGICAL ROBOTS AND CONTROL METHODS THEREOF - A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and kinematic information of links included in the endoscope and the tool. A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; an inertia measurement unit configured to acquire inertia measurement information of the surgical robot; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and the inertia measurement information. | 11-12-2015 |
| 20150321355 | OPERATION SUPPORT SYSTEM AND CONTROL METHOD OF OPERATION SUPPORT SYSTEM - An operation support system performing treatment on a target tissue while observing using an image capturing unit, using a treatment unit installed at a distal end side of a manipulator, a distal end seen from a fixing end of the manipulator, includes: the manipulator having joints corresponding to degrees of freedom and including at least two redundant joints having a redundant relationship among the joints; an operating unit configured to provide operating information corresponding to the degrees of freedom; a positional relationship calculation unit calculating a switching positional relationship between the target tissue or the treatment unit and the image capturing unit; and a control unit controlling an operation of the joint according to the operating information. The control unit controls the manipulator using one redundant joint as a driving joint and the other redundant joints as a fixing joint based on the switching positional relationship. | 11-12-2015 |
| 20150327938 | MODULE FOR DRIVING A CATHETERIZATION SYSTEM - The invention relates to a robotic module for driving a catheterization system, which includes a base and a movable element rotatably mounted, relative to the base, about a rotation axle. The movable element includes: a mounting having a surface for rotating about the axle, the rotating surface comprising an access opening; a transfer system including a fixed part supported by the base and a mobile part for translating the catheter, supported by the mounting, the mobile part having an access opening. The access opening of the mobile part is aligned with the access opening of the rotating surface, regardless of the relative orientation of the mounting and of the base. | 11-19-2015 |
| 20150327940 | MEDICAL MANIPULATOR AND CONTROL METHOD OF MEDICAL MANIPULATOR - A medical manipulator includes: an insertion section having a main movable section and a distal end rigid section; a manipulator at which a treatment section is provided; an auxiliary movable section configured to move the treatment section; an imaging section configured to acquire an image in a field-of-vision range; a manipulation unit configured to output an instruction that specifies a position to which the treatment section is moved; a display configured to display the image; a determination unit configured to determine whether a condition is a partial movement condition or an entire movement condition when the determination unit receives the instruction; and a driving unit configured to drive the auxiliary movable section, the main movable section, and the imaging section based on determination of the determination unit. | 11-19-2015 |
| 20150327946 | SYSTEM FOR PRECISION GUIDANCE OF SURGICAL PROCEDURES ON A PATIENT - A system for precision guidance of surgical procedures on a patient is disclosed. Aspects of the system may include: a three-dimensional digital representation of a pre-procedural geometry of a relevant part of the patient, a three-dimensional digital representation of an intended post-procedural geometry of the relevant part of the patient including any implant or other structures intended to be attached to the patient, and a movable electro-optical (EO) camera mounted in a known position and orientation relative to a surgeon, such as a head mount. Further aspects of the system may include a first carrier comprising at least 3 targets to be observed by the EO camera, wherein the first carrier may be mounted in a known first position and first orientation relative to the relevant part of the patient, and a second carrier comprising at least 3 targets to be observed by the EO camera, wherein the second carrier may be mounted in a known second position and second orientation relative to an implant or surgical instrument. Embodiments of the system may include a computer for calculating, based on observations from the EO camera, relative positions of the first and second carriers and of the EO camera. Embodiments of the system may also include software, residing on the computer, configured to calculate a relevant projection of a digital representation of the patient to be displayed in order for the displayed projection to match with the surgeon's current physical view of the patient. | 11-19-2015 |
| 20150335386 | METHOD 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. | 11-26-2015 |
| 20150335387 | Medical Examination and/or Treatment Apparatus - A medical examination and/or treatment apparatus includes a robot with a multiaxially movable arm, a C-arm mounted on the multiaxially movable arm, a cable strand for supplying the C-arm, and a device for guiding the cable strand in a movement of the C-arm. The device for guiding the cable strand is arranged at or on the robot or a component of the robot. | 11-26-2015 |
| 20150335388 | INSTRUMENT, MANIPULATOR SYSTEM, AND CONTROL METHOD OF INSTRUMENT - A manipulator system includes a medical instrument which is capable of being inserted into a body; a manipulator which is capable of holding the instrument; a holding detector which detects a holding state where the manipulator holds the instrument; an instruction-receiving part which detects an instruction for operating the instrument; and a controller which operates the instrument only in a case where the instruction-receiving part detects the instruction when the holding detector detects the holding state. | 11-26-2015 |
| 20150335480 | APPARATUS AND METHOD FOR A GLOBAL COORDINATE SYSTEM FOR USE IN ROBOTIC SURGERY - An apparatus and method for establishing a global coordinate system to facilitate robotic assisted surgery. The coordinate system may be established using a combination of the robotic data, i.e., kinematics, and optical coherence tomographic images generated by an overhead optical assembly and a tool-based sensor. Using these components, the system may generate a computer-registered three-dimensional model of the patient's eye. In some embodiments, the system may also generate a virtual boundary within the coordinate system to prevent inadvertent injury to the patient. | 11-26-2015 |
| 20150342689 | SURGICAL ROBOT AND METHOD FOR CONTROLLING THE SAME - It is an object to provide a surgical robot which can enhance flexibility of treatment while ensuring sufficient safety of a surgery. The surgical robot has a robot body, an input unit for inputting control information of the robot body, a control unit for controlling the robot body based on the control information input to the input unit, an input side abnormality detection unit for detecting abnormality of an operator, an output side abnormality detection unit for detecting abnormality of a surgery state, an abnormality countermeasure unit for dealing with the abnormality of the surgery state detected by the output side abnormality detection unit, contents of an abnormality countermeasure action being changed based on a detection result of the input side abnormality detection unit. | 12-03-2015 |
| 20150342690 | ARTICULATING SURGICAL INSTRUMENTS AND METHODS OF DEPLOYING THE SAME - A robotic introducer system comprises a first assembly comprising a cable control assembly configured for use in a plurality of medical procedures, a second assembly comprising a distal link extension assembly configured for fewer uses than the first assembly, and a third assembly comprising an articulating probe assembly, coupled between the first and second assemblies and configured for fewer uses than the second assembly. | 12-03-2015 |
| 20150342695 | MULTI-FORCE SENSING SURGICAL INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS - A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. | 12-03-2015 |
| 20150342698 | Surgery System - A surgery system comprises a camera obtaining camera images, an OCT system, a data memory storing geometry data of a surgical tool | 12-03-2015 |
| 20150351857 | AN APPARATUS FOR GENERATING MOTION AROUND A REMOTE CENTRE OF MOTION - Apparatus ( | 12-10-2015 |
| 20150351864 | SURGICAL ROBOT - A surgical robot which enables an operator to easily judge which medical instrument is selected is provided. This surgical robot has a robot body which selectively operates a plurality of medical instruments, an input unit configured to input control information of the robot body, the input unit being common among the plurality of medical instruments, and a display unit configured to display an image of a surgical site of a patient, the display unit having a selecting situation display function which displays a selecting situation of the plurality of medical instruments. | 12-10-2015 |
| 20150359597 | ROBOT SYSTEM AND METHOD FOR CONTROLLING A ROBOT SYSTEM FOR MINIMALLY INVASIVE SURGERY - The invention relates to a method for controlling a robot system ( | 12-17-2015 |
| 20150366619 | Stereotactic Positioning Guide Apparatus - The present invention presents an apparatus and methods to stereotactically guide insertion of invasive tubular devices to a tissue target of a living body. The apparatus comprises a positioning guide control assembly and a positioning guide assembly that is reversibly coupled with and operated by the positioning guide control assembly, and rotationally adjustable and lockable. The positioning guide control assembly releasably houses a ultrasound transducer head to visualize and aim at the tissue target and adjusts an insertion angle of an invasive tubular device placed in the positioning guide assembly. | 12-24-2015 |
| 20150366620 | SYSTEM AND METHOD FOR USING GUIDE CLAMP FOR PORT BASED PROCEDURE - A guide for use with an access port for port-based surgery. The guide includes a body positionable over a surgical opening and a grip coupled to the body for removably receiving the access port into the surgical opening. At least one of the body and the grip is configured to restrict movement of the received access port to a limited range of motion. | 12-24-2015 |
| 20150366621 | MEDICAL INSTRUMENT HOLDING APPARATUS - A medical instrument holding apparatus includes a supporting mechanism having an extension which includes a bore, a medical instrument, and an attachment device includes a shaft slidably engaged in the bore of the extension, and the shaft includes one end portion secured to the medical instrument, and the attachment device includes a handle provided on the shaft, and the shaft is adjustable relative to the extension of the supporting mechanism to a selected position. The extension includes a slot communicating with the bore of the extension for forming two separated flaps, and includes a fastener engaged with the flaps for forcing the flaps to engage with the shaft and to detachably and adjustably secure the shaft to the extension of the supporting mechanism. | 12-24-2015 |
| 20150366623 | MEDICAL INSTRUMENT WITH FLEXIBLE WRIST MECHANISM - A medical instrument includes a unitary wrist structure including a first connector portion having an upper stop surface, a second connector portion having a lower stop surface, and a compact flexure integral therewith. The first and second connector portions are coupled together by the compact flexure. Deflection δ of the compact flexure is characterized by the formula δ=(PL | 12-24-2015 |
| 20150366624 | SYSTEMS AND METHODS FOR PERFORMING MINIMALLY INVASIVE SURGERY - Minimally invasive surgical techniques are used to obtain access to vertebrae while protecting soft tissues in the surrounding area. The dilators may be used to provide a working channel through which the operation is performed. Standard dilators may be used with a robotic surgical system to provide precise guidance of surgical tools. A dilator may be held by the robot and automatically repositioned when the surgeon adjusts a trajectory for performing the surgery. The dilator itself may be used as a surgical instrument guide along with dilator adaptors that adjust the diameter of a portion of the dilator to allow for different sized tools to be guided by the dilator. Alternatively, surgical instrument guides may also be held by the robotic arm such that tools are guided by a surgical instrument guide through the dilator to perform a medical procedure. | 12-24-2015 |
| 20150366626 | Surgical 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. | 12-24-2015 |
| 20150374445 | HOLDING DEVICE HAVING AT LEAST ONE CLAMPING JAW FOR A ROBOTIC SURGICAL SYSTEM - The invention relates to a holding device ( | 12-31-2015 |
| 20150374446 | System and Method for Controlling a Surgical Manipulator Based on Implant Parameters - System and method for controlling a surgical manipulator to apply an energy applicator to a patient. The surgical manipulator cooperates with a navigation system to position the energy applicator with respect to a boundary so that the energy applicator is constrained from moving outside the boundary. The boundary is generated based on implant parameters measured after manufacture of the implant. | 12-31-2015 |
| 20150374453 | Robotic Surgery System Including Position Sensors Using Fiber Bragg Gratings - An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region. | 12-31-2015 |
| 20160000448 | SURGICAL DRILL - This invention is directed to devices and methods for surgical access to the body, and particularly to surgical drills for accessing a body cavity and methods therefor. In general, a surgical drill is utilized to gain access to a body cavity or part, such as where bone and/or other hard tissues need to be pierced. For example, the skull and other bones with internal cavities may require surgical access to treat body portions contained within the bone. Further in general, it may be generally desirable to create access holes or openings which may be as small as possible and at a particular direction and/or trajectory. In this manner the access hole or opening may be utilized to guide another device, such as a treatment device, to a particular target along the established trajectory of the access hole or opening. | 01-07-2016 |
| 20160000511 | DYNAMICAL SYSTEM-BASED ROBOT VELOCITY CONTROL - A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector. | 01-07-2016 |
| 20160000512 | HOLDING DEVICE FOR A SURGICAL INSTRUMENT AND A SHEATH AND METHOD AND CONTROL DEVICE FOR OPERATING A ROBOT WITH SUCH A HOLDING DEVICE - The invention relates to a device ( | 01-07-2016 |
| 20160000513 | ROTARY DRIVE ARRANGEMENTS FOR SURGICAL INSTRUMENTS - A rotary drive arrangement for a surgical instrument that includes a surgical end effector. In one form, the rotary drive arrangement includes a drive shaft assembly that is selectively axially movable between a first position and a second position. A rotary transmission operably interfaces with the drive shaft assembly such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly causes the rotary transmission to apply a second rotary control motion to the surgical end effector. | 01-07-2016 |
| 20160007826 | DEVICE AND METHOD FOR ASISSTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH | 01-14-2016 |
| 20160007828 | DEVICE AND METHOD FOR ASISSTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH | 01-14-2016 |
| 20160008074 | SYSTEMS, METHODS, AND DEVICES FOR ASSISTING OR PERFORMING GUIDED INTERVENTIONAL PROCEDURES USING CUSTOM TEMPLATES | 01-14-2016 |
| 20160008078 | COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS | 01-14-2016 |
| 20160008082 | PUNCTURE PLANNING APPARATUS AND PUNCTURE SYSTEM | 01-14-2016 |
| 20160015447 | SURGICAL INSTRUMENT CONTROL - A computer-controlled surgical system may include a surgical instrument having a working end, the working end having a moveable mechanical component, and movement of the mechanical component performing a clamping and cutting function by the working end. The surgical system may further include a computer control system operably coupled to the surgical instrument and to first and second input devices. In response to a first command received from the first input device, the computer control system controls movement of the mechanical component within a first range of motion, and in response to a second command received from the second input device, the computer control system controls movement of the mechanical component within a second range of motion different from the first range of motion. | 01-21-2016 |
| 20160015458 | SURGICAL APPARATUS, IN PARTICULAR A NAVIGATION PROBE FOR LOCALIZING AND TREATING LESIONS IN A BRAIN - The invention relates to a surgical apparatus, in particular a navigation probe for localizing and treating lesions in a brain, comprising: | 01-21-2016 |
| 20160015461 | ROBOTIC 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. | 01-21-2016 |
| 20160015463 | METHOD AND MEANS FOR TRANSFERRING CONTROLLER MOTION FROM A ROBOTIC MANIPULATOR TO AN ATTACHED INSTRUMENT - A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface. | 01-21-2016 |
| 20160015473 | DEVICE AND METHOD FOR ASISSTING LAPAROSCOPIC SURGERY - RULE BASED APPROACH - A surgical controlling system comprising: at least one location estimating means to real-time locate the 3D spatial position of at least one surgical tool, at least one movement detection means in communication with a movement database and with the location estimating means and a controller, which controls the position of at least one surgical tool, in communication with a movement database, a control database and the movement detection means. The movement database stores the 3D spatial position of each surgical tool at the present time and at at least one previous time; a tool has moved if its present position is different from its previous position. The control database stores rules to identify a movement of a tool as either an allowed movement or a restricted movement. Examples of rules include a maximum speed rule, a virtual zoom rule, a virtual rotation of scene rule, and position of tool rule. | 01-21-2016 |
| 20160022365 | CROSSED-CYLINDER WRIST MECHANISM WITH TWO DEGREES OF FREEDOM - According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion. | 01-28-2016 |
| 20160022366 | ROLL-PITCH-ROLL SURGICAL TOOL - A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap. The use of the linking arms allows the end effector to be bent back beyond 90° pitch. The ability to operate the end effector at about 90° pitch and to bend back the end effector renders the wrist mechanism more versatile and adaptable to accessing hard to reach locations, particularly with small entry points such as those involving spinal, neural, or rectal surgical sites. | 01-28-2016 |
| 20160022484 | OPTICAL COHERENCE TOMOGRAPHY-AUGMENTED SURGICAL INSTRUMENTS AND SYSTEMS AND METHODS FOR CORRECTING UNDESIRED MOVEMENT OF SURGICAL INSTRUMENTS - An OCT-augmented surgical instrument able to correct for undesired movement, as well as a system for use with such a surgical instrument and a method of correcting for undesired movement during surgery using OCT. | 01-28-2016 |
| 20160030056 | Surgical Device - This invention is directed to devices and methods for surgical access to the body, and particularly to surgical drills for accessing a body cavity and methods therefor. In general, a surgical drill is utilized to gain access to a body cavity or part, such as where bone and/or other hard tissues need to be pierced. For example, the skull and other bones with internal cavities may require surgical access to treat body portions contained within the bone. Further in general, it may be generally desirable to create access holes or openings which may be as small as possible and at a particular direction and/or trajectory. In this manner the access hole or opening may be utilized to guide another device, such as a treatment device, to a particular target along the established trajectory of the access hole or opening. | 02-04-2016 |
| 20160030115 | SYSTEMS AND METHODS FOR MONITORING A SURGICAL PROCEDURE WITH CRITICAL REGIONS - Systems and methods for monitoring an operative site during a surgical procedure using a computer controlled surgical device. In general the methods include the steps of processing one or more defined cutting paths having one or more cut regions; determining a correlation between the cut region and one or more critical regions to generate an alert, wherein the alert indicates a movable end-effector is within a defined proximity of the critical region; and requiring a user acknowledgment of the alert to allow processing of the cutting path to continue. Also described herein are systems and methods for minimizing user fatigue during a semi-computer controlled surgical procedure. In general the methods includes the step of requiring a user generated acknowledgment in response to a computer generated alert, wherein the user acknowledgment is generated using a user controller, the user controller being minimally intrusive to the user experience. | 02-04-2016 |
| 20160030116 | MEDICAL ROBOT AND OPERATION THEREOF - The embodiments relate to a method for operating a medical robotic device with an end effector for performing a diagnostic and/or therapeutic measure, involving predetermining at least one position to be reached by the end effector, evaluating at least two movement sequences of the medical robotic device, by which the end effector reaches the respectively predetermined at least one position, using an optimization criterion to select the movement sequence with the best evaluation result as the optimum movement sequence and implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector, in order to improve the reaching of the predetermined position. | 02-04-2016 |
| 20160030118 | DAMPING A TELESURGICAL SYSTEM - Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. | 02-04-2016 |
| 20160030119 | ACTIVE AND SEMI-ACTIVE DAMPING IN A TELESURGICAL SYSTEM - Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. The damper can mitigate a vibration arising in one of the set-up linkages, and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback model and a feed-forward model. | 02-04-2016 |
| 20160030120 | MANIPULATOR - The invention has for its object to provide a manipulator wherein the size of a curved portion is reduced and the internal architecture of the curve portion is simplified. The manipulator | 02-04-2016 |
| 20160030121 | MANIPULATOR - The invention provides an easy-to-manipulate manipulator comprising a manipulating part, a manual joint part that is driven directly by displacement of the manipulating part, a detection unit for detecting an amount of displacement of the manipulating part, a device that moves depending on the amount of displacement detected at the detection unit, an electric joint part that is driven by the device, and a selection portion for selectively determining whether the electric joint part is driven or not. | 02-04-2016 |
| 20160030126 | SYSTEMS AND PROCESSES FOR REVISION TOTAL JOINT ARTHROPLASTY - A process and system for performing orthopaedic surgery with the use of computer systems and robotic assistance to remove bone, bone cement, and a bone prosthesis, typically a bone prosthesis used in hip replacement surgery, knee replacement surgery, and the like. The process for replacing one or more bone prostheses using a robotic system includes receiving image data comprising an image of each bone, including at least one prosthesis implanted within each bone; creating three-dimensional models of the prosthesis, and the bone; creating a plan for positioning new prostheses within the bone; determining the location and amount of bone and any non-bone material to be removed for the new prostheses; and removing the bone prosthesis from the bone. The inventive process may be used for the replacement of hip joints, shoulder joints, ankle joints, wrist joints, finger joints, toe joints, or other joints. | 02-04-2016 |
| 20160030134 | Robotic Hair Transplantation System with Touchscreen Interface for Controlling Movement of Tool - A system is disclosed for performing hair transplantation procedures. The system may include a robotic arm and a tool coupled to the robotic arm, the tool configured for hair harvesting, site making or hair implantation. The system further includes a touch screen user interface that supports touch gestures for efficiently creating and manipulating objects, such as reserved regions, that control the harvesting, site making, and/or implantation sites selected by the system. The user interface implements logic rules that use the context in which a touch gesture is performed to determine the type of operation intended. The touch interface substantially eliminates or reduces the need for a user to use a keyboard or mouse during the procedure. | 02-04-2016 |
| 20160038239 | MEDICAL MANIPULATOR - In a medical manipulator, the surgical tool drive unit includes: a pair of input members that has a first input member and a second input member, are arranged in a pair at a first end portion in an attachment and detachment direction with respect to the surgical tool unit, are capable of advancing and retracting parallel to each other, and transmit the driving force in an advance direction when the pair of input members are advanced to the surgical tool unit side; and a drive source that causes at least one of the pair of input members to advance and retract. | 02-11-2016 |
| 20160038243 | METHODS, DEVICES AND SYSTEMS FOR COMPUTER-ASSISTED ROBOTIC SURGERY - Methods, devices and systems for the planning and execution of computer-assisted robotic surgery are provided. The methods include methods to collect information about bones and prostheses, use the information to create virtual models and simulations, optionally receive input based on user discretion in generating the cut file, and to generate instruction for the execution of cut paths during the surgery. The system and devices include computers and peripherals and set-ups to link the components together into functional systems. | 02-11-2016 |
| 20160045269 | LOCALIZATION OF ROBOTIC REMOTE CENTER OF MOTION POINT USING CUSTOM TROCAR - A system for providing a remote center of motion for robotic control includes a marker device ( | 02-18-2016 |
| 20160045270 | SYSTEMS AND METHODS FOR CANCELLATION OF JOINT MOTION USING THE NULL-SPACE - Devices, systems, and methods for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may be overlaid the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein. | 02-18-2016 |
| 20160045271 | AN ENTRY GUIDE MANIPULATOR WITH A ROLL SYSTEM AND AN INSTRUMENT MANIPULATOR POSITIONING SYSTEM - A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument. | 02-18-2016 |
| 20160045272 | METHOD 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. | 02-18-2016 |
| 20160045273 | Magnetic-Anchored Robotic System - Present example embodiments relate generally to a surgical system comprising an internal anchor assembly configurable to be inserted into and positioned inside a cavity of a body. The surgical system further comprises an external anchor assembly configurable to magnetically couple to the internal anchor assembly. The external anchor assembly may comprise a magnetic assembly. The magnetic assembly may include one or more superconducting magnets configurable to generate a magnetic field. The magnetic assembly may further include a conductive housing for receiving the one or more superconducting magnets. The external anchor assembly may further include a temperature control section configurable to control a temperature of the one or more superconducting magnets via the conductive housing. The external anchor assembly may further include an external anchor body configurable to receive the magnetic assembly and the temperature control section. The external anchor body may be fixably positionable outside of the body. | 02-18-2016 |
| 20160045274 | SURGICAL 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. | 02-18-2016 |
| 20160051331 | Actuation Cable Having Multiple Friction Characteristics - A surgical device includes a first cable portion that engages a first component such that a first friction exists between the first cable portion and the first component. The surgical device includes a second cable portion having a first end operatively coupled to a first end of the first cable portion. The second cable portion engages a second component such that a second friction exists between the second cable portion and the second component, such that the second friction is greater than the first friction. | 02-25-2016 |
| 20160051332 | CONTROL 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. | 02-25-2016 |
| 20160051433 | A SERIES ELASTIC HOLONOMIC MOBILE PLATFORM FOR UPPER EXTREMITY REHABILITATION - It is proposed a design and control of series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. It consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, it is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. The device helps improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress. | 02-25-2016 |
| 20160058269 | TREATMENT TOOL EXCHANGING DEVICE AND MEDICAL SYSTEM - Provided is a treatment tool exchanging device that switches and holds a plurality of treatment tools for treating a target to be treated. The treatment tool exchanging device includes a flexible insertion part into which the plurality of treatment tools are inserted and in which a plurality of treatment tool channels for defining insertion paths for the treatment tools are formed, a driving part that advances each of the plurality of treatment tools, a manipulating part that manipulates the plurality of treatment tools to perform treatment, and a control unit that controls the amount of protrusion, from the treatment tool channel of the treatment tool, which has protruded from a distal end of the treatment tool channel, among the plurality of treatment tools. The insertion part has a switching part that changes the insertion path of the treatment tool to be inserted. | 03-03-2016 |
| 20160058512 | SURGICAL 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. | 03-03-2016 |
| 20160058513 | SURGICAL SYSTEM WITH STERILE WRAPPINGS - A surgical system comprises a first element with a seat ( | 03-03-2016 |
| 20160058515 | Multifunctional 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. | 03-03-2016 |
| 20160058516 | Surgical 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. | 03-03-2016 |
| 20160058517 | AUTOMATED SURGICAL AND INTERVENTIONAL PROCEDURES - Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety. | 03-03-2016 |
| 20160066999 | ROBOT, PARTICULARLY FOR MINI-INVASIVE SURGERY THROUGH A SINGLE PARIETAL INCISION OR NATURAL ORIFICE - A robot configured for mini-invasive surgery through a single parietal incision and/or natural orifice includes at least one articulated support, a stiffening component, and at least one maneuvering element. The articulated support includes a plurality of rigid bodies that are mutually associated. The stiffening component is associated with the articulated support and adapted for the transition of the articulated support from an inactive configuration, in which the rigid bodies can move with respect to each other, to an active configuration, in which the rigid bodies are mutually aligned so as to form a guide, and vice versa. The least one maneuvering element, can be associated slidingly with the guide of the articulated body in its active configuration and can engage selectively a plurality of operating instruments accommodated in at least one container body that can be associated with the articulated support in its active configuration. | 03-10-2016 |
| 20160067000 | ROBOTIC SYSTEM INCLUDING A CABLE INTERFACE ASSEMBLY - A system and method for performing a medical procedure includes a first multi-linked mechanism comprising a plurality of first links, and a lumen therethrough; a second multi-linked mechanism comprising a plurality of second links, wherein the second multi-linked mechanism is constructed and arranged to be slidingly received by the lumen of the first multi-linked mechanism, and where the first and second multi-linked mechanisms are configured to transition from a limp state to a rigid state; a set of proximal cables comprising at least a first proximal cable and a second proximal cable; a set of distal cables comprising at least a first distal cable and a second distal cable; a cable control assembly constructed and arranged to independently apply tension to the first proximal cable and the second proximal cable; a cable interface assembly constructed and arranged to receive a force from at least the first proximal cable and the second proximal cable and to transmit a corresponding force to at least the first distal cable and the second distal cable. The force applied to the first distal cable and the second distal cable steers at least one of the first multi-linked mechanism or the second multi-linked mechanism. | 03-10-2016 |
| 20160067002 | SEALS 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. | 03-10-2016 |
| 20160067006 | Method and Apparatus for Computerized Surgery - A method of performing a computer-assisted surgical procedure on the spine of a patient comprising the steps of: planning, on a computer, a surgical procedure based on at least one of two- and three-dimensional images of the patient's spine; affixing a robotic assembly over an operative region of the patient; determining, with a computer in communication with the robotic assembly, a desired trajectory of a surgical tool along at least one of an access path and an implant path towards the surgical target site; and placing at least a portion of the surgical tool through the aperture along said desired trajectory along at least one of said access path and said implant path towards the surgical target site. | 03-10-2016 |
| 20160074028 | ARTICULATING SURGICAL INSTRUMENTS AND METHOD OF DEPLOYING THE SAME - A surgical instrument comprises a steering mechanism. The steering mechanism comprises a handle at a proximal end of the surgical instrument. The handle includes a plurality of controls for controlling a movement of the surgical instrument. The steering mechanism also comprises a hub that rotatably mates with the handle and a housing positioned about the hub. The handle, the housing, and the hub communicate with each other to provide at least a first degree of freedom and a second degree of freedom. An articulation region is at a distal end of the surgical instrument. A movement of the steering mechanism handle in one and only one of the first or second degrees of freedom relative to at least one of the housing or the hub translates to a movement of the articulation region in a single plane of motion. | 03-17-2016 |
| 20160074062 | DEVICE AND METHOD FOR HOLDING A NEEDLE ALONG A DESIRED PATH INTO THE BODY OF A PATIENT - A device and method for holding at needle along a desired percutaneous path into the body of a patient is disclosed. The device includes a base, a needle guide, a hinge, and a shapeable mass. The base has a top surface and a bottom surface. The needle guide has an inner surface and an outer surface, with the inner surface defining an elongate linear channel. The needle guide is pivotably connected to the base by the hinge, so that it can be oriented and the device positioned on the skin of the patient, whereupon a portion of the needle is disposed within the needle guide at its desired orientation. The shapeable mass is arranged to be secured between the outer surface of the needle guide and the top surface of the base to hold the needle guide in that desired orientation. | 03-17-2016 |
| 20160074063 | NEEDLE POSITIONING APPARATUS - A positioning apparatus including a needle holder having a through hole for regulating needle placement and movement, a needle positioning unit, and an engagement member that fixes a position of the needle holder with respect to the needle positioning unit. The needle holder is either least partially detachably attached to the needle positioning unit or deformable. The positioning apparatus may be designed to accommodate the placement of multiple needles. | 03-17-2016 |
| 20160074120 | Quick-Release End Effectors and Related Systems and Methods - The various embodiments disclosed herein relate to arms or forearms of medical devices that are configured to couple with quick-release end effectors, quick-release end effectors for use with such medical devices, and arms or forearms coupled to such quick-release end effectors. Certain forearms and end effectors have magnetic couplings, while others have mechanical couplings, and further implementations have both magnetic and mechanical couplings. | 03-17-2016 |
| 20160074121 | TREATMENT TOOL - The endoscope treatment system includes an endoscope treatment tool that has an operating part having a distal end and a proximal end, and a sheath that is connected to the distal end of the operating part and is formed with a lumen through that enables a guide wire to be inserted therethrough; a guide wire holder around which a tube member housing the guide wire is wound circumferentially; and a fixing member that couples the operating part to the guide wire holder such that the distal end and the proximal end of the operating part are located outside the circumference of the guide wire holder. | 03-17-2016 |
| 20160081752 | SINGLE PORT LAPAROSCOPIC ACCESS SYSTEM WITH EXTERNAL TOOL SUPPORT - A system for performing single port laparoscopic procedures includes a deployment frame and a plurality of tools. The tools are pivotally mounted on the frame and have end effectors which are translatably and rotatably disposed in the tool. A handle at the proximal end of the tool controls an end effector at the distal end of the tool. Movement of the tools relative to the frame is constrained so that they remain in a fixed geometric relationship which prevents the tools from interfering with each other during laparoscopic procedures. | 03-24-2016 |
| 20160081753 | Robot-Mounted User Interface For Interacting With Operation Room Equipment - Described herein is robotic surgical system that includes a robot-held input device capable of communicating with operating room equipment (e.g., any equipment that a surgeon accesses during an operation). The input device is easily accessible by the surgeon as the user interface is located on the robot. The input device may be covered with a drape, such as a drape used to cover the robot or the robotic arm thereby enabling a surgeon to utilize the input device from a sterile environment. | 03-24-2016 |
| 20160081754 | APPARATUS, SYSTEMS, AND METHODS FOR PRECISE GUIDANCE OF SURGICAL TOOLS - Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not required increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems. | 03-24-2016 |
| 20160081758 | METHOD FOR PLACING IMPLANT USING ROBOTIC SYSTEM - A method for placing an implant on a patient in a robotic surgical procedure using a robotic system. During the robotic surgical procedure, a navigation system tracks the patient. The navigation system also provides information to the robotic system to guide movement of a cutting tool to remove material from the patient such that a cut surface is created to receive the implant. The implant is then robotically placed on the cut surface. | 03-24-2016 |
| 20160089208 | EXCISIONAL DEVICE DISTAL WORKING END ACTUATION MECHANISM AND METHOD - An excisional device may comprise a sheath; a tubular element configured for rotation with the sheath; and an inner element configured for rotation and disposed at least partially within the tubular element. The inner element may comprise an articulable distal assembly configured to core through tissue in an open configuration and part-off cored tissue in a closed configuration. Differential rotation of the inner element with respect to the tubular element causes the articulable distal assembly to selectively assume the open and closed configurations. For example, lagging the rotation of the inner element relative to the rotation of the tubular element may control the articulable distal assembly to assume the open configuration whereas leading the rotation of the inner element relative to the rotation of the tubular element may control the articulable distal assembly to assume the closed configuration. | 03-31-2016 |
| 20160089209 | ROBOTICALLY CONTROLLED SURGICAL INSTRUMENT - A surgical tool is disclosed. The surgical tool has a tool mounting portion having a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly having an articulation section to the tool mounting portion. An articulation mechanism is located within the tool mounting portion and is configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly. The articulation mechanism has a cam mechanism operative to articulate the articulation section of the shaft assembly. An interface mechanically and electrically couples the tool mounting portion to a manipulator. | 03-31-2016 |
| 20160089211 | System and Method for Controlling a Manipulator in Response to Backdrive Forces - A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. The manipulator controller computes a backdrive force for the at least one joint motor based on the actual torque and expected torque. A surgical tool of the manipulator is modeled as a virtual rigid body. The manipulator controller computes a total force or torque to apply to the virtual rigid body based on the backdrive force. The manipulator controller determines a target position of the surgical instrument based on the total force or torque and commands positioning of the joint motors to advance the surgical instrument to the target position. | 03-31-2016 |
| 20160089212 | SURGICAL SYSTEM USER INTERFACE USING COOPERATIVELY-CONTROLLED ROBOT - According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication. | 03-31-2016 |
| 20160089213 | SURGICAL INSTRUMENT WITH FLEXIBLE SHAFT AND ACTUATION ELEMENT GUIDE - A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide. | 03-31-2016 |
| 20160100895 | SPLIT-GUIDES FOR TRAJECTORY FRAMES FOR MEDICAL INTERVENTIONAL SYSTEMS AND METHODS - Surgical devices such as a device guide for a trajectory frame for image-guided procedures, is configured with first and second elongate and cooperating semi-circular members that together define a longitudinally extending open channel and that can separate along longitudinally extending split lines into discrete first and second elongate semicircular members. The surgical devices with the first and second semi-circular members can include a device guide and dock and lock inserts that are detachably held by dock and lock members to a guide support column that also concurrently holds the device guide during at least part of an image guided procedure. | 04-14-2016 |
| 20160100896 | Systems and methods for aligning an elongate member with an access site - Described herein are systems and methods for aligning an elongate member with an access site. An alignment system for controlling an alignment of a robotically controlled elongate member at an access site on a patient may include a longitudinal support rail and support arms coupled with and extending from the longitudinal support rail to form an alignment joint. One or more of the support arms may be configured to maintain the alignment of the elongate member with the access site during a surgical procedure. A method of aligning an elongate member with an access site may include determining a position of a stabilizer of an alignment joint and the access site on a patient, coupling the stabilizer to the access site on the patient, and automatically aligning the instrument driver with the stabilizer on the patient. | 04-14-2016 |
| 20160100898 | MEDICAL MANIPULATOR AND METHOD OF CONTROLLING THE SAME - A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained, and the multiple-degree freedom arm is controlled so as to insert the medical instrument into the human body from the retained insertion port position. The multiple-degree freedom arm is driven under operational restriction in which movement of the medical instrument is restricted by the insertion port position after the medical instrument is inserted from the insertion port position. The multiple-degree freedom arm is driven so as to move a predetermined portion of the medical instrument to spatial coordinates instructed by a user while maintaining a state where the medical instrument passes through the insertion port position under the operational restriction. | 04-14-2016 |
| 20160100899 | MEDICAL MANIPULATOR AND METHOD OF CONTROLLING THE SAME - A medical manipulator is disclosed, which includes a multiple-degree freedom arm which can be mounted with a medical instrument, an insertion port position which indicates a spatial position of an insertion port for inserting the medical instrument mounted in the multiple-degree freedom arm into a human body is retained. An insertion posture of the medical instrument is determined so as to cause an extended line of a major axis of the medical instrument to pass through the spatial position indicated by the retained insertion port position, outside the human body. The multiple-degree freedom arm is controlled so as to realize the determined insertion posture. | 04-14-2016 |
| 20160100900 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M | 04-14-2016 |
| 20160106407 | HOLDING DEVICE FOR A SURGICAL INSTRUMENT - A holding device for surgical instruments, in particular for minimally invasive surgery, which device comprises a holding arm. The holding arm serves to hold an instrument support at the distal end of which a surgical instrument is mounted. The instrument is operated by way of a drive device. To permit a simple replacement of the instrument support, the drive device is connected to the holding arm by way of a holding device, such that the drive device can easily be changed from a drive position to a replacement position. | 04-21-2016 |
| 20160106508 | STRUCTURE FOR SUPPORTING A MEDICAL DEVICE ON A PATIENT DURING SURGICAL PROCEDURES - An apparatus for supporting a medical device on a patient includes a support structure adapted to be fitted to the patient's body. The medical device is connectable to the support structure. At least one mounting pad is connected to the support structure and is adapted to engage the patient's anatomy. The at least one mounting pad includes a frictional jamming structure configured so that, in a non-actuated condition of the mounting pad, the mounting pad conforms to the patient's anatomy and, in an actuated condition of the mounting pad, the mounting pad becomes rigid in its conformed shape. | 04-21-2016 |
| 20160106509 | HAPTIC FEEDBACK DEVICES FOR SURGICAL ROBOT - Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument. | 04-21-2016 |
| 20160106510 | Wrist Articulation by Linked Tension Members - Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft. | 04-21-2016 |
| 20160106516 | SYSTEMS FOR AUTOMATED BIOMECHANICAL COMPUTERIZED SURGERY - Provided are wearable devices that are compact, potable, and wearable or able to attach to a body part. The devices are configured to securely mate with body structures become one unit with the underlying body tissue to provide a relatively stable working surface. In one example, the sides of the device are constructed of a semi-rigid material with borders that conform to a body part. The semi-rigid wall can also conform (at least partially) to the working surface of a target body part and/or area to achieve a tight junction. The devices can also operate on non-uniform surfaces. Skin is not flat, thus the topography of said irregular surface can be scanned to provide a zero depth reference over the entire irregular surface. The zero depth reference enables management of surgical tools, print heads, etc. along the Z axis to provide precise operations regardless of the shape of the surface. | 04-21-2016 |
| 20160113638 | Triangulation Methods with Hollow Segments - A surgical apparatus providing access to an underlying body cavity through a tissue tract articulates a flexible surgical object inserted therein. The surgical apparatus includes a tube member defining a longitudinal axis and a lumen therethrough to receive the flexible surgical object. The tube member includes a proximal member, a middle member connected to the proximal member at a first joint, and a distal member connected to the middle member at a second joint. The surgical apparatus also includes articulation mechanisms to articulate the tube member. | 04-28-2016 |
| 20160113720 | SYSTEM FOR THE TREATMENT OF A PLANNED VOLUME OF A BODY PART - The invention relates to a surgical system comprising:
| 04-28-2016 |
| 20160113728 | INTELLIGENT POSITIONING SYSTEM AND METHODS THEREFORE - System and methods are provided for adaptively and interoperatively configuring an automated arm used during a medical procedure. The automated arm is configured to position and orient an end effector on the automated arm a desired distance and orientation from a target. The end effector may be an external video scope and the target may be a surgical port. The positions and orientations of the end effector and the target may be continuously updated. The position of the arm may be moved to new locations responsive to user commands. The automated arm may include a multi-joint arm attached to a weighted frame. The weighted frame may include a tower and a supporting beam. | 04-28-2016 |
| 20160113731 | METHODS 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. | 04-28-2016 |
| 20160114482 | SOFT ROBOTIC ACTUATORS UTILIZING ASYMMETRIC SURFACES - A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased. | 04-28-2016 |
| 20160120606 | OPERATION ASSISTANCE SYSTEM - An operation assistance system includes a support column as well as at least a first and second robotic arm. A lower end section of the support column is pivotally mounted about a first pivotal axis (SA | 05-05-2016 |
| 20160120611 | Medical Robot - A medical robot according to the invention comprises a base, an instrument flange for attaching a minimally invasive instrument, which instrument flange is connected to the base in such a way that the instrument flange can be moved by means of an actuated kinematic system, and a tube flange for attaching a tube, wherein the tube flange is connected to the kinematic system by means of a movable joint assembly, which has at least one actuated, in particular electrically actuated, and/or at least one elastically bound passive joint and/or at least one lockable joint. | 05-05-2016 |
| 20160120612 | SURGICAL ROBOT - The invention has for its object to provide a surgical robot that makes sure good enough operation even when it is difficult to have an instantaneous grasp of a three-dimensional position relationship between an affected site and a treatment tool or have a full understanding of force interacting between the affected site and the treatment tool. The surgical robot | 05-05-2016 |
| 20160128781 | METHOD OF AUTOMATICALLY MONITORING THE PENETRATION BEHAVIOR OF A TROCAR HELD BY A ROBOTIC ARM AND MONITORING SYSTEM - A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted. | 05-12-2016 |
| 20160128788 | SYSTEM FOR IMAGE-BASED ROBOTIC SURGERY - A robotic surgery system includes a robotic arm fixed relative to an operating room. The robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system, wherein the first element is one of a source element and a detector element. The system further includes a second element of the imaging system, wherein the second element is the other of the source element and the detector element. The second element is configured to be repositionable relative to the first element and relative to a patient tissue structure. The system further includes a controller operatively coupled to the robotic arm, configured to receive signals from a sensing system. The sensing system detects motion of one or more sensor elements coupled to each of the first and second elements and determine a relative spatial positioning between the elements of the fluoroscopic imaging system. | 05-12-2016 |
| 20160128789 | NOTCHED APPARATUS FOR GUIDANCE OF AN INSERTABLE INSTRUMENT ALONG AN AXIS DURING SPINAL SURGERY - Described herein is a surgical instrument guide for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the guide is attached to or is part of an end effector of a robotic arm, and provides a rigid structure that allows for precise preparation of patient tissue (e.g., preparation of a pedicle) by drilling, tapping, or other manipulation, as well as precise placement of a screw in a drilled hole or affixation of a prosthetic or implant in a prepared patient situation. | 05-12-2016 |
| 20160128790 | MEDICAL SYSTEM AND CONTROL METHOD THEREFOR - Provided is a medical system including a first slave arm; a master arm having a joint configuration with a structure similar to that of a joint configuration of the first slave arm; a second slave arm; a manipulation-target switching unit that switches a manipulation target to be manipulated with the master arm between the slave arms; and a controller that is capable of switching between a first control mode and a second control mode in accordance with the joint configuration of the slave arm to be controlled. The first control mode is a mode for controlling rotation of joints of the first slave arm on the basis of rotation amounts of joints of the master arm. The second control mode is a mode for controlling rotation of joints of the second slave arm on the basis of a movement of a predetermined section of the master arm. | 05-12-2016 |
| 20160128791 | CURVED CANNULA SURGICAL SYSTEM - A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another. | 05-12-2016 |
| 20160128792 | INSTRUMENT ACTUATION PROCESS - 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. | 05-12-2016 |
| 20160135662 | MANIPULATOR SYSTEM - Provided is a manipulator system including: a manipulator that has a treatment tool, an insertion portion having a plurality of channels, and treatment-tool driving parts that move the treatment tool forward/backward and/or rotate the treatment tool in the corresponding channel; an operation input unit to which an operation instruction is input; a channel-in-use detecting part that detects the channel into which the treatment tool has been inserted; a compensation-value setting unit that sets a compensation value on the basis of the channel detected by the channel-in-use detecting part; and a control unit that generates a control signal according to the operation instruction, compensates the generated control signal by using the compensation value, and sends the compensated control signal to the treatment-tool driving part. | 05-19-2016 |
| 20160135905 | ROBOTIC SURGICAL STATION - A robotic surgical station is described. The robotic surgical station has a base configured to be fixed to the ground, a ring-shaped structure to which a patient bed and a plurality of robot arms are restrained at respective first and second mounts and a remote control unit that may be used by a surgeon to carry out a surgical intervention on a patient. | 05-19-2016 |
| 20160135906 | COMPUTER ASSISTED SURGERY APPARATUS AND METHOD OF CUTTING TISSUE - A computer assisted surgery apparatus ( | 05-19-2016 |
| 20160135907 | JOINT MECHANISM AND MEDICAL EQUIPMENT - Provided is a joint mechanism including two spur gears and; a support member that supports the two spur gears and so as to be rotatable about two joint shafts and that are disposed in a skew-lines positional relationship with a space between each other; and a rotational-force transmitting mechanism that transmits a rotational force between the spur gears and, wherein the rotational-force transmitting mechanism is provided with a transmission member formed of a rigid piece that is supported so as to be movable only in a direction parallel to a line of intersection between planes and that are respectively orthogonal to the two joint shafts and cam mechanisms or linkage mechanisms that are disposed between the transmission member and the two spur gears and, respectively, and that convert rotational motions of the spur gears and to a linear motion of the transmission member. | 05-19-2016 |
| 20160135908 | MANIPULATOR SYSTEM - A manipulator system including a manipulator that includes an insertion part having a main section and a bending section, a bending-section driving portion, and a linear member inserted through a sheath fixed to the main section at one end thereof, the linear member connecting the bending section and the bending-section driving portion through the main section and transmitting a driving force generated by the bending-section driving portion to the bending section; an operation input unit via which an operation instruction to the bending section is input; a sheath-tension detecting portion that detects the tension in the sheath; a compensation-value setting portion that sets a compensation value for a bending control signal on the basis of the tension in the sheath, and a control unit that generates the bending control signal and sends the bending control signal corrected with the compensation value to the bending-section driving portion. | 05-19-2016 |
| 20160135909 | MEDICAL SYSTEM AND METHOD FOR CONTROLLING THE SAME - There is provided a medical system that includes a multi-joint slave arm; a master arm having a joint structure structurally similar to the slave arm; and a control unit that can switch between a first control mode for controlling the rotational motion of each joint of the slave arm on the basis of the amount of rotation of each joint of the master arm so that the slave arm takes a shape similar to the master arm and a second control mode for controlling the rotational motion of each joint of the slave arm on the basis of a displacement of a predetermined region of a distal end section of the master arm so that a predetermined region of a distal end section of the slave arm follows the movement of the predetermined region of the distal end section of the master arm. | 05-19-2016 |
| 20160135910 | METHOD OF CONTROLLING A MEDICAL MASTER/SLAVE SYSTEM - A method of controlling the medical master/slave system comprising a bendable master apparatus operated by an operator and a slave apparatus inserted through the body. The control method includes an ordinary actuation mode (Step S | 05-19-2016 |
| 20160135913 | MANIPULATOR AND MANIPULATOR SYSTEM - Provided is a manipulator including a distal-end joint group and a proximal-end joint group that are arranged adjacent to each other in a distal-end section of an insertion part in a longitudinal axis direction and that are configured to bend the distal-end section. The proximal-end joint group includes a plurality of proximal-end bending joints bendable about axes that are lined-up side-by-side to bend the distal-end section through 180° or more. The distal-end joint group includes first distal-end bending joints disposed on a distal side of the proximal-end joint group and bendable about axes crossing a plane including the axes of the proximal-end bending joints and the longitudinal axis; and a second distal-end bending joint disposed in the longitudinal axis direction relative to the axes of the first distal-end bending joints and bendable about an axis that is lined-up side-by-side with the axes of the proximal-end bending joints. | 05-19-2016 |
| 20160135914 | MEDICAL MANIPULATOR - A medical manipulator comprising a distal end side and a proximal end side, comprising a distal unit including an end effector on the distal end side, a joint assembly located on a proximal end side of the end effector and a first power transmission assembly for transmission in a longitudinal direction of a linear motion force for actuation of the end effector or the joint assembly, and a proximal unit including a driver on the proximal end side for generating power for actuating the end effector or the joint assembly and a second power transmission assembly for transmission of power generated from the driver to the distal end side. The distal unit includes a first linear motion force conversion mechanism linked to the first power transmission assembly to convert power from the second power transmission assembly to a linear motion force. | 05-19-2016 |
| 20160136810 | MANIPULATOR SYSTEM - Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit. | 05-19-2016 |
| 20160143701 | Surgical Operation by Wire Type Surgical Operation Apparatus - Disclosed herein is a surgical operation by wire (SOBW) type surgical operation apparatus including an end effector configured so as to remove or minimize configurations of a mechanical cable. The SOBW type surgical operation apparatus includes: a body part; an extension part having one end connected to the body part; and an end effector formed at the other end of the extension part, and receiving electrical energy transferred through the body part and the extension part and converting the electrical energy into mechanical energy. | 05-26-2016 |
| 20160144510 | METHOD FOR OPERATING A ROBOTIC DEVICE AND ROBOTIC DEVICE - A method for operating a robotic device with a kinematic chain of mobile components is provided. The kinematic chain includes a function-specific end-effector at one end. Sensor values are acquired by sensors of the robotic device arranged on the kinematic chain or in the environment of the kinematic chain. A force acting on the end-effector or another component of the kinematic chain, or a variable dependent thereupon, is determined in a prespecified manner based on the acquired sensor values. The force or variable determined is compared with a prespecified first safety limit value by a control mechanism of the robotic device. A characteristic of the kinematic chain or the function-specific end-effector is adapted if the force or variable determined is in a prespecified relationship to the first safety limit value in order to increase the operational safety of a robotic device and of people in the environment of the robotic device. | 05-26-2016 |
| 20160151120 | Robot Assisted Volume Removal During Surgery | 06-02-2016 |
| 20160151121 | Method And System For Absolute Three-Dimensional Measurements Using A Twist-Insensitive Shape Sensor | 06-02-2016 |
| 20160157941 | MULTI-FUNCTION MOUNTING INTERFACE FOR AN IMAGE-GUIDED ROBOTIC SYSTEM AND QUICK RELEASE INTERVENTIONAL TOOLSET - Tool mount adaptors for interfacing a medical instrument with a medical insertion device are provided. The tool mount adaptor includes a collar for holding a medical instrument wherein the tool mount adaptor is releasably attachable to the medical insertion device. Cannula holder assemblies for a medical insertion device are also provided. The cannula holder assembly includes: (a) a cannula track; and (b) a cannula carriage slideably mounted on the cannula track comprising a cannula holder mount and a demobilizer. Medical insertion devices comprising the tool mount adaptors and/or cannula holder assemblies are also provided together with methods of using the medical insertion devices in diagnostic and/or therapeutic applications. | 06-09-2016 |
| 20160157942 | SURGICAL ROBOT SYSTEM - The invention relates to a surgical robot system comprising a robot arm ( | 06-09-2016 |
| 20160157943 | INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTIARM ROBOTIC 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. | 06-09-2016 |
| 20160157944 | Method 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. | 06-09-2016 |
| 20160157945 | Articulated 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. | 06-09-2016 |
| 20160157948 | Robotic Devices and Systems for Performing Single Incision Procedures and Natural Orifice Translumenal Endoscopic Surgical Procedures, and Methods of Configuring Robotic Devices and Systems - Example embodiments relate to devices, systems, and methods for performing a surgical action. The system may comprise a port assembly and instrument arm assembly. The port assembly may include a central access channel formed through the port assembly and plurality of anchor ports. The instrument arm assembly may include a shoulder section securable to a first anchor port, first arm section secured to the shoulder section, elbow section secured to the first arm section, second arm section secured to the elbow section, wrist section secured to the second arm section, and end effector section secured to the wrist section. The image capturing assembly may include an image capturing device and multi-curvable body. The multi-curvable body may be configurable to curve at one or more locations along the multi-curvable body, in one or more of a plurality of curvatures, and in one or more of a plurality of directions. | 06-09-2016 |
| 20160157949 | RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT - A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip. | 06-09-2016 |
| 20160157950 | CURVED 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. | 06-09-2016 |
| 20160166324 | STEREOTACTIC SURGICAL INSTRUMENT | 06-16-2016 |
| 20160166335 | Spinal Surgery Navigation | 06-16-2016 |
| 20160166336 | SURGICAL GUIDANCE INTERSECTION DISPLAY | 06-16-2016 |
| 20160166338 | System And Method For Navigated Drill Guide | 06-16-2016 |
| 20160166339 | MEDICAL ROBOTIC SYSTEM WITH REMOTE CURRENT CONTROLLER FOR CONTROLLING A PLURALITY OF DISTALLY HOUSED MOTORS | 06-16-2016 |
| 20160166340 | Surgical Instrument | 06-16-2016 |
| 20160166341 | SHAPE TRACKING OF A DEXTEROUS CONTINUUM MANIPULATOR | 06-16-2016 |
| 20160166342 | Passive preload and capstan drive for surgical instruments | 06-16-2016 |
| 20160166343 | ROBOTIC SYSTEM | 06-16-2016 |
| 20160166344 | METHODS FOR HANDLING AN OPERATOR COMMAND EXCEEDING A MEDICAL DEVICE STATE LIMITATION IN A MEDICAL ROBOTIC SYSTEM | 06-16-2016 |
| 20160166345 | MULTI-USER MEDICAL ROBOTIC SYSTEM FOR COLLABORATION OR TRAINING IN MINIMALLY INVASIVE SURGICAL PROCEDURES | 06-16-2016 |
| 20160166346 | MEDICAL DEVICE ADAPTER WITH WRIST MECHANISM | 06-16-2016 |
| 20160166347 | MEDICAL MANIPULATOR | 06-16-2016 |
| 20160166355 | SYSTEM AND METHOD FOR CO-REGISTERING A STEREOTACTIC FRAME AND A FIDUCIAL | 06-16-2016 |
| 20160175060 | REUSABLE SURGICAL INSTRUMENT WITH SINGLE-USE TIP AND INTEGRATED TIP COVER | 06-23-2016 |
| 20160175061 | PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS | 06-23-2016 |
| 20160175117 | APPARATUS AND METHODS FOR BALANCING A JOINT | 06-23-2016 |
| 20160175543 | Medical Tool With Electromechanical Control and Feedback | 06-23-2016 |
| 20160183800 | DEVICE AND METHOD FOR MEASURING THE ELASTICITY OF A MACROSCOPIC SAMPLE - A device for measuring the elasticity of a macroscopic sample, in particular for measuring the elasticity of tissue of a living human or animal, is disclosed, which comprises the following: at least one outlet for a jet of fluid and/or one inlet for aspiration of a stream of fluid, means for positioning the device in relation to the macroscopic sample in such a way that the outlet and/or the inlet and/or an end face of the device is at a predetermined distance from the macroscopic sample, or at a distance therefrom that can be determined by said means, and a mechanism for measuring a variable that is characteristic of the extent of a deformation of the sample on account of an interaction of the sample with the jet of fluid and/or the aspirated stream of fluid, wherein this variable is determined by an ion current in the deformation area of the sample, or the volumetric flow of the fluid itself, or, if the fluid is enclosed by the elastic sample, by a change of volume and associated change of pressure in the enclosed fluid. | 06-30-2016 |
| 20160183931 | ORIENTATION DEVICE FOR USE IN MITRAL VALVE REPAIR - An orientation device ( | 06-30-2016 |
| 20160184030 | HOLDING AND POSITIONING APPARATUS OF A SURGICAL INSTRUMENT AND/OR AN ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY AND A ROBOTIC SURGICAL SYSTEM - The invention describes a retaining and positioning device of a surgical instrument and/or of an endoscope for minimally invasive surgery, more particularly for use within a surgical robot system, including a first axis of rotation, around which a retaining element can be rotated. The first axis of rotation always intersects with a longitudinal axis of at least one surgical instrument and/or of an endoscope in a pivotal point by means of a thrust drive being attached to the retaining element, to which thrust drive an instrument drive unit can be rotatably arranged around the pivotal point. The instrument drive unit has a telescopic arrangement via which the surgical instrument can be moved in a translational manner along the longitudinal axis thereof by means of a guide arrangement in the body in such a manner that the longitudinal axis of the surgical instrument is variably adjustable relative to the telescopic arrangement. | 06-30-2016 |
| 20160184031 | DEVICE AND METHODS OF IMPROVING LAPAROSCOPIC SURGERY - A device to direct an endoscope to follow a surgical instrument during laparoscopic surgery, comprising an automated assistant mechanically interconnected to the endoscope, and at least one wireless transmitter with at least one operating key, where the wireless transmitter is in communication with a wireless receiver. The wireless receiver is in communication with the wireless receiver and with the automated assistant. The automated assistant can load surgical instrument spatial locating software and automated assistant maneuvering software and can provide a visual onscreen depiction of the field of view, including any surgical instruments therein. Depression of an operating key selects an instrument, which is then automatically followed by the endoscope. The operating key can be attached to an instrument or can be freestanding. | 06-30-2016 |
| 20160184032 | CONFIGURABLE ROBOTIC SURGICAL SYSTEM WITH VIRTUAL RAIL AND FLEXIBLE ENDOSCOPE - Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm. | 06-30-2016 |
| 20160184033 | ROBOTIC INSTRUMENT DRIVEN ELEMENT - A surgical system ( | 06-30-2016 |
| 20160184034 | INSTRUMENT STERILE ADAPTER DRIVE INTERFACE - A surgical system ( | 06-30-2016 |
| 20160184035 | ACTUATOR INTERFACE TO INSTRUMENT STERILE ADAPTER - A surgical system ( | 06-30-2016 |
| 20160184036 | VARIABLE INSTRUMENT PRELOAD MECHANISM CONTROLLER - A surgical system ( | 06-30-2016 |
| 20160184037 | PRELOADED SURGICAL INSTRUMENT INTERFACE - A surgical system ( | 06-30-2016 |
| 20160184038 | ROBOTIC SYSTEM - The invention relates to a robotic system for moving a shapeable instrument like a shapeable catheter within an object like a person. The system ( | 06-30-2016 |
| 20160184040 | CONTROL UNIT FOR A MEDICAL DEVICE - A control unit for a medical device is provided. The control unit includes a palm interface engageable by a palm of a hand, a restraint capable of elastically deforming to apply a restraining force to the dorsum of the hand and a finger interface engageable by one or more fingers of said hand. | 06-30-2016 |
| 20160192915 | SURGICAL NAVIGATION INSTRUMENT | 07-07-2016 |
| 20160192995 | METHOD AND APPARATUS FOR AUTOMATED CONTROL AND STEERING OF MULTIPLE MEDICAL DEVICES WITH A SINGLE INTERVENTIONAL REMOTE NAVIGATION SYSTEM | 07-07-2016 |
| 20160192996 | ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH SELECTIVELY ARTICULATABLE END EFFECTOR | 07-07-2016 |
| 20160192997 | ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH SELECTIVELY ARTICULATABLE END EFFECTOR | 07-07-2016 |
| 20160192998 | METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS | 07-07-2016 |
| 20160193000 | MANIPULATOR-SYSTEM CONTROLLING METHOD AND MANIPULATOR SYSTEM | 07-07-2016 |
| 20160193001 | INSTRUMENT SHAFT FOR COMPUTER-ASSISTED SURGICAL SYSTEM | 07-07-2016 |
| 20160193009 | Stereotactic Access Devices And Methods | 07-07-2016 |
| 20160193012 | SURGICAL INSTRUMENTS AND METHODS OF CLEANING SURGICAL INSTRUMENTS | 07-07-2016 |
| 20160193035 | APPARATUS FOR AUTOMATED DIFFERENTIAL HAIR TRANSPLANT | 07-07-2016 |
| 20160193731 | ROBOTIC MEDICAL APPARATUS WITH COLLISION DETECTION AND METHOD FOR COLLISION DETECTION IN A ROBOTIC MEDICAL APPARATUS | 07-07-2016 |
| 20160199136 | SYSTEMS AND METHODS FOR GUIDING AN INSTRUMENT USING HAPTIC OBJECT WITH COLLAPSING GEOMETRY | 07-14-2016 |
| 20160199137 | SYSTEMS AND METHODS FOR GUIDING AN INSTRUMENT USING HAPTIC OBJECT WITH COLLAPSING GEOMETRY | 07-14-2016 |
| 20160199138 | INSTRUMENT STERILE ADAPTER DRIVE FEATURES | 07-14-2016 |
| 20160199139 | Alternate Instrument Removal | 07-14-2016 |
| 20160199140 | ROBOTIC SYSTEM | 07-14-2016 |
| 20160199142 | Movable Surgical Mounting Platform Controlled By Manual Motion of Robotic Arms | 07-14-2016 |
| 20160199143 | SURGICAL PATIENT SIDE CART WITH STEERING INTERFACE | 07-14-2016 |
| 20160199146 | STEREOTACTIC STABILIZER | 07-14-2016 |
| 20160199984 | Method for the Alignment of a Multiaxial Manipulator with an Input Device | 07-14-2016 |
| 20160249900 | ELASTIC TUBE, CONTROL DEVICE, AND MEDICAL EQUIPMENT | 09-01-2016 |
| 20160249986 | SURGICAL INSTRUMENT AND METHOD FOR DETECTING THE POSITION OF A SURGICAL INSTRUMENT | 09-01-2016 |
| 20160249990 | NEEDLE STEERING BY SHAFT MANIPULATION | 09-01-2016 |
| 20160249991 | GRIPPER FOR ROBOTIC IMAGE GUIDED NEEDLE INSERTION | 09-01-2016 |
| 20160249992 | ROBOTIZED SURGERY SYSTEM WITH IMPROVED CONTROL | 09-01-2016 |
| 20160249994 | ROBOTIC ULTRASONIC SURGICAL DEVICE WITH ARTICULATING END EFFECTOR | 09-01-2016 |
| 20160249999 | APPARATUS AND METHODS FOR PERFORMING BRAIN SURGERY | 09-01-2016 |
| 20160374646 | Planning System and Navigation System for an Ablation Procedure - The present disclosure is directed to an ablation planning and navigation system. The planning system includes a memory configured to store a plurality of images and a controller configured to render the plurality of images in three dimensions, automatically segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area. The navigation system includes an ultrasound device having a fiducial pattern that obtains an ultrasound image, an ablation needle having a image capture device that captures an image of the fiducial pattern, and a controller that receives the ultrasound image and the fiducial image. The controller determines a position of the ablation needle based on the fiducial image. The planning and navigation system also includes a controller that receives data from the planning system and the navigation system and a display configured to display the received information. | 12-29-2016 |
| 20160374766 | INSTRUMENT-MOUNTED TENSION SENSING MECHANISM FOR ROBOTICALLY-DRIVEN MEDICAL INSTRUMENTS - A tension mechanism for a robotically-controlled medical device measures the tension applied to an actuation tendon to provide feedback to a robotic controller. In one embodiment, the device comprises an elongated instrument, an elongated member, and a base. The elongated member is coupled to the distal end of the elongated instrument, configured to actuate the distal end of the elongated instrument in response to tension in the elongated member. The base is located at the proximal end of the elongated instrument, and comprises a first redirect surface that redirects the elongated member. The first redirect surface is coupled to a lever element that is configured to exert a reactive force on a sensor in response to tension in the elongated member. | 12-29-2016 |
| 20160374768 | USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM - Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. A set-up mode employs an intuitive user interface in which one or more joints of the kinematic linkage are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. Embodiments of the invention can provide for manual movement of a platform supporting a plurality of surgical manipulators or the like without having to add additional input devices. | 12-29-2016 |
| 20160374769 | Instrument Carriage Assembly for Surgical System - A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, a plurality of gear boxes, and a plurality of output drive couplings driven by the gear boxes. The robotic assembly includes a sensor assembly that includes an orientation sensor, a sensor target, and a sensor shaft drivingly coupling the sensor target to a corresponding one of the output drive couplings. | 12-29-2016 |
| 20160374771 | ROBOTIC SYSTEM FOR TELE-SURGERY - Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms. | 12-29-2016 |
| 20160374772 | MANIPULATOR SYSTEM INITIALIZATION METHOD - A manipulator system initialization method includes: a joint angle setting step of bringing a driving force relay part into a driving force release state, inserting a bending joint and a pair of shaft-shaped parts coupled by the bending joint into a shape defining member having a shape defining part that brings a joint angle of the bending joint to a predetermined value, and setting a joint angle of the bending joint to the predetermined value; a drive part coupling step of switching the driving force relay part to a driving force relay state, with respect to the bending joint of which the joint angle is set; and an origin setting step of associating a state of the joint angle of the bending joint with a drive origin of a drive part after the drive part coupling step is performed. | 12-29-2016 |
| 20170231704 | SYSTEMS AND METHODS FOR SELECTIVELY ACTIVATING VIRTUAL GUIDE GEOMETRIES | 08-17-2017 |
| 20180021058 | SENSORIZING ROBOTIC SURGICAL SYSTEM ACCESS PORTS | 01-25-2018 |
| 20180021095 | INTRODUCTION DEVICES FOR HIGHLY ARTICULATED ROBOTIC PROBES AND METHODS OF PRODUCTION AND USE OF SUCH PROBES | 01-25-2018 |
| 20180021096 | APPARATUS, SYSTEMS, AND METHODS FOR PRECISE GUIDANCE OF SURGICAL TOOLS | 01-25-2018 |
| 20180021097 | SURGICAL GUIDANCE SYSTEM AND METHOD | 01-25-2018 |
| 20190142359 | SURGICAL POSITIONING SYSTEM AND POSITIONING METHOD | 05-16-2019 |
| 20190142421 | ROBOTICALLY POWERED SURGICAL DEVICE WITH MANUALLY-ACTUATABLE REVERSING SYSTEM | 05-16-2019 |
| 20190142518 | Robotic System For Shoulder Arthroplasty Using Stemless Implant Components | 05-16-2019 |
| 20190142530 | FOOT CONTROLLER | 05-16-2019 |
| 20190142531 | VIRTUAL REALITY WRIST ASSEMBLY | 05-16-2019 |
| 20190142532 | ROLL JOINT MEMBER FOR SURGICAL INSTRUMENT | 05-16-2019 |
| 20190142534 | ARTICULATING CAMERA STAND | 05-16-2019 |
| 20190142536 | SURGICAL INSTRUMENT END EFFECTOR WITH INTEGRAL FBG | 05-16-2019 |
| 20190142538 | FLEXIBLE-MANIPULATOR GUIDE MEMBER AND FLEXIBLE MANIPULATOR | 05-16-2019 |
| 20190142542 | INSTRUMENT HOLDER | 05-16-2019 |
| 20190142545 | SURGICAL RETAINING ARM THAT CAN BE AUTOMATICALLY RETIGHTENED | 05-16-2019 |
| 20220133417 | SUSPENSION SYSTEM FOR REMOTE CATHETER GUIDANCE - A robotic catheter system includes an arch-shaped suspension system comprising a first and second vertical span, a horizontal span between the pair of vertical spans, and at least one robotic catheter head coupled to the horizontal span. The arch-shaped suspension system can include a pair of linear guide blocks that can be attached to a patient bed and in some embodiments the linear guide blocks can be configured to slidably move along a rail. The arch-shaped suspension system can be moved to allow for proper placement of the arch-shaped suspension system for use on a patient or for placing the system away from a patient or for storage. In some embodiments the robotic catheter system can include a suspension system cart for storing and moving the arch-shaped suspension system. | 05-05-2022 |
| 20220133422 | UNIVERSAL ROBOT FOR INTERVENTIONAL ANGIOGRAPHIC SURGERY AND INTERVENTIONAL THERAPEUTIC SURGERY - The disclosure discloses a universal robot for interventional angiographic surgery and interventional therapeutic surgery. The robot meets the needs of both angiographic surgery and therapeutic surgery, which facilitates the clinical use. The robot is universal for both angiographic surgery and interventional therapeutic surgery, with advantages of simple structure, good stability, modular structure design, and so on, which is suitable for operation environment. By measuring the push and pull force of the micro force sensor at the driving end, the change of the axial friction force of the guide wire is judged, which gives the doctor timely reminder and protects the safety of patients. According to the feedback value of the high precision load cell at the driven end, the clamping degree of the guide wire is adjusted at any time to ensure there is no slipping phenomenon, which meets the needs of vascular interventional surgery. | 05-05-2022 |
