Sri International

Other

Stanford Research Institute

Intuitive Surgical Operations, Inc.

Siemens Aktiengesellschaft

Siemens Corporation

Intuitive Surgical, Inc.

Institute Surgical, Inc

Philip S Green

Joel Frederic Jensen

Jon C Taenzer

Louis F Schaefer

James F Havlice

Donald J Burch

James L Buxton

David A Wilson

Joe R Suarez

S David Ramsey, Jr

Dilip G Saraf

John F Holzemer

Hugh F Frohbach

John S Ostrem

Todd K Whitehurst

A multiuse bracket and support device for securing supports to a structure includes a band, which is flexible, that has a first end, a second end, opposing side edges, a front and a back. Each of a plurality of first couplers is coupled to the band. A first fastener is coupled to the back proximate to the first end, and a second fastener is coupled to the front proximate to the second end. The second fastener is complimentary to the first fastener. Each of a plurality of brackets comprises a second coupler coupled to a support. The second coupler is complimentary to the first coupler.

Multiuse bracket and support device

The invention is directed to mainpulator assembly () for holding and manipulating a surgical instrument () in a telerobotic system. The assembly comprises a base () fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder () movably mounted on the base. The instrument holder comprises a chassis () and an instrument support () movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly () is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element () mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner () for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer () for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

Surgical manipulator for a telerobotic 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.

Method and apparatus for transforming coordinate systems in a telemanipulation system

A manipulator assembly () for holding and manipulating a surgical instrument () in a telerobotic system, comprising an instrument holder () movably mounted on a base. The instrument holder comprises a chassis () and an instrument support () movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly () is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly is attached to a remote center positioner () for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer () for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

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. Image transformation according to the invention includes translation, rotation and perspective correction.

The invention is directed to manipulator assembly () for holding and manipulating a surgical instrument () in a telerobotic system. The assembly comprises a base () fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder () movably mounted on the base. The instrument holder comprises a chassis () and an instrument support () movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly () is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element () mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner () for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer () for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

The invention is directed to a system and method for releasably holding a surgical instrument (), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft () with a pair of mounting pins () laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore () and an axially extending slot () for receiving the instrument shaft and the mounting pins. A pair of locking slots () are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

System and method for releasably holding a surgical instrument

A teleoperator system with telepresence is shown which includes right and left hand controllers (R andL) for control of right and left manipulators (R andL) through use of a servomechanism that includes computer (). Cameras (R andL) view workspace () from different angles for production of stereoscopic signal outputs at lines (R andL). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (I) is produced which, is reflected by mirror () toward the eyes of operator (). A virtual image (V) is produced adjacent control arms (R andL) which is viewed by operator () looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

Master-slave manipulator system and apparatus

Roll-pitch-roll wrist methods for minimally invasive robotic surgery

A teleoperator system with telepresence is shown which includes right and left hand controllers (R andL) for control of right and left manipulators (R andL) through use of a servomechanism that includes computer (). Cameras (R andL) view workspace () from different angles for production of stereoscopic signal outputs at lines (R andL). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (I) is produced which, is reflected by mirror () toward the eyes of operator (). A virtual image (V) is produced adjacent control arms (R andL) which is viewed by operator () looking in the direction of the control arms. By locating the workspace image (V) adjacent the control arms (R andL) the operator is provided with a sense that end effectors (R andL) carried by manipulator arms (R andL) and control arms (R andL) are substantially integral. This sense of connection between the control arms (R andL) and end effectors (R andL) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display () adjacent control arms (R andL) image (I) of the workspace is directly viewable by the operator. (FIGS.and) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS.and FIG.).

Growing community of inventors

Redwood City, CA, United States of America

Philip S Green