Covidien LP

Cambridge Endoscopic Devices, Inc.

Coviden LP

William J Peine

Meir Rosenberg

Albert Dvornik

Dwight Meglan

Andres Chamorro

Peter Vokrot

Cameron Cecil

Matthew Blanco

Robert Pierce

Max L Balter

Scott J Prior

Woojin Lee

Anthony B Ross

Scott E M Frushour

Jared N Farlow

John W Komp

Renen Bassik

Arvind Rajagopalan Mohan

Gabriel McHugh

Paul M Loschak

Eric J Taylor

Jaimeen Kapadia

Andres Chamorro, Iii

Stefan Joerg

James C Hollenbeck

Burak Yilmaz

Evgeni Kopel

Chad A Pickering

Arvind K Ramadorai

Andreas Tobergte

James Mccormick

Mathew Livianu

Reuben Hale

Walter Schoen

Michael A Eiden

Diana Chen

Campbell M Dixon

Justin R Chen

Unnas W Hussain

James W McCormick

Mantena V Raju

Chen Chen

Steven J Levine

Scott EM Frushour

A surgical robotic system including a robotic arm and a surgical console. The robotic arm having a plurality of joints and a surgical instrument. The surgical console includes at least one interface device and a controller. The interface device configured to receive a user input. The controller configured to output a command pose based on the user input, wherein the robot arm is configured to move in response to the command pose; process the command pose through a hand pose transform algorithm to generate a desired pose and a previous desired pose; determine a desired delta pose command based on the desired pose, the previous desired pose, and a previous command pose; and process the desired delta pose command through a velocity limiting function to apply at least one velocity limit on the desired delta pose command.

Surgical robotic system with velocity limits

A tissue suturing guidance system includes an image capturing device, a display, and a processor in communication with the image capturing device and the display. The image capturing device is configured to capture a suture site. The display is configured to display an image of the suture site. The processor is configured to: determine, based on the image of the suture site, a geometric tissue representation of the suture site; access measured properties of the suture site; determine, based on the measured properties of the suture site, a biomechanical tissue representation of the suture site; and generate, based on the geometric tissue representation and biomechanical tissue representation of the suture site, a suturing configuration for the suture site.

System and methods for suturing guidance

Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.

Endoluminal robotic (ELR) systems and methods

Systems and methods for surgical robotic collision detection in accordance with aspects of the present disclosure are disclosed. In various embodiments, a system for surgical robotic collision detection includes a robotic cart having a robotic arm, an imaging device supported by the robotic cart or the robotic arm, the imaging device captures images within a field of vision of the imaging device, and a controller in operable communication with the robotic arm and the imaging device. The controller includes a processor and a memory storing instructions which, when executed by the processor, causes the controller to: receive the images from the imaging device, generate a grid including a first plurality of spatial points from the images, and detect a potential collision within the field of vision based on the generated grid.

Robotic surgical collision detection systems

A surgical robotic system includes: a surgical table; a plurality of movable carts being oriented toward the surgical table, each of which includes a robotic arm, and an alignment unit configured to determine an orientation of the movable cart and the robotic arm relative to the surgical table; and a computer coupled to each of the plurality of movable carts and configured to calculate a yaw angle for each of the plurality of movable carts.

Surgical robotic system user interfaces

A surgical robotic system includes a surgical console and a training simulation console operably coupled to the surgical console. The surgical console includes a display and a user input device configured to generate a user input. The training simulation console includes a memory, a simulator, a master slave controller, and a simulation controller operably coupled to the simulator and the master slave controller. The memory is configured to store session data and instrument information. The simulator is configured to initialize a session. The master slave controller is configured to receive input positions from the user input device and to determine desired drive commands for the robotic arm or instrument drive unit. The simulation controller is configured to simulate in the session, operating of at least one of the robotic arm or the instrument drive unit.

System and method for training simulation of a surgical robotic system

An electromechanical robotic surgical instrument is provided and includes a flexible shaft defining a lumen therethrough; an end effector pivotally supported by the flexible shaft; at least one cable translatably disposed within the lumen of the flexible shaft, wherein a distal end of each cable is operatively connected to the end effector to affect a movement of the end effector in response to translation of the at least one cable, wherein the at least one cable includes metrical markings along an outer surface thereof, which metrical markings are located adjacent to the end effector; and at least one linear encoder supported by the flexible shaft and being in operative registration with the metrical markings of a respective one of the at least one cable, wherein the at least one linear encoder is configured to measure changes in the metrical markings.

Robotic surgical instrument including linear encoders for measuring cable displacement

An endoluminal robotic system includes at least one robotic arm that operates tools to perform suturing procedures. The tools may include at least one of a suture needle driver tool, an endoscope, and a grasping tool. Methods performed by the endoluminal robotic system include driving a suture needle through anterior and posterior sides of a defect using the suture needle driving tool, the end portion of which is rotated after passing through tissue, to form a desired suture pattern. Then, the two ends of the suture thread are pulled and tied together to form a knot. Methods performed by the endoluminal robotic system also include overlaying a suture needle path on an image captured by the endoscope and controlling the at least one robotic arm to operate the driving tool and the suture needle driver tool based on the overlaid suture needle path.

Endoluminal robotic systems and methods for suturing

A surgical robotic arm includes a first link; a second link coupled to the first link at a first joint such that at least one of the first link or the second link is movable relative to each other; and a first actuator configured to move at least one of the first link or the second link. The surgical robotic arm also includes a joint torque sensor disposed within the first joint and configured to measure torque imparted on at least one of the first link or the second link to obtain a measured torque value. The surgical robotic arm further includes a controller configured to: determine an estimated joint torque value; compare the estimated joint torque value to the measured torque value; and determine an environmental torque value based on a comparison of the estimated joint torque value and the measured torque value.

System and apparatus for external torque observation and compensation for surgical robotic arm

A mobile surgical control console is provided and includes a base housing, a lower frame assembly, a plurality of vertical supports, a monitor, and an upper frame assembly. The lower frame assembly further includes a proximal end, a distal end and an opening defined therethrough which extends through the proximal end thereof. The lower frame assembly is coupled to the base housing. The plurality of vertical supports each have an inferior end and a superior end, and each vertical support is attached to the base housing. The monitor is attached to the superior end of each vertical support. The upper frame assembly includes an upper frame and a mobile section. The upper frame includes a proximal end, a distal end and an opening defined therethrough. The upper frame is supported on each vertical support. The mobile section is supported by the upper frame.

Mobile surgical control console

Methods and systems are provided for facilitating telementored surgical procedures. The systems include a portable input handle further including a housing, a position sensor disposed adjacent to the housing, and a position transmitter in communication with the position sensor. The position sensor may be configured to sense a pose of the housing relative to the position transmitter. The position transmitter may be configured to receive and transmit the sensed pose of the housing to the robotic surgical system.

Telementoring control assemblies for robotic surgical systems

A robotic surgical system or simulator includes an input device, a display device, and a processing unit. The display device includes a representation of a surgical tool that is operably associated with the input device. The processing unit is in communication with the input device and is associated with the representation of a surgical tool to rotate the representation about a first axis of movement based on a scaled rotation of the input device about a first axis of rotation. In an aligned configuration, the input device is aligned with the representation about the first axis of rotation. When the input device is misaligned with the representation, the processing unit varies the scaled rotation of the input device to return the input device to the first aligned configuration until the input device is misaligned about the first axis of rotation a first predetermined offset from the aligned configuration.

Robotic surgical systems with roll, pitch, and yaw realignment including trim and flip algorithms

A robotic surgical system with user engagement monitoring includes a surgeon console having a hand detection system and a tracking device including an image capture device configured to capture an image of a user position reference point, wherein information from the hand detection system and the tracking device are combined to control operation of the robotic surgical system.

Robotic surgical systems with user engagement monitoring

A method of controlling a tool of a surgical robot with a processing unit such that the tool follows input of the input handle of a user console includes receiving movement of the input handle in a master frame of the user console, translating the movement of the input handle in the master frame to movement of the tool in a camera frame of a camera providing real-time images of a surgical site, translating the movement of the tool in the camera frame to movement of the tool in a world frame defined in a surgical theater, translating the movement of the tool in the world frame to movement of the tool in a tool frame which is defined by an arm supporting the tool, and transmitting control commands to a motor controlling the tool such that the tool follows movement of the input handle.

Hand eye coordination system for robotic surgical system

Input shapers for control inputs to the robotic surgical system and their method of controlling a linkage of a robot with a controller includes receiving a desired joint angle of a joint of the robot; and transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint.

Input shaper for robotic surgical system

Growing community of inventors

Ashland, MA, United States of America

William J Peine