发明名称

Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

解决的技术问题

In accordance with the above objects of the invention applicants describe a compact articulated surgical instrument suitable for endoscopic surgery. The instrument has two opposed pivoting jaws and a pivoting wrist member. The instrument is capable of providing force reflection with high'sensitivity. The instrument is adapted to be coupled via a servomechanism to a master control operated by a surgeon.

技术方案

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.

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发明名称

Robotic surgical tool with ultrasound cauterizing and cutting instrument

解决的技术问题

Surgical ultrasound instruments are generally capable of treating tissue with use of frictional heat produced by ultrasonic vibrations. For example, the heat may be use to cut and/or cauterize tissue. With many currently available instruments, tissue may first be grasped by an ultrasound surgical device and then ultrasound energy may be delivered to the tissue to cut, cauterize or the like. Ultrasound instruments provide advantages over other cutting and cauterizing systems, such as reduced collateral tissue damage, reduced risk of unwanted burns, and the like. Currently, however, ultrasound instruments for use with a robotic surgical system are not available.

技术方案

A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or achieve various other desired effects on tissue at a surgical site. In various embodiments, the end effector also includes a gripper, for gripping tissue in cooperation with the ultrasound probe tip. The base is generally configured to removably couple the surgical instrument to a robotic surgical system and to transmit forces from the surgical system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the surgical instrument to a robotic surgical system, positioning the probe tip in contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.

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发明名称

Curved cannula surgical system

解决的技术问题

To further reduce patient trauma and to retain the benefits of robotic surgical systems, surgeons have begun to carry out a surgical procedure to investigate or treat a patient's condition through a single incision through the skin. In some instances, such “single port access” surgeries have been performed with manual instruments or with existing surgical robotic systems. What is desired, therefore, are improved equipment and methods that enable surgeons to more effectively perform single port access surgeries, as compared with the use of existing equipment and methods. It is also desired to be able to easily modify existing robotic surgical systems that are typically used for multiple incision (multi-port) surgeries to perform such single port access surgeries.

技术方案

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.

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发明名称

Multi-port surgical robotic system architecture

解决的技术问题

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.

技术方案

While the new telesurgical systems and devices have proven highly effective and advantageous, still further improvements are desirable. In general, improved minimally invasive robotic surgery systems are desirable. It would be particularly beneficial if these improved technologies enhanced the efficiency and ease of use of robotic surgical systems. For example, it would be particularly beneficial to increase maneuverability, improve space utilization in an operating room, provide a faster and easier set-up, inhibit collisions between robotic devices during use, and/or reduce the mechanical complexity and size of these new surgical systems.

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发明名称

Surgical tools for use in minimally invasive telesurgical applications

解决的技术问题

There are many disadvantages relating to current minimally invasive surgical (MIS) technology. For example, existing MIS instruments deny the surgeon the flexibility of tool placement found in open surgery. Most current laparoscopic tools have rigid shafts, so that it can be difficult to approach the worksite through the small incision. Additionally, the length and construction of many endoscopic instruments reduces the surgeon's ability to feel forces exerted by tissues and organs on the end effector of the associated tool. The lack of dexterity and sensitivity of endoscopic tools is a major impediment to the expansion of minimally invasive surgery.

技术方案

This invention provides surgical tools or instruments for use in minimally invasive telesurgical applications. The instruments typically include a base whereby the instrument is removably mountable on a robotically controlled articulated arm. An elongate shaft extends from the base. A working end of the shaft is disposed at an end of the shaft remote from the base. A wrist member is pivotally mounted on the working end. At least one end effector element mounting formation is pivotally mounted on an opposed end of the wrist member. A plurality of elongate elements, e.g., cables, extend from the end effector element mounting formation and the wrist member to cause selective angular displacement of the wrist member and end effector mounting formation in response to selective pulling of the elongate elements.

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发明名称

手术机器人及其末端器械的控制方法、控制装置

技术效果

根据机械臂远端在第一坐标系的第一目标位姿信息及各受控末端器械在第一坐标系的当前位姿信息计算出各受控末端器械在第二坐标系的第二目标位姿信息，进而利用机械臂远端的第一目标位姿信息及各受控末端器械的第二目标位姿信息控制它们联动，能够在调整机械臂远端的同时保持各受控末端器械的当前位姿不变，其使用方便、安全。

技术方案

本发明涉及一种手术机器人及其末端器械的控制方法、控制装置。该控制方法包括：获取机械臂远端在第一坐标系的第一目标位姿信息及各受控操作末端器械在第一坐标系的当前位姿信息；在机械臂远端到达第一目标位姿信息对应的目标位姿的条件下，分别换算各受控操作末端器械在第一坐标系的当前位姿信息获得相应受控操作末端器械在第二坐标系的第二目标位姿信息；根据第一目标位姿信息控制机械臂中各关节组件联动以使机械臂远端到达与第一目标位姿信息对应的目标位姿，并分别根据各第二目标位姿信息控制相应操作臂中各关节组件联动使相应受控操作末端器械保持当前位置及/或姿态不变。本发明能够在术中容易且安全地对机械臂实现调整。

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发明名称

连接组件、操作臂、从操作设备及手术机器人

解决的技术问题

从操作设备通常包括机械臂及设置于机械臂上的操作臂，机械臂用于调节操作臂的位置，操作臂用于伸入体内，并执行手术操作，其中，操作臂具有连接组件以灵活地进行手术操作。然而，目前从操作设备的连接组件控制性较差，影响了手术机器人在手术过程中的操作精度。

技术方案

本发明涉及一种控制性较好的连接组件及应用该连接组件的操作臂、从操作设备、手术机器人，其中，连接组件包括连接单元及转动部，连接单元具有连接部，所述连接部包括匹配的第一连接部及/或第二连接部，分别用于与相邻所述连接单元的所述第二连接部及/或所述第一连接部相连接；转动部具有两个转动轴及连接两个所述转动轴的连接件，两个所述转动轴用于分别连接相邻两个所述连接单元，以形成一个关节组件，所述连接件用于令与其连接的两个所述转动轴之间的距离固定，以使所述关节组件转动时，所述第一连接部、所述第二连接部相对运动。

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发明名称

手术机器人及其控制方法、控制装置

技术效果

通过根据描述有臂体机构结构特征的描述信息生成含有对应于该臂体机构的可供配置的自由度的控件的用户界面组件，医生或助手可根据手术过程的操作需求来自由制定允许被调节的自由度，能够提高臂体机构控制的灵活性及易用性。

技术方案

本发明涉及一种手术机器人及其控制方法、控制装置。该控制方法包括如下步骤：获取描述臂体机构结构特征的描述信息；根据所述描述信息生成含有所述臂体机构可供配置的自由度的控件的用户界面组件。通过上述实施方式，本发明能够提高臂体机构控制的灵活性和易用性。

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发明名称

手术机器人及其末端器械的控制方法、控制装置

技术效果

通过将末端器械的目标位姿信息分解到操作臂和机械臂两部分并使两者联动，不再局限于操作臂自身的运动范围而可以借助机械臂的运动范围达到扩大末端器械的运动范围的目的，进而容易使用。

技术方案

本发明涉及一种手术机器人及其末端按器械的的控制方法、控制装置。该控制方法包括：获取受控末端器械在第一坐标系的第一目标位姿信息；分解第一目标位姿信息获得受控末端器械在第二坐标系的第二目标位姿信息及机械臂远端在第一坐标系的第三目标位姿信息；根据第二目标位姿信息控制相应操作臂中各关节组件联动，并根据第三目标位姿信息控制机械臂中各关节组件联动，以使受控末端器械在机械臂和操作臂联动下到达第一目标位姿信息对应的目标位姿。本发明可扩大末端器械的运动范围进而容易使用。

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发明名称 Registration tools, systems, and methods 解决的技术问题 Intra-operative registration of the pelvis can be challenging because of the complex geometry of the pelvis and, in particular, the concave nature of the acetabulum. While certain methods exist in the art for registration of a patient pelvis, there is need in the art for registration methods that increase accuracy while decreasing registration time. 技术方案 A registration system including a bone pin guide and a bone pin clamp. The bone pin guide may include a guide body, a first guide including a first guide through-hole having a first longitudinal axis, and a second guide including a second guide through-hole having a second longitudinal axis. The bone pin guide may guide first and second bone pins into a bone via the first and second guides. The bone pin clamp may include a clamp body, first, second, and third clamp through-holes extending through the clamp body, a plurality of registration indents defined on the clamp body, and a clamping mechanism including at least one adjustable fastener. The bone pin clamp may receive the first and second bone pins in the first and third clamp through-holes and guide a third bone pin into the bone via the second clamp through-hole. 相关附图

发明名称

Miniature bone-mounted surgical robot

解决的技术问题

there is a need in the art for a device with high precision and accuracy that can assist the surgeon in aligning the working end of the surgical tool such that delicate procedures can be preformed percutaneously with minimal radiation exposure to both the patient and the surgical staff.

技术方案

A miniature surgical robot and a method for using it are disclosed. The miniature surgical robot attaches directly with the bone of a patient. Two-dimensional X-ray images of the robot on the bone are registered with three-dimensional images of the bone. This locates the robot precisely on the bone of the patient. The robot is then directed to pre-operative determined positions based on a pre-operative plan by the surgeon. The robot then moves to the requested surgical site and aligns a sleeve through which the surgeon can insert a surgical tool.

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发明名称 Robotic-assisted device for positioning a surgical instrument relative to the body of a patient 解决的技术问题 The aim of the invention is to cope with the drawbacks of the state of the art by providing a device for positioning a surgical instrument relative to the body of a patient using at least a first robotic arm supporting at least One surgical instrument and a second tracker arm, which is also a robotic arm. This second robotic arm is aimed at detecting in real time and accurately the movements of said body and to communicate them to said first arm, so that it compensates its position accordingly. In particular, said second arm permits to detect the internal and external movements of the anatomic area to be treated. 技术方案 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. 相关附图

发明名称 一种手术定位装置以及机器人手术系统 解决的技术问题 克服了标尺构型对术中C型臂透视角度的限制，可以减少透视次数，减少对病人和医生的辐射损伤。 技术方案 本发明涉及一种手术定位装置和方法以及机器人手术系统，该手术定位装置包括定位标尺、上位机和至少六自由度的串联机械臂，上位机与串联机械臂连接，定位标尺包括透X光的两相对面，两相对面通过透X光的连接面固定连接，两相对面上均设置有一组标记，每组标记包括至少四个不在一条直线上的标记点，标记点为不透X光的部件；任一相对面或连接面固定连接标尺柄，标尺柄通过接口与串联机械臂末端连接；上位机通过控制串联机械臂的运动来调整定位标尺的位置，并根据采集的图像中的标记点进行空间定位计算，得到规划路径。该装置能够实现任意角度的透视定位，并能消除计算手术路径时引起的系统误差，增大工作空间，提高手术定位精度。 相关附图

发明名称 一种智能骨科手术系统 解决的技术问题 在导航基础上可以实现精确打孔功能，实现手术操作，从而提高手术的精度和稳定度，减轻医生的工作强度，避免诸如人的疲劳、精神压力等因素对手术的干扰。 技术方案 本发明适用于医疗器械领域，提供了一种智能骨科手术系统，所述系统包括交换机、手术定位装置和分别与交换机连接的手术规划和监控装置、C形臂X射线机和骨科手术机器人；所述骨科手术机器人包括机器人本体和固定在机器人本体上的机械臂、固定在机械臂上的智能骨钻、通信模块、机械臂控制模块、智能骨钻控制模块、以及手术机器人电气控制模块，所述智能骨钻包括手术电钻、套接在手术电钻的电钻头的引导机构、推进机构、双目视觉识别系统、固定在手术电钻上的压力传感器和骨钻控制器。本发明的智能骨科手术系统中的骨科手术机器人在导航基础上可以实现精确打孔功能，实现手术操作，从而提高手术的精度和稳定度，减轻医生的工作强度。 相关附图

发明名称 Catheter system 解决的技术问题 Before performing an interventional procedure with the disclosed invention, a diagnostic procedure is typically performed. An exemplary diagnostic procedure performed before performing a PCI may include a number of steps. Starting in the femoral artery, a 0.038 guide wire is run over the top of the aortic arch. A diagnostic catheter is advanced over the 0.038 guide wire after which the 0.038 guide wire is removed allowing the diagnostic catheter (DC) to return to its preformed shape enabling the DC to access either the left or the right ostium of the aorta. A contrast media is injected through the DC and the heart is x-rayed to identify the existence and location of any lesion. A y-connector may be secured to the end of the DC outside of the patient. The y-connector provides a means for introducing the contrast media or medication. The y-connector employs a one way valve both at the y-connector leg and the free open end. The 0.038 guide is then reinserted into the DC advanced over the top of the aortic arch, and the diagnostic catheter is removed. When the diagnostic is completed the 0.038 guide wire may be left in place for use in a PCI procedure. 技术方案 A robotic catheter system is provided. The catheter system includes a housing, and the housing has a sidewall and a longitudinal axis. The catheter system includes a recess formed in the sidewall of the housing and a drive mechanism supported by the housing. The drive mechanism is configured to impart movement to a catheter device. The catheter system includes a first channel configured to receive a catheter device, and the first channel has a opening located within the recess. 相关附图

发明名称

Robotizable module for driving an elongated flexible medical member, medical robot and system including such a module

解决的技术问题

anual insertion of a catheter or guide in a patient is a relatively conventional surgical procedure. However, as this procedure is monitored by X-ray, the surgeon responsible for the procedure is exposed to substantial radiation if performing such an operation on many patients.To reduce the risks for the surgeon, it is desirable to robotize such insertion. Such robotization is complex, because it is difficult to grip the catheter. The catheter is slippery, and must remain sterile. The reliability of these robotic systems despite these difficulties is a determining factor in their acceptance by the medical community.

技术方案

Disclosed is a module including: a base; a first drive member; and a second drive member. The second drive member is also mounted so as to be movable relative to the first drive member, in a degree of freedom other than rotational about the second axis, between a first and a second configuration. A motion transmission system transmits the driving movement generated by the drive motor to the second drive member in order to rotate the second drive member about the second axis between the first and second configurations.

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发明名称 一种介入造影和治疗手术通用机器人 解决的技术问题 为了减少介入手术医生在X射线下工作所受的辐射的创伤，同时避免因为术者人手控制所引起的导管操控稳定性问题，以及提高在心脏心腔的狭小空间手术的精准度，电生理手术机器人成为未来临床手术的首选方案。 技术方案 本发明涉及一种介入造影和治疗手术通用机器人，解决现有介入手术机器人不能同时完成介入手术的这两个过程，对导丝轴向摩擦力受力检测的不足，解决受力检测装置难以安装，不能满足临床需要，实际手术中的机器人结构较为复杂，体积过大不适用于实际手术环境的问题。实现了造影手术和治疗手术通用、整体结构简单，稳定性好，采用模块化结构设计，拆装组合简便，体积小巧，非常适宜于手术环境。通过主端测量微力传感器的推拉力，判断出导丝轴向摩擦力的受力变化情况，能及时给予医生操作提醒，保护病人安全。根据从端高精度称重传感器反馈数值可以随时调整导丝夹紧程度，防止打滑现象，可以满足血管介入手术对导丝的需求。 相关附图

发明名称 适用于血管介入手术的双平面机械臂装置 解决的技术问题 本发明基于仿生学原理，通过三自由度平面机械臂来实现导管导丝的直线推拉，运动范围大，解决了原有机构固有的运动范围不足、灵活性和机动性不足的问题，满足临床应用需求。 技术方案 本发明提供了一种适用于血管介入手术的双平面机械臂装置，包括手术床、机身组件、外臂组件、内臂组件，所述机身组件包括立柱、滑块、滑台、支撑架以及平推丝杆电机；所述立柱设置在手术床上，立柱上设置有支撑架，支撑架上设置有滑台，滑台连接滑块，滑块连接平推丝杆电机并能够在平推丝杠电机的作用下能够沿着滑台滑动；所述外臂组件连接立柱，内臂组件连接外臂组件、滑块，内臂组件和外臂组件之间能够相对运动。本发明基于仿生学原理，通过三自由度平面机械臂来实现导管导丝的直线推拉，运动范围大，解决了原有机构固有的运动范围不足、灵活性和机动性不足的问题，满足临床应用需求。 相关附图

发明名称 一种导管导丝协同操作介入机器人 解决的技术问题 本发明导管导丝协同操作介入机器人，在操作平台上设置导管控制器和导丝控制器，并通过操作平台控制导管控制器和导丝控制器的相对运动，配合导管控制器对于导管的控制，以及导丝控制器对于导丝的控制，可以满足介入手术中对于导管导丝的协同操作，满足手术的复杂操控需求，该种方式模拟医生手部动作，更加符合医生操作习惯。 技术方案 本发明公开了一种导管导丝协同操作介入机器人及其控制方法，属于微创血管介入手术领域。该系统包括操作平台，以及设置其上的导管控制器和导丝控制器；操作平台包括平台主梁，其上通过直线导轨副设置有两个平台连接块，分别安装导管控制器和导丝控制器；平台连接块通过平台驱动机构驱动；导管控制器包括主体部分和用于夹持导管的导管夹紧机构；导丝控制器包括夹持机构，它包括套筒、制动件和夹持件，带有夹持端头的夹持件装入制动件后，制动件与套筒螺纹连接，通过制动件与套筒相对转动可驱动夹持端头夹紧导丝。本发明的系统在移动平台上安装导管控制器和导丝控制器，分别对导管和导丝进行控制，并配合操作平台的控制，完成导管导丝的协同操作。 相关附图