81 patents
Utility
Apparatus and method for controlling an end-effector assembly
16 Jan 24
An apparatus for controlling an end-effector assembly is provided.
Eric Butt, Jeff Ransden, Alexander Shvartsberg, Reiza Rayman
Filed: 3 Feb 23
Utility
Hand controller for robotic surgery system
7 Nov 23
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.
John D. Unsworth
Filed: 20 Jul 22
Utility
Articulated tool positioner and system employing same
17 Oct 23
A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.
Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
Filed: 12 Aug 20
Utility
Autonomous correction of alignment error in a master-slave robotic system
10 Oct 23
In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.
Joseph Kralicky, Peter Cameron
Filed: 19 Nov 21
Utility
System and apparatus for positioning an instrument in a body cavity for performing a surgical procedure
10 Oct 23
Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed.
Perry A. Genova, David McNally
Filed: 12 Apr 21
Utility
Systems, methods, and apparatuses for capturing images during a medical procedure
12 Sep 23
An insertion device for a single port robotic surgery apparatus can include an insertion section with first and second camera channels and an instrument channel, the first camera channel configured to facilitate insertion and removal of a primary camera, the second camera channel configured to enclose a secondary camera, and the instrument channel configured to permit insertion and removal of a surgical instrument from the insertion section, The insertion device can include a housing attached to the insertion section, the housing including a passage configured to permit at least a portion of the primary camera to pass through the housing into the first camera channel and exit the first camera channel.
Perry A. Genova, Sachin A. Sankholkar, Hans Christian Pflaumer, Aki Hannu Einari Laakso, Allan Katz, Alejandro Espinosa, Eduardo A. Ampuero
Filed: 24 Sep 21
Utility
Alignment difference safety in a master-slave robotic system
5 Sep 23
A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle.
Joseph Kralicky, Peter Cameron, Rene Robert
Filed: 27 Aug 21
Utility
Actuator apparatus for operating a surgical instrument
8 Aug 23
A coupler apparatus for coupling electrical signals between an actuator and an end effector is disclosed.
Tim Haughton, Rene Robert
Filed: 18 Aug 21
Utility
Bipolar end effector apparatus for a surgical instrument
1 Aug 23
An end effector apparatus for a surgical instrument is disclosed including a housing having a first jaw mounted on a revolute joint and providing a first electrical conduction path between the housing and the first jaw.
Rene Robert, Jonathan Hess Hills, Timothy Norman Johnson
Filed: 7 Oct 20
Utility
Camera positioning system, method, and apparatus for capturing images during a medical procedure
23 May 23
A visualization device for a robotic surgery apparatus includes a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus.
Perry A. Genova, Hans Christian Pflaumer, Aki Hannu Einari Laakso, Allan Katz, Alejandro Espinosa, Eduardo A. Ampuero, Duane Couri
Filed: 24 Sep 21
Utility
Robotic surgery system
23 May 23
A robotic surgery system includes a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space.
Aki Hannu Einari Laakso, Hans Christian Pflaumer, Abraham Allen Shipley, Nathan Wagner Ginsberg, Yahia Laouar, Cara Lee Coad, Michael James Ross, John Michael Burton, Jr.
Filed: 9 Feb 21
Utility
Surgical instrument apparatus, actuator, and drive
23 May 23
A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction.
Perry A. Genova, Aki Hannu Einari Laakso
Filed: 2 Aug 22
Utility
Instrument collision detection and feedback
16 May 23
A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle and holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle.
Peter Cameron
Filed: 25 Jun 20
Utility
Actuator and drive for manipulating a tool
9 May 23
A tool apparatus and a method for actuating a tool apparatus are disclosed.
Rene Robert, David Allen Zitnick
Filed: 5 Oct 20
Utility
Method and apparatus for illuminating an object field imaged by an image sensor
25 Apr 23
An illuminator apparatus and method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio is disclosed.
Randal B. Chinnock, William L. Weber
Filed: 2 Jul 21
Utility
Instrument insertion system, method, and apparatus for performing medical procedures
25 Apr 23
In some embodiments, an insertion device for a single port robotic surgery apparatus includes a plurality of instrument channels positioned in an interior of a housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.
Perry A. Genova, Hans Christian Pflaumer, Aki Hannu Einari Laakso, Allan Katz, Alejandro Espinosa, Eduardo A. Ampuero, Daniel Hoffman
Filed: 17 Aug 21
Utility
Hand controller apparatus including ergonomic features for a robotic surgery system
25 Apr 23
A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool.
Jonathan Bradley Duke, Chad Clayton Walters, Olivier Franck Currat, Eric Collins, William Jacob Ward, Mark Curtis Rector, Brandon Michael Kelly, Michael Darter Collins, Zachary Kevin Durand
Filed: 7 Jul 22
Utility
Articulated tool positioner and system employing same
21 Mar 23
A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.
Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
Filed: 15 Aug 22
Utility
Imaging apparatus having configurable stereoscopic perspective
21 Feb 23
In some embodiments, a stereoscopic imaging apparatus includes a tubular housing having a bore extending longitudinally through the housing.
Evan Rittenhouse Jones, Maxime Blain, Christopher Dean Smith
Filed: 28 Dec 18
Utility
Hand controller for robotic surgery system
14 Feb 23
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.
John D. Unsworth
Filed: 26 Jun 20