106186 results about "Robot" patented technology

The present invention provides robotic surgical instruments and systems that include electrosurgical cutting/shearing tools and methods of performing a robotic surgical procedure. The surgical instruments can advantageously be used in robotically controlled minimally invasive surgical operations. A surgical instrument generally comprises an elongate shaft having a proximal end and a distal end. An end effector, for performing a surgical operation such as cutting, shearing, grasping, engaging, or contacting tissue adjacent a surgical site, is coupleable to a distal end of the shaft. Preferably, the end effector comprises a pair of scissor-like blades for cooperatively shearing the tissue. A conductor electrically communicating with at least one blade delivers electrical energy to tissue engaged by the blades. An interface coupled to the proximal end of the shaft and removably connectable to the robotic surgical system is also included.

The present invention provides improved electrosurgical instruments and systems having electrocautery energy supply conductors that provide inhibited current leakage and methods of performing a robotically controlled minimally invasive surgical procedure while preventing unintended capacitive coupling. A surgical instrument generally comprises an elongate shaft having a proximal end and a distal end and defining an internal longitudinally extending passage. An electrocautery end effector is coupled to or disposed at the distal end of the shaft. An interface or tool base is coupled to or disposed at the proximal end of the shaft and removably connectable to the robotic surgical system. Typically, an independent electrical conductor extends from the interface to the end effector to transmit electrical energy to tissue engaged by the end effector. A sealed insulation tube extends within the passage and over the conductor. A separation is maintained between the sealed insulation tube and the conductor.

A surgical grasper is provided. The grasper comprises a handle, two jaws operably connected to the handle, which jaws can be actuated by the handle, and a sensor. A surgical grasper for use in robotic surgery is also provided. The grasper comprises a shaft, two jaws at a distal end of the shaft, which jaws can be actuated in response to a robot command, and a sensor. A method for measuring an amount of force being applied by a jaw of a grasper is also provided. The method comprises the steps of: providing a grasper comprising a handle and two jaws operably connected to the handle, which jaws can be actuated by the handle; providing a sensor on the grasper; and, providing for measuring an amount of force being applied to the sensor. A method for measuring an amount of force being applied by a jaw of a grasper for use in robotic surgery is also provided. The method comprises the steps of: providing a grasper for use in robotic surgery, the grasper comprising a shaft and two jaws at a distal end of the shaft, which jaws can be actuated responsive to a robot command; providing a sensor; and, providing for measuring an amount of force being applied to the sensor. A surgical feedback system is also provided. The surgical feedback system comprises a surgical grasper capable of taking a force measurement and a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage. A method for obtaining surgical feedback is also provided. The method comprises the steps of: providing a surgical grasper capable of taking a force measurement; and, providing a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage.

In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.

A method of laparoscopic (or robotic) surgery, using a hand-port, comprising providing a trocar port operably disposed within a first abdominal incision opening of a patient, providing a hand-port operably disposed within a second abdominal incision opening, introducing an elongate positioner dimensioned to extend through the trocar, introducing a spatulate element through the hand port and joining the spatulate element to the positioner. The procedure further comprises removing an internal organ or other tissue from the operating area in order to make room and add visibility for the laparoscopic intervention, detaching the spatulate element from the positioner, and withdrawing the positioner through the trocar port and the spatulate through the hand port.

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.

An autonomous floor-cleaning robot comprises a self-adjusting cleaning head subsystem that includes a dual-stage brush assembly having counter-rotating, asymmetric brushes and an adjacent, but independent, vacuum assembly such that the cleaning capability and efficiency of the self-adjustable cleaning head subsystem is optimized while concomitantly minimizing the power requirements thereof. The autonomous floor-cleaning robot further includes a side brush assembly for directing particulates outside the envelope of the robot into the self-adjusting cleaning head subsystem.

A telerobotic surgery system for remote surgeon training includes a robotic surgery station at a first location in a first structure at a first geographic point. Harvested animal tissue is at the robotic surgery station. A remote surgeon station at a second location in a second structure is at a second geographic point remote from the first geographic point. A remote party conferencing station at a third location in a third structure is at a third geographic point remote from the first and second geographic points. A communications network couples the robotic surgery station, the remote surgeon station, and the remote party conferencing station so that a surgeon at the remote surgeon station is able to remotely train using the harvested animal tissue at the robotic surgery station and while conferencing with a party at the remote party conferencing station.

In accordance with the present disclosure, a system and method for using a remote control to control an electrosurgical instrument, where the remote controlled (RC) electrosurgical instrument has a universal coupling mechanism to allow switching between an interchangeable catalog of diagnostic tools. A controller within the base of the RC electrosurgical instrument identifies the type of disposable tip attached to the base. The controller, then, activates necessary features for use with the identified tip and deactivates any unnecessary features. A surgeon uses a remote with at least one momementum sensor to control the RC electrosurgical instrument 10. The surgeon rotates his hand mimicking movements of a handheld electrosurgical instrument, the movements of which are translated and sent to the RC electrosurgical instrument. The surgeon may use an augmented reality (AR) vision system to assist the surgeon in viewing the surgical site.

Position information of equipment at an event, such as a ball, one or more players, or other items in a game or sporting event, is used in selecting camera, camera shot type, camera angle, audio signals, and/or other output data for providing a multimedia presentation of the event to a viewer. The position information is used to determine the desired viewer perspective. A network of feedback robotically controlled Pan-Tilt-Zoom (PTZ), manually controlled cameras and stationary cameras work together with interpolation techniques to create a 2D video signal. The position information may also be used to access gaming rules and assist officiating of the event. The position information may be obtained through a transceiver(s), accelerometer(s), transponder(s), and/or RADAR detectable element(s) fitted into the ball, apparel or equipment of players, the players themselves, or other playing equipment associated with the game or sporting event. Other positioning methods that can be used include infrared video-based tracking systems, SONAR positioning system(s), LIDAR positioning systems, and digital signal processing (DSP) image processing techniques such as triangulation.