| Patent Number |
Title Of Patent |
Date Issued |
| 7574250 |
Image shifting apparatus and method for a telerobotic system |
August 11, 2009 |
| An input device of a teleoperator system can be operatively associated with an image of a surgical worksite. Movement of the image may correspond to movement of the input device so that the worksite image appears substantially connected to the input device. The operator can manipulat |
| 7155315 |
Camera referenced control in a minimally invasive surgical apparatus |
December 26, 2006 |
| Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effe |
| 7107090 |
Devices and methods for presenting and regulating auxiliary information on an image display of a |
September 12, 2006 |
| Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and |
| 7087049 |
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
August 8, 2006 |
| The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translat |
| 6974449 |
Friction compensation in a minimally invasive surgical apparatus |
December 13, 2005 |
| Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static fric |
| 6837883 |
Arm cart for telerobotic surgical system |
January 4, 2005 |
| Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, inde |
| 6799065 |
Image shifting apparatus and method for a telerobotic system |
September 28, 2004 |
| Improved teleoperator techniques often make use of at least one input device which can be selectively operatively associated with, for example, either a surgical instrument to treat tissues, or with an image of a surgical worksite shown to a system operator. A novel image manipulation |
| 6786896 |
Robotic apparatus |
September 7, 2004 |
| A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any |
| 6772053 |
Aspects of a control system of a minimally invasive surgical apparatus |
August 3, 2004 |
| A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the |
| 6766204 |
Alignment of master and slave in a minimally invasive surgical apparatus |
July 20, 2004 |
| This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-he |
| 6714839 |
Master having redundant degrees of freedom |
March 30, 2004 |
| The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At |
| 6684129 |
Master having redundant degrees of freedom |
January 27, 2004 |
| An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to preven |
| 6671581 |
Camera referenced control in a minimally invasive surgical apparatus |
December 30, 2003 |
| Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector |
| 6659939 |
Cooperative minimally invasive telesurgical system |
December 9, 2003 |
| Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue |
| 6645196 |
Guided tool change |
November 11, 2003 |
| A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic |
| 6565554 |
Friction compensation in a minimally invasive surgical apparatus |
May 20, 2003 |
| The present invention provides improved devices, systems, and methods for compensating for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. The invention allows uninhibited manipulation of complex linkages, enhancing the precisi |
| 6522906 |
Devices and methods for presenting and regulating auxiliary information on an image display of a |
February 18, 2003 |
| Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and meth |
| 6493608 |
Aspects of a control system of a minimally invasive surgical apparatus |
December 10, 2002 |
| A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the |
| 6459926 |
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
October 1, 2002 |
| The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translationa |
| 6424885 |
Camera referenced control in a minimally invasive surgical apparatus |
July 23, 2002 |
| Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector |
| 6364888 |
Alignment of master and slave in a minimally invasive surgical apparatus |
April 2, 2002 |
| This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-he |
