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1. WO2019050822 - ROBOTIC SURGICAL SYSTEM CONTROL ARM INCLUDING DUAL ENCODERS

Publication Number WO/2019/050822
Publication Date 14.03.2019
International Application No. PCT/US2018/049319
International Filing Date 04.09.2018
IPC
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/35 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
35for telesurgery
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 17/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
CPC
A61B 2034/101
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
10Computer-aided planning, simulation or modelling of surgical operations
101Computer-aided simulation of surgical operations
A61B 2034/2059
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2059Mechanical position encoders
A61B 2034/305
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
305Details of wrist mechanisms at distal ends of robotic arms
A61B 2034/742
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
70Manipulators specially adapted for use in surgery
74Manipulators with manual electric input means
742Joysticks
A61B 2090/367
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36Image-producing devices or illumination devices not otherwise provided for
364Correlation of different images or relation of image positions in respect to the body
367creating a 3D dataset from 2D images using position information
A61B 2090/371
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
36Image-producing devices or illumination devices not otherwise provided for
37Surgical systems with images on a monitor during operation
371with simultaneous use of two cameras
Applicants
  • COVIDIEN LP [US]/[US]
Inventors
  • PEINE, William
Agents
  • HUGHES, Thomas
  • AKYUZ, Ishak
  • BENDER-ZANONI, Joseph
  • CARTER, David
  • DELUCA, Peter
  • FERGUSON, Kevin
  • PERRY, Kimberly V.
Priority Data
62/554,20805.09.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ROBOTIC SURGICAL SYSTEM CONTROL ARM INCLUDING DUAL ENCODERS
(FR) BRAS DE COMMANDE DE SYSTÈME CHIRURGICAL ROBOTISÉ COMPRENANT DES CODEURS DOUBLES
Abstract
(EN)
A control arm of a robotic surgical system includes a member, a drive motor, a first joint encoder, and a controller. The member is supported about a first joint. The drive motor is operably coupled to the member and configured to rotate the member about the first joint. The first joint encoder is disposed about the first joint and configured to transmit position signals indicative of the position of the member about the first joint. The controller is configured to transmit control signals in response to receiving position signals from the first joint encoder, the control signals causing the drive motor to overcome friction associated with the motion of the member about the first joint.
(FR)
L'invention concerne un bras de commande d'un système chirurgical robotisé qui comprend un membre, un moteur d'entraînement, un premier codeur d'articulation et un dispositif de commande. Le membre est soutenu autour d’une première articulation. Le moteur d'entraînement est couplé de manière fonctionnelle au membre et configuré pour faire tourner le membre autour de la première articulation. Le premier codeur d’articulation est disposé autour de la première articulation et configuré pour transmettre des signaux de position indiquant la position du membre autour de la première articulation. Le dispositif de commande est configuré pour transmettre des signaux de commande en réponse à la réception de signaux de position provenant du premier codeur d’articulation, les signaux de commande amenant le moteur d'entraînement à surmonter les frottements associés au mouvement du membre autour de la première articulation.
Also published as
JP2020534808
Latest bibliographic data on file with the International Bureau