Medical robotic arm that is attached to an operating table
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Abstract
A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.
164 Citations
37 Claims
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1-18. -18. (canceled)
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19. A medical robotic system comprising:
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a robotic arm; a surgical instrument coupled to the robotic arm, wherein the surgical instrument comprises an end effector; an input device; and a controller coupled to the robotic arm and to the input device; wherein the controller, in response to receiving a signal that a surgeon has moved the input device in a first degree of freedom, outputs a command to move the end effector in a first corresponding degree of freedom, the movement of the end effector in the first corresponding degree of freedom being scaled by a first scaling factor to the movement of the input device in the first degree of freedom; wherein the controller, in response to receiving a signal that the surgeon has moved the input device in a second degree of freedom, outputs a command to move the end effector in a second corresponding degree of freedom, the movement of the end effector in the second corresponding degree of freedom being scaled by a second scaling factor to the movement of the input device in the second degree of freedom; and wherein the first and second scaling factors are different. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A medical robotic system comprising:
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a robotic arm, a surgical instrument coupled to the robotic arm, wherein the surgical instrument comprises an end effector; an input device, and a controller coupled to the robotic arm and to the input device; wherein the system is configured to allow the surgeon to activate the input device such that movement of the input device in a first direction moves the end effector in a corresponding direction; wherein the system is configured to allow the surgeon to deactivate the input device such that when the surgeon moves the input device in a direction opposite the first direction the end effector remains stationary; and wherein the system is configured to allow the surgeon to reactivate the input device such that movement of the input device in the first direction further moves the end effector in the corresponding direction. - View Dependent Claims (30, 31, 32, 35, 36, 37)
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Specification