[특허]Method and apparatus for performing minimally invasive cardiac procedures

[미국특허] Method and apparatus for performing minimally invasive cardiac procedures 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-019/00 A61B-001/00
출원번호	US-0289740 (2002-11-06)
발명자 / 주소	Wang,Yulun Uecker,Darrin R. Jordan,Charles S. Wright,James W. Laby,Keith Phillip Wilson,Jeff D.
출원인 / 주소	Intuitive Surgical Inc
인용정보	피인용 횟수 : 128 인용 특허 : 18

초록 ▼

A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have 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. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by 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 also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

대표청구항 ▼

What is claimed is: 1. A medical robotic system, comprising: a robotic arm; a coupler that pivotally attaches to the arm; an endoscope that is held by said coupler; and a controller having a handle, the controller in electrical communication with the robotic arm; and wherein movement at the controller produces a proportional movement of the robotic arm and endoscope. 2. The system of claim 1 wherein said coupler removably attaches said endoscope to said robotic arm. 3. The system of claim 1 wherein a movement at the controller results in corresponding movement of the distal end of the endoscope. 4. The system of claim 1 wherein the coupler has an aperture formed therethrough. 5. A method for operating a surgical robotic system for performing a surgical procedure on a patient, the method comprising: 1) providing a first articulate arm, a controller and an input device which receives input commands, the first articulate arm in electrical communication with the controller and the controller in electrical communication with the input device; 2) cutting at least one incision into the patient; 3) attaching an endoscope to the first articulate arm; 4) inserting said endoscope into the patient through the at least one incision; 5) generating input commands to move said endoscope in accordance with the procedure being performed wherein said robotic arm moves said endoscope in accordance with the input commands; and 6) removing the endoscope from the patient. 6. The method of claim 5 wherein after removing the surgical instrument from the patient further comprises the steps of: 1) replacing the endoscope with a different surgical instrument; 2) inserting said different surgical instrument into the patient; 3) generating input commands to move the different surgical instrument in accordance with the procedure being performed wherein said robotic arm moves the different surgical instrument in accordance with the input commands; and 4) removing the different surgical instrument from the patient. 7. The method of claim 6 wherein said different surgical instrument is a grasper. 8. The method of claim 6 wherein the different surgical instrument is a stapler. 9. The method of claim 6 wherein the different surgical instrument is a cauterizer. 10. The method of claim 6 wherein the step of attaching the endoscope to an articulated arm comprises attaching the endoscope to a collar by passing a tip of the endoscope through the collar.

이 특허에 인용된 특허 (18) 인용/피인용 타임라인 분석

Takehana Sakae (Hachioji JPX) Ueda Yasuhiro (Kokubunji JPX) Gotanda Masakazu (Tsukui JPX) Sakurai Tomohisa (Hachioji JPX) Adachi Hideyuki (Hachioji JPX), Apparatus for bending an insertion section of an endoscope using a shape memory alloy.
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Wang Yulun (Goleta CA), Automated endoscope system for optimal positioning.
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Wang Yulun (Goleta CA) Laby Keith P. (Santa Barbara CA), Automated endoscope system for optimal positioning.
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Wilk Peter J. (185 West End Ave. New York NY 10023), Automated surgical system and apparatus.
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Yates David C. (Indianapolis IN) McCoy William C. (Zionsville IN), Device for seeking an area of interest within a body.
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Putman John M. (3707 Gaston Ave. ; Suite 410 Dallas TX 75246), Endoscope stabilizer.
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Iwashita Yoshiyuki (Tokyo JPX), Guide tube assembly for industrial endoscope.
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Iwamoto Taro (Mito JPX) Aoki Tatsu (Ibaraki JPX) Nakajima Kichio (Ibaraki JPX) Yamamoto Hiroshi (Tsuchiura JPX), Master-slave manipulators with scaling.
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Kami Kuniaki (Hachioji JPX) Adachi Hideyuki (Hachioji JPX) Umeyama Koichi (Kasukabe JPX) Kosaka Yoshihiro (Hachioji JPX) Yamaguchi Seiji (Hachioji JPX) Fuse Eiichi (Hachioji JPX) Sato Michio (Hino JP, Medical system for reproducing a state of contact of the treatment section in the operation unit.
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Ichikawa Yoshiaki (Hitachi JPX) Senoh Makoto (Ibaraki JPX) Suzuki Masanori (Hitachi JPX) Kamimura Hiroshi (Hitachi JPX) Tomizawa Fumio (Hitachi JPX) Sugiyama Sakae (Ibaraki JPX) Sasaki Masayoshi (Hit, Method and apparatus for master-slave manipulation supplemented by automatic control based on level of operator skill.
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Hess Clifford W. (Houston TX) Li Larry C. H. (Houston TX), Method and apparatus for positioning a robotic end effector.
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Salcudean Septimiu E. (Vancouver CAX) Yan Joseph (Vancouver CAX), Motion scaling tele-operating system with force feedback suitable for microsurgery.
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Taylor Russell H. (Yorktown NY) Funda Janez (Valhalla NY) Grossman David D. (Chappaqua NY) Karidis John P. (Ossining NY) LaRose David A. (Croton on Hudson NY), Remote center-of-motion robot for surgery.
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Ubhayakar Shivadev K. (Rancho Palos Verdes CA) Baker Robert D. (Rancho Palos Verdes CA), Robotic arm systems.
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Daum Wolfgang R. (Schwerin DEX) Schmiedeke Jorg (Schwerin DEX), Surgical manipulator.
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Taylor Russell H. (Ossining NY), System and method for augmentation of surgery.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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[미국특허] Method and apparatus for performing minimally invasive cardiac procedures 원문보기

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[미국특허] Method and apparatus for performing minimally invasive cardiac procedures 원문보기

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대표청구항 ▼

연구과제 타임라인

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