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1. 发明授权

US11633091B2 Method and apparatus for illuminating an object field imaged by an image sensor 有权
公开(公告)号：US11633091B2
公开(公告)日：2023-04-25
申请号：US17366483
申请日：2021-07-02
申请人： Titan Medical Inc.
发明人： Randal B. Chinnock , William L. Weber
IPC分类号： A61B1/07 , G03B11/00 , G03B15/02 , G03B15/14 , H04N5/225 , A61B1/00 , A61B1/045 , A61B1/05 , A61B1/06 , A61B1/313
摘要： An illuminator apparatus and method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio is disclosed. The apparatus includes an optical fiber having a proximal end disposed to receive a plurality of input light beams, each light beam having differing spectral properties, the optical fiber being operable to transmit the light beams along the fiber to a distal end of the optical fiber. The apparatus also includes an integrating element disposed to receive the light beams from the distal end of the fiber and combine the light beams to produce a generally homogenous illumination beam at a rectangular output face of the integrating element. The apparatus further includes an illumination projector operable to project an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.

2. 发明申请

US20230090057A1 APPARATUS AND METHOD FOR SUPPORTING A ROBOTIC ARM 有权
公开(公告)号：US20230090057A1
公开(公告)日：2023-03-23
申请号：US18059963
申请日：2022-11-29
申请人： Titan Medical Inc.
发明人： Alexander Shvartsberg , Robert A. Charles , Robert J. McCaffrey , James J. Kennedy, III
IPC分类号： A61B90/50 , B25J5/02 , B25J9/00 , B25J18/00 , A61B34/30
摘要： An apparatus and method for medical procedures are provided. The apparatus includes a base, a member having first and second ends, and a support configured to support a plurality of robotic arms. Each robotic arm configured to support and position a robotic instrument according to multiple surgical degrees of freedom.

3. 发明授权

US11586106B2 Imaging apparatus having configurable stereoscopic perspective 有权
公开(公告)号：US11586106B2
公开(公告)日：2023-02-21
申请号：US16235246
申请日：2018-12-28
申请人： Titan Medical Inc.
发明人： Evan Rittenhouse Jones , Maxime Blain , Christopher Dean Smith
IPC分类号： A61B1/00 , A61B34/30 , G03B35/04 , H04N13/296 , H04N13/239 , G02B26/08 , G02B3/12 , G02B5/06 , H04N13/00
摘要： In some embodiments, a stereoscopic imaging apparatus includes a tubular housing having a bore extending longitudinally through the housing. First and second image sensors are disposed proximate a distal end of the bore, each including a light sensitive elements on a face and mounted facing laterally outward. The apparatus further includes a first beam steering element associated with the first image sensor and a second beam steering element associated with the second image sensor. The beam steering elements receive light from first and second perspective viewpoints and direct the received light onto the faces of the image sensors forming first and second images. Either the first and second beam steering elements or the first and second image sensors are moveable to cause a change a spacing between or an orientation of the perspective viewpoints to cause sufficient disparity between the first and second images to provide image data including three-dimensional information.

4. 发明授权

US11553944B2 Apparatus for providing access for a medical procedure 有权
公开(公告)号：US11553944B2
公开(公告)日：2023-01-17
申请号：US17142564
申请日：2021-01-06
申请人： Titan Medical Inc.
发明人： Evan Rittenhouse Jones , Maxime Blain , Christopher Dean Smith
IPC分类号： A61B17/34 , A61B17/29 , A61B17/00 , A61B18/00
摘要： In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.

5. 发明授权

US11523084B2 Imaging apparatus for use in a robotic surgery system 有权
公开(公告)号：US11523084B2
公开(公告)日：2022-12-06
申请号：US17371243
申请日：2021-07-09
申请人： Titan Medical Inc.
发明人： Evan Rittenhouse Jones , Spencer James Costello
IPC分类号： H04N13/00 , H04N5/38 , H04N5/225 , A61B34/30 , A61B1/00 , A61B1/05 , A61B1/005 , A61B1/06 , A61B1/07 , H04N13/239 , A61B90/00
摘要： A stereoscopic imaging apparatus for use in a robotic surgery system is disclosed and includes an elongate sheath having a bore. First and second image sensors are adjacently mounted at the distal end to capture high definition images from different perspective viewpoints for generating three-dimensional image information. The image sensors produce an unprocessed digital data signal representing the captured images. A wired signal line transmits the unprocessed digital data signals along the sheath to a proximal end to processing circuitry. The processing circuitry is configured to perform processing operations on the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system or for driving a 3D display. A secondary camera is also disclosed and includes an elongate strip of circuit substrate sized for insertion through a narrow conduit, the strip of circuit substrate connecting between an image sensor and a processing circuit substrate.

6. 发明授权

US11504191B2 Graphical user interface for a robotic surgical system 有权
公开(公告)号：US11504191B2
公开(公告)日：2022-11-22
申请号：US15780593
申请日：2017-01-19
申请人： Titan Medical Inc.
发明人： Jefferson C. Mccloud , Daniel Bacher
IPC分类号： A61B34/00 , A61B34/30 , A61B34/20 , A61B17/00 , A61B90/00
摘要： A method, apparatus and computer readable medium for schematically representing a spatial position of an instrument used in a robotic surgery system is disclosed. The instrument includes an end effector coupled to a positioning device for spatially positioning the end effector in a surgical workspace in response to input signals generated by movement of a hand controller of an input device in an input device workspace. The method involves causing a processor circuit to calculate a current three-dimensional spatial position of the instrument within the surgical workspace for current input signals received from the input device. The method also involves causing the processor circuit to generate display signals for displaying a graphical depiction of the surgical workspace on a display in communication with the processor circuit, the graphical depiction including a planar representation includes an instrument movement region having a boundary indicating limitations to transverse movement of the instrument within the surgical workspace, and a two-dimensional projection of the current spatial position of the positioning device and the end effector onto the planar representation.

7. 发明申请

US20220361971A1 INSTRUMENT CASSETTE ASSEMBLIES FOR ROBOTIC SURGICAL INSTRUMENTS 有权
公开(公告)号：US20220361971A1
公开(公告)日：2022-11-17
申请号：US17686749
申请日：2022-03-04
申请人： Titan Medical, Inc.
发明人： James A. Boonzaier , Jack A. Hornsby , Akshaya Ahuja , Aki Hannu Einari Laakso , Hans C. Pflaumer , Rupert A. Barton , Adam R. Turner , Paul Smitheman , Matthew J. Brady
IPC分类号： A61B34/37 , A61B34/35 , A61B34/00 , A61B90/50
摘要： A surgical instrument of a robotic surgical system includes an elongated shaft assembly, and end effector, and an instrument cassette assembly. The elongated shaft assembly has a proximal end portion and a distal end portion. The end effector is supported the distal end portion of the elongated shaft assembly. The instrument cassette assembly is supported on the proximal end portion of the elongated shaft assembly. The instrument cassette assembly includes a cassette housing and an actuator system supported in the cassette housing. The actuator system is operably coupled to the end effector for operating the end effector.

8. 发明申请

US20220226062A1 SERVICE LIFE MANAGEMENT FOR AN INSTRUMENT OF A ROBOTIC SURGERY SYSTEM 有权
公开(公告)号：US20220226062A1
公开(公告)日：2022-07-21
申请号：US17152033
申请日：2021-01-19
申请人： Titan Medical Inc.
发明人： Hans Christian Pflaumer , Aki Hannu Einari Laakso , Perry A. Genova
IPC分类号： A61B34/00
摘要： A robotic surgery system is disclosed that can include an instrument including an operational tool coupled to a positioner and an input device configured to generate input signals in response to manipulation by an operator representing a desired spatial positioning of the tool within a tool workspace including extents corresponding to physical movement limitations for the positioner. A processor can be configured to receive the input signals and process the signals to determine the desired spatial positioning. The processor can be configured to initiate a movement management function in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument. The processor can be configured to generate drive signals for movement of the positioner in response to a determination that the desired spatial positioning is not associated with a potential reduction in service life.

9. 发明申请

US20220168053A1 ROBOTIC HAND CONTROLLER 有权
公开(公告)号：US20220168053A1
公开(公告)日：2022-06-02
申请号：US17651547
申请日：2022-02-17
申请人： Titan Medical Inc.
发明人： Uwe Schaible , Drazena Brocilo , John Harmen
IPC分类号： A61B34/30 , B25J9/16 , A61B90/50 , A61B34/37 , A61B34/00 , A61B17/00 , B25J13/02
摘要： A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.

10. 发明申请

US20220096181A1 HAND CONTROLLER APPARATUS INCLUDING ERGONOMIC FEATURES FOR A ROBOTIC SURGERY SYSTEM 有权
公开(公告)号：US20220096181A1
公开(公告)日：2022-03-31
申请号：US17643357
申请日：2021-12-08
申请人： Titan Medical Inc.
发明人： Jonathan Bradley Duke , Chad Clayton Walters , Olivier Franck Currat , Eric Collins , William Jacob Ward , Mark Curtis Rector , Brandon Michael Kelly , Michael Darter Collins , Zachary Kevin Durand
IPC分类号： A61B34/30 , A61B34/00
摘要： A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

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