US Patent No: 6,296,635

Number of patents in Portfolio can not be more than 2000

Endoscopic robotic surgical tools and methods

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human-chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

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First Claim

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Patent Owner(s)

Patent OwnerAddressTotal Patents
SYMBIOSIS CORPORATIONMIAMI, FL174

International Classification(s)

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  • [Patents Count]

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Bales, Thomas O Coral Gables, FL 148 6157
Kortenbach, Juergen Andrew Miami Springs, FL 35 2237
Mazzeo, Anthony I Ft. Lauderdale, FL 5 351
Slack, Jr Theodore C Miami, FL 12 338
Slater, Charles R Fort Lauderdale, FL 144 7637
Smith, Kevin W Houston, TX 443 11450

Cited Art Landscape

Patent Info (Count) # Cites Year
 
INTUITIVE SURGICAL, INC. (5)
5,515,478 Automated endoscope system for optimal positioning 174 1994
5,645,520 Shape memory alloy actuated rod for endoscopic instruments 102 1994
5,553,198 Automated endoscope system for optimal positioning 174 1994
5,657,429 Automated endoscope system optimal positioning 185 1995
5,754,741 Automated endoscope for optimal positioning 185 1996
 
Blomberg Robotertechnik GmbH (2)
4,708,578 Robot arm 8 1984
4,740,126 Gripping hand for a manipulator 8 1986
 
Ministry of International Trade & Industry (2)
4,986,723 Anthropomorphic robot arm 31 1989
5,020,388 Wire guide apparatus for wire-driven mechanism 4 1990
 
SMITH & NEPHEW, INC. (2)
4,705,038 Surgical system for powered instruments 262 1985
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Symbiosis Corporation (2)
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5,431,645 Remotely activated endoscopic tools such as endoscopic biopsy forceps 237 1993
 
ALCON MANUFACTURING, LTD. (1)
5,020,535 Handpiece drive apparatus for powered surgical scissors 71 1987
 
Bailey, Jr.; Paul F. (1)
4,870,964 Opthalmic surgical device and method with image data reflected off of the eye 23 1988
 
BROOKHILL-WILK 1, LLC (1)
5,368,015 Automated surgical system and apparatus 327 1993
 
CEDARS-SINAI MEDICAL CENTER (1)
5,337,732 Robotic endoscopy 208 1992
 
CHASE MANHATTAN BANK, THE (1)
4,848,338 Hydraulically operated surgical instrument 29 1988
 
CONMED CORPORATION (1)
4,936,842 Electrosurgical probe apparatus 102 1989
 
CORDIS CORPORATION (1)
5,094,247 Biopsy forceps with handle having a flexible coupling 80 1990
 
Corning Glass Works (1)
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DUKE UNIVERSITY (1)
4,792,173 Fluid actuated limb 9 1987
 
ETHICON, INC. (1)
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EVEREST MEDICAL CORPORATION (1)
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GENMARK AUTOMATION, INC. (1)
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GYRUS ACMI, INC. (1)
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GYRUS ENT L.L.C. (1)
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GYRUS MEDICAL, INC. (1)
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HITACHI, LTD. (1)
4,837,734 Method and apparatus for master-slave manipulation supplemented by automatic control based on level of operator skill 189 1987
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (1)
5,417,210 System and method for augmentation of endoscopic surgery 554 1992
 
LABORATOIRE HYDRON, A CORP OF FRANCE (1)
4,815,463 Surgical apparatus for radial keratotomy 49 1985
 
LEDYARD NATIONAL BANK (1)
5,545,120 Endoscopic viewing system for maintaining a surgeon's normal sense of kinesthesia during endoscopic surgery regardless of the orientation of the endoscope vis-a-vis the surgeon 18 1995
 
LOWELL, D. JAMES (1)
4,628,928 Robotic implantable medical device and/or component restoration system 108 1984
 
MICROSOURCE, INC. (1)
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MITSUBISHI DENKI KABUSHIKI KAISHA (1)
5,054,332 Articulated robot 22 1989
 
NORTHWESTERN UNIVERSITY (1)
5,410,638 System for positioning a medical instrument within a biotic structure using a micromanipulator 99 1993
 
NUSURG MEDICAL, INC. (1)
5,209,747 Adjustable angle medical forceps 483 1992
 
SCHECTMAN, SAM (1)
5,080,682 Artificial robotic hand 39 1990
 
SRI INTERNATIONAL (1)
5,649,956 System and method for releasably holding a surgical instrument 147 1995
 
TELEROBOTICS INTERNATIONAL, INC. (1)
5,313,306 Omniview motionless camera endoscopy system 191 1993
 
THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY (1)
5,556,370 Electrically activated multi-jointed manipulator 52 1993
 
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA (1)
4,865,376 Mechanical fingers for dexterity and grasping 43 1987
 
UNITED PRODUCTION, INC. (1)
5,049,148 Radio frequency hair removal tweezer 25 1989
 
United States Surgical Corporation (1)
5,807,376 Apparatus and method for performing surgical tasks during laparoscopic procedures 65 1995
 
UNIVERSITY OF SOUTHERN CALIFORNIA (1)
4,955,918 Artificial dexterous hand 26 1989
 
UNIVERSITY OF WASHINGTON (1)
5,528,955 Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint 20 1994
 
VALLEYLAB INC. (1)
5,312,391 Laparoscopic instrument assembly 88 1992
 
VEGA AUTOMATION, A FRENCH CORP. (1)
5,100,284 Robot with two arms 16 1990
 
Other [Check patent profile for assignment information] (6)
4,418,692 Device for treating living tissue with an electric current 276 1978
4,638,799 Needle guide apparatus for discolysis procedures 68 1985
4,763,669 Surgical instrument with adjustable angle of operation 512 1987
4,880,015 Biopsy forceps 415 1988
5,059,203 Powered microsurgical tool 82 1989
5,251,611 Method and apparatus for conducting exploratory procedures 120 1991

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
CAREFUSION 2200, INC. (5)
7,470,268 Hand-actuated articulating surgical tool 5 2006
8,021,358 Surgical tool kit 2 2007
8,105,319 Hand-actuated articulating surgical tool 3 2008
8,398,619 Flexible wrist-type element and methods of manufacture and use thereof 1 2009
8,353,897 Surgical tool kit 1 2010
 
BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA (4)
8,343,171 Methods and systems of actuation in robotic devices 1 2008
8,679,096 Multifunctional operational component for robotic devices 0 2008
7,960,935 Robotic devices with agent delivery components and related methods 4 2010
8,604,742 Robotic devices with arms and related methods 0 2012
 
INTUITIVE SURGICAL OPERATIONS, INC. (2)
7,914,521 Method and apparatus for performing minimally invasive cardiac procedures 1 2005
8,790,243 Flexible wrist for surgical tool 0 2011
 
KARL STORZ ENDOVISION, INC. (2)
8,137,263 Articulating endoscope instrument 2 2007
8,591,399 Surgical method utilizing transluminal endoscope and instruments 0 2007
 
COMPUTER MOTION (1)
7,121,781 Surgical instrument with a universal wrist 11 2003
 
HUMAN ROBOTICS S.A. DE C.V. (1)
8,551,114 Robotic surgical device 0 2006
 
INTUITIVE SURGICAL, INC. (1)
7,118,582 Method and apparatus for performing minimally invasive cardiac procedures 165 1998
 
King Abdulazia City for Science and Technology (1)
8,770,905 Anthropomorphic force-reflective master arm 0 2011