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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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 147 5777
Kortenbach, Juergen Andrew Miami Springs, FL 34 2095
Mazzeo, Anthony I Ft. Lauderdale, FL 5 342
Slack, Jr Theodore C Miami, FL 12 326
Slater, Charles R Fort Lauderdale, FL 144 7256
Smith, Kevin W Houston, TX 434 10286

Cited Art Landscape

Patent Info (Count) # Cites Year
 
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5,645,520 Shape memory alloy actuated rod for endoscopic instruments 101 1994
5,553,198 Automated endoscope system for optimal positioning 172 1994
5,657,429 Automated endoscope system optimal positioning 183 1995
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Blomberg Robotertechnik GmbH (2)
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Ministry of International Trade & Industry (2)
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Symbiosis Corporation (2)
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ALCON MANUFACTURING, LTD. (1)
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Bailey, Jr.; Paul F. (1)
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BROOKHILL-WILK 1, LLC (1)
5,368,015 Automated surgical system and apparatus 308 1993
 
CEDARS-SINAI MEDICAL CENTER (1)
5,337,732 Robotic endoscopy 202 1992
 
CHASE MANHATTAN BANK, THE (1)
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CONMED CORPORATION (1)
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CORDIS CORPORATION (1)
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DUKE UNIVERSITY (1)
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GENMARK AUTOMATION, INC. (1)
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HITACHI, LTD. (1)
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INTERNATIONAL BUSINESS MACHINES CORPORATION (1)
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LABORATOIRE HYDRON, A CORP OF FRANCE (1)
4,815,463 Surgical apparatus for radial keratotomy 49 1985
 
LEDYARD NATIONAL BANK (1)
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MITSUBISHI DENKI KABUSHIKI KAISHA (1)
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NUSURG MEDICAL, INC. (1)
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SCHECTMAN, SAM (1)
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TELEROBOTICS INTERNATIONAL, INC. (1)
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THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY (1)
5,556,370 Electrically activated multi-jointed manipulator 51 1993
 
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA (1)
4,865,376 Mechanical fingers for dexterity and grasping 41 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 53 1995
 
UNIVERSITY OF SOUTHERN CALIFORNIA (1)
4,955,918 Artificial dexterous hand 24 1989
 
UNIVERSITY OF WASHINGTON (1)
5,528,955 Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint 18 1994
 
VALLEYLAB INC. (1)
5,312,391 Laparoscopic instrument assembly 76 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 269 1978
4,638,799 Needle guide apparatus for discolysis procedures 67 1985
4,763,669 Surgical instrument with adjustable angle of operation 500 1987
4,880,015 Biopsy forceps 393 1988
5,059,203 Powered microsurgical tool 79 1989
5,251,611 Method and apparatus for conducting exploratory procedures 112 1991

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
CAREFUSION 2200, INC. (5)
7,470,268 Hand-actuated articulating surgical tool 3 2006
8,021,358 Surgical tool kit 1 2007
8,105,319 Hand-actuated articulating surgical tool 1 2008
8,398,619 Flexible wrist-type element and methods of manufacture and use thereof 0 2009
8,353,897 Surgical tool kit 0 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
 
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 OPERATIONS, INC. (1)
7,914,521 Method and apparatus for performing minimally invasive cardiac procedures 1 2005
 
INTUITIVE SURGICAL, INC. (1)
7,118,582 Method and apparatus for performing minimally invasive cardiac procedures 136 1998