US5524180A — Automated endoscope system for optimal positioning

Claim 1

Independent Claim 155 words

A system that allows a user to remotely control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising: movement means for moving the surgical instrument, said movement means having an original position; input means for inputting a command provided by the user to move the surgical instrument in a desired direction relative to the object displayed by the display device; and, control means for receiving said command to move the surgical instrument in the desired direction, computing an incremental movement of said movement means based on said command and the original position of said movement means so that the surgical instrument tip moves in the desired direction, and providing output signals to said movement means to move said movement means said incremental movement so that the surgical instrument tip always moves in the desired direction commanded by the user.

Claim 2

Independent Claim 155 words

A system that allows a user to remotely control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising: movement means for moving the surgical instrument, said movement means having an original position; input means for inputting a command provided by the user to move the surgical instrument in a desired direction relative to the object displayed by the display device; and, control means for receiving said command to move the surgical instrument in the desired direction, computing an incremental movement of said movement means based on said command and the original position of said movement means so that the surgical instrument tip moves in the desired direction, and providing output signals to said movement means to move said movement means said incremental movement so that the surgical instrument tip always moves in the desired direction commanded by the user.

Claim 3

Dependent Claim 27 words

The system as recited in claim 1, wherein said movement means includes a worm gear adapted to rotate a corresponding bearing member attached to the surgical instrument.

Claim 4

Dependent Claim 25 words

The system as recited in claim 2, wherein said movement means includes a collar attached to the surgical instrument and coupled to a collar holder.

Claim 5

Dependent Claim 57 words

The system as recited in claim 2, wherein said movement means has a first joint that allows the surgical instrument to rotate about a longitudinal axis of said first linkage arm and a second joint that allows the surgical instrument to rotate about an axis that is perpendicular to the longitudinal axis of said first linkage arm.

Claim 6

Dependent Claim 79 words

The system as recited in claim 4, wherein said control means includes first joint sensor means coupled to the surgical instrument for providing a first joint feedback signal which corresponds to a first angular position of the surgical instrument relative to a second x axis, and second joint sensor means coupled to the surgical instrument for providing a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

Claim 7

Dependent Claim 61 words

The system as recited in claim 1, wherein said movement means includes a first linkage arm and a first actuator which can rotate said first linkage arm in a plane perpendicular to a first z axis, said first actuator being coupled to a linear actuator which can translate said first linkage arm along an axis parallel with the first z axis.

Claim 8

Dependent Claim 77 words

The system as recited in claim 6, wherein said control means includes first actuator sensor means coupled to said linear actuator for providing a first feedback signal which corresponds to a location of said first actuator on the first z axis, and second actuator sensor means coupled to said first actuator for providing a second feedback signal which corresponds to a location of the surgical instrument in the plane that is perpendicular to the first z axis.

Claim 9

Dependent Claim 46 words

The system as recited in claim 7, wherein said movement means includes a second actuator attached to said first actuator by a second linkage arm, said second actuator being adapted to rotate said first actuator in the plane that is perpendicular to the first z axis.

Claim 10

Dependent Claim 47 words

The system as recited in claim 8, wherein said control means includes third actuator sensor means coupled to said second actuator for providing a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

Claim 11

Dependent Claim 44 words

The system as recited in claim 6, further comprising clutch means for disengaging said first actuator from said linear actuator, said second actuator from said first actuator and said third actuator from said second actuator when said clutch means receives a clutch input signal.

Claim 12

Dependent Claim 17 words

The system as recited in claim 6, wherein said first, second and third actuators are electric motors.

Claim 13

Dependent Claim 38 words

The system as recited in claim 1, wherein said control means is a computer which receives command signals from said input means and provides output signals to said control means to move the position of the surgical instrument.

Claim 14

Dependent Claim 43 words

The system as recited in claim 12, further comprising storage means for storing a first position of said end effector upon receiving a first storage input signal and moving said end effector to said first position upon receiving a second storage input signal.

Claim 15

Dependent Claim 27 words

The system as recited in claim 1, wherein said input means includes a foot pedal which can be pressed by the user to generate said command signals.

Claim 16

Independent Claim 145 words

A system that allows a user to control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising: a mechanism that moves the surgical instrument, said mechanism having an original position; an input device that receives a command to move the surgical instrument tip in a desired direction relative to the object displayed by the display device; and, a controller that receives said command to move the surgical instrument in the desired direction, computes an incremental movement of said mechanism based on said command and the original position of said mechanism so that the surgical instrument tip moves in the desired direction, and provides output signals to said mechanism to move said mechanism said incremental movement to move the surgical instrument tip in the desired direction commanded by the user.

Claim 17

Independent Claim 145 words

A system that allows a user to control a movement of a surgical instrument that has a tip, wherein the surgical instrument is coupled to a display device that displays an object, comprising: a mechanism that moves the surgical instrument, said mechanism having an original position; an input device that receives a command to move the surgical instrument tip in a desired direction relative to the object displayed by the display device; and, a controller that receives said command to move the surgical instrument in the desired direction, computes an incremental movement of said mechanism based on said command and the original position of said mechanism so that the surgical instrument tip moves in the desired direction, and provides output signals to said mechanism to move said mechanism said incremental movement to move the surgical instrument tip in the desired direction commanded by the user.

Claim 18

Dependent Claim 26 words

The system as recited in claim 15, wherein said mechanism includes a worm gear adapted to rotate a corresponding bearing member attached to the surgical instrument.

Claim 19

Dependent Claim 24 words

The system as recited in claim 16, wherein said mechanism includes a collar attached to the surgical instrument and coupled to a collar holder.

Claim 20

Dependent Claim 56 words

The system as recited in claim 16, wherein said mechanism has a first joint that allows the surgical instrument to rotate about a longitudinal axis of said first linkage arm and a second joint that allows the surgical instrument to rotate about an axis that is perpendicular to the longitudinal axis of said first linkage arm.

Claim 21

Dependent Claim 82 words

The system as recited in claim 18, wherein said mechanism includes a first joint sensor that is coupled to the surgical instrument and provides a first joint feedback signal which corresponds to a first angular position of the surgical instrument relative to a second x axis, and a second joint sensor that is coupled to the surgical instrument and provides a second joint feedback signal which corresponds to a second angular position of the surgical instrument relative to the second y axis.

Claim 22

Dependent Claim 68 words

The system as recited in claim 15, wherein said mechanism includes a first linkage arm coupled to the surgical instrument and a first actuator which can rotate said first linkage arm and the surgical instrument in a plane perpendicular to a first z axis, said first actuator being coupled to a linear actuator which can translate said first actuator along an axis parallel with the first z axis.

Claim 23

Dependent Claim 80 words

The system as recited in claim 20, wherein said mechanism includes a first actuator sensor that is coupled to said linear actuator and provides a first feedback signal which corresponds to a location of said first actuator on the first z axis, and a second actuator sensor that is coupled to said first actuator for providing a second feedback signal which corresponds to a location of the surgical instrument in the plane that is perpendicular to the first z axis.

Claim 24

Dependent Claim 49 words

The system as recited in claim 21, wherein said mechanism includes a second actuator attached to said first actuator by a second linkage arm, said second actuator being adapted to rotate said first actuator and the surgical instrument in the plane that is perpendicular to the first z axis.

Claim 25

Dependent Claim 48 words

The system as recited in claim 22, wherein said mechanism includes a third actuator sensor that is coupled to said second actuator for providing a third feedback signal which corresponds to a location of said first actuator in the plane that is perpendicular to the first z axis.

Claim 26

Dependent Claim 45 words

The system as recited in claim 22, further comprising a clutch assembly that disengages said first actuator from said linear actuator, said second actuator from said first actuator and said third actuator from said second actuator when said clutch assembly receives a clutch input signal.

Claim 27

Dependent Claim 17 words

The system as recited in claim 22, wherein said first, second and third actuators are electric motors.

Claim 28

Dependent Claim 38 words

The system as recited in claim 15, wherein said control means is a computer which receives input signals from said input means and provides output signals to said control means to move the position of the surgical instrument.

Claim 29

Dependent Claim 43 words

The system as recited in claim 26, further comprising storage means for storing a first position of said end effector upon receiving a first storage input signal and moving said end effector to said first position upon receiving a second storage input signal.

Claim 30

Dependent Claim 27 words

The system as recited in claim 15, wherein said input means includes a foot pedal which can be pressed by the user to generate said input signals.

Claim 31

Dependent Claim 15 words

The system as recited in claim 15, further comprising a bag that encapsulates said mechanism.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	1999-06-04	1999-12-04	2000-06-04	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2003-06-04	2003-12-04	2004-06-04	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2007-06-04	2007-12-04	2008-06-04	$7700.00	Window Closed / Lapsed

Automated endoscope system for optimal positioning

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