Patents by Inventor Emilio Ruiz Morales
Emilio Ruiz Morales has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240099791Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.Type: ApplicationFiled: December 4, 2023Publication date: March 28, 2024Applicant: Asensus Surgical Italia S.r.l.Inventors: Damien BRASSET, Paolo INVERNIZZI, Emilio RUIZ MORALES
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Patent number: 11857278Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.Type: GrantFiled: December 30, 2021Date of Patent: January 2, 2024Assignee: Asensus Surgical Italia, s.r.l.Inventors: Damien Brasset, Paolo Invernizzi, Emilio Ruiz Morales
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Publication number: 20220410404Abstract: A method of operating a minimally invasive medical system, including positioning a tip of a surgical instrument through an incision into a body cavity, the surgical instrument having an instrument shaft with a longitudinal instrument axis, mounting the surgical instrument to a manipulator, the manipulator including a force/torque sensor, moving the minimally invasive instrument along a first axis and a second axis, each of the first and second axes perpendicular to the instrument axis, until a reaction force along each axis is below a given threshold, and defining and axis coordinates of the external fulcrum at a location where the reaction forces along both axes are below the given threshold, and determining an axis coordinate position of the external fulcrum along the instrument axis by pivoting the instrument with respect to its tip until a sufficient contact force is reached, and determining the axis coordinate position using the lever principle.Type: ApplicationFiled: July 6, 2022Publication date: December 29, 2022Inventors: Emilio RUIZ MORALES, Carlos CORRECHER SALVADOR
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Patent number: 11413768Abstract: A minimally invasive medical system including a robot manipulator, having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to degrees-of-freedom.Type: GrantFiled: December 30, 2019Date of Patent: August 16, 2022Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio Ruiz Morales, Carlos Correcher Salvador
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Publication number: 20220192765Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.Type: ApplicationFiled: December 30, 2021Publication date: June 23, 2022Applicant: Asensus Surgical Italia, s.r.l.Inventors: Damien BRASSET, Paolo INVERNIZZI, Emilio RUIZ MORALES
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Patent number: 11224489Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.Type: GrantFiled: April 9, 2019Date of Patent: January 18, 2022Assignee: ASENSUS SURGICAL ITALIA, S.R.L.Inventors: Emilio Ruiz Morales, Damien Brasset, Paolo Invernizzi
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Publication number: 20200156259Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: ApplicationFiled: December 30, 2019Publication date: May 21, 2020Inventors: Emilio RUIZ MORALES, Carlos CORRECHER SALVADOR
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Patent number: 10518419Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator. The manipulator has an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and is configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: GrantFiled: January 2, 2018Date of Patent: December 31, 2019Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio Ruiz Morales, Carlos Correcher Salvador
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Publication number: 20190231456Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.Type: ApplicationFiled: April 9, 2019Publication date: August 1, 2019Applicant: TRANSENTERIX ITALIA S.R.L.Inventors: Emilio RUIZ MORALES, Damien BRASSET, Paolo INVERNIZZI
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Patent number: 10251713Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.Type: GrantFiled: May 9, 2016Date of Patent: April 9, 2019Assignee: TRANSENTERIX ITALIA S.R.L.Inventors: Emilio Ruiz Morales, Damien Brasset, Paolo Invernizzi
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Publication number: 20180194013Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: ApplicationFiled: January 2, 2018Publication date: July 12, 2018Applicant: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio Ruiz Morales, Carlos Correcher Salvador
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Patent number: 9855662Abstract: A method of force estimation for a minimally invasive medical system comprising a robot manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument (14) having a first end (16) mounted to the effector unit and a second end (20) located beyond an external fulcrum (23) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: —determining a position of the instrument relative to the fulcrum; —measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and —calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: GrantFiled: October 25, 2007Date of Patent: January 2, 2018Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio Ruiz Morales, Carlos Correcher Salvador
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Patent number: 9707684Abstract: A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: GrantFiled: July 11, 2012Date of Patent: July 18, 2017Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio Ruiz Morales, Carlos Correcher Salvador
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Publication number: 20160249992Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.Type: ApplicationFiled: May 9, 2016Publication date: September 1, 2016Applicant: TRANSENTERIX ITALIA S.R.L.Inventors: Emilio RUIZ MORALES, Damien BRASSET, Paolo INVERNIZZI
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Patent number: 9360934Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.Type: GrantFiled: April 1, 2011Date of Patent: June 7, 2016Assignee: Transenterix Italia S.R.L.Inventors: Emilio Ruiz Morales, Damien Brasset, Paolo Invernizzi
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Patent number: 9358682Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist.Type: GrantFiled: February 2, 2007Date of Patent: June 7, 2016Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventor: Emilio Ruiz Morales
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Patent number: 8506555Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the efType: GrantFiled: February 2, 2007Date of Patent: August 13, 2013Assignee: The European Atomic Energy Community (Euratom)Inventor: Emilio Ruiz Morales
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Publication number: 20130030571Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.Type: ApplicationFiled: April 1, 2011Publication date: January 31, 2013Applicant: SOFAR SPAInventors: Emilio Ruiz Morales, Damien Brasset, Paolo Invernizzi
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Publication number: 20130012930Abstract: A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.Type: ApplicationFiled: July 11, 2012Publication date: January 10, 2013Applicant: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSIONInventors: Emilio RUIZ MORALES, Carlos CORRECHER SALVADOR
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Publication number: 20100204713Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist.Type: ApplicationFiled: February 2, 2007Publication date: August 12, 2010Applicant: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM)Inventor: Emilio Ruiz Morales