公开(公告)号：US20140114480A1

公开(公告)日：2014-04-24

申请号：US14054664

申请日：2013-10-15

Applicant: Neuroarm Surgical Ltd.

Inventor： Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook

IPC: A61B19/00

CPC classification number: A61B19/201 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/11 ,  A61B90/14 ,  A61B90/361 ,  A61B2017/00911 ,  A61B2034/101 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/742 ,  A61B2090/374 ,  B25J3/04 ,  B25J9/1666 ,  B25J9/1671 ,  G05B2219/36432 ,  G05B2219/40128 ,  G05B2219/40399 ,  G05B2219/40418 ,  G05B2219/45117 ,  G06F19/3481

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

Abstract translation: 方法，装置（例如计算机可读介质）和用于沿着单个轴执行医疗机器人的工具的运动的系统（例如计算机系统），其通过电子地限制医疗机器人的运动以产生工具的运动而实现 而不是机械地限制医疗机器人的运动以产生单轴运动。 即使用户在单轴运动期间将其他轴上连接到医疗机器人的输入设备移动，该工具的运动也将沿着单个轴。 此外，公开了用于使单轴运动自动化的技术，使得其可以被编程为停止在目标位置并且在第二（例如，起始）位置处或附近开始，这对于诸如脑活检的过程是有用的， 乳房活检或植入，并且使得用户可以执行指令医疗机器人执行移动的命令，而不需要用户操纵输入设备以引起医疗机器人的实时响应的移动。

公开(公告)号：US09131986B2

公开(公告)日：2015-09-15

申请号：US14054664

申请日：2013-10-15

Applicant: Neuroarm Surgical Ltd.

Inventor： Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook

IPC: B25J3/00 ,  B25J13/00 ,  G06G7/62 ,  A61B19/00

CPC classification number: A61B19/201 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/11 ,  A61B90/14 ,  A61B90/361 ,  A61B2017/00911 ,  A61B2034/101 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/742 ,  A61B2090/374 ,  B25J3/04 ,  B25J9/1666 ,  B25J9/1671 ,  G05B2219/36432 ,  G05B2219/40128 ,  G05B2219/40399 ,  G05B2219/40418 ,  G05B2219/45117 ,  G06F19/3481

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

Abstract translation: 方法，装置（例如计算机可读介质）和用于沿着单个轴执行医疗机器人的工具的运动的系统（例如计算机系统），其通过电子地限制医疗机器人的运动以产生工具的运动而实现 而不是机械地限制医疗机器人的运动以产生单轴运动。 即使用户在单轴运动期间将其他轴上连接到医疗机器人的输入设备移动，该工具的运动也将沿着单个轴。 此外，公开了用于使单轴运动自动化的技术，使得其可以被编程为停止在目标位置并且在第二（例如，起始）位置处或附近开始，这对于诸如脑活检的过程是有用的， 乳房活检或植入，并且使得用户可以执行指令医疗机器人执行移动的命令，而不需要用户操纵输入设备以引起医疗机器人的实时响应的移动。