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公开(公告)号：US06836703B2
公开(公告)日：2004-12-28
申请号：US10423428
申请日：2003-04-24
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
IPC分类号： G05B1500
CPC分类号： A61B34/70 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/361 , A61B2017/00199 , A61B2018/00982 , A61B2090/064 , Y10S128/923
摘要： A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.
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公开(公告)号：US06799088B2
公开(公告)日：2004-09-28
申请号：US10423431
申请日：2003-04-24
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
IPC分类号： G05B1500
CPC分类号： A61B34/70 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/361 , A61B2017/00199 , A61B2018/00982 , A61B2090/064 , Y10S128/923
摘要： A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.
摘要翻译： 一种允许医疗设备由两个输入设备之一控制的医疗系统。 输入设备可以是包含手柄和屏幕的控制台。 医疗设备可以包括用于执行医疗程序的机器人手臂和仪器。 该系统可以包括一个仲裁器，该仲裁者确定哪个控制台具有控制一个或多个机器人手臂/仪器的优先权。
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公开(公告)号：US6102850A
公开(公告)日：2000-08-15
申请号：US873190
申请日：1997-06-11
申请人： Yulun Wang , Darrin Uecker , Keith P. Laby , Jeff D Wilson , Charles S. Jordan , James W. Wright , Modjtaba Ghodoussi
发明人： Yulun Wang , Darrin Uecker , Keith P. Laby , Jeff D Wilson , Charles S. Jordan , James W. Wright , Modjtaba Ghodoussi
IPC分类号： A61B17/06 , A61B1/00 , A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08 , B25J1/00
CPC分类号： B25J9/1689 , A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00203 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361 , G05B2219/45119
摘要： The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
摘要翻译： 该系统包括耦合到一对机器人臂的一对外科器械。 仪器具有能够被操纵以保持和缝合组织的末端效应器。 机器人手臂通过控制器耦合到一对主手柄。 手柄可由外科医生移动以产生末端执行器的相应运动。 手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。 比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。 端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。 输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。 该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。 可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。 外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。
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公开(公告)号：US6007550A
公开(公告)日：1999-12-28
申请号：US168527
申请日：1998-10-08
申请人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson , Modjtaba Ghoudoussi
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson , Modjtaba Ghoudoussi
IPC分类号： A61B17/06 , A61B1/00 , A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08 , B25J1/00 , B25J11/00
CPC分类号： B25J9/1689 , A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00203 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
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公开(公告)号：US5762458A
公开(公告)日：1998-06-09
申请号：US603543
申请日：1996-02-20
申请人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08 , B25J1/00
CPC分类号： A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , B25J9/1689 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
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公开(公告)号：US09610685B2
公开(公告)日：2017-04-04
申请号：US12685986
申请日：2010-01-12
申请人： Yulun Wang , Charles S. Jordan , Jonathan Southard , Marco Pinter
发明人： Yulun Wang , Charles S. Jordan , Jonathan Southard , Marco Pinter
CPC分类号： B25J5/00 , B25J9/1689 , B25J11/009
摘要： A robot system that includes a robot and a remote station. The remote station may be a personal computer coupled to the robot through a broadband network. A user at the remote station may receive both video and audio from a camera and microphone of the robot, respectively. The remote station may include a display user interface that has a variety of viewable fields and selectable buttons.
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公开(公告)号：US20160046024A1
公开(公告)日：2016-02-18
申请号：US14924453
申请日：2015-10-27
申请人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , Keith Phillip Laby , John Cody Herzog
发明人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , Keith Phillip Laby , John Cody Herzog
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/00 , G06F19/3418 , G16H50/50 , H04N7/185
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
摘要翻译： 一种遥控机器人系统，包括移动机器人和遥控站。 用户可以控制机器人从遥控站的移动。 移动机器人包括能够捕获并向远程站发送变焦图像和非变焦图像的照相机系统。 遥控站包括显示机器人视野的监视器。 机器人视图字段可以显示非缩放图像。 缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。 遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。
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公开(公告)号：US09198728B2
公开(公告)日：2015-12-01
申请号：US11240941
申请日：2005-09-30
申请人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , John Cody Herzog , Keith Phillip Laby
发明人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , John Cody Herzog , Keith Phillip Laby
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/00 , G06F19/3418 , G16H50/50 , H04N7/185
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
摘要翻译： 一种遥控机器人系统，包括移动机器人和遥控站。 用户可以控制机器人从遥控站的移动。 移动机器人包括能够捕获并向远程站发送变焦图像和非变焦图像的照相机系统。 遥控站包括显示机器人视野的监视器。 机器人视图字段可以显示非缩放图像。 缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。 遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。
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公开(公告)号：US08463435B2
公开(公告)日：2013-06-11
申请号：US12349288
申请日：2009-01-06
申请人： John Cody Herzog , Blair Whitney , Yulun Wang , Charles S. Jordan , Marco Pinter
发明人： John Cody Herzog , Blair Whitney , Yulun Wang , Charles S. Jordan , Marco Pinter
IPC分类号： G06F19/00 , G05B19/418
CPC分类号： B25J9/1689 , B25J5/00 , B25J5/007 , B25J19/023 , G05B2219/40153 , G05B2219/40178 , G05B2219/40195 , G05D1/0038 , G05D1/0246 , G05D2201/0206 , Y10S901/01 , Y10S901/47
摘要： A robot system with a robot that has a camera and a remote control station that can connect to the robot. The connection can include a plurality of privileges. The system further includes a server that controls which privileges are provided to the remote control station. The privileges may include the ability to control the robot, joint in a multi-cast session and the reception of audio/video from the robot. The privileges can be established and edited through a manager control station. The server may contain a database that defines groups of remote control station that can be connected to groups of robots. The database can be edited to vary the stations and robots within a group. The system may also allow for connectivity between a remote control station at a user programmable time window.
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100.发明授权公开(公告)号：US08340819B2
公开(公告)日：2012-12-25
申请号：US12561190
申请日：2009-09-16
申请人： Amante Mangaser , Jonathan Southard , Marco Pinter , John Cody Herzog , Charles Steve Jordan , Yulun Wang , James Rosenthal
发明人： Amante Mangaser , Jonathan Southard , Marco Pinter , John Cody Herzog , Charles Steve Jordan , Yulun Wang , James Rosenthal
IPC分类号： G05B19/404
CPC分类号： B25J9/1689 , G05B19/409 , G05B2219/40174 , G05B2219/40298 , G05D1/0022 , G05D2201/0206 , G06F19/00 , G06F19/3418 , H04N7/185 , Y10S901/01
摘要： A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot.
摘要翻译： 通过网络控制机器人的远程控制站。 遥控站发送包含信息以移动机器人的机器人控制命令。 远程控制站监视至少一个网络参数，并根据网络参数对机器人控制命令进行缩放。 例如，远程控制站可以监视网络延迟并缩放机器人控制命令以随着网络延迟的增加来减慢机器人。 这种方法可以减少驾驶机器人的用户的过冲量或过度校正量。
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