公开(公告)号：US20100245543A1

公开(公告)日：2010-09-30

申请号：US12596424

申请日：2008-04-16

Applicant: Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook ,  Simon Yu

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

IPC: H04N7/18 ,  H04N13/02

CPC classification number: G01R33/283 ,  A61B34/30 ,  A61B90/30 ,  A61B90/361 ,  A61B2090/374 ,  G01R33/4808

Abstract: Systems and methods of using MR-compatible cameras to view magnetic resonance imaging procedures. The MR-compatible camera systems may include a casing with at least two openings, including one oriented to permit a camera to view a site, and another opening oriented to permit a light source to illuminate a portion of the site. The camera systems may be used with either closed bore or open bore MRI systems.

Abstract translation: 使用MR兼容相机查看磁共振成像程序的系统和方法。 MR兼容相机系统可以包括具有至少两个开口的壳体，包括定向成允许照相机观看场地的壳体，以及定向成允许光源照亮所述部位的一部分的另一开口。 相机系统可以与闭孔或开放式MRI系统一起使用。

公开(公告)号：US20080161830A1

公开(公告)日：2008-07-03

申请号：US12027043

申请日：2008-02-06

Applicant: Garnette Roy Sutherland ,  Deon Francois Louw ,  Paul Bradley McBeth ,  Tim Fielding ,  Dennis John Gregoris

Inventor： Garnette Roy Sutherland ,  Deon Francois Louw ,  Paul Bradley McBeth ,  Tim Fielding ,  Dennis John Gregoris

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B90/20 ,  A61B90/25 ,  A61B90/361 ,  A61B90/39 ,  A61B2017/00911 ,  A61B2034/102 ,  A61B2034/2059 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/363 ,  A61B2090/374 ,  G06F19/00

Abstract: A surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.

Abstract translation: 一种外科机器人，其包括具有多个关节和至少六个自由度的至少一个机器人臂，所述机器人手臂还包括：磁共振（MR）兼容的结构材料; 多MR兼容接头电机; 和多个MR兼容联合编码器。

公开(公告)号：US09492239B2

公开(公告)日：2016-11-15

申请号：US12596420

申请日：2008-04-16

Applicant: Alexander Greer ,  Garnette Sutherland ,  Tim Fielding

Inventor： Alexander Greer ,  Garnette Sutherland ,  Tim Fielding

IPC: A61B17/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B46/10 ,  A61B2017/00477 ,  A61B2034/305

Abstract: A device, system and method for interfacing between an end effector of a manipulator and a surgical tool. Embodiments may include an upper tool holder element and a lower tool holder element. Embodiments may also include a drape between the end effector and the manipulator. Embodiments may also include two force sensors and a coupling arranged in a force sensor system for use with an end effector that includes a tool roll driver.

Abstract translation: 一种用于在机械手的端部执行器和手术工具之间进行接口的装置，系统和方法。 实施例可以包括上部工具保持器元件和下部工具保持器元件。 实施例还可以包括在末端执行器和操纵器之间的悬垂。 实施例还可以包括两个力传感器和布置在力传感器系统中用于与包括工具辊驱动器的端部执行器一起使用的联接器。

公开(公告)号：US08560118B2

公开(公告)日：2013-10-15

申请号：US12596426

申请日：2008-04-16

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

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

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

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.

公开(公告)号：US08554368B2

公开(公告)日：2013-10-08

申请号：US12596417

申请日：2008-04-16

Applicant: Tim Fielding ,  Perry Newhook

Inventor： Tim Fielding ,  Perry Newhook

IPC: G05B19/04

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/40137 ,  G05B2219/40182 ,  G05B2219/40401 ,  G05B2219/45117

Abstract: Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.

公开(公告)号：US20100296723A1

公开(公告)日：2010-11-25

申请号：US12596397

申请日：2008-04-16

Applicant: Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook ,  Scott King ,  Calvin Bewsky ,  Jarod Matwiy ,  Boguslaw Tomanek ,  Mike Smith

Inventor： Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook ,  Scott King ,  Calvin Bewsky ,  Jarod Matwiy ,  Boguslaw Tomanek ,  Mike Smith

IPC: G06K9/00

CPC classification number: A61B19/5244 ,  A61B5/064 ,  A61B34/20 ,  A61B34/30 ,  A61B90/14 ,  A61B90/36 ,  A61B2034/207 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/392 ,  A61B2090/3954

Abstract: Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.

Abstract translation: 用于实现患者对机器人的登记的方法，装置和系统，以促进图像引导的外科手术，例如立体定向程序。

公开(公告)号：US20100174410A1

公开(公告)日：2010-07-08

申请号：US12596418

申请日：2008-04-16

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

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

IPC: G05B19/402

CPC classification number: B25J9/1671 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/305 ,  G05B2219/36401 ,  G05B2219/40099 ,  G05B2219/40517 ,  G05B2219/45123

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Abstract translation: 方法，用于使用机器人臂（例如被配置为用于执行外科手术的机器人臂）来定义和执行自动运动的装置（例如计算机可读介质）和系统（例如计算机系统），使得远程定位的外科医生 避免使机器人手臂通过诸如手动控制器的输入装置的移动来执行自动移动。

公开(公告)号：US20070032906A1

公开(公告)日：2007-02-08

申请号：US11480701

申请日：2006-07-03

Applicant: Garnette Sutherland ,  Deon Louw ,  Paul McBeth ,  Tim Fielding ,  Dennis Gregoris

Inventor： Garnette Sutherland ,  Deon Louw ,  Paul McBeth ,  Tim Fielding ,  Dennis Gregoris

IPC: G05B19/418

CPC classification number: A61B34/70 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B90/20 ,  A61B90/25 ,  A61B90/361 ,  A61B90/39 ,  A61B2017/00911 ,  A61B2034/102 ,  A61B2034/2059 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/363 ,  A61B2090/374 ,  G06F19/00

Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

Abstract translation: 用于外科手术的机器人系统具有两个可移动臂，每个可移动臂承载在轮式基座上，每个臂具有六个运动自由度，以及可绕其轴线滚动的端部执行器，以及可沿轴线滑动的致动器 用于操作适于由效应器支撑的不同工具。 每个末端执行器包括光学力传感器，用于通过与患者的部分接合来检测施加到工具的力。 显微镜位于用于观察患者部分的位置。 相对于在MRI实验中可见的基准标记，刀尖的位置可以被数字化。 工作站和控制系统具有同时由操作者操纵以控制相应的一个或两个臂的运动的一对手控制器。 来自显微镜的图像以2D显示器显示在立体显微镜上。 第二MRI显示器显示患者部分的图像，该工具的实时位置。 机器人是MRI兼容的，可以配置为在封闭的磁体孔内运行。 臂由压电马达围绕垂直和水平轴驱动。

公开(公告)号：US20140155735A1

公开(公告)日：2014-06-05

申请号：US13960711

申请日：2013-08-06

Applicant: Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook ,  Scott King ,  Calvin Bewsky ,  Jarod Matwiy ,  Boguslaw Tomanek ,  Mike Smith

Inventor： Alexander Greer ,  Garnette Sutherland ,  Tim Fielding ,  Perry Newhook ,  Scott King ,  Calvin Bewsky ,  Jarod Matwiy ,  Boguslaw Tomanek ,  Mike Smith

IPC: A61B19/00 ,  A61B5/06

CPC classification number: A61B5/064 ,  A61B34/20 ,  A61B34/30 ,  A61B90/14 ,  A61B90/36 ,  A61B2034/207 ,  A61B2090/364 ,  A61B2090/374 ,  A61B2090/392 ,  A61B2090/3954

Abstract: Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.

Abstract translation: 用于实现患者对机器人的登记的方法，装置和系统，以促进图像引导的外科手术，例如立体定向程序。

公开(公告)号：US08396598B2

公开(公告)日：2013-03-12

申请号：US11562768

申请日：2006-11-22

Applicant: Garnette Roy Sutherland ,  Deon Francois Louw ,  Paul Bradley McBeth ,  Tim Fielding ,  Dennis John Gregoris

Inventor： Garnette Roy Sutherland ,  Deon Francois Louw ,  Paul Bradley McBeth ,  Tim Fielding ,  Dennis John Gregoris

IPC: G05B19/00

CPC classification number: A61B34/70 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B90/20 ,  A61B90/25 ,  A61B90/361 ,  A61B90/39 ,  A61B2017/00911 ,  A61B2034/102 ,  A61B2034/2059 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/363 ,  A61B2090/374 ,  G06F19/00

Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

Abstract translation: 用于外科手术的机器人系统具有两个可移动臂，每个可移动臂承载在轮式基座上，每个臂具有六个运动自由度，以及可绕其轴线滚动的端部执行器，以及可沿轴线滑动的致动器 用于操作适于由效应器支撑的不同工具。 每个末端执行器包括光学力传感器，用于通过与患者的部分接合来检测施加到工具的力。 显微镜位于用于观察患者部分的位置。 相对于在MRI实验中可见的基准标记，刀尖的位置可以被数字化。 工作站和控制系统具有同时由操作者操纵以控制相应的一个或两个臂的运动的一对手控制器。 来自显微镜的图像以2D显示器显示在立体显微镜上。 第二MRI显示器显示患者部分的图像，该工具的实时位置。 机器人是MRI兼容的，可以配置为在封闭的磁体孔内运行。 臂由压电马达围绕垂直和水平轴驱动。