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公开(公告)号：US20170128145A1
公开(公告)日：2017-05-11
申请号：US15413378
申请日：2017-01-23
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/00 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/03 , A61B90/361 , A61B90/37 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US20160089212A1
公开(公告)日：2016-03-31
申请号：US14497178
申请日：2014-09-25
CPC分类号： B25J13/003 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/77 , A61B90/20 , A61B90/30 , A61B90/361 , A61B2034/258 , A61B2090/0807 , B25J13/02 , B25J13/04 , B25J13/06 , B25J13/065 , G06F3/0338 , G06F3/0346 , G06F3/03545 , G06F3/0362 , G06F3/0482 , Y10S901/06
摘要： According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.
摘要翻译： 根据本发明的一些实施例，协同控制的机器人包括机器人致动器组件，其包括工具保持器和力传感器，适于与机器人致动器组件和力传感器通信的控制系统，以及与 控制系统。 工具架被配置为接收要被用户操纵的工具。 控制系统被配置为从用户接收到从机器人控制模式切换到用户界面控制模式的指令。 力传感器被配置为测量施加到工具的力和扭矩中的至少一个，并且控制系统被配置为接收施加到工具的力和扭矩中的至少一个的指示，并且操纵输出 系统基于指示。
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公开(公告)号：US20150031990A1
公开(公告)日：2015-01-29
申请号：US14381374
申请日：2013-03-11
发明人： Emad M. Boctor , Russell H. Taylor , Jin U. Kang
摘要： An intraoperative registration and tracking system includes an optical source configured to illuminate tissue intraoperatively with electromagnetic radiation at a substantially localized spot so as to provide a photoacoustic source at the substantially localize spot, an optical imaging system configured to form an optical image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the optical image, an ultrasound imaging system configured to form an ultrasound image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the ultrasound image, and a registration system configured to determine a coordinate transformation that registers the optical image with the ultrasound image based at least partially on a correspondence of the spot in the optical image with the spot in the ultrasound image.
摘要翻译： 术中登记和跟踪系统包括光源，其被配置为在基本上局部的位置处用电磁辐射照射组织，以便在基本上定位的位置处提供光声源;光学成像系统，被配置为形成至少一个 并且检测并确定光学图像中的基本上局部的斑点的位置;超声成像系统，被配置为形成组织的至少一部分的超声图像，并且检测并确定基本上局部化的位置 以及配准用于至少部分地基于光学图像中的斑点与超声波图像中的斑点的对应来确定登记有超声图像的光学图像的坐标变换的配准系统。
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公开(公告)号：US11717365B2
公开(公告)日：2023-08-08
申请号：US17861530
申请日：2022-07-11
IPC分类号： A61B34/37 , A61B8/00 , A61B34/00 , A61B90/00 , A61B8/12 , A61B34/30 , A61B1/313 , A61B34/10 , A61B17/00
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/361 , A61B90/37 , A61B8/00 , A61B90/03 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US11503819B2
公开(公告)日：2022-11-22
申请号：US16995164
申请日：2020-08-17
发明人： Russell H. Taylor , Gregory Chirikjian , Iulian Iordachita , Henry Phalen , Hongtao Wu , Mengdi Xu , Shengnan Lu , Michael Aaron Pozin , Jin Seob Kim , Can Kocabalkanli , Balazs Vagvolgyi , Brian K. Chirikjian , Joshua Davis , Ting Da , John S. Chirikjian , Sumana Chakravarty , Stephen Hoffman
摘要： Systems and methods for providing a combined mosquito staging and dissection system are disclosed. The system can include a mosquito staging subsystem; a robotic pick-and-place station; and a dissection, extrusion, collection, and disposal subsystem. The subsystems can include one or more stations to provide orientation, decapitation, extrusion of salivary glands, and disposal of carcasses of the mosquitoes. The resident live sporozoites from the salivary glands can be used to produce Plasmodium SPZ-based vaccines.
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16.发明申请公开(公告)号：US20200275942A1
公开(公告)日：2020-09-03
申请号：US16759602
申请日：2018-10-26
摘要： The present invention is directed to a device to firmly grasp and manipulate delicate tissues in microsurgery, while precisely measuring tool-tissue interaction forces in three dimensions (x-y-z). The design enables precise measurement of forces at the tool tip without being influenced by other forces that may act on the tool shaft. The device of the present invention is capable of measuring axial (z) forces together with the transverse forces (x-y) on an actuated (not static) instrument. Fiber optic sensors are embedded into strategic locations of the design to decouple and precisely detect force components (x-y-z) separately. The force information is used to provide feedback to the operator, or to a robotic platform. The exerted forces on critical tissues, such as the retina in eye surgery, can be maintained at a safe level, clinical complications due to excessive forces can be lessened, safety, and outcome of microsurgical procedures can be enhanced.
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公开(公告)号：US10646990B2
公开(公告)日：2020-05-12
申请号：US15213189
申请日：2016-07-18
发明人： Kevin C. Olds , Russell H. Taylor
摘要： A mechanical translation apparatus includes a translation stage and a translation assembly operatively connected to the translation stage so as to impart linear motions to the translation stage substantially free of rotational motions. The translation assembly includes a plurality of at least three arms pivotably connected to the translation stage at a first end of each arm of the plurality of at least three arms. The mechanical translation apparatus also includes a base assembly in which each arm of the plurality of at least three arms is also rotationally connected to the base assembly at a second end of each arm. Each arm of the plurality of at least three arms includes three rigid elongate structures arranged substantially parallel and non-coplanar with respect to each other so as to act in cooperation to cancel torques so that substantially purely linear motion is imparted to the translation stage by the plurality of at least three arms, and the translation assembly constrains motion of the translation stage to be substantially purely translational motion free of rotational motion. A robot includes the mechanical translation apparatus.
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公开(公告)号：US10166080B2
公开(公告)日：2019-01-01
申请号：US15179438
申请日：2016-06-10
摘要： A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.
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公开(公告)号：US09873198B2
公开(公告)日：2018-01-23
申请号：US14506878
申请日：2014-10-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1628 , B25J9/1694 , Y10S901/09 , Y10S901/46
摘要： According to some embodiments of the present invention, a cooperatively-controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor. The cooperatively-controlled robot further includes a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an actuator in communication with the control system and mechanically coupled to a tool. The force sensor is configured to detect a vibrational force applied on the tool and send a signal to the control system based on the vibrational force. The control system is configured to receive the signal and determine a force to apply to the tool to damp the vibrational force. The control system then signals to the actuator to apply the determined force, and the actuator applies the determined force to actively damp a vibration of the tool.
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公开(公告)号：US20170156928A1
公开(公告)日：2017-06-08
申请号：US15234896
申请日：2016-08-11
CPC分类号： A61F9/00727 , A61B34/30 , A61B2034/2051 , A61B2090/064 , A61F9/0017 , A61F9/007 , B25J9/023 , B25J13/085 , G01L1/246
摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.
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