公开(公告)号：US20170128144A1

公开(公告)日：2017-05-11

申请号：US15413375

申请日：2017-01-23

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B34/37 ,  A61B34/00 ,  A61B8/12 ,  A61B8/00 ,  A61B1/313

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.

公开(公告)号：US09554865B2

公开(公告)日：2017-01-31

申请号：US14540740

申请日：2014-11-13

申请人： The Johns Hopkins University

发明人： Kevin C. Olds ,  Russell H. Taylor

IPC分类号： B25J9/10 ,  B25J9/00 ,  A61F9/007

CPC分类号： A61B34/30 ,  A61B34/74 ,  A61B90/00 ,  A61B2034/304 ,  A61B2090/571 ,  A61F9/00736 ,  B25J9/0051 ,  B25J9/0084 ,  Y10T74/20305 ,  Y10T74/20335

摘要： A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.

摘要翻译： 协作控制机器人包括基部部件，靠近基部部件布置的移动平台，可操作地连接到基部部件和移动平台的移动平台，并且被配置为使移动平台以平移自由度基本上不相对于 所述组件，连接到移动平台的工具组件以及被配置为与平移组件进行通信以控制移动平台响应于应用于协作控制机器人的至少一部分的用户的力的控制的控制系统 。 翻译组件包括至少三个独立可操作的致动器臂，每个连接到移动平台的单独位置。 机器人系统包括两个或多个协作控制机器人。

公开(公告)号：US20140160264A1

公开(公告)日：2014-06-12

申请号：US13710085

申请日：2012-12-10

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Russell H. Taylor ,  Balazs Peter Vagvolgyi ,  Gregory D. Hager ,  Richa Rogerio

IPC分类号： G06T19/00

CPC分类号： G02B21/008 ,  A61B2090/3735 ,  A61F9/008 ,  G06T3/4038 ,  G06T7/337 ,  G06T11/00 ,  G06T2207/10056 ,  G06T2207/10101 ,  G06T2207/20221 ,  G06T2207/30041

摘要： An augmented field of view imaging system includes a microscope, an image sensor system arranged to receive images of a plurality of fields of view from the microscope as the microscope is moved across an object being viewed and to provide corresponding image signals, an image processing and data storage system configured to communicate with the image sensor system to receive the image signals and to provide augmented image signals, and at least one of an image injection system or an image display system configured to communicate with the image processing and data storage system to receive the augmented image signals and display an augmented field of view image. The image processing and data storage system is configured to track the plurality of fields of view in real time and register the plurality of fields of view to calculate a mosaic image. The augmented image signals from the image processing and data storage system provide the augmented image such that a live field of view from the microscope is composited with the mosaic image.

摘要翻译： 增强视野成像系统包括显微镜，图像传感器系统，其布置成当显微镜移动穿过正在观察的物体时从显微镜接收多个视野的图像，并提供相应的图像信号，图像处理和 数据存储系统，被配置为与图像传感器系统通信以接收图像信号并提供增强的图像信号，以及被配置为与图像处理和数据存储系统通信以接收的图像注入系统或图像显示系统中的至少一个 增强图像信号并显示增强视场图像。 图像处理和数据存储系统被配置为实时地跟踪多个视野并登记多个视场以计算马赛克图像。 来自图像处理和数据存储系统的增强图像信号提供增强图像，使得来自显微镜的实时视场与马赛克图像合成。

公开(公告)号：US20130296884A1

公开(公告)日：2013-11-07

申请号：US13874555

申请日：2013-05-01

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Russell H. Taylor ,  John Niparko ,  Iulian Ioan Iordachita ,  Wade Wei-De Chien

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B90/20 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2090/3735 ,  A61B2090/378

摘要： A novel sensing system and methods for preventing damage to the cochlea during cochlear implant surgery are disclosed, using optical sensing to determine the distance of a stylet or the end of the implant itself from the interior wall of the scalar tympani. A variety of feedback methods are proposed to enable the surgeon to perform the procedure safely without damage to the basilar membrane or other delicate anatomic structures. Although a number of embodiments are disclosed, one preferred embodiment comprises a robotically manipulated end-effector.

摘要翻译： 公开了一种用于在耳蜗植入手术期间预防耳蜗损伤的新型感测系统和方法，其使用光学感测来确定探针的距离或植入物自身的端部与标准鼓膜的内壁。 提出了各种反馈方法，使外科医生能够安全地执行手术，而不会损伤基底膜或其他微妙的解剖结构。 尽管公开了许多实施例，但是一个优选实施例包括机器人操纵的端部执行器。

公开(公告)号：US20130245375A1

公开(公告)日：2013-09-19

申请号：US13775574

申请日：2013-02-25

申请人： The Johns Hopkins University c/o John Hopkins Technology Transfer ,  INTUITIVE SURGICAL OPERATINS, INC.

发明人： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC分类号： A61B19/00 ,  A61B1/00

CPC分类号： A61B34/10 ,  A61B1/00193 ,  A61B8/00 ,  A61B8/12 ,  A61B8/4245 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00203 ,  A61B2090/365 ,  A61B2090/378

摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

公开(公告)号：US20230338101A1

公开(公告)日：2023-10-26

申请号：US18332891

申请日：2023-06-12

申请人： INTUITIVE SURGICAL OPERATIONS, INC. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313

CPC分类号： A61B34/37 ,  A61B8/4245 ,  A61B8/4218 ,  A61B34/25 ,  A61B90/361 ,  A61B34/76 ,  A61B8/12 ,  A61B34/70 ,  A61B34/30 ,  A61B1/3132 ,  A61B8/461 ,  A61B90/37 ,  A61B2034/107

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.

公开(公告)号：US20230278222A1

公开(公告)日：2023-09-07

申请号：US18019039

申请日：2021-08-02

申请人： The Johns Hopkins University ,  University of Maryland

发明人： Russell H. Taylor ,  Axel Kriege ,  Peter Kazanides ,  Balazs Vagvolgyi ,  Anton Deguet ,  Mikhail Khrenov

IPC分类号： B25J9/16 ,  B25J13/06

CPC分类号： B25J9/1689 ,  B25J13/06 ,  B25J9/1697

摘要： A robotic system for remote operation of human-controllable equipment includes a remotely operable robotic subsystem configured to be at least one of mounted on or arranged adjacent to the human-controllable equipment to be controlled, and a remote controller that is configured to be operated by a human. The remote controller emulates a control representation of the human-controllable equipment such that a human can provide commands using the control representation. The remotely operable robotic subsystem is configured to receive commands from the remote controller to thereby operate the human-controllable equipment.

公开(公告)号：US20220015832A1

公开(公告)日：2022-01-20

申请号：US17468198

申请日：2021-09-07

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC分类号： A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B1/00 ,  A61B34/30

摘要： A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

公开(公告)号：US10806346B2

公开(公告)日：2020-10-20

申请号：US15019696

申请日：2016-02-09

申请人： The Johns Hopkins University

发明人： Emad M. Boctor ,  Alexis Cheng ,  Xiaoyu Guo ,  Haichong K. Zhang ,  Russell H. Taylor

IPC分类号： A61B5/00 ,  A61B8/00 ,  A61B8/08 ,  G01S15/89 ,  A61B90/00 ,  A61B8/15 ,  A61B8/12

摘要： An ultrasound imaging system having real-time tracking and image registration includes a fiducial-marker system comprising an ultrasound transmitter structured to provide a localized ultrasound pulse at an optically observable localized spot on a body of interest. The system further includes an optical imaging system, a two-dimensional ultrasound imaging system, an optical image processing system, and an ultrasound image processing system. The ultrasound imaging system further includes a registration system configured to communicate with the optical image processing system and the ultrasound image processing system to receive information, the registration system being further configured to determine a coordinate transformation that registers the optical image with the two-dimensional ultrasound image based at least partially on information concerning the spatial locations determined for the combined ultrasound and optical fiducial marker observed in the optical image and in the two-dimensional ultrasound image.

公开(公告)号：US10646293B2

公开(公告)日：2020-05-12

申请号：US15413380

申请日：2017-01-23

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B1/00 ,  A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313 ,  A61B34/10 ,  A61B17/00

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.