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    Method and system for determining information of extrema during expansion and contraction cycles of an object
    21.
    发明授权
    Method and system for determining information of extrema during expansion and contraction cycles of an object 有权
    用于确定物体伸缩周期的极值信息的方法和系统

    公开(公告)号：US08827934B2

    公开(公告)日：2014-09-09

    申请号：US13297066

    申请日：2011-11-15

    申请人： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    发明人： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC分类号： A61B5/00

    CPC分类号： A61B1/0005 ,  A61B1/00154 ,  A61B1/0051 ,  A61B5/065 ,  A61B5/1076 ,  A61B34/20 ,  A61B2017/00699 ,  A61B2034/2061 ,  A61B2090/3614

    摘要： A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

    摘要翻译： 医疗系统为外科医生提供导航辅助，用于通过解剖结构的连接通道将柔性医疗装置导航到目标区域。 为了跟踪，导航和其他目的，通过从沿着柔性装置的长度分布的传感器接收时间采样信息来确定对象的扩展和收缩周期中的极值信息，以便随着时间而指示装置的形状 装置延伸穿过物体的内腔以便符合并类似于内腔的形状，确定随着柔性装置的选定插入长度的选定点的时间相对于参考点的位移到物体的内腔中的位移 通过识别确定的位移随时间的斜率的符号变化来确定极值时间点，并且使用极值类型特征来确定极值类型。

    CATHETER SENSOR SYSTEMS
    24.
    发明申请
    CATHETER SENSOR SYSTEMS 有权
    导管传感器系统

    公开(公告)号：US20130096572A1

    公开(公告)日：2013-04-18

    申请号：US13274237

    申请日：2011-10-14

    申请人： Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    发明人： Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC分类号： A61B19/00

    CPC分类号： A61B34/20 ,  A61B5/062 ,  A61B34/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/302 ,  A61M25/0127 ,  A61M25/0147

    摘要： A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape sensing that permits the second section to be smaller than the first section, so that a distal tip of the catheter or flexible structure can fit within smaller natural lumens.

    摘要翻译： 包括导管或其他柔性结构的医疗系统使用两个不同传感器系统的组合来测量导管或柔性结构的截面或尖端的姿态。 可以包括电磁传感器的第一传感器系统可以测量导管的第一部分的姿态，并且第二传感器系统可以相对于第一部分测量第二部分的姿态。 第二传感器系统可以采用诸如纤维形状检测的技术，其允许第二部分小于第一部分，使得导管或柔性结构的远侧末端可以装配在较小的自然腔内。

    METHOD AND SYSTEM FOR DETERMINING INFORMATION OF EXTREMA DURING EXPANSION AND CONTRACTION CYCLES OF AN OBJECT
    25.
    发明申请
    METHOD AND SYSTEM FOR DETERMINING INFORMATION OF EXTREMA DURING EXPANSION AND CONTRACTION CYCLES OF AN OBJECT 有权
    用于在扩展期间确定外部信息的方法和系统和对象的合同周期

    公开(公告)号：US20120289843A1

    公开(公告)日：2012-11-15

    申请号：US13297066

    申请日：2011-11-15

    申请人： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    发明人： Prashant Chopra ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC分类号： A61B5/11 ,  A61B5/02 ,  A61B1/00 ,  A61B5/113

    CPC分类号： A61B1/0005 ,  A61B1/00154 ,  A61B1/0051 ,  A61B5/065 ,  A61B5/1076 ,  A61B34/20 ,  A61B2017/00699 ,  A61B2034/2061 ,  A61B2090/3614

    摘要： A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

    摘要翻译： 医疗系统为外科医生提供导航辅助，用于通过解剖结构的连接通道将柔性医疗装置导航到目标区域。 为了跟踪，导航和其他目的，通过从沿着柔性装置的长度分布的传感器接收时间采样信息来确定对象的扩展和收缩周期中的极值信息，以便随着时间而指示装置的形状 装置延伸穿过物体的内腔以便符合并类似于内腔的形状，确定随着柔性装置的选定插入长度的选定点的时间相对于参考点的位移到物体的内腔中的位移 通过识别确定的位移随时间的斜率的符号变化来确定极值时间点，并且使用极值类型特征来确定极值类型。

    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
    27.
    发明授权
    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
    用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械

    公开(公告)号：US08864751B2

    公开(公告)日：2014-10-21

    申请号：US12877263

    申请日：2010-09-08

    申请人： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

    发明人： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

    IPC分类号： G06F19/00 ,  B25J9/16 ,  A61B19/00

    CPC分类号： A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

    摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

    摘要翻译： 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

    Fiber optic shape sensor
    28.
    发明授权
    Fiber optic shape sensor 有权
    光纤形状传感器

    公开(公告)号：US08358883B2

    公开(公告)日：2013-01-22

    申请号：US13366534

    申请日：2012-02-06

    申请人： Giuseppe Maria Prisco

    发明人： Giuseppe Maria Prisco

    IPC分类号： G02B6/00 ,  B25J17/00

    CPC分类号： G02B6/02042 ,  A61B34/30 ,  A61B34/35 ,  A61B2034/2061 ,  A61B2090/061 ,  G01L1/246 ,  Y10T74/20305

    摘要： A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.

    摘要翻译： 一种形状感测系统，用于确定一个链路相对于运动链中的另一个链路的位置和方向。 光纤耦合到运动链中的两个或更多个链路。 形状感测段被定义为在近端链路处开始并且在远端连接处终止，穿过一个或多个关节。 在形状感测段的开始处定义参考帧。 当关节移动时，询问器感测形状感测段中的应变。 感测的应变用于相对于在形状感测段的开始处限定的参考帧输出形状感测段的端部的笛卡尔位置和取向。 运动链的姿态是根据为运动链和先验模型定义的一个或多个形状感测部分的笛卡尔位置和取向以及运动链的约束来确定的。

    TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS
    29.
    发明申请
    TENSION CONTROL IN ACTUATION OF MULTI-JOINT MEDICAL INSTRUMENTS 有权
    多联合医疗仪器的张力控制

    公开(公告)号：US20120123441A1

    公开(公告)日：2012-05-17

    申请号：US12945734

    申请日：2010-11-12

    申请人： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    发明人： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/715

    摘要： Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.

    摘要翻译： 用于医疗仪器的控制系统和方法使用测量来确定和控制致动器通过仪器传输系统应用的张力。 张力和反馈的使用允许控制具有传动系统的医疗仪器，即使关节的位置不能直接与致动器位置相关，也能在关节和致动器之间提供不可忽视的顺应性。 一个实施例从期望和测量的关节位置之间的差异确定关节扭矩和张力。 另一个实施例由仪器的尖端的期望和测量位置之间的差异确定关节扭矩和张力。 可以通过从仪器的远端朝向仪器的近端的顺序对接头进行顺序评估来确定关节扭矩的张力。