公开(公告)号：US20140350572A1

公开(公告)日：2014-11-27

申请号：US14362225

申请日：2012-11-23

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： Haytham Elhawary ,  Aleksandra Popovic ,  Raymond Chan ,  Robert Manzke

IPC: A61B19/00

CPC classification number: A61B90/11 ,  A61B34/30 ,  A61B2034/304 ,  A61B2090/103

Abstract: A positioning apparatus includes a first portion (123) having a first opening (125) for alignment with a port entry point. A second portion (127) is positionable for alignment with the first opening from a plurality of different positions. An actuation mechanism (142) is coupled to at least one of the first portion and the second portion to set relative positions of the first and second portions to permit a tool axis formed between the first and second portions to be aligned through the first opening such that a tool (104) provided on the tool axis would include a known position and orientation.

Abstract translation: 定位装置包括具有用于与端口入口点对准的第一开口（125）的第一部分（123）。 第二部分（127）可定位成从多个不同位置与第一开口对准。 致动机构（142）联接到第一部分和第二部分中的至少一个，以设置第一和第二部分的相对位置，以允许形成在第一和第二部分之间的工具轴线通过第一开口对准 设置在工具轴线上的工具（104）将包括已知位置和取向。

公开(公告)号：US20140222208A1

公开(公告)日：2014-08-07

申请号：US14176318

申请日：2014-02-10

Applicant: TOKYO INSTITUTE OF TECHNOLOGY

Inventor： Kenji KAWASHIMA ,  Kotaro TADANO

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2017/2929 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/506 ,  B25J3/04 ,  B25J13/02 ,  B25J17/0266 ,  Y10T74/20305

Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided.When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.

公开(公告)号：US20140052154A1

公开(公告)日：2014-02-20

申请号：US13967594

申请日：2013-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/06 ,  A61B90/50 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2090/066 ,  A61B2090/508 ,  B25J9/1633 ,  B25J9/1669 ,  G05B2219/40414 ,  Y10S901/02

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中一个或多个关节最初由制动器或联合驱动系统保持静止。 用户可以通过用超过手动关节阈值的力，扭矩等手动地推动联动装置来铰接关节。 通过改变传输到制动器或驱动系统的信号来促进移动接头的铰接。 该系统可以根据从低于阈值的关节的速度来完成重新配置，可选地为期望的停留时间。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。

公开(公告)号：US08348861B2

公开(公告)日：2013-01-08

申请号：US12303456

申请日：2007-06-05

Applicant: Daniel Glozman ,  Moshe Shoham

Inventor： Daniel Glozman ,  Moshe Shoham

IPC: A61B5/103

CPC classification number: A61B17/3478 ,  A61B17/3403 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/304 ,  A61B2090/376

Abstract: A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.

Abstract translation: 一种机器人系统，用于在插入软组织期间使用成像确定针位置来转向柔性针。 控制系统计算点击所需目标的针尖轨迹，同时避免在途中潜在的危险障碍物。 使用逆运动学算法，计算针座所需的使尖端跟随该轨迹的动作，使得机器人可以执行受控针插入。 将柔性针插入可变形组织中被建模为由虚拟弹簧支撑的线性梁，其中弹簧的刚度系数沿着针头变化。 分析解决了针的正向和反向运动学，实现了路径规划和校正。 通过在荧光镜图像上进行的图像处理来检测针形状。 根据针的测量形状计算组织的刚度特性。

公开(公告)号：US08342054B2

公开(公告)日：2013-01-01

申请号：US12693329

申请日：2010-01-25

Applicant: Bruce Michael Schena ,  Roman L. Devengenzo

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo

IPC: B25J18/00

CPC classification number: A61B90/50 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/304 ,  A61B2090/5025 ,  A61B2090/506 ,  A61B2090/508 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and at least three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate. Counterweight is coupled to at least one of the links on the opposite side of the inboard gimbal plate from the outboard gimbal plate.

Abstract translation: 一种空间连杆，包括为空间连杆提供地面的内侧万向节板，外侧万向节板，以及将外侧万向节板连接到内侧万向节板的至少三个连杆。 每个连杆具有纵向轴线，并且两个枢转联接件设置在纵向轴线的相对端。 每个连杆在纵向轴线的第一端处枢转地联接到外侧万向节板，并且在与第一端相对的纵向轴线的第二端处枢转地联接到内侧万向节板。 枢转联轴器允许外侧万向节板相对于内侧万向节板移动，并防止外侧万向节板和内侧万向节板之间的相对旋转。 配重与外侧万向平板的内侧万向节板的相对侧上的链接中的至少一个连接。

公开(公告)号：US20120035416A1

公开(公告)日：2012-02-09

申请号：US13144668

申请日：2010-01-16

Applicant: Raul Fernandez ,  Daniel J. Scott ,  Shou Jiang Tang ,  Jeffrey A. Cadeddu ,  Richard A. Bergs

Inventor： Raul Fernandez ,  Daniel J. Scott ,  Shou Jiang Tang ,  Jeffrey A. Cadeddu ,  Richard A. Bergs

IPC: A61B1/04 ,  A61B1/018

CPC classification number: A61B1/05 ,  A61B1/00147 ,  A61B1/00149 ,  A61B1/00163 ,  A61B1/00179 ,  A61B1/313 ,  A61B17/00234 ,  A61B17/3421 ,  A61B34/30 ,  A61B34/73 ,  A61B90/361 ,  A61B2017/00871 ,  A61B2017/00876 ,  A61B2017/2906 ,  A61B2017/3449 ,  A61B2034/304 ,  A61B2090/306

Abstract: The present invention relates generally to medical devices and methods. The present medical devices comprises a platform comprising a magnetically-attractive material, and a camera coupled to the platform and configured to be moved in at least three degrees of freedom relative to the platform, where the camera's movement in each respective degree of freedom is controlled by a separate actuator coupled to the platform. The medical devices further comprise a housing disposed around at least a portion of the camera, the housing being at least partially transparent, and a wiper arm configured to move relative to the housing. Some embodiments of the present multi-degree-of-freedom cameras for a medical procedure, comprises a platform comprising a magnetically-attractive material, an apparatus to moving the platform within a body cavity of a patient when the apparatus is outside the body cavity, the apparatus comprising a magnetic assembly, and a camera coupled to the platform, and configured to be moved in at least three degrees of freedom relative to the platform, where the camera's movement in each respective degree of freedom is controlled by a separate actuator coupled to the platform.

Abstract translation: 本发明一般涉及医疗装置和方法。 本医疗装置包括一个包含磁吸引材料的平台和耦合到该平台并被配置为相对于该平台以至少三个自由度移动的相机，其中相机在每个相应的自由度中的移动被控制 通过耦合到平台的单独的致动器。 医疗设备还包括围绕照相机的至少一部分设置的壳体，壳体至少部分透明，以及被配置为相对于壳体移动的刮水臂。 本发明的用于医疗程序的多自由度相机的一些实施例包括平台，其包括磁性吸引材料，当该装置在体腔外部时将该平台移动到患者的体腔内的装置， 所述装置包括磁性组件和耦合到所述平台的照相机，并被配置为相对于所述平台以至少三个自由度移动，其中所述相机在每个相应自由度中的移动由单独的致动器控制， 的平台。

公开(公告)号：US20100268250A1

公开(公告)日：2010-10-21

申请号：US12425808

申请日：2009-04-17

Applicant: J. Michael STUART ,  Steven J. Carusillo

Inventor： J. Michael STUART ,  Steven J. Carusillo

IPC: A61B19/00

CPC classification number: A61B46/10 ,  A61B34/70 ,  A61B34/76 ,  A61B34/77 ,  A61B90/50 ,  A61B2017/0023 ,  A61B2034/304 ,  A61B2090/064

Abstract: A surgical system for use in performing medical procedures on a body of a patient is provided. The system includes a manipulator having a tool mounting arrangement including a power transmitter. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system has a tool support including a power receiver. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween. The power transmitter and power receiver can wirelessly transmit power across the sterile barrier between the manipulator and the tool support when the tool support is engaged with the tool mounting arrangement.

Abstract translation: 提供了一种用于在患者身体上进行医疗手术的手术系统。 该系统包括具有包括功率发射器的工具安装装置的操纵器。 操纵器能够以至少一个自由度移动工具安装装置。 该系统具有包括电源接收器的工具支持。 在机器人机构和工具支架之间设置无菌屏障​​，以将机器人机构与无菌环境隔离。 工具支撑件可与工具安装装置接合，其间具有无菌屏障。 当工具支撑件与工具安装装置接合时，电力发射器和电源接收器可以在机械手和工具支架之间的无菌屏障上无线地传输电能。

公开(公告)号：US20100041938A1

公开(公告)日：2010-02-18

申请号：US12085972

申请日：2006-12-04

Applicant: Dan Stoianovici ,  Alexandru Patriciu ,  Dumitru Mazilu ,  Doru Petrisor ,  Louis R. Kavoussi

Inventor： Dan Stoianovici ,  Alexandru Patriciu ,  Dumitru Mazilu ,  Doru Petrisor ,  Louis R. Kavoussi

IPC: A61M36/00 ,  G01D5/30 ,  A61B19/00

CPC classification number: A61N5/1007 ,  A61B10/0233 ,  A61B17/3468 ,  A61B34/30 ,  A61B2017/00544 ,  A61B2034/304 ,  A61B2090/062 ,  A61N2005/101 ,  A61N2005/1011

Abstract: Featured is a robot and a needle delivery apparatus. Such a robot comprises a plurality of actuators coupled to control locating any of number of intervention specific medical devices such as intervention specific needle injectors. Such a robot is usable with image guided interventions using any of a number of types of medical imaging devices or apparatuses including MRI. The end-effector can include an automated low needle delivery apparatus that is configured for dose radiation seed brachytherapy injection. Also featured is an automated seed magazine for delivering seeds to such an needle delivery apparatus adapted for brachytherapy seed injection.

Abstract translation: 特色是一个机器人和一个针送出装置。 这样的机器人包括多个致动器，其耦合以控制定位任意数量的干预特定医疗装置，例如干预专用针注射器。 这样的机器人可用于使用多种类型的医学成像装置或包括MRI的装置中的任何一种的图像引导干预。 末端执行器可以包括被配置用于剂量辐射种子近距离放射治疗注射的自动化低针递送装置。 还有一种自动种子杂志，用于将种子输送到适于近距离放射治疗种子注射的针式输送装置中。

公开(公告)号：US20090149867A1

公开(公告)日：2009-06-11

申请号：US12303456

申请日：2007-06-05

Applicant: Daniel Glozman ,  Moshe Shoham

Inventor： Daniel Glozman ,  Moshe Shoham

IPC: A61B19/00 ,  A61B5/05

CPC classification number: A61B17/3478 ,  A61B17/3403 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/304 ,  A61B2090/376

Abstract: A robotic system for steering a flexible needle during insertion into soft-tissue using imaging to determine the needle position. The control system calculates a needle tip trajectory that hits the desired target while avoiding potentially dangerous obstacles en route. Using an inverse kinematics algorithm, the maneuvers required of the needle base to cause the tip to follow this trajectory are calculated, such that the robot can perform controlled needle insertion. The insertion of a flexible needle into a deformable tissue is modeled as a linear beam supported by virtual springs, where the stiffness coefficients of the springs varies along the needle. The forward and inverse kinematics of the needle are solved analytically, enabling both path planning and correction in real-time. The needle shape is detected by image processing performed on fluoroscopic images. The stiffness properties of the tissue are calculated from the measured shape of the needle.

Abstract translation: 一种机器人系统，用于在插入软组织期间使用成像确定针位置来转向柔性针。 控制系统计算点击所需目标的针尖轨迹，同时避免在途中潜在的危险障碍物。 使用逆运动学算法，计算针座所需的使尖端跟随该轨迹的动作，使得机器人可以执行受控针插入。 将柔性针插入可变形组织中被建模为由虚拟弹簧支撑的线性梁，其中弹簧的刚度系数沿着针头变化。 分析解决了针的正向和反向运动学，实现了路径规划和校正。 通过在荧光镜图像上进行的图像处理来检测针形状。 根据针的测量形状计算组织的刚度特性。

公开(公告)号：US20090095108A1

公开(公告)日：2009-04-16

申请号：US11792244

申请日：2005-12-12

Applicant: Shahram Payandeh ,  Hendrik Van Der Wal ,  Temei Li

Inventor： Shahram Payandeh ,  Hendrik Van Der Wal ,  Temei Li

IPC: G05G11/00

CPC classification number: G05G9/04737 ,  A61B34/30 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/304 ,  A61B2090/506 ,  B25J9/0048 ,  B25J13/02 ,  B25J17/0266 ,  G05G2009/04766 ,  G06F3/016 ,  Y10T74/20 ,  Y10T74/20201 ,  Y10T74/20213

Abstract: A user interface system comprises a plurality of linkages connected between a platform and abase. The linkages permit motion of the platform over at least a portion of a spherical surface. A support assembly coupled between the platform and the base comprises a spherical joint having a centre of rotation substantially concentric with a centre of the spherical surface. The spherical joint constrains motion of the platform to the spherical surface. The system may include a sensor corresponding to each linkage. Each sensor may be coupled to sense a movement of its corresponding linkage in response to motion of the platform over the portion of the spherical surface. A user-manipulable handle may be coupled to the platform so that the user can move the platform.

Abstract translation: 用户界面系统包括连接在平台和平台之间的多个连接。 连接件允许平台在球形表面的至少一部分上的运动。 联接在平台和基座之间的支撑组件包括具有与球面的中心大致同心的旋转中心的球形接头。 球形接头将平台的运动限制在球面上。 系统可以包括对应于每个连杆的传感器。 每个传感器可以被耦合以响应于平台在球形表面的部分上的运动来感测其对应的连杆机构的运动。 用户可操纵的把手可以联接到平台，使得用户可以移动平台。