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31.发明申请公开(公告)号：US20130296884A1
公开(公告)日：2013-11-07
申请号：US13874555
申请日：2013-05-01
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。
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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
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.
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公开(公告)号：US20230278222A1
公开(公告)日：2023-09-07
申请号：US18019039
申请日：2021-08-02
发明人： Russell H. Taylor , Axel Kriege , Peter Kazanides , Balazs Vagvolgyi , Anton Deguet , Mikhail Khrenov
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.
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公开(公告)号：US10806346B2
公开(公告)日：2020-10-20
申请号：US15019696
申请日：2016-02-09
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.
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公开(公告)号：US10188552B2
公开(公告)日：2019-01-29
申请号：US15237347
申请日：2016-08-15
IPC分类号： B25J13/00 , A61F9/007 , A61B34/30 , A61B34/37 , A61B34/35 , A61B90/00 , A61B90/30 , A61B17/00 , G09B19/24
摘要： A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.
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36.发明授权公开(公告)号：US10188281B2
公开(公告)日：2019-01-29
申请号：US15085704
申请日：2016-03-30
发明人： Russell H. Taylor , Seth D. Billings , Peter L. Gehlbach , Gregory D. Hager , James T. Handa , Jin U. Kang , Balazs P. Vagvolgyi , Raphael Sznitman , Zachary Pezzementi
摘要： An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination.
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公开(公告)号：US10058390B2
公开(公告)日：2018-08-28
申请号：US13740830
申请日：2013-01-14
发明人： Nabil Simaan , Russell H. Taylor , Paul Flint , Gregory Chirikjian , David Stein
IPC分类号： A61B19/00 , A61B34/00 , A61B90/50 , A61B34/37 , A61B17/24 , A61B17/34 , A61B17/00 , A61B34/30 , A61B90/00
CPC分类号： A61B34/30 , A61B17/24 , A61B17/3421 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B90/50 , A61B2017/003 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , A61B2034/306 , Y10T74/20323
摘要： Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.
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公开(公告)号：US09770828B2
公开(公告)日：2017-09-26
申请号：US13631035
申请日：2012-09-28
IPC分类号： B25J13/00 , B25J19/04 , B25J3/04 , B25J9/16 , A61B34/30 , A61B34/35 , A61B34/00 , A61B17/00 , A61B90/20
CPC分类号： B25J13/006 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/20 , A61B2017/00115 , B25J3/04 , B25J9/1689 , B25J19/04
摘要： A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.
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公开(公告)号：US20170156805A1
公开(公告)日：2017-06-08
申请号：US15383931
申请日：2016-12-19
CPC分类号： A61B34/32 , A61B34/30 , A61B90/06 , A61B2017/00477 , A61B2090/064 , A61B2090/065 , A61B2090/0811 , B25J15/0466
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
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40.发明申请COOPERATIVELY-CONTROLLED SURGICAL ROBOTIC SYSTEM WITH REDUNDANT FORCE SENSING 审中-公开具有冗余感测的合作控制的外科手术系统公开(公告)号：US20160361125A1
公开(公告)日：2016-12-15
申请号：US15179438
申请日：2016-06-10
CPC分类号： A61B34/30 , A61B90/13 , A61B2017/0003 , A61B2090/064 , A61B2090/0818 , B25J9/1676 , B25J13/085 , B25J19/06 , G05B2219/39082
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.
摘要翻译： 协同控制的机器人系统包括主机器人组件和包括近端和远端的臂组件。 臂组件在近端连接到主机器人组件。 该系统还包括在远端连接到臂组件的工具组件，在臂组件的远端和工具组件之间的第一力传感器，以及在臂组件的近端和主体之间的第二力传感器 机器人装配。 该系统包括控制系统，其被配置为基于由第二力传感器检测到的力来确定在第一力传感器处施加的力，并且将确定的力与由第一力传感器检测到的力进行比较，以检测 所述第一和第二力传感器中的至少一个。
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