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公开(公告)号：US08816628B2
公开(公告)日：2014-08-26
申请号：US13175519
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08786241B2
公开(公告)日：2014-07-22
申请号：US13175458
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08749189B2
公开(公告)日：2014-06-10
申请号：US13175477
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08624537B2
公开(公告)日：2014-01-07
申请号：US13175498
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US20110270271A1
公开(公告)日：2011-11-03
申请号：US13175550
申请日：2011-07-01
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US06364888B1
公开(公告)日：2002-04-02
申请号：US09287858
申请日：1999-04-07
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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公开(公告)号：US08808164B2
公开(公告)日：2014-08-19
申请号：US12058661
申请日：2008-03-28
CPC分类号： A61B1/045 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00199 , A61B2017/00216 , A61B2017/00477 , A61B2090/372
摘要： In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
摘要翻译： 在本发明的一个实施例中，公开了一种用于控制机器人手术工具的方法。 用于控制机器人手术工具的方法包括移动显示机器人外科手术工具的图像的监视器; 感测显示器的运动; 并且将感测到的监视器的运动转换成机器人手术工具的运动。
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38.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
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。
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39.发明申请APPARATUS FOR AUTOMATED PANNING AND DIGITAL ZOOMING IN ROBOTIC SURGICAL SYSTEMS 有权机器人手术系统中的自动平移和数字变焦装置公开(公告)号：US20120154564A1
公开(公告)日：2012-06-21
申请号：US13408236
申请日：2012-02-29
IPC分类号： H04N7/18
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
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40.发明授权Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information 有权用于机器人仪器工具跟踪的方法和系统，具有运动学信息和图像信息的自适应融合公开(公告)号：US08108072B2
公开(公告)日：2012-01-31
申请号：US11865014
申请日：2007-09-30
CPC分类号： G06K9/3216 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/3612 , A61B2090/371 , A61B2090/3784 , A61B2090/3937 , G05B2219/40557 , G05B2219/45117 , G06K2009/3225 , G06K2209/057
摘要： In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
摘要翻译： 在本发明的一个实施例中，公开了一种用于跟踪一个或多个机器人装置的机器人系统的方法。 该方法包括在摄像机的视野内产生机器人仪器的运动学信息; 拍摄相机视野中的图像信息; 并将运动学信息和图像信息自适应地融合在一起，以确定机器人仪器的姿势信息。 另外公开了具有工具跟踪子系统的机器人医疗系统。 工具跟踪子系统通过将原始运动学信息和视频图像信息自适应地融合在一起，接收机器人仪器的原始运动学信息和视频图像信息，以生成机器人仪器的校正运动学信息。
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