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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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32.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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36.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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37.发明授权Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body 有权用于喉部和哺乳动物身体其他部分的微创手术的装置，系统和方法公开(公告)号：US09089354B2
公开(公告)日：2015-07-28
申请号：US13740825
申请日：2013-01-14
发明人： Nabil Simaan , Russell H. Taylor , Paul Flint , Gregory Chirikjian , David Stein
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.
摘要翻译： 特别是用于微创手术，诊断或治疗方法和/或技术，特别是用于哺乳动物喉咙的方法和/或技术的系统，装置和装置。 在特定实施例中，特征在于包括一个或多个灵巧装置的灵巧装置，其中灵巧装置中的每一个包括外科手术工具，并且每个灵巧装置被构造和布置成具有用于增强操纵的端尖灵巧。 灵巧装置的一部分是蛇形的，其可重新配置（即可以弯曲），以便实际上操纵外科手术工具并将工具相对于手术部位放置在期望的位置。 灵巧装置的另一部分包括外科手术工具，从而提供从外科手术部位进行缝合，夹紧，软组织操作，唾液，血液和其它材料的切割和抽吸的外科手术的能力。
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38.发明授权公开(公告)号：US09020613B2
公开(公告)日：2015-04-28
申请号：US13874555
申请日：2013-05-01
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：US20150073597A1
公开(公告)日：2015-03-12
申请号：US14540740
申请日：2014-11-13
发明人： Kevin C. Olds , Russell H. Taylor
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。
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公开(公告)号：US08911429B2
公开(公告)日：2014-12-16
申请号：US13669176
申请日：2012-11-05
发明人： Kevin C. Olds , Russell H. Taylor
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。
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