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    Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery
    41.
    发明授权
    Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery 失效
    机器人系统，对接站和手术工具，用于微创手术中的协同控制

    公开(公告)号：US06325808B1

    公开(公告)日：2001-12-04

    申请号：US09208264

    申请日：1998-12-08

    申请人： Christopher J. Bernard ,  Hyosig Kang ,  Barton L. Sachs ,  Sunil K. Singh ,  John T. Wen

    发明人： Christopher J. Bernard ,  Hyosig Kang ,  Barton L. Sachs ,  Sunil K. Singh ,  John T. Wen

    IPC分类号： A61B1704

    CPC分类号： A61B17/0469 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/32 ,  A61B34/70 ,  A61B90/50 ,  A61B2090/08021

    摘要： A robotic system for minimally invasive surgery includes a surgical tool and a docking station for restraining movement of the surgical tool to four degrees of freedom about an incision point in a patient. The docking station includes a plurality of actuators for moving the surgical tool relative to the incision in the patient, and a controller operably connected to the actuators so that movement of the surgical tool may be collaboratively controllable both actively by the controller and manually by a surgeon. Desirably, the surgical tool and the docking station are releasably attachable together. Also disclosed is a computer implemented method employing a first docking station attachable to a suturing surgical tool and a second docking station attachable to gripping surgical tool for autonomously tying a knot in suturing.

    摘要翻译： 用于微创手术的机器人系统包括外科手术工具和用于将外科手术工具的运动限制在围绕患者的切割点的四个自由度的对接站。 对接站包括多个致动器，用于相对于患者中的切口移动外科手术工具，以及可操作地连接到致动器的控制器，使得外科手术工具的运动可以由控制器主动地由外科医生手动地协同控制 。 期望地，手术工具和对接站可释放地附接在一起。 还公开了一种计算机实现的方法，其采用可连接到缝合外科手术工具的第一对接站和可附接到夹持外科手术工具的第二对接站，用于在缝合中自主地捆扎结。

    System and method for providing substantially stable haptics
    42.
    发明授权
    System and method for providing substantially stable haptics 有权
    用于提供基本上稳定的触觉的系统和方法

    公开(公告)号：US09588583B2

    公开(公告)日：2017-03-07

    申请号：US13339369

    申请日：2011-12-28

    申请人： Christopher Alan Lightcap ,  Hyosig Kang

    发明人： Christopher Alan Lightcap ,  Hyosig Kang

    IPC分类号： G06F3/01 ,  G09B23/28

    CPC分类号： G06F3/016 ,  A61B34/20 ,  A61B34/76 ,  G09B23/28

    摘要： A system for providing substantially stable haptics includes at least one computer configured to identify a first subset and a second subset of haptic interaction geometric primitives for a virtual tool. The computer is configured to determine based on the first subset, haptic forces in a first subspace. The computer is also configured to determine based on the second subset, haptic forces in a second subspace different from the first subspace.

    摘要翻译： 用于提供基本上稳定的触觉的系统包括至少一个计算机，其被配置为识别用于虚拟工具的触觉交互几何图元的第一子集和第二子集。 计算机被配置为基于第一子集来确定第一子空间中的触觉力。 计算机还被配置为基于第二子集确定与第一子空间不同的第二子空间中的触觉力。

    SYSTEM AND METHOD FOR SURGICAL TOOL TRACKING
    45.
    发明申请
    SYSTEM AND METHOD FOR SURGICAL TOOL TRACKING 审中-公开
    用于手术工具跟踪的系统和方法

    公开(公告)号：US20130096573A1

    公开(公告)日：2013-04-18

    申请号：US13276048

    申请日：2011-10-18

    申请人： Hyosig Kang ,  Scott Nortman

    发明人： Hyosig Kang ,  Scott Nortman

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B17/16 ,  A61B2034/2059 ,  A61B2034/306 ,  A61B2090/067

    摘要： Systems and methods for robotic surgery are disclosed. In one embodiment, a system comprises a controller configured to control actuation of at least one servo motor; a surgical instrument configured to be movable in a workspace controlled, at least in part, by actuation of the at least one servo motor; and a mechanical tracker linkage coupled between the elongate instrument and a portion of skeletal anatomy of a patient, the tracker linkage comprising one or more joints associated with one or more joint rotation sensors and being configured to send joint signals to the controller; wherein the controller controls positioning of the instrument based at least in part upon the joint signals received from the mechanical tracker.

    摘要翻译： 公开了用于机器人手术的系统和方法。 在一个实施例中，系统包括被配置为控制至少一个伺服电动机的致动的控制器; 外科器械被配置为可在至少部分地通过所述至少一个伺服电动机的致动控制的工作空间中移动; 以及耦合在所述细长器械和患者的骨骼解剖结构的一部分之间的机械跟踪器连接件，所述跟踪器连杆机构包括与一个或多个关节旋转传感器相关联的一个或多个关节，并被配置为向所述控制器发送关节信号; 其中所述控制器至少部分地基于从所述机械跟踪器接收的联合信号来控制所述仪器的定位。

    Device that can be assembled by coupling
    46.
    发明授权
    Device that can be assembled by coupling 有权
    可通过联轴器组装的装置

    公开(公告)号：US08206053B2

    公开(公告)日：2012-06-26

    申请号：US12644964

    申请日：2009-12-22

    申请人： Richard Bennett ,  Hyosig Kang ,  Brian Schmitz

    发明人： Richard Bennett ,  Hyosig Kang ,  Brian Schmitz

    IPC分类号： B25B11/00

    CPC分类号： A61B17/32002 ,  A61B34/30 ,  A61B34/71 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/715 ,  Y10T29/53961 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T403/32057 ,  Y10T403/32622 ,  Y10T403/32631

    摘要： A device can be assembled by a coupling. The device includes first and second body members and positioning structure. The first and second body members are designed to be coupled relative to each other. The positioning structure is designed to provide an interface between the first and second body members, and to position the first and second body members relative to each other via first, second, and third contact areas. The first, second, and third contact areas are each substantially linear and are collectively configured to receive loads, and to limit positioning of the first and second body members relative to each other with regard to five degrees of freedom. A fourth contact area between the first and second body members is designed to limit positioning of the first and second body members relative to each other in a sixth degree of freedom, in a first translational direction.

    摘要翻译： 装置可以通过联轴器组装。 该装置包括第一和第二主体部件和定位结构。 第一和第二主体构件被设计成相对于彼此连接。 定位结构设计成在第一和第二主体部件之间提供界面，并且通过第一，第二和第三接触区域相对于彼此定位第一和第二主体部件。 第一接触区域，第二接触区域和第三接触区域各自基本上是线性的并且被共同构造成接收负载，并且限制第一和第二主体构件相对于彼此相对于五个自由度的定位。 第一和第二主体部件之间的第四接触区域设计成在第一平移方向上以第六自由度限制第一和第二主体部件相对于彼此的定位。

    DEVICE THAT CAN BE ASSEMBLED BY COUPLING
    47.
    发明申请
    DEVICE THAT CAN BE ASSEMBLED BY COUPLING 有权
    可以通过耦合组合的设备

    公开(公告)号：US20100166496A1

    公开(公告)日：2010-07-01

    申请号：US12644964

    申请日：2009-12-22

    申请人： Richard BENNETT ,  Hyosig Kang ,  Brian Schmitz

    发明人： Richard BENNETT ,  Hyosig Kang ,  Brian Schmitz

    IPC分类号： F16D1/12

    CPC分类号： A61B17/32002 ,  A61B34/30 ,  A61B34/71 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/715 ,  Y10T29/53961 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T403/32057 ,  Y10T403/32622 ,  Y10T403/32631

    摘要： A device can be assembled by a coupling. The device includes first and second body members and positioning structure. The first and second body members are designed to be coupled relative to each other. The positioning structure is designed to provide an interface between the first and second body members, and to position the first and second body members relative to each other via first, second, and third contact areas. The first, second, and third contact areas are each substantially linear and are collectively configured to receive loads, and to limit positioning of the first and second body members relative to each other with regard to five degrees of freedom. A fourth contact area between the first and second body members is designed to limit positioning of the first and second body members relative to each other in a sixth degree of freedom, in a first translational direction.

    摘要翻译： 装置可以通过联轴器组装。 该装置包括第一和第二主体部件和定位结构。 第一和第二主体构件被设计成相对于彼此连接。 定位结构设计成在第一和第二主体部件之间提供界面，并且通过第一，第二和第三接触区域相对于彼此定位第一和第二主体部件。 第一接触区域，第二接触区域和第三接触区域各自基本上是线性的并且被共同构造成接收负载，并且限制第一和第二主体构件相对于彼此相对于五个自由度的定位。 第一和第二主体部件之间的第四接触区域设计成在第一平移方向上以第六自由度限制第一和第二主体部件相对于彼此的定位。

    Inertially tracked objects
    49.
    发明授权
    Inertially tracked objects 有权
    惯性跟踪对象

    公开(公告)号：US09226799B2

    公开(公告)日：2016-01-05

    申请号：US12821365

    申请日：2010-06-23

    申请人： Chris Lightcap ,  Hyosig Kang

    发明人： Chris Lightcap ,  Hyosig Kang

    IPC分类号： A61B19/00 ,  A61B17/00

    CPC分类号： A61B34/20 ,  A61B2017/00477 ,  A61B2017/00725 ,  A61B2017/00876 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2090/0818 ,  G01C21/16

    摘要： Described are computer-based methods and apparatuses, including computer program products, for inertially tracked objects with a kinematic coupling. A tracked pose of a first inertial measurement unit (IMU) is determined, wherein the first IMU is mounted to a first object. The tracked pose of the first IMU is reset while the first object is in a first reproducible reference pose with a second object.

    摘要翻译： 描述了基于计算机的方法和装置，包括用于具有运动耦合的惯性跟踪物体的计算机程序产品。 确定第一惯性测量单元（IMU）的跟踪姿势，其中第一IMU被安装到第一对象。 当第一物体处于与第二物体的第一可再现参考姿势时，第一IMU的跟踪姿态被重置。

    SYSTEM AND METHOD FOR ROBOTIC SURGERY
    50.
    发明申请
    SYSTEM AND METHOD FOR ROBOTIC SURGERY 有权
    机器人手术系统与方法

    公开(公告)号：US20130096574A1

    公开(公告)日：2013-04-18

    申请号：US13276099

    申请日：2011-10-18

    申请人： Hyosig Kang ,  Scott Nortman

    发明人： Hyosig Kang ,  Scott Nortman

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B17/16 ,  A61B17/1622 ,  A61B34/20 ,  A61B34/37 ,  A61B34/75 ,  A61B34/76 ,  A61B90/03 ,  A61B2017/00477

    摘要： In one embodiment, a robotic surgery system comprises a handheld manipulator configured to be manually moved in a global coordinate system relative to the bone, the handheld manipulator comprising a bone cutting tool comprising an end effector portion, a frame assembly, and a motion compensation assembly movably coupled to the frame assembly and bone cutting tool. A controller may be operatively coupled to the manipulator and configured to operate one or more actuators within the frame assembly to cause the motion compensation assembly to automatically move relative to the frame assembly to defeat aberrant movement of the bone cutting tool that would place the end effector portion of the tool out of a desired bone cutting envelope that is based at least in part upon one or more images of the bone, while allowing the bone cutting tool to continue cutting one or more portions of the bone.

    摘要翻译： 在一个实施例中，机器人手术系统包括被配置为相对于骨头在全局坐标系中手动移动的手持操纵器，所述手持操纵器包括骨切割工具，所述骨切割工具包括端部执行器部分，框架组件和运动补偿组件 可移动地联接到框架组件和骨切割工具。 控制器可以可操作地耦合到操纵器并且被配置为在框架组件内操作一个或多个致动器，以使运动补偿组件相对于框架组件自动移动，以抵消骨切割工具的异常运动，该位移终端执行器 至少部分地基于骨的一个或多个图像，同时允许骨切割工具继续切割骨的一个或多个部分，将期望的骨切割外壳的部分从期望的骨切割外壳移出。