公开(公告)号：US20140360305A1

公开(公告)日：2014-12-11

申请号：US14299082

申请日：2014-06-09

申请人： The Johns Hopkins University

发明人： Kevin Olds ,  Russell H. Taylor

IPC分类号： B25J15/00 ,  B23B31/02

CPC分类号： B25J15/0019 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2017/00876 ,  B23B31/28 ,  B25J15/0441 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T279/23

摘要： The present invention is directed to a tool holder for use with a surgical robot. The tool holder includes, a rotor fixed to the tool shaft, and a stator fixed to the robot. The stator includes a magnet, and a bearing surface. The rotor includes a magnetic material that attaches securely to the tool shaft, such that the tool is in the center of the rotor. The rotor rotates against the bearing surface on the stator, allowing the tool to rotate about its axis. To exchange tools, the user exerts force on the tool until the holding force of the magnet is exceeded and the tool detaches from the stator. A new tool is introduced into the vicinity of the stator such that the magnet attracts the magnetic material on the rotor. The present invention eliminates the need to slide the tool through a shaft of the tool holder.

摘要翻译： 本发明涉及一种与外科手术机器人一起使用的刀架。 工具架包括固定在工具轴上的转子和固定在机器人上的定子。 定子包括磁体和支承面。 转子包括牢固地附接到工具轴的磁性材料，使得工具位于转子的中心。 转子抵靠定子上的支承表面旋转，允许工具绕其轴线旋转。 为了更换工具，用户对工具施加力，直到超过磁体的保持力，并且工具与定子分离。 将新工具引入定子附近，使得磁体吸引转子上的磁性材料。 本发明消除了将刀具滑过刀架的轴的需要。

公开(公告)号：US20140039261A1

公开(公告)日：2014-02-06

申请号：US13957145

申请日：2013-08-01

申请人： The Johns Hopkins University

发明人： Jin Ung Kang ,  Mingtao Zhao ,  Ishan Ann Tsay ,  Russell H. Taylor

IPC分类号： A61B19/00

CPC分类号： A61B90/37 ,  A61B90/10 ,  A61B2090/3735

摘要： An optical coherence tomography (OCT) system for real-time surgical guidance includes an optical source, an optical fiber configured to be optically coupled to the optical source, a plurality of OCT sensor heads configured to be optically coupled to the optical fiber, an optical detector configured to be optically coupled to the optical fiber, a signal processor configured to communicate with the optical detector to receive detected signals therefrom, and a display system configured to receive OCT image signals from the signal processor and to display an OCT image of at least a portion of a surgical region of interest in real time to provide surgical guidance. The plurality of OCT sensor heads includes a bulk sensor head configured to image at least a portion of the surgical region of interest from an external imaging position and an endoscopic sensor head configured to be inserted into the surgical region of interest to image at least a portion of the surgical region of interest from an internal imaging position. The bulk sensor head and the endoscopic sensor head are at least one of separate exchangeable sensor heads or a reconfigurable sensor head.

摘要翻译： 用于实时手术引导的光学相干断层摄影（OCT）系统包括光源，被配置为光学耦合到光源的光纤，被配置为光耦合到光纤的多个OCT传感器头，光学 检测器，被配置为光学耦合到光纤，信号处理器，被配置为与光检测器通信以从其接收检测到的信号;以及显示系统，被配置为从信号处理器接收OCT图像信号并且显示至少一个OCT图像 一部分手术感兴趣区域实时提供手术指导。 所述多个OCT传感器头包括构造成从外部成像位置对感兴趣的外科手术区域的至少一部分进行成像的体传感器头部，以及构造成插入到感兴趣的外科手术区域中的内窥镜传感器头部，用于对至少一部分进行成像 的内窥镜位置的感兴趣的手术区域。 体传感器头和内窥镜传感器头是分离的可更换传感器头或可重新配置的传感器头中的至少一个。

公开(公告)号：US20200155244A1

公开(公告)日：2020-05-21

申请号：US16625944

申请日：2018-06-27

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Yunuscan Sevimli ,  Russell H. Taylor

IPC分类号： A61B34/30 ,  A61B90/98

摘要： The present invention is directed to a device for allowing universal surgical tool exchange. The device of the present invention includes a tool-side adapter and a robot-side adapter that combine the benefits of a robot in the operating room (OR) with a system that has minimal impact on the current surgical workflow. The device of the present invention allows surgeons to preserve their natural grip on the surgical tool, creates a reliable and repeatable connection between the tool and the robot, and allows the user to rapidly swap the tools in and out from the surgical robot using a single-handed motion. A unique RFID tag and receiver is embedded in the tool-side adapter and the robot-side adapter, respectively to allow the robot to identify the tool that has been engaged. The present invention is universally applicable to any robotic system that is intended to hold a set of hand instruments.

公开(公告)号：US10368720B2

公开(公告)日：2019-08-06

申请号：US14548948

申请日：2014-11-20

申请人： The Johns Hopkins University

发明人： Kevin C. Olds ,  Tae Soo Kim ,  Russell H. Taylor ,  Austin Reiter

IPC分类号： A61B1/04 ,  A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B1/07

摘要： A system for stereo reconstruction from a monoscopic endoscope includes an image pick-up element at a distal end thereof and a working channel defined by a body of the monoscopic endoscope. The system comprises a light patterning component configured to be disposed within the working channel such that a light emitting end of the light patterning component will be fixed with a defined relative distance from the distal end of the image pick-up element. The system also includes a data processor adapted to be in communication with the image pick-up element. The light patterning component forms a pattern of light that is projected onto a region of interest. The data processor receives an image signal of the region of interest that includes the pattern, and determines a distance from the endoscope to the region of interest based on the image signal and based on the defined relative distance.

公开(公告)号：US10226304B2

公开(公告)日：2019-03-12

申请号：US14970177

申请日：2015-12-15

申请人： The Johns Hopkins University

发明人： Iulian Iordachita ,  Hao Liu ,  Mehran Armand ,  Russell H. Taylor ,  Amirhossein Farvardin

IPC分类号： A61B34/30 ,  G01B11/24 ,  G01B11/16 ,  A61B34/00 ,  A61B34/35 ,  A61B34/20

摘要： A shape sensor system includes a deflection sensor comprising an optical fiber having at least one fiber Bragg grating (FBG) written therein and a substrate, the fiber being attached to the substrate with a selected bias distance from a neutral plane of the deflection sensor. The system further includes an optical source coupled to the fiber to provide input light to be at least partially reflected by the FBG, and an optical detection and processing system arranged to receive at least a portion of the output light and to determine a wavelength shift resulting from a change of an amount of deflection of the deflection sensor. The optical detection and processing system determines a relative amount of deflection of the deflection sensor at the FBG based on the wavelength shift. The selected bias distance is selected based on an expected range of deflection angles to be detected.

公开(公告)号：US10039530B2

公开(公告)日：2018-08-07

申请号：US14973823

申请日：2015-12-18

申请人： The Johns Hopkins University

发明人： Russell H. Taylor ,  Iulian Iordachita ,  Jin U. Kang ,  Xuan Liu

IPC分类号： A61B17/00 ,  A61F9/007 ,  A61B19/00 ,  A61B17/34 ,  A61B17/30 ,  G01J3/26 ,  A61B90/00 ,  A61B34/20

摘要： A surgical tool system according to an embodiment of the current invention includes a surgical tool, and an interferometry system optically coupled to the surgical tool. The surgical tool includes a body section, a sensor section at least one of attached to or integral with the body section, and a surgical section at least one of attached to or integral with the sensor section at an opposing end of the sensor section from the body section. The sensor section comprises an interferometric optical sensor defining a reference distance that changes in response to at least one of a force or a torque when applied to the surgical section of the surgical tool.

公开(公告)号：US20180042680A1

公开(公告)日：2018-02-15

申请号：US15725271

申请日：2017-10-04

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University c/o Johns Hopkins Technology Transfer

发明人： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC分类号： A61B8/12 ,  A61B1/00 ,  A61B8/00 ,  A61B17/00

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 a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render 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.

公开(公告)号：US20180000548A1

公开(公告)日：2018-01-04

申请号：US15213189

申请日：2016-07-18

申请人： The Johns Hopkins University

发明人： Kevin C. Olds ,  Russell H. Taylor

IPC分类号： A61B34/35 ,  B25J9/00 ,  B25J13/08 ,  B25J9/16 ,  A61B34/30

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B2034/304 ,  B25J9/0051 ,  B25J9/0072 ,  B25J9/1689 ,  B25J13/085

摘要： A mechanical translation apparatus includes a translation stage and a translation assembly operatively connected to the translation stage so as to impart linear motions to the translation stage substantially free of rotational motions. The translation assembly includes a plurality of at least three arms pivotably connected to the translation stage at a first end of each arm of the plurality of at least three arms. The mechanical translation apparatus also includes a base assembly in which each arm of the plurality of at least three arms is also rotationally connected to the base assembly at a second end of each arm. Each arm of the plurality of at least three arms includes three rigid elongate structures arranged substantially parallel and non-coplanar with respect to each other so as to act in cooperation to cancel torques so that substantially purely linear motion is imparted to the translation stage by the plurality of at least three arms, and the translation assembly constrains motion of the translation stage to be substantially purely translational motion free of rotational motion. A robot includes the mechanical translation apparatus.

公开(公告)号：US20170128041A1

公开(公告)日：2017-05-11

申请号：US15413380

申请日：2017-01-23

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B8/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/00 ,  A61B34/37

CPC分类号： A61B34/37 ,  A61B1/3132 ,  A61B8/00 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B8/461 ,  A61B34/25 ,  A61B34/30 ,  A61B34/70 ,  A61B34/76 ,  A61B90/03 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00203 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/378

摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US20170042730A1

公开(公告)日：2017-02-16

申请号：US15237347

申请日：2016-08-15

申请人： The Johns Hopkins University

发明人： Xingchi He ,  Iulian Iordachita ,  Yuki Horise ,  Russell H. Taylor ,  Peter L. Gehlbach

IPC分类号： A61F9/007 ,  A61B34/37 ,  G09B19/24 ,  A61B90/00 ,  A61B90/30 ,  A61B17/00 ,  A61B34/30 ,  A61B34/35

CPC分类号： A61F9/00736 ,  A61B3/10 ,  A61B17/00234 ,  A61B17/29 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/06 ,  A61B90/30 ,  A61B2017/00022 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/306 ,  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.

摘要翻译： 手术系统提供至少一个手术工具的免提控制，包括具有工具连接器的机器人，附接到机器人的工具连接器的智能工具，以及配置为与智能工具通信以提供反馈控制的反馈控制系统 的机器人。 智能工具包括具有工具轴的工具，该工具轴具有远端和近端，应变传感器布置在沿工具轴的第一位置处，第二应变传感器或转矩力传感器中的至少一个布置在 所述第二位置比所述第一位置更靠近所述工具轴的近端;以及信号处理器，被配置为与所述应变传感器和所述第二应变传感器或所述扭矩传感器中的至少一个通信， 力传感器从其接收检测信号。 信号处理器被配置为当施加的力的位置在第一和第二位置之间时，处理检测信号以确定施加到工具轴的力的横向分量的大小和位置。 当所施加的力的位置在第一和第二位置之间时，反馈系统控制机器人至少响应于施加到工具轴的力的侧向分量的大小和位置而移动，以便抵消施加的力 到所述工具轴，从而提供对所述至少一个外科手术工具的免提控制。