-
公开(公告)号：US07524320B2
公开(公告)日：2009-04-28
申请号：US10316666
申请日：2002-12-10
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
-
公开(公告)号：US07048745B2
公开(公告)日：2006-05-23
申请号：US09929453
申请日：2001-08-13
申请人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
发明人： Michael J. Tierney , Thomas G. Cooper , Chris A. Julian , Stephen J. Blumenkranz , Gary S. Guthart , Robert G. Younge
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods relating to robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: (1) providing a signal verifying that the tool is compatible with that particular robotic system; (2) identifying the tool-type to the robotic system so that the robotic system can reconfigure the programming; or (3) indicating tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. Also provided are improved engagement structures for coupling robotic surgical tools with manipulator structures.
摘要翻译： 与机器人手术相关的机器人手术工具，系统和方法包括安装在工具上的存储器。 当工具装载在工具操纵器上时，存储器可以执行许多功能：（1）提供一个信号，以验证该工具是否与该特定机器人系统兼容; （2）识别机器人系统的工具类型，使机器人系统能重新配置编程; 或（3）指示刀具特定信息，包括指示刀具驱动系统的未对准的测量校准偏移，刀具寿命数据等。 该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。 还提供了用于将机器人手术工具与机械手结构相结合的改进的接合结构。
-
公开(公告)号：US06424885B1
公开(公告)日：2002-07-23
申请号：US09373678
申请日：1999-08-13
申请人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
发明人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K. Toth , Robert G. Younge
IPC分类号： G06F1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
摘要翻译： 增强的远程呈现和远程外科系统自动更新坐标变换，以便保持输入设备的移动和末端执行器与输入设备相邻显示的移动之间的对准。 处理器将控制器工作空间与端部执行器工作区映射，并且响应于输入设备的移动来影响末端执行器的移动。 这允许使用运动学上不同的主从联系。 在万向节附近抓住输入构件，并将适当的输入构件夹到末端执行器映射点，增强操作员的控制。 即使端部执行器的线性移动距离与输入装置的线性运动距离不对应，也可以通过精确跟踪取向和/或运动角度来提高敏捷性。
-
公开(公告)号：US10907956B2
公开(公告)日：2021-02-02
申请号：US13602921
申请日：2012-09-04
IPC分类号： A61B5/00 , G01B11/16 , A61B6/12 , A61B5/06 , A61B90/96 , A61B34/00 , A61B34/30 , A61B34/37 , A61B90/98 , A61B90/00 , A61B1/00 , G01L1/24 , A61B8/08 , A61B18/08 , A61B8/00 , A61B17/00 , A61B34/20 , A61M25/01
摘要： A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion.
-
公开(公告)号：US08515215B2
公开(公告)日：2013-08-20
申请号：US13073295
申请日：2011-03-28
IPC分类号： A61B1/07
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： A medical instrument system includes an elongate instrument body defining a longitudinal axis and capable of being twisted about its longitudinal axis and an optical fiber sensor coupled to the instrument body. A detector is operatively coupled to the optical fiber sensor and configured to detect respective light signals transmitted on the optical fiber sensor. A controller is operatively coupled to the detector and configured to determine a twist of a portion of the instrument body about its longitudinal axis based on an analysis of detected light signals.
摘要翻译： 医疗器械系统包括限定纵向轴线并能够围绕其纵向轴线扭转的细长器械主体和耦合到器械主体的光纤传感器。 检测器可操作地耦合到光纤传感器并且被配置为检测在光纤传感器上传输的各个光信号。 控制器可操作地耦合到检测器并且被配置为基于对检测到的光信号的分析来确定仪器主体的围绕其纵向轴线的一部分的扭转。
-
56.发明申请公开(公告)号：US20130085397A1
公开(公告)日：2013-04-04
申请号：US13603015
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal.
摘要翻译： 提供了包括光纤和控制器的仪器系统。 光纤耦合到患者的外部结构，并具有设置在其上的应变传感器。 控制器可操作地耦合到光纤并且适于从应变传感器接收信号并且基于该信号来确定患者的呼吸的特性。
-
公开(公告)号：US20130085333A1
公开(公告)日：2013-04-04
申请号：US13603114
申请日：2012-09-04
IPC分类号： A61B1/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is not directly coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and to the second optical fiber. The controller is adapted to receive a first signal from the first strain sensor and to receive a second signal from the second strain sensor. The first optical fiber has a different size than the second optical fiber.
摘要翻译： 提供一种包括细长体，第一光纤，第二光纤和控制器的仪器系统。 第一光纤可操作地耦合到细长主体并且具有设置在第一光纤上的第一应变传感器。 第二光纤不直接耦合到细长主体并且具有设置在第二光纤上的第二应变传感器。 控制器可操作地耦合到第一光纤和第二光纤。 控制器适于接收来自第一应变传感器的第一信号并且接收来自第二应变传感器的第二信号。 第一光纤具有与第二光纤不同的尺寸。
-
公开(公告)号：US20130085332A1
公开(公告)日：2013-04-04
申请号：US13603095
申请日：2012-09-04
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration.
摘要翻译： 提供一种包括几何配置的细长主体，光纤和控制器的仪器系统。 光纤可操作地耦合到细长主体并且具有设置在光纤上的应变传感器，其中光纤的至少一部分处于几何构型。 控制器可操作地耦合到光纤并且适于从除光纤之外的源接收指示几何配置的信息，从应变传感器接收信号，并将信号与几何配置相关联。
-
公开(公告)号：US20130085330A1
公开(公告)日：2013-04-04
申请号：US13602959
申请日：2012-09-04
IPC分类号： A61B1/00
CPC分类号： G01B11/16 , A61B1/00004 , A61B1/00013 , A61B1/00045 , A61B1/00057 , A61B1/00165 , A61B1/0017 , A61B5/0059 , A61B5/0064 , A61B5/06 , A61B5/065 , A61B5/066 , A61B5/4887 , A61B5/7285 , A61B6/12 , A61B8/00 , A61B8/48 , A61B18/082 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/39 , A61B90/96 , A61B90/98 , A61B2017/00725 , A61B2034/2061 , A61B2034/301 , A61B2034/715 , A61B2034/741 , A61B2090/374 , A61B2090/376 , A61B2090/378 , A61M2025/0166 , G01B11/165 , G01L1/242
摘要： An instrument system that includes an elongate body, a first optical fiber, a second optical fiber, and a controller is provided. The first optical fiber is operatively coupled to the elongate body and has a first strain sensor provided on the first optical fiber. The second optical fiber is operatively coupled to the elongate body and has a second strain sensor provided on the second optical fiber. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the first strain sensor and a second signal from the second strain sensor and to compare the first signal with the second signal.
摘要翻译： 提供一种包括细长体，第一光纤，第二光纤和控制器的仪器系统。 第一光纤可操作地耦合到细长主体并且具有设置在第一光纤上的第一应变传感器。 第二光纤可操作地耦合到细长主体并且具有设置在第二光纤上的第二应变传感器。 控制器可操作地耦合到第一光纤和第二光纤，并且适于接收来自第一应变传感器的第一信号和来自第二应变传感器的第二信号，并将第一信号与第二信号进行比较。
-
公开(公告)号：US08050523B2
公开(公告)日：2011-11-01
申请号：US12106254
申请日：2008-04-18
CPC分类号： G02B6/022 , A61B5/1076 , A61B5/6852 , A61B2017/00039 , A61B2017/00053 , A61B2034/2061 , A61B2090/067
摘要： A medical instrument system includes an elongate flexible instrument body with an optical fiber substantially encapsulated in a wall of the instrument body, the optical fiber including one or more fiber gratings. A detector is operatively coupled to the optical fiber and configured to detect respective light signals reflected by the one or more fiber gratings. A controller is operatively coupled to the detector, and configured to determine a twist of at least a portion of the instrument body based on detected reflected light signals. The instrument may be a guide catheter and may be robotically or manually controlled.
摘要翻译： 医疗仪器系统包括具有基本上封装在仪器主体的壁中的光纤的细长柔性仪器本体，所述光纤包括一个或多个光纤光栅。 检测器可操作地耦合到光纤并且被配置为检测由一个或多个光纤光栅反射的各个光信号。 控制器可操作地耦合到检测器，并且被配置为基于检测到的反射光信号来确定仪器主体的至少一部分的扭转。 仪器可以是引导导管，并且可以是机器人或手动控制的。
-
-
-
-
-
-
-
-
-
搜索结果
96 条记录 (耗时 0.049 秒)