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    MEDICAL ROBOTIC SYSTEM WITH FUNCTIONALITY TO DETERMINE AND DISPLAY A DISTANCE INDICATED BY MOVEMENT OF A TOOL ROBOTICALLY MANIPULATED BY AN OPERATOR
    51.
    发明申请
    MEDICAL ROBOTIC SYSTEM WITH FUNCTIONALITY TO DETERMINE AND DISPLAY A DISTANCE INDICATED BY MOVEMENT OF A TOOL ROBOTICALLY MANIPULATED BY AN OPERATOR 有权
    具有功能的医疗机器人系统用于确定和显示由操作者手动操作的工具的运动所指示的距离

    公开(公告)号：US20090171371A1

    公开(公告)日：2009-07-02

    申请号：US11964215

    申请日：2007-12-26

    申请人： THOMAS R. NIXON ,  Margaret M. Nixon ,  William C. Nowlin

    发明人： THOMAS R. NIXON ,  Margaret M. Nixon ,  William C. Nowlin

    IPC分类号： A61B19/00 ,  G05B19/00

    CPC分类号： A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/061 ,  A61B2090/0811

    摘要： A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.

    摘要翻译： 医疗机器人系统具有确定和显示由操作者机器人操作的一个或多个工具的移动所指示的距离的信息的功能。 使用感测到的一个或多个工具的机器人操纵来确定距离。 距离的信息显示在监视器上，以便与工具的移动和/或位置可视地相关联，例如与监视器上的一个或多个工具的图像一起或之间延伸的虚拟卷尺，或者作为 具有距离的虚拟标尺由指针指示。 或者，可以简单地在显示器上显示的数字读出中指示距离的信息，并且随着一个或多个工具的移动而持续更新距离。

    Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
    52.
    发明申请
    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：US20070142823A1

    公开(公告)日：2007-06-21

    申请号：US11479144

    申请日：2006-06-30

    申请人： Giuseppe M. Prisco ,  David Q. Larkin ,  William C. Nowlin

    发明人： Giuseppe M. Prisco ,  David Q. Larkin ,  William C. Nowlin

    IPC分类号： A61B17/00

    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。

    Fiducial marker design and detection for locating surgical instrument in images
    53.
    发明授权
    Fiducial marker design and detection for locating surgical instrument in images 有权
    基准标记设计和检测，用于定位手术器械在图像中

    公开(公告)号：US09526587B2

    公开(公告)日：2016-12-27

    申请号：US12428657

    申请日：2009-04-23

    申请人： Tao Zhao ,  Wenyi Zhao ,  Daniel J. Halabe ,  Brian D. Hoffman ,  William C. Nowlin

    发明人： Tao Zhao ,  Wenyi Zhao ,  Daniel J. Halabe ,  Brian D. Hoffman ,  William C. Nowlin

    IPC分类号： A61B5/05

    CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/3937 ,  A61B2090/3983

    摘要： The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.

    摘要翻译： 本公开涉及使用来自一个或多个位于工具的参考特征的图像衍生数据进行工具跟踪的系统，方法和工具。 一种方法包括：捕获包括定义第一标记的多个特征的工具的第一图像，其中第一标记的至少一个特征包括识别特征; 通过处理第一图像确定第一标记的位置; 通过处理所述第一图像来使用所述至少一个识别特征来确定所述第一标记的识别; 以及通过使用所述位置和所述第一标记的识别来确定所述工具的工具状态。

    Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator
    54.
    发明授权
    Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator 有权
    具有功能的医疗机器人系统，用于确定和显示由操作者机器人操作的工具的移动所指示的距离

    公开(公告)号：US08473031B2

    公开(公告)日：2013-06-25

    申请号：US11964215

    申请日：2007-12-26

    申请人： Thomas R. Nixon ,  Margaret M. Nixon ,  William C. Nowlin

    发明人： Thomas R. Nixon ,  Margaret M. Nixon ,  William C. Nowlin

    IPC分类号： A61B5/05

    CPC分类号： A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/061 ,  A61B2090/0811

    摘要： A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.

    摘要翻译： 医疗机器人系统具有确定和显示由操作者机器人操作的一个或多个工具的移动所指示的距离的信息的功能。 使用感测到的一个或多个工具的机器人操纵来确定距离。 距离的信息显示在监视器上，以便与工具的移动和/或位置可视地相关联，例如与监视器上的一个或多个工具的图像一起或之间延伸的虚拟卷尺，或者作为 具有距离的虚拟标尺由指针指示。 或者，可以简单地在显示器上显示的数字读出中指示距离的信息，并且随着一个或多个工具的移动而持续更新距离。

    Automated panning and digital zooming for robotic surgical systems
    55.
    发明授权
    Automated panning and digital zooming for robotic surgical systems 有权
    机器人手术系统的自动平移和数字变焦

    公开(公告)号：US08155479B2

    公开(公告)日：2012-04-10

    申请号：US12058663

    申请日：2008-03-28

    申请人： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

    发明人： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

    IPC分类号： G06K9/36

    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。

    Stereo telestration for robotic surgery
    57.
    发明授权
    Stereo telestration for robotic surgery 有权
    用于机器人手术的立体声远程化

    公开(公告)号：US07907166B2

    公开(公告)日：2011-03-15

    申请号：US11322866

    申请日：2005-12-30

    申请人： Ben Lamprecht ,  William C. Nowlin ,  John D. Stern

    发明人： Ben Lamprecht ,  William C. Nowlin ,  John D. Stern

    IPC分类号： H04N13/00 ,  A61B1/00 ,  G09G5/00

    CPC分类号： A61B1/3132 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/371

    摘要： In one embodiment of the invention, a robotic surgical system includes a master control console having a stereo viewer to view stereo images; a surgical manipulator having a stereo endoscopic camera coupled to a robotic arm to generate the stereo images of a surgical site; a stereo telestration device coupled between the stereo endoscopic camera and the stereo viewer to mix telestration graphics and the stereo images of the surgical site together for viewing by the stereo viewer; and a telestration generator coupled to the stereo telestration device to generate the telestration graphics for overlay on the stereo images of the surgical site.

    摘要翻译： 在本发明的一个实施例中，机器人手术系统包括具有用于观看立体图像的立体观看者的主控制台; 外科手术器具有耦合到机器人臂的立体声内窥镜照相机以产生手术部位的立体图像; 耦合在立体声内窥镜相机和立体观看器之间的立体远距离放置装置，以将远程图像和外科手术部位的立体图像混合在一起，以便立体观看者观看; 以及耦合到立体远距离设备的远程发生发生器，以产生用于覆盖在手术部位的立体图像上的远程化图形。

    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT
    58.
    发明申请
    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT 有权
    用于远程微型外科手术仪器的主对齐

    公开(公告)号：US20100332031A1

    公开(公告)日：2010-12-30

    申请号：US12495213

    申请日：2009-06-30

    申请人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    发明人： Brandon D. Itkowitz ,  Simon DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC分类号： G06F19/00

    CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    摘要翻译： 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。