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公开(公告)号：US09418558B1
公开(公告)日：2016-08-16
申请号：US14224983
申请日：2014-03-25
Applicant: Miroslav Stamenkovich , Robert Alexander Greer
Inventor： Miroslav Stamenkovich , Robert Alexander Greer
CPC classification number: G08G3/02 , G01C21/00 , G01C21/203
Abstract: An Autonomous Collision Avoidance Navigation System comprising navigating a route between a first location and a second location using a route tracking algorithm, detecting an obstacle and the obstacle's bearing, speed, distance, and direction of travel with respect to ownship, determining whether a collision between the ownship and the obstacle is probable, reducing ownship speed when a collision distance is less than a predetermined distance, determining a new heading using fuzzy logic and MCAD, and changing ownship course to the new heading, and to resume the route tracking algorithm when the obstacle is cleared from probably collision.
Abstract translation: 一种自主碰撞避免导航系统，包括使用路线跟踪算法，检测障碍物和障碍物的轴承，速度，距离和相对于自身的行进方向来导航第一位置和第二位置之间的路线，确定是否碰撞 自身和障碍是可能的，当碰撞距离小于预定距离时，减少自身速度，使用模糊逻辑和MCAD确定新航向，并将自身航向改为新航标，并且当航空器跟踪算法 障碍物从大概碰撞中清除。
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公开(公告)号：US08503759B2
公开(公告)日：2013-08-06
申请号：US12596397
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
CPC classification number: A61B19/5244 , A61B5/064 , A61B34/20 , A61B34/30 , A61B90/14 , A61B90/36 , A61B2034/207 , A61B2090/364 , A61B2090/374 , A61B2090/392 , A61B2090/3954
Abstract: Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.
Abstract translation: 用于实现患者对机器人的登记的方法，装置和系统，以促进图像引导的外科手术，例如立体定向程序。
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3.发明申请METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS 有权方法，装置和系统，用于非单一限制和/或编程单轴操作器工具的运动公开(公告)号：US20100198402A1
公开(公告)日：2010-08-05
申请号：US12596426
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
CPC classification number: A61B19/201 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/11 , A61B90/14 , A61B90/361 , A61B2017/00911 , A61B2034/101 , A61B2034/104 , A61B2034/107 , A61B2034/742 , A61B2090/374 , B25J3/04 , B25J9/1666 , B25J9/1671 , G05B2219/36432 , G05B2219/40128 , G05B2219/40399 , G05B2219/40418 , G05B2219/45117 , G06F19/3481
Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.
Abstract translation: 方法，装置（例如计算机可读介质）和用于沿着单个轴执行医疗机器人的工具的运动的系统（例如计算机系统），其通过电子地限制医疗机器人的运动以产生工具的运动而实现 而不是机械地限制医疗机器人的运动以产生单轴运动。 即使用户在单轴运动期间将其他轴上连接到医疗机器人的输入设备移动，该工具的运动也将沿着单个轴。 此外，公开了用于使单轴运动自动化的技术，使得其可以被编程为停止在目标位置并且在第二（例如，起始）位置处或附近开始，这对于诸如脑活检的过程是有用的， 乳房活检或植入，并且使得用户可以执行指令医疗机器人执行移动的命令，而不需要用户操纵输入设备以引起医疗机器人的实时响应的移动。
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公开(公告)号：US09492239B2
公开(公告)日：2016-11-15
申请号：US12596420
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding
IPC: A61B17/00
CPC classification number: A61B34/30 , A61B34/70 , A61B46/10 , A61B2017/00477 , A61B2034/305
Abstract: A device, system and method for interfacing between an end effector of a manipulator and a surgical tool. Embodiments may include an upper tool holder element and a lower tool holder element. Embodiments may also include a drape between the end effector and the manipulator. Embodiments may also include two force sensors and a coupling arranged in a force sensor system for use with an end effector that includes a tool roll driver.
Abstract translation: 一种用于在机械手的端部执行器和手术工具之间进行接口的装置，系统和方法。 实施例可以包括上部工具保持器元件和下部工具保持器元件。 实施例还可以包括在末端执行器和操纵器之间的悬垂。 实施例还可以包括两个力传感器和布置在力传感器系统中用于与包括工具辊驱动器的端部执行器一起使用的联接器。
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公开(公告)号：US08560118B2
公开(公告)日：2013-10-15
申请号：US12596426
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
CPC classification number: A61B19/201 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/11 , A61B90/14 , A61B90/361 , A61B2017/00911 , A61B2034/101 , A61B2034/104 , A61B2034/107 , A61B2034/742 , A61B2090/374 , B25J3/04 , B25J9/1666 , B25J9/1671 , G05B2219/36432 , G05B2219/40128 , G05B2219/40399 , G05B2219/40418 , G05B2219/45117 , G06F19/3481
Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.
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Patent Agency Ranking
公开(公告)号：US20100296723A1
公开(公告)日：2010-11-25
申请号：US12596397
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
IPC: G06K9/00
CPC classification number: A61B19/5244 , A61B5/064 , A61B34/20 , A61B34/30 , A61B90/14 , A61B90/36 , A61B2034/207 , A61B2090/364 , A61B2090/374 , A61B2090/392 , A61B2090/3954
Abstract: Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.
Abstract translation: 用于实现患者对机器人的登记的方法，装置和系统，以促进图像引导的外科手术，例如立体定向程序。
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7.发明申请METHODS, DEVICES, AND SYSTEMS FOR AUTMATED MOVEMENTS INVOLVING MEDICAL ROBOTS 有权涉及医疗机器人的自动移动的方法，设备和系统公开(公告)号：US20100174410A1
公开(公告)日：2010-07-08
申请号：US12596418
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
IPC: G05B19/402
CPC classification number: B25J9/1671 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/305 , G05B2219/36401 , G05B2219/40099 , G05B2219/40517 , G05B2219/45123
Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.
Abstract translation: 方法，用于使用机器人臂（例如被配置为用于执行外科手术的机器人臂）来定义和执行自动运动的装置（例如计算机可读介质）和系统（例如计算机系统），使得远程定位的外科医生 避免使机器人手臂通过诸如手动控制器的输入装置的移动来执行自动移动。
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公开(公告)号：US20140155735A1
公开(公告)日：2014-06-05
申请号：US13960711
申请日：2013-08-06
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook , Scott King , Calvin Bewsky , Jarod Matwiy , Boguslaw Tomanek , Mike Smith
CPC classification number: A61B5/064 , A61B34/20 , A61B34/30 , A61B90/14 , A61B90/36 , A61B2034/207 , A61B2090/364 , A61B2090/374 , A61B2090/392 , A61B2090/3954
Abstract: Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.
Abstract translation: 用于实现患者对机器人的登记的方法，装置和系统，以促进图像引导的外科手术，例如立体定向程序。
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9.发明授权Methods, devices, and systems for automated movements involving medical robots 有权涉及医疗机器人的自动移动的方法，装置和系统公开(公告)号：US08738181B2
公开(公告)日：2014-05-27
申请号：US12596418
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding , Perry Newhook
CPC classification number: B25J9/1671 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/305 , G05B2219/36401 , G05B2219/40099 , G05B2219/40517 , G05B2219/45123
Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.
Abstract translation: 方法，用于使用机器人臂（例如被配置为用于执行外科手术的机器人臂）来定义和执行自动运动的装置（例如计算机可读介质）和系统（例如计算机系统），使得远程定位的外科医生 避免使机器人手臂通过诸如手动控制器的输入装置的移动来执行自动移动。
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公开(公告)号：US20100286669A1
公开(公告)日：2010-11-11
申请号：US12596420
申请日：2008-04-16
Applicant: Alexander Greer , Garnette Sutherland , Tim Fielding
Inventor： Alexander Greer , Garnette Sutherland , Tim Fielding
CPC classification number: A61B34/30 , A61B34/70 , A61B46/10 , A61B2017/00477 , A61B2034/305
Abstract: A device, system and method for interfacing between an end effector of a manipulator and a surgical tool. Embodiments may include an upper tool holder element and a lower tool holder element. Embodiments may also include a drape between the end effector and the manipulator. Embodiments may also include two force sensors and a coupling arranged in a force sensor system for use with an end effector that includes a tool roll driver.
Abstract translation: 一种用于在机械手的端部执行器和手术工具之间进行接口的装置，系统和方法。 实施例可以包括上部工具保持器元件和下部工具保持器元件。 实施例还可以包括在末端执行器和操纵器之间的悬垂。 实施例还可以包括两个力传感器和布置在力传感器系统中用于与包括工具辊驱动器的端部执行器一起使用的联接器。
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