公开(公告)号：US08632064B2

公开(公告)日：2014-01-21

申请号：US12503727

申请日：2009-07-15

申请人： J. Kenneth Salisbury, Jr. ,  Joan Savall

发明人： J. Kenneth Salisbury, Jr. ,  Joan Savall

IPC分类号： B23Q1/25 ,  B25B1/22 ,  B23Q3/18

CPC分类号： A61B19/22 ,  A61B17/00234 ,  A61B34/70 ,  A61B90/50 ,  A61B2017/00544 ,  A61B2017/00876 ,  A61F11/004 ,  B25J17/0275 ,  B25J19/0004 ,  F16C11/10

摘要： A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded.Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint. The first joint may have two portions separated by a gas cushion, the first joint allowing the end effector to be movable with respect to the base. The method may further comprise manually positioning the end effector, and removing the gas cushion to cause the two joint portions to contact each other, thereby locking the end effector in the precise location in which it was positioned.

摘要翻译： 公开了一种定位系统，其具有基座，手动可移动的端部执行器和插入在基座和端部执行器之间的第一接头。 第一关节可以包括通过磁吸引而联接在一起的近端部分和远端部分，并且构造成被加压气体垫间断地分开。 第一接头可以构造成在可移动状态和固定状态之间是可变的。 在可移动状态下，近端部分和远端部分被加压气垫隔开，并且可相对于彼此移动。 在固定状态下，近端部分和远端部分彼此接触，从而阻碍相对运动。 精确定位末端执行器的方法可以包括提供具有基座，远离基部的第一关节以及远离第一关节的末端执行器的装置。 第一关节可以具有由气垫隔开的两个部分，第一关节允许末端执行器相对于基部移动。 该方法可以进一步包括手动地定位末端执行器，以及移除气垫以使两个关节部分彼此接触，从而将末端执行器锁定在其定位的精确位置。

公开(公告)号：US20110137322A1

公开(公告)日：2011-06-09

申请号：US12959704

申请日：2010-12-03

申请人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

发明人： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

公开(公告)号：US20110102434A1

公开(公告)日：2011-05-05

申请号：US12869975

申请日：2010-08-27

申请人： Christopher Tarr ,  J. Kenneth Salisbury, JR. ,  Thomas Harold Massie ,  Walter A. Aviles

发明人： Christopher Tarr ,  J. Kenneth Salisbury, JR. ,  Thomas Harold Massie ,  Walter A. Aviles

IPC分类号： G09G5/00

CPC分类号： G06T15/00

摘要： A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation. The method includes creating a haptic process having the haptic interactive representation, associating a callback with the haptic process, connecting to a second process which interacts with the haptic process and associating the callback which is associated with the haptic process with the second process. The method further includes requesting the callback by the second process, and returning, by the haptic process through the callback to the second process, at least one parameter associated with the haptic interactive representation.

摘要翻译： 一种用于生成触觉交互表示的方法，包括以下步骤：使用多个底层构造来定义触觉交互空间并构建使用在所述触觉交互空间内的分层结构。 在一个实施例中，该方法包括通过生成触觉交互来确定要施加给用户的力，感测用户在实际空间中的位置，响应于用户的位置来确定触觉交互空间中的触觉界面位置 确定虚拟对象是否与触觉界面位置相冲突。 本发明还涉及一种用于与触觉交互表示相互作用的方法。 该方法包括创建具有触觉交互表示的触觉过程，将回调与触觉过程相关联，连接到与触觉过程相互作用的第二进程并将与触觉进程相关联的回调与第二进程相关联。 该方法还包括请求第二进程的回调，并且通过触觉处理通过回调向第二进程返回与触觉交互表示相关联的至少一个参数。

公开(公告)号：US20100105984A1

公开(公告)日：2010-04-29

申请号：US12603387

申请日：2009-10-21

申请人： Reuben Brewer ,  J. Kenneth Salisbury, JR. ,  Kevin E. Loewke ,  David B. Camarillo

发明人： Reuben Brewer ,  J. Kenneth Salisbury, JR. ,  Kevin E. Loewke ,  David B. Camarillo

IPC分类号： A61B1/00

CPC分类号： A61B1/05 ,  A61B1/00158 ,  A61B34/73 ,  A61M25/0127

摘要： A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.

摘要翻译： 用于引导身体内的医疗器械的磁力控制系统包括：联接到医疗器械的受控磁体; 在受控磁体上施加磁力的控制器磁体; 放置在受控磁体和控制器磁体之间的磁导屏蔽，通过重新路由磁场线来选择性地调制磁力; 和控制系统。 一种利用磁力控制在身体内引导医疗器具的方法包括：提供耦合到医疗器械的受控磁体，将受控磁体和医疗器械插入体内，在身体外部提供控制器磁体，放置导磁屏蔽 在受控磁体和控制器磁体之间，施加磁力，并且用屏蔽件选择性地调制磁力以改变磁力的振幅和取向中的至少一个，从而将受控磁体引导到主体内。

公开(公告)号：US20080218514A1

公开(公告)日：2008-09-11

申请号：US11968474

申请日：2008-01-02

申请人： Christopher Tarr ,  J. Kenneth Salisbury ,  Thomas Harold Massie ,  Walter A. Aviles

发明人： Christopher Tarr ,  J. Kenneth Salisbury ,  Thomas Harold Massie ,  Walter A. Aviles

IPC分类号： G06T17/00 ,  G06T15/00

CPC分类号： G06T15/00

摘要： A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation. The method includes creating a haptic process having the haptic interactive representation, associating a callback with the haptic process, connecting to a second process which interacts with the haptic process and associating the callback which is associated with the haptic process with the second process. The method further includes requesting the callback by the second process, and returning, by the haptic process through the callback to the second process, at least one parameter associated with the haptic interactive representation.

摘要翻译： 一种用于生成触觉交互表示的方法，包括以下步骤：使用多个底层构造来定义触觉交互空间并构建使用在所述触觉交互空间内的分层结构。 在一个实施例中，该方法包括通过生成触觉交互来确定要施加给用户的力，感测用户在实际空间中的位置，响应于用户的位置来确定触觉交互空间中的触觉界面位置 确定虚拟对象是否与触觉界面位置相冲突。 本发明还涉及一种用于与触觉交互表示相互作用的方法。 该方法包括创建具有触觉交互表示的触觉过程，将回调与触觉过程相关联，连接到与触觉过程相互作用的第二进程并将与触觉进程相关联的回调与第二进程相关联。 该方法还包括请求第二进程的回调，并且通过触觉处理通过回调向第二进程返回与触觉交互表示相关联的至少一个参数。

公开(公告)号：US07370896B2

公开(公告)日：2008-05-13

申请号：US11019808

申请日：2004-12-20

申请人： Perry Anderson ,  J. Efraín Alcorta ,  Scott DeWinter ,  Joel Jensen ,  J. Kenneth Salisbury, Jr. ,  Eliot Leonard Wegbreit

发明人： Perry Anderson ,  J. Efraín Alcorta ,  Scott DeWinter ,  Joel Jensen ,  J. Kenneth Salisbury, Jr. ,  Eliot Leonard Wegbreit

IPC分类号： B25J15/10

CPC分类号： B25J15/08 ,  B25J15/0009 ,  B25J15/0028

摘要： A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

摘要翻译： 机器人手包括具有手指和手掌的基座。 手指定义工作量。 手能够通过改变从手掌到工作体积的距离来掌握手指和手掌之间的物体。 通过将手掌向工作体积移动或通过将工作体积朝向手掌移动，可以实现不同的距离。 移动手掌的机器人手包括将手掌从基部延伸到工作体积的致动器。 相对于手掌移动工作体积的机械手将手指安装到被配置为相对于底座平移的公共手指支撑单元。

公开(公告)号：US07363198B2

公开(公告)日：2008-04-22

申请号：US10016661

申请日：2001-10-29

申请人： Remis Balaniuk ,  Ivan F. Costa ,  J. Kenneth Salisbury, Jr.

发明人： Remis Balaniuk ,  Ivan F. Costa ,  J. Kenneth Salisbury, Jr.

IPC分类号： G06F17/10

CPC分类号： G06T17/20 ,  G06F17/5018

摘要： Long Elements Method (LEM) for real time physically based dynamic simulation of deformable objects. The LEM is based on a new meshing strategy using long elements whose forms can be straight or arbitrary. The LEM implements a static solution for elastic global deformations of objects filled with fluid based on the Pascal's principle and volume conservation. The volumes are discretised in long elements, defining meshes one order of magnitude smaller than meshes based on tetrahedral or cubic elements. The LEM further combines static and dynamic approaches to simulate the same deformable medium, allowing modeling a three-dimensional internal state at any point inside the deforming medium from a reduced number of explicitly updated elements. Complex elastic and plastic deformations can be simulated in real time with less computational effort. The LEM is particularly useful in real time virtual interactions, soft tissue modeling, and graphic and haptic rendering.

摘要翻译： 长元素方法（LEM）用于实时物理基础上的可变形物体的动态模拟。 LEM基于使用长元素的新的网格划分策略，其形式可以是直的或任意的。 基于Pascal原理和体积守恒，LEM为填充液体的物体弹性全局变形实现了静态解决方案。 体积以长元素离散化，将网格定义为基于四面体或立方体元素的网格小一个数量级。 LEM进一步组合静态和动态方法来模拟相同的可变形介质，允许在变形介质内的任何点从建立更少数量的明确更新的元素建模三维内部状态。 复杂的弹性和塑性变形可以实时模拟，计算量少。 LEM在实时虚拟交互，软组织建模和图形和触觉渲染中特别有用。

公开(公告)号：US07316681B2

公开(公告)日：2008-01-08

申请号：US11243730

申请日：2005-10-04

申请人： Akhil J. Madhani ,  J. Kenneth Salisbury

发明人： Akhil J. Madhani ,  J. Kenneth Salisbury

IPC分类号： A61B17/00 ,  B25J17/00 ,  B25J17/02

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B17/29 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2939 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/104 ,  Y10T74/20329 ,  Y10T74/20335

摘要： An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

摘要翻译： 一种用于增强微创外科手术的表现的关节式手术器械。 仪器具有高灵敏度，低摩擦，低惯性和良好的力反射。 独特的电缆和滑轮驱动系统可以减少摩擦和增强力反射。 与标准腹腔镜手术相比，独特的手腕机构可以增强手术灵敏度。 该系统经过优化，可以减少执行器的数量，从而生成最小尺寸的全功能关节式手术器械。

公开(公告)号：US07225404B1

公开(公告)日：2007-05-29

申请号：US10055565

申请日：2001-10-26

申请人： Craig B. Zilles ,  J. Kenneth Salisbury, Jr. ,  Thomas H. Massie ,  David Lawrence Brock ,  Mandayam A. Srinivasan ,  Hugh B. Morgenbesser

发明人： Craig B. Zilles ,  J. Kenneth Salisbury, Jr. ,  Thomas H. Massie ,  David Lawrence Brock ,  Mandayam A. Srinivasan ,  Hugh B. Morgenbesser

IPC分类号： G06F3/01 ,  G06F3/02 ,  G06F3/03 ,  G06F3/033 ,  G06F17/10

CPC分类号： G06F3/01 ,  G06F3/011 ,  G06F3/016

摘要： A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects.

摘要翻译： 一种用于确定通过触觉界面施加到用户的力的方法和装置。 该方法包括以下步骤：在图形空间中生成对象的表示，感测用户在实际空间中的位置，并响应于用户的触觉界面和用户的基准对象计算应用于用户的力。 用户的基准对象表示如果触觉界面不能穿透虚拟对象的表面，则用户的触觉界面将位于图形空间中的位置。

公开(公告)号：US06714839B2

公开(公告)日：2004-03-30

申请号：US09398507

申请日：1999-09-17

申请人： J. Kenneth Salisbury, Jr. ,  Akhil J. Madhani ,  Gary S. Guthart ,  Günter D. Niemeyer ,  Eugene F. Duval

发明人： J. Kenneth Salisbury, Jr. ,  Akhil J. Madhani ,  Gary S. Guthart ,  Günter D. Niemeyer ,  Eugene F. Duval

IPC分类号： G06F1900

CPC分类号： B25J3/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/76 ,  B25J9/1615 ,  B25J9/1643 ,  Y10S128/923

摘要： The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.

摘要翻译： 本发明提供一种用于机器人手术技术和其他应用的输入装置。 输入装置具有由具有冗余自由度的关节的连杆支撑的手柄，其中关节可以比手柄至少一个以上自由度移动。 主动地驱动联动装置的至少一个关节，以防止连接件接近联合系统的奇异点，关节的运动限制等，并且还可以将联动装置驱动到可自由铰接的构造。 在一个实施例中，机器人主控制器包括支撑具有这种冗余连杆的万向架的臂组件，其中臂主要将万向架定位在三维控制器工作空间中，并且万向架以四个旋转自由度将手臂连接到手柄。 还可以提供一个或多个附加自由度来驱动手柄。