公开(公告)号：US20140066944A1

公开(公告)日：2014-03-06

申请号：US13813717

申请日：2011-08-02

Applicant: Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa

Inventor： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa

IPC: A61B19/00

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/0811 ,  B25J15/0466

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract translation: 用于协同控制的机器人的手术期间的用于工具交换的系统和方法包括用于接收适于由机器人和外科医生保持的外科手术工具的工具保持器，用于约束工具的向下运动的工具保持元件，同时允许小的力除去 来自保持器的手术工具，用于检测外科手术工具是否对接在刀架内的第一传感器，以及选择器，用于根据第一传感器检测到的信息，自动选择待执行刀架的不同移动或动作。 本发明的系统和方法通过提高刀具保持器可以在远离患者的方向移动的速度来提供经常缓慢移动的协作机器人的优点。

公开(公告)号：US09554864B2

公开(公告)日：2017-01-31

申请号：US13813717

申请日：2011-08-02

Applicant: Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa

Inventor： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa

IPC: A61B34/30 ,  B25J15/04 ,  A61B17/00

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/0811 ,  B25J15/0466

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract translation: 用于协同控制的机器人的手术期间的用于工具交换的系统和方法包括用于接收适于由机器人和外科医生保持的外科手术工具的工具保持器，用于约束工具的向下运动的工具保持元件，同时允许小的力除去 来自保持器的手术工具，用于检测外科手术工具是否对接在刀架内的第一传感器，以及选择器，用于根据第一传感器检测到的信息，自动选择待执行刀架的不同移动或动作。 本发明的系统和方法通过提高刀具保持器可以在远离患者的方向移动的速度来提供经常缓慢移动的协作机器人的优点。

公开(公告)号：US20140052150A1

公开(公告)日：2014-02-20

申请号：US13813727

申请日：2011-08-02

Applicant: Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

Inventor： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

IPC: A61B19/00 ,  A61B3/10 ,  A61B5/00 ,  A61F9/007

CPC classification number: A61B5/4836 ,  A61B3/102 ,  A61B5/7455 ,  A61B34/30 ,  A61B34/35 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00119 ,  A61B2034/2061 ,  A61B2034/303 ,  A61B2090/065 ,  A61B2090/066 ,  A61F9/007 ,  A61F9/00727

Abstract: A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation.

Abstract translation: 一种用于外科手术工具的协同控制的系统和方法，包括用于接收适于由机器人和外科医生保持的外科手术工具的工具夹具，用于基于操作者输入和/或刀尖力检测力的传感器，用于 基于检测到的力来限制机器人速度以提供触觉反馈;选择器，用于基于所检测到的施加的力自动选择多级音频反馈的一个级别，表示施加的力的相对强度的音频反馈，以及 用于将音频反馈与触觉反馈一起提供的音频设备。 音频反馈为外科医生提供了额外的信息，允许在手术期间施加较小的力。

公开(公告)号：US20130304258A1

公开(公告)日：2013-11-14

申请号：US13813738

申请日：2011-08-02

Applicant: Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

Inventor： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

IPC: A61B19/00

CPC classification number: A61B34/72 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/065 ,  A61F9/007 ,  B25J9/1689 ,  G05B19/423 ,  G05B2219/36432 ,  G05B2219/40064 ,  G05B2219/45123 ,  Y10S901/46

Abstract: A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

Abstract translation: 用于微力导向协同控制的方法和系统，其帮助操作者在最小阻力的方向上操纵组织。 工具架接收适于由机器人和外科医生保持的手术工具。 第一传感器测量手术工具的尖端和感兴趣区域的组织之间的相互作用力。 第二传感器测量外科医生与手术工具的手柄之间的相互作用力。 数据处理器被配置为执行算法以通过针对最小阻力的路径产生偏置并且限制外科手术工具的定向工具力作为手柄输入力和尖端力的函数来主动地引导手术工具。 该功能可帮助挑战性的视网膜剥离程序，这需要外科医生精细地分层脆性组织，由于不希望的力量而容易出血和撕裂。

公开(公告)号：US09662174B2

公开(公告)日：2017-05-30

申请号：US13813738

申请日：2011-08-02

Applicant: Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

Inventor： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

IPC: A61F9/007 ,  B25J9/16 ,  A61B19/00 ,  G05B19/423 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/72 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/065 ,  A61F9/007 ,  B25J9/1689 ,  G05B19/423 ,  G05B2219/36432 ,  G05B2219/40064 ,  G05B2219/45123 ,  Y10S901/46

Abstract: A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.