公开(公告)号：US20130079711A1

公开(公告)日：2013-03-28

申请号：US13595643

申请日：2012-08-27

申请人： Archana Appukuttan Nair ,  Kevin C. Olds ,  Russell H. Taylor

发明人： Archana Appukuttan Nair ,  Kevin C. Olds ,  Russell H. Taylor

IPC分类号： A61B1/005

CPC分类号： A61B1/0052 ,  A61B1/00066 ,  A61B1/008 ,  A61B1/2676

摘要： An endoscope manipulation adapter includes a support frame having a first end configured to be rigidly fixed relative to a handpiece of a flexible endoscope, and a manipulation assembly arranged at a second end of the support frame. The manipulation assembly defines a channel for at least one of a flexible endoscope shaft or a flexible endoscope insertion component to traverse through in an axial direction to assist in manipulating the at least one of the flexible endoscope shaft or the flexible endoscope insertion component during use of the flexible endoscope.

摘要翻译： 内窥镜操纵适配器包括：支撑框架，其具有构造成相对于柔性内窥镜的手持件刚性地固定的第一端，以及布置在支撑框架的第二端处的操纵组件。 操作组件限定用于柔性内窥镜轴或柔性内窥镜插入部件中的至少一个的通道，以沿轴向方向穿过，以在使用期间帮助操纵柔性内窥镜轴或柔性内窥镜插入部件中的至少一个 柔性内窥镜。

公开(公告)号：US20160143509A1

公开(公告)日：2016-05-26

申请号：US14548948

申请日：2014-11-20

申请人： Kevin C. Olds ,  Tae Soo Kim ,  Russell H. Taylor ,  Austin Reiter

发明人： Kevin C. Olds ,  Tae Soo Kim ,  Russell H. Taylor ,  Austin Reiter

IPC分类号： A61B1/00 ,  A61B1/07 ,  A61B1/06 ,  A61B1/05 ,  A61B1/012

CPC分类号： A61B1/00009 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/0684 ,  A61B1/07

摘要： According to some embodiments of the present invention, a system for stereo reconstruction from a monoscopic endoscope is provided. The monoscopic endoscope comprising an image pick-up element at a distal end thereof and a working channel defined by a body of the monoscopic endoscope. The working channel provides a port at the distal end of the monoscopic endoscope. The system for stereo reconstruction comprises a light patterning component configured to be disposed within the working channel of the monoscopic endoscope such that a light emitting end of the light patterning component will be fixed with a defined relative distance from the distal end of the image pick-up element. The system for stereo reconstruction also includes a data processor adapted to be in communication with the image pick-up element. The light patterning component forms a pattern of light that is projected onto a region of interest. The data processor is configured to receive an image signal of the region of interest that includes the pattern, and determine a distance from the endoscope to the region of interest based on the image signal and based on the defined relative distance between the light emitting end of the light patterning component and the distal end of the image pick-up element.

摘要翻译： 根据本发明的一些实施例，提供了一种用于从单视镜内窥镜立体重建的系统。 该单视镜内窥镜包括其远端处的摄像元件和由单视镜内窥镜的主体限定的工作通道。 工作通道在单镜内窥镜的远端提供一个端口。 用于立体重建的系统包括：光图案形成部件，被配置为设置在单视野内窥镜的工作通道内，使得光图案形成部件的发光端以与图像拾取器的远端限定的相对距离固定， up元素。 用于立体声重建的系统还包括适于与图像拾取元件通信的数据处理器。 光图案形成部件形成投射到感兴趣区域上的光图案。 数据处理器被配置为接收包括图案的感兴趣区域的图像信号，并且基于图像信号确定从内窥镜到感兴趣区域的距离，并且基于图像信号的发光端之间的限定的相对距离 光图案形成部件和图像拾取元件的远端。

公开(公告)号：US20160096271A1

公开(公告)日：2016-04-07

申请号：US14506878

申请日：2014-10-06

申请人： Russell H. Taylor ,  Kevin C. Olds ,  Guillaume Arvin

发明人： Russell H. Taylor ,  Kevin C. Olds ,  Guillaume Arvin

IPC分类号： B25J9/16

CPC分类号： B25J9/1628 ,  B25J9/1694 ,  Y10S901/09 ,  Y10S901/46

摘要： According to some embodiments of the present invention, a cooperatively-controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor. The cooperatively-controlled robot further includes a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an actuator in communication with the control system and mechanically coupled to a tool. The force sensor is configured to detect a vibrational force applied on the tool and send a signal to the control system based on the vibrational force. The control system is configured to receive the signal and determine a force to apply to the tool to damp the vibrational force. The control system then signals to the actuator to apply the determined force, and the actuator applies the determined force to actively damp a vibration of the tool.

摘要翻译： 根据本发明的一些实施例，协同控制的机器人包括机器人致动器组件，其包括工具保持器和力传感器。 协同控制的机器人还包括适于与机器人致动器组件和力传感器通信的控制系统，以及与控制系统通信并机械地联接到工具的致动器。 力传感器被配置为检测施加在工具上的振动力，并且基于振动力将信号发送到控制系统。 控制系统被配置为接收信号并且确定施加到工具的力以阻尼振动力。 控制系统然后向致动器发出信号以施加确定的力，并且致动器施加确定的力以主动地阻尼该工具的振动。

公开(公告)号：US20120065470A1

公开(公告)日：2012-03-15

申请号：US13232617

申请日：2011-09-14

申请人： Kevin C. Olds ,  Russell H. Taylor ,  Jeremy D. Richmon

发明人： Kevin C. Olds ,  Russell H. Taylor ,  Jeremy D. Richmon

IPC分类号： A61B1/04 ,  A61B1/00

CPC分类号： A61B1/00149 ,  A61B1/0055 ,  A61B34/30 ,  A61B2034/301

摘要： A robotic system for steerable tip endoscopes includes a support arm, an endoscope gripping assembly rotatably connected to the support arm by a rotation assembly, and a translation assembly operatively connected to the support arm. The endoscope gripping assembly is configured to grip any one of a plurality of differently structured endoscopes, the translation assembly is configured to move the support arm along a linear direction to thereby move an endoscope when held by the endoscope gripping assembly along an axial direction, and the rotation assembly is configured to rotate the endoscope along a longitudinal axis of rotation.

摘要翻译： 用于可转向尖端内窥镜的机器人系统包括支撑臂，通过旋转组件可旋转地连接到支撑臂的内窥镜夹持组件和可操作地连接到支撑臂的平移组件。 所述内窥镜夹持组件被配置为夹持多个不同结构的内窥镜中的任何一个，所述平移组件被构造成沿着线性方向移动所述支撑臂，从而沿着轴向被所述内窥镜夹持组件保持时移动内窥镜，并且 旋转组件构造成沿着纵向旋转轴线旋转内窥镜。