-
公开(公告)号：US09289899B2
公开(公告)日：2016-03-22
申请号：US13808994
申请日：2011-05-31
CPC分类号： B25J9/16 , B25J9/1625 , B25J9/1635 , B25J15/12 , B25J18/06 , G05B2219/39186 , G05B2219/40279 , Y10S901/31
摘要： Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.
摘要翻译： 提供了用于控制连续机器人及其系统的方法。 在该系统和方法中，提供了一种新的方程式来控制弹性构件的形状和对机器人的弹性构件施加力的腱上的张力。 方程组可用于从施加到腱上的张力估计弹性构件的所得形状。 方程组也可用于估计肌腱达到目标形状所需的张力。
-
公开(公告)号：US08715226B2
公开(公告)日：2014-05-06
申请号：US13416772
申请日：2012-03-09
IPC分类号： A61M31/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.
摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的插管路径。
-
公开(公告)号：US20130018303A1
公开(公告)日：2013-01-17
申请号：US13416772
申请日：2012-03-09
IPC分类号： A61M25/092
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.
摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的套管路径。
-
公开(公告)号：US08152756B2
公开(公告)日：2012-04-10
申请号：US12084979
申请日：2006-11-15
IPC分类号： A61M31/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective preformed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译： 公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。 针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。 多个柔性管中的每一个基于它们各自预先形成的曲率和柔性来选择，使得给定的重叠构型使重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。 通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。
-
公开(公告)号：US20130131868A1
公开(公告)日：2013-05-23
申请号：US13808994
申请日：2011-05-31
CPC分类号： B25J9/16 , B25J9/1625 , B25J9/1635 , B25J15/12 , B25J18/06 , G05B2219/39186 , G05B2219/40279 , Y10S901/31
摘要： Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.
摘要翻译： 提供了用于控制连续机器人及其系统的方法。 在该系统和方法中，提供了一种新的方程式来控制弹性构件的形状和对机器人的弹性构件施加力的腱上的张力。 方程组可用于从施加到腱上的张力估计弹性构件的所得形状。 方程组也可用于估计肌腱达到目标形状所需的张力。
-
公开(公告)号：US20090171271A1
公开(公告)日：2009-07-02
申请号：US12084979
申请日：2006-11-15
IPC分类号： A61M5/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译： 公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。 针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。 多个柔性管中的每一个基于它们各自的预先形成的曲率和柔性来选择，使得给定的重叠配置导致重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。 通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。
-
-
-
-
-
搜索结果
6 条记录 (耗时 0.02 秒)