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公开(公告)号：US07662128B2
公开(公告)日：2010-02-16
申请号：US10737958
申请日：2003-12-18
CPC分类号： A61B10/04 , A61B17/3478 , A61B2010/045 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00867 , A61B2017/3413
摘要： The invention relates to a needle guidance system provided by a needle with a steerable tip. The needle has a cannula and a stylet. The stylet adjacent to its tip has a naturally curved portion. The stylet is movable in two degrees of freedom with respect to the cannula—axial translation and axial rotation with respect to the cannula axis. When extended, the stylet curves off-axis and provides cannula tip steering. Driving and/or steering systems may be provided to the orientation and relatively move the stylet.
摘要翻译： 本发明涉及由具有可转向尖端的针提供的针引导系统。 针头有插管和探针。 与其尖端相邻的探针具有自然弯曲部分。 探针相对于插管轴向平移和相对于插管轴线的轴向旋转的两个自由度可移动。 探针延伸时，探针离轴弯曲并提供套管尖端转向。 驾驶和/或转向系统可以被提供到取向并相对移动探针。
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公开(公告)号：US06373466B1
公开(公告)日：2002-04-16
申请号：US09756524
申请日：2001-01-09
IPC分类号： G09G508
摘要： A joystick composed of a stator formed by an outer cage forming an inner cubic compartment containing an inner cube oriented with its wall spaced from and substantially parallel corresponding wall of the compartment. Opposed magnets are position in cooperating relationship on opposed walls of the compartment and cube and define a gap therebetween. A floater formed by a plurality of flat actuating coils, one positioned in each gap and each thinner than the width of the gap in which it is received. Preferably the ratio of coil thickness to gap width is at least 1:3. Preferably an optical position sensor is used to monitor the relative position of the flotor and stator and is composed of at least one linear light position sensor mounted on one of the stator and flotor and a plurality of planar light beams arranged at an angle to each other on the other of the stator and flotor and directed to the linear light position sensor(s) so that the light beams traverse the linear light position sensor(s).
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公开(公告)号：US08029445B2
公开(公告)日：2011-10-04
申请号：US11705084
申请日：2007-02-12
IPC分类号： A61B8/00
CPC分类号： G01S7/52034 , G01S15/8906 , G01S15/8995
摘要： A method and apparatus for processing ultrasonic image signals is disclosed. The method involves receiving a plurality of input sample values representing reflected sound waves in a ultrasonic system, exponentiating each input sample to produce a plurality of respective exponentiated sample values, conditioning the exponentiated sample values to produce conditioned exponentiated sample values for receipt by an imageformer, and causing the imageformer to produce an image representing the ultrasonic sound waves in response to the conditioned exponentiated sample values.
摘要翻译： 公开了一种用于处理超声波图像信号的方法和装置。 所述方法包括在超声系统中接收表示反射声波的多个输入样本值，使每个输入样本指数化，以产生多个相应的取幂样本值，调整所述取幂样本值，以产生由图像形成器接收的经调整的指数样本值， 并且使所述图像形成器响应于所述经调节的指数样本值而产生表示所述超声波的图像。
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4.发明申请公开(公告)号：US20100160778A1
公开(公告)日：2010-06-24
申请号：US12611736
申请日：2009-11-03
IPC分类号： A61B8/00
CPC分类号： A61B8/485 , A61B8/00 , A61B8/13 , A61B8/587 , G01S15/8977
摘要： Described herein are a method and apparatus for determining viscoelastic parameters of a tissue. A vibration signal is applied to the tissue and displacements at a plurality of locations within the tissue are measured at a plurality of times. The viscoelastic parameters of the tissue, including elasticity and viscosity, can then be determined by fitting a finite element model of the tissue to the vibration signal and the measured displacements and by solving for the viscoelastic parameters of the model. A value for density of each element of the model is selected and the absolute values for the viscoelastic parameters of each of the elements in the model is determined. Alternatively, the difference in relaxation-times between two locations within the tissue can be determined from the difference in phases of the strains at the two locations.
摘要翻译： 这里描述了一种用于确定组织的粘弹性参数的方法和装置。 对组织施加振动信号，并且在多次测量组织内的多个位置处的位移。 然后可以通过将组织的有限元模型与振动信号和测量的位移拟合并通过求解模型的粘弹性参数来确定组织的粘弹性参数，包括弹性和粘度。 选择模型的每个元素的密度值，并确定模型中每个元素的粘弹性参数的绝对值。 或者，可以根据两个位置处的菌株的相位差来确定组织内两个位置之间的松弛时间差。
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公开(公告)号：US5919148A
公开(公告)日：1999-07-06
申请号：US625400
申请日：1996-03-27
申请人： Alexei J. Marko , James A. McEwen , Brian Day , Michael Jameson , Septimiu E. Salcudean , Peter D. Lawrence
发明人： Alexei J. Marko , James A. McEwen , Brian Day , Michael Jameson , Septimiu E. Salcudean , Peter D. Lawrence
IPC分类号： A61B5/0488 , A61B5/103 , A61B5/11
CPC分类号： A61B5/4528 , A61B5/0488 , A61B5/1036 , A61B5/1071 , A61B5/6824 , A61B5/6831 , A61B5/702
摘要： Apparatus for evaluating the stability of the shoulder joint of a human subject includes a rotatable, elbow-holding assembly that has sensors and associated processing components for producing an indication of the rotational angle of the long axis of the humerus of the subject relative to a reference. Sensors measure muscle activity as the humerus is rotated. Changes in the muscle activity measurement are processed to produce an indication of the changes in the subject's apprehension as the humerus is moved. The apparatus may include a clock that indicates the times when muscle activity occurs. The levels of muscle activity may be recorded at different times and indicated to the operator. Pressure can be applied in a direction normal to the long axis of the humerus, and sensors produce an indication of the level of the applied pressure and corresponding apprehension of the subject. Also available is an indication of the level of muscle activity that occurs when such pressure is applied.
摘要翻译： 用于评估人类受试者的肩关节的稳定性的装置包括可旋转的弯头保持组件，其具有传感器和相关联的处理部件，用于产生对象的肱骨长轴相对于参考的旋转角度的指示 。 当肱骨旋转时，传感器测量肌肉活动。 处理肌肉活动测量的变化，以产生肱骨被移动时受试者的忧虑变化的指示。 该装置可以包括指示肌肉活动发生的时间的时钟。 可以在不同时间记录肌肉活动的水平并向操作者指示。 压力可以在垂直于肱骨长轴的方向上施加，并且传感器产生所施加的压力水平和相应的对象的理解的指示。 也可以使用施加这种压力时发生的肌肉活动水平的指示。
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6.发明授权Motion scaling tele-operating system with force feedback suitable for microsurgery 失效具有力反馈的运动缩放远程操作系统适用于显微外科手术
公开(公告)号：US5382885A
公开(公告)日：1995-01-17
申请号：US103653
申请日：1993-08-09
申请人： Septimiu E. Salcudean , Joseph Yan
发明人： Septimiu E. Salcudean , Joseph Yan
CPC分类号： B25J9/1615 , A61B34/70 , A61B34/76 , A61B34/77 , B25J3/04 , B25J9/06 , B25J9/126 , A61B2090/064 , G05B2219/36429 , G05B2219/40138 , G05B2219/40144 , G05B2219/40181 , G05B2219/40268 , G05B2219/40297 , G05B2219/45123
摘要： A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.
摘要翻译： 适用于微手术应用的机器人由具有位置可调自由端的机器人手臂形成，其上以固定关系将它们各自的定子安装在主机和从机器人上。 主（主浮动）的移动元件和从动件（从动浮子）的移动元件的位置和动作用于耦合它们的时刻，使得主浮动体运动和力被缩小并跟随从动件 从动浮子运动和力量被放大并跟随着主人。 可以使用从站浮动器上感测到的环境强度和主站上感测到的手（环境）力来改善主站和从站之间的协调。
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公开(公告)号：US09155520B2
公开(公告)日：2015-10-13
申请号：US13525183
申请日：2012-06-15
申请人： Caitlin Marie Schneider , Septimiu E. Salcudean , Robert N. Rohling , Christopher Yee Chaung Nguan
发明人： Caitlin Marie Schneider , Septimiu E. Salcudean , Robert N. Rohling , Christopher Yee Chaung Nguan
CPC分类号： A61B8/12 , A61B6/5247 , A61B8/4218 , A61B8/4455
摘要： An intra-operative ultrasound probe for use with a robotic and laparoscopic surgical systems that allows for direct surgeon control over the position and orientation of the ultrasound image is presented. The transducer is designed to interface with the laparoscopic grasper so that it is easy to pick up in a locking, self-aligning and repeatable manner. The transducer is tracked in space using either forward kinematics or electromagnetic sensing, allowing multiple 2D images to be combined in order to create 3D ultrasound volumes. The 3D volumes can be further processed and displayed on the surgeon's console, or used to register and display acquired pre-operative images at the correct spatial location within the patient.
摘要翻译： 提供了一种与机器人和腹腔镜手术系统一起使用的术中超声探头，其允许对超声图像的位置和取向进行直接外科医生控制。 传感器被设计成与腹腔镜抓取器接口，使得其以锁定，自对准和可重复的方式容易地拾取。 传感器使用正向运动学或电磁感测在空间中跟踪，允许组合多个2D图像，以创建3D超声波体积。 3D体积可以进一步处理并显示在外科医生的控制台上，或用于在患者体内的正确空间位置注册和显示所获取的术前图像。
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公开(公告)号：US07731661B2
公开(公告)日：2010-06-08
申请号：US10963795
申请日：2004-10-14
IPC分类号： A61B8/00
CPC分类号： A61B5/0051 , A61B8/08 , A61B8/0825 , A61B8/485 , A61B8/488 , G01S7/52042 , G01S15/895 , G01S15/8977
摘要： An imaging system comprises a device to excite mechanical waves in elastic tissue, a device for measuring the resulting tissue motion at a plurality of locations interior to the tissue at a number of time instances, a computing device to calculate the mechanical properties of tissue from the measurements, and a display to show the properties according to their location. A parameter identification method for calculating the mechanical properties is based on fitting a lumped dynamic parametric model of the tissue dynamics to their measurements. Alternatively, the mechanical properties are calculated from transfer functions computed from measurements at adjacent locations in the tissue. The excitation can be produced by mechanical vibrators, medical needles or structures supporting the patient. The measurements may be performed by a conventional ultrasound imaging system and the resulting properties displayed as semi-transparent overlays on the ultrasound images.
摘要翻译： 一种成像系统包括用于激发弹性组织中的机械波的装置，用于在多个时间范围内在组织内部的多个位置处测量所得到的组织运动的装置，用于计算来自组织的组织的机械性质的计算装置 测量和显示，以根据其位置显示属性。 用于计算机械性能的参数识别方法基于将组织动力学的集总动态参数模型拟合到其测量。 或者，根据从组织中相邻位置处的测量计算的传递函数计算机械性质。 激发可以由机械振动器，医用针或支撑患者的结构产生。 测量可以由常规的超声成像系统执行，并且所得到的属性在超声图像上显示为半透明覆盖。
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公开(公告)号：US06425865B1
公开(公告)日：2002-07-30
申请号：US09330598
申请日：1999-06-11
IPC分类号： A61B0800
CPC分类号： A61B8/4218 , A61B8/06 , A61B8/0875 , A61B8/4245 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/77 , A61B2090/064 , A61B2090/066 , A61B2090/506
摘要： A system for medical ultrasound in which the ultrasound probe is positioned by a robot arm under the shared control of the ultrasound operator and the computer is proposed. The system comprises a robot arm design suitable for diagnostic ultrasound, a passive or active hand-controller, and a computer system to co-ordinate the motion and forces of the robot and hand-controller as a function of operator input, sensed parameters and ultrasound images.
摘要翻译： 一种医用超声波系统，其中超声波探头由机器人手臂在超声操作者和计算机的共同控制下定位。 该系统包括适合于诊断超声的机器人臂设计，被动或主动的手动控制器，以及计算机系统，用于根据操作员输入，感测参数和超声波来协调机器人和手控制器的运动和力量 图片。
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公开(公告)号：US06339969B1
公开(公告)日：2002-01-22
申请号：US09584201
申请日：2000-05-31
IPC分类号： B25J1100
CPC分类号： B25J17/0266 , B25J9/0048 , B25J9/106 , B25J9/1065 , Y10T74/20305 , Y10T74/20329
摘要： A pair of five-bar mechanisms having their pivotal axes parallel are each mounted at one end to a base and are interconnected at their other ends by a crankshaft to obtain a manipulator generating three degrees of freedom planar motion of an end-effector. Redundant actuation may be used to generate an unlimited rotation range and an extensible link in the crankshaft may be used to provide adjustable torque capabilities during operation.
摘要翻译： 一对具有平行的枢转轴的五杆机构的一端分别安装在基座上，并在其另一端通过曲轴相互连接，以获得产生端部执行器的三自由度平面运动的操纵器。 可以使用冗余致动来产生无限旋转范围，并且可以使用曲轴中的可伸缩连杆来在操作期间提供可调节的扭矩能力。
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