公开(公告)号：US11135028B2

公开(公告)日：2021-10-05

申请号：US15771689

申请日：2016-10-31

申请人： CHILDREN'S NATIONAL MEDICAL CENTER

发明人： Peter C. Kim ,  Justin D. Opfermann ,  Axel Krieger

IPC分类号： A61B34/37 ,  B25J9/14 ,  B25J15/10 ,  B25J15/12 ,  A61B17/02 ,  A61B17/28 ,  A61B34/00 ,  A61B90/00 ,  A61B17/29 ,  A61B17/32 ,  A61B17/00 ,  A61B1/313

摘要： A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.

公开(公告)号：US09220570B2

公开(公告)日：2015-12-29

申请号：US13931371

申请日：2013-06-28

申请人： Children's National Medical Center

发明人： Peter C. Kim ,  Axel Krieger ,  Yonjae Kim ,  Azad Shademan ,  Simon Leonard

IPC分类号： A61B19/00 ,  A61B17/04 ,  A61B17/128 ,  A61B17/064 ,  A61B17/11

CPC分类号： A61B19/2203 ,  A61B17/0469 ,  A61B17/0643 ,  A61B17/1285 ,  A61B34/30 ,  A61B34/32 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/1103 ,  A61B2017/1132 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/258 ,  A61B2090/363 ,  A61B2090/397

摘要： Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

摘要翻译： 这里描述了一种在手术和介入医疗过程中自动化子任务的装置和方法。 该设备包括机器人定位平台，具有自动化程序的操作系统和用于在监督自主下执行任务的末端执行器工具。 操作系统基于一个或两个或多个成像模式的融合执行自动化程序，指导在非结构化环境中实时跟踪移动和可变形目标，而末端执行器工具执行需要精确度，准确度的外科介入子任务， 机动性和重复性。 该设备和方法使这些医疗程序更加高效和有效，从而允许更广泛的访问和更加标准化的结果，并提高安全性。