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    System and method of pervasive developmental disorder interventions
    1.
    发明授权
    System and method of pervasive developmental disorder interventions 有权

    公开(公告)号：US10176725B2

    公开(公告)日：2019-01-08

    申请号：US13598066

    申请日：2012-08-29

    申请人： Gregory S. Fischer ,  Hao Su ,  Laurie Dickstein-Fischer ,  Kevin Harrington ,  Elizabeth V. Alexander

    发明人： Gregory S. Fischer ,  Hao Su ,  Laurie Dickstein-Fischer ,  Kevin Harrington ,  Elizabeth V. Alexander

    IPC分类号： G09B19/00

    摘要： Methods and systems for observing/analyzing interactive behavior are presented. In one instance, the method for observing/analyzing interactive behavior includes interacting, using a robot, with a subject and obtaining data from interaction between the subject and the robot, the data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot includes data acquisition components, interaction inducing components (such as, but not limited to, movable eyelids, movable appendages, sound generating components), a control component operatively connected to the interaction inducing components and a processing component operatively connected to the control component and the data acquisition components, the processing component being configured to obtain data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot is integrated with a computer-aided system for diagnosis, monitoring, and therapy.

    SYSTEM AND METHOD FOR UNDERACTUATED CONTROL OF INSERTION PATH FOR ASYMMETRIC TIP NEEDLES
    2.
    发明申请
    SYSTEM AND METHOD FOR UNDERACTUATED CONTROL OF INSERTION PATH FOR ASYMMETRIC TIP NEEDLES 审中-公开
    用于不对称提示针的插入路径的系统和方法

    公开(公告)号：US20140107569A1

    公开(公告)日：2014-04-17

    申请号：US14056205

    申请日：2013-10-17

    申请人： Gregory S. Fischer ,  Hao Su

    发明人： Gregory S. Fischer ,  Hao Su

    IPC分类号： A61M25/01

    CPC分类号： A61M25/0152 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/301 ,  A61B2034/302 ,  A61M5/3287 ,  A61M5/46 ,  A61M25/0116 ,  A61M2005/3289 ,  A61M2205/50

    摘要： A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. The present teaching describes a method and system for controlling needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion

    摘要翻译： 针转向系统和装置提供针插入路径的主动，半自主控制，同时仍然使临床医生能够最终控制针插入。 本教导描述了当针插入时通过精确控制针在插入期间连续旋转的旋转而插入针的方法和系统。 这使得能够通过单个旋转致动器对针的方向和曲率进行2度自由度（DOF）的不足动作。 因此，旋转运动的控制与针插入分离。 旋转运动控制转向方向和方向，而插入则控制针深度或插入速度。 在一个实施方案中，所提出的方法不需要恒速插入，交错插入和旋转，或已知的插入位置或速度。 插入可以由机器人或其他自动化方法提供，可以是手动插入，或者可以是远程操作的插入

    SYSTEM AND METHOD OF PERVASIVE DEVELOPMENTAL DISORDER INTERVENTIONS
    3.
    发明申请
    SYSTEM AND METHOD OF PERVASIVE DEVELOPMENTAL DISORDER INTERVENTIONS 审中-公开
    严重发展障碍干预的系统与方法

    公开(公告)号：US20130078600A1

    公开(公告)日：2013-03-28

    申请号：US13598066

    申请日：2012-08-29

    申请人： Gregory S. Fischer ,  Hao Su ,  Laurie Dickstein-Fischer ,  Kevin Harrington ,  Elizabeth V. Alexander

    发明人： Gregory S. Fischer ,  Hao Su ,  Laurie Dickstein-Fischer ,  Kevin Harrington ,  Elizabeth V. Alexander

    IPC分类号： G09B19/00

    CPC分类号： G09B19/00

    摘要： Methods and systems for observing/analyzing, interactive behavior are presented. In one instance, the method for observing/analyzing interactive behavior includes interacting, using a robot, with a subject and obtaining data from interaction between the subject and the robot, the data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot includes data acquisition components, interaction inducing components (such as, but not limited to, movable eyelids, movable appendages, sound generating components), a control component operatively connected to the interaction inducing components and a processing component operatively connected to the control component and the data acquisition components, the processing component being configured to obtain data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot is integrated with a computer-aided system for diagnosis, monitoring, and therapy.

    摘要翻译： 介绍了观察/分析，交互行为的方法和系统。 在一个实例中，用于观察/分析交互行为的方法包括使用机器人与主体进行交互，并从主体和机器人之间的交互获取数据，来自数据采集组件的数据，用于诊断的数据和/ 或制图进度。 在一个实例中，机器人包括数据采集部件，相互作用诱导部件（例如但不限于可移动的眼睑，可动附件，声音产生部件），可操作地连接到相互作用诱导部件的控制部件和可操作地连接的处理部件 所述处理部件被配置为从所述数据获取部件获取数据，所述数据被用于诊断和/或绘制进度。 在一个实例中，机器人与用于诊断，监测和治疗的计算机辅助系统集成。

    APPARATUS AND METHODS FOR MRI-COMPATIBLE HAPTIC INTERFACE
    4.
    发明申请
    APPARATUS AND METHODS FOR MRI-COMPATIBLE HAPTIC INTERFACE 审中-公开
    用于MRI兼容性界面的装置和方法

    公开(公告)号：US20120265051A1

    公开(公告)日：2012-10-18

    申请号：US13508800

    申请日：2010-11-09

    申请人： Gregory S. Fischer ,  Hao Su

    发明人： Gregory S. Fischer ,  Hao Su

    IPC分类号： A61B5/055 ,  G01L1/24

    CPC分类号： A61B10/0241 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B90/11 ,  A61B2090/064 ,  A61B2090/374

    摘要： In one embodiment, the system of these teachings includes a master robot/haptic device providing haptic feedback to and receiving position commands from an operator, a robot controller receiving position information and providing force information to the master robot/haptic device, a navigation component receiving images from an MRI scanner, the navigation component providing trajectory planning information to the robot controller, a slave robot driving a needle, the slave robot receiving control information from the robot MRI controller, and a fiberoptic sensor operatively connected to the slave robot; the fiberoptic sensor providing data to the robot controller; the data being utilized by the robot controller to provide force information to the master robot/haptic device. In one instance, the present teachings include a fiberoptic force sensor and an apparatus for integrating the fiberoptic sensor into a teleoperated MRI-compatible surgical system. Methods for use are disclosed.

    摘要翻译： 在一个实施例中，这些教导的系统包括主机器人/触觉装置，其向操作者提供触觉反馈并且接收来自操作者的位置命令，机器人控制器接收位置信息并向主机器人/触觉装置提供力信息，导航部件接收 来自MRI扫描仪的图像，导航部件向机器人控制器提供轨迹规划信息，从动机器人驱动针，从机器人接收来自机器人MRI控制器的控制信息，以及可操作地连接到从机器人的光纤传感器; 光纤传感器向机器人控制器提供数据; 由机器人控制器利用的数据向主机器人/触觉装置提供力信息。 在一个实例中，本教导包括光纤力传感器和用于将光纤传感器集成到远程操作的MRI兼容手术系统中的装置。 公开了使用方法。