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公开(公告)号：US11007023B2
公开(公告)日：2021-05-18
申请号：US16053049
申请日：2018-08-02
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
摘要： A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.
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公开(公告)号：US20160345929A1
公开(公告)日：2016-12-01
申请号：US15116561
申请日：2015-02-04
发明人： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC分类号： A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G06F19/00 , G16H40/63
摘要： A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
摘要翻译： 动态虚拟碰撞对象的系统和方法包括用于医疗设备的控制单元。 控制单元包括一个或多个处理器和将控制单元耦合到医疗设备的接口。 所述控制单元被配置为确定所述医疗设备的第一可移动段的位置，所述第一可移动段所占据的体积被一个或多个第一虚拟碰撞对象（VCO）近似; 基于医疗设备的位置和运动目标调整第一VCO的一个或多个属性; 基于位置和属性确定第一VCO的第一几何形状; 接收与第二设备的第二段相关联的一个或多个第二VCO的第二几何; 确定第一VCO和第二VCO之间的关系; 并根据关系调整医疗器械的运动计划。
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公开(公告)号：US20180235565A1
公开(公告)日：2018-08-23
申请号：US15956463
申请日：2018-04-18
发明人： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC分类号： A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G16H40/63
摘要： A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
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4.发明申请COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 有权图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免公开(公告)号：US20140163736A1
公开(公告)日：2014-06-12
申请号：US14101769
申请日：2013-12-10
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B19/2203 , A61B34/20 , A61B90/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2090/376 , A61B2090/378 , B25J9/1676 , B25J9/1697 , Y10S901/02 , Y10S901/47
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
摘要翻译： 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。
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公开(公告)号：US10376335B2
公开(公告)日：2019-08-13
申请号：US15575603
申请日：2015-09-10
发明人： Mahdi Azizian , Lutz Blohm , Holger Kunze , Christine Niebler , Jonathan Sorger
摘要： In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.
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6.发明授权Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms 有权图像捕获装置和可操纵装置可移动臂的受控运动期间的碰撞避免公开(公告)号：US09259282B2
公开(公告)日：2016-02-16
申请号：US14101769
申请日：2013-12-10
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B19/2203 , A61B34/20 , A61B90/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2090/376 , A61B2090/378 , B25J9/1676 , B25J9/1697 , Y10S901/02 , Y10S901/47
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
摘要翻译： 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。
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7.发明申请COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-公开图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免公开(公告)号：US20160008078A1
公开(公告)日：2016-01-14
申请号：US14862692
申请日：2015-09-23
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
CPC分类号： A61B34/30 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B19/2203 , A61B34/20 , A61B90/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2090/376 , A61B2090/378 , B25J9/1676 , B25J9/1697 , Y10S901/02 , Y10S901/47
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
摘要翻译： 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。
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公开(公告)号：US10849591B2
公开(公告)日：2020-12-01
申请号：US15956463
申请日：2018-04-18
发明人： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
摘要： A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
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公开(公告)号：US20180338804A1
公开(公告)日：2018-11-29
申请号：US16053049
申请日：2018-08-02
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
摘要： A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.
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公开(公告)号：US10064682B2
公开(公告)日：2018-09-04
申请号：US14862692
申请日：2015-09-23
发明人： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
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