公开(公告)号：US07824424B2

公开(公告)日：2010-11-02

申请号：US11195494

申请日：2005-08-01

申请人： Joel F. Jensen ,  Philip S. Green

发明人： Joel F. Jensen ,  Philip S. Green

IPC分类号： A61B17/28

CPC分类号： B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

摘要： The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

摘要翻译： 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

公开(公告)号：US07248944B2

公开(公告)日：2007-07-24

申请号：US11360745

申请日：2006-02-22

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G06F19/00

CPC分类号： A61B1/00193 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/371 ,  B25J3/04 ,  B25J13/025 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

摘要翻译： 示出了具有远程呈现的远程操作员系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。 相机（46R和46L）从不同角度观看工作空间（30），用于在线（48 R和48 L）处产生立体信号输出。 响应于相机输出，产生三维的从上到下的反转图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。 在控制臂（76R和76L）附近产生虚拟图像（30V），其由操作者（18）在控制臂的方向上观察。 公开了使用远程手术器系统进行外科手术的方法。

公开(公告)号：US07006895B2

公开(公告)日：2006-02-28

申请号：US10974256

申请日：2004-10-26

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G06F19/00

CPC分类号： A61B1/00193 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/371 ,  B25J3/04 ,  B25J13/025 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator. (FIGS. 12 and 13.) Use of the teleoperator system for surgical procedures also is disclosed. (FIGS. 7–9 and FIG. 13.).

摘要翻译： 示出了具有远程呈现的远程操作员系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。 相机（46R和46L）从不同角度观看工作空间（30），用于在线（48 R和48 L）处产生立体信号输出。 响应于相机输出，产生三维的从上到下的反转图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。 在控制臂（76R和76L）附近产生虚拟图像（30V），其由操作者（18）在控制臂的方向上观察。 通过将工作空间图像（30V）定位在控制臂（76R和76L）附近，操作者具有由操纵臂（34R和34L）承载的末端执行器（40 R和40 L）和控制 臂（76R和76L）基本上是一体的。 控制臂（76 R和76 L）与末端执行器（40 R和40 L）之间的这种连接感为操作者提供了用手直接控制末端执行器的感觉。 通过定位相邻控制臂（244R和244L）的视觉显示（246），工作空间的图像（240 I）可由操作员直接查看。 （图12和图13）。还公开了用于外科手术的远程手术器系统的使用。 （图7-9和图13）。

公开(公告)号：US06223100B1

公开(公告)日：2001-04-24

申请号：US09047912

申请日：1998-03-25

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G05B1500

CPC分类号： A61B34/77 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B90/361 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/064 ,  B25J3/04 ,  B25J19/023 ,  H04N13/189 ,  H04N13/194 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N13/337 ,  H04N13/341 ,  H04N13/398

摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the and effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator. Use of the teleoperator system for surgical procedures also is disclosed.

摘要翻译： 示出了具有远程呈现的远程操作系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R）和左操纵器（24）的左右控制器（72R和72L）。 相机（46R和46L）从不同的角度观看工作空间（30），用于在线（48R和48L）处产生立体信号输出。 响应于相机输出，产生三维顶部到底部倒置图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。 在控制臂（76R和76L）附近产生虚拟图像（30V），由操作者（18）看到控制臂的方向。 通过将工作空间图像（30V）定位在与控制臂（76R和76L）相邻的位置，操作者具有由操纵臂（34R和34L）和控制臂（76R和76L）承载的末端执行器（40R和40L）和控制臂 基本一体。 控制臂（76R和76L）与末端执行器（40R和40L）之间的这种连接感为操作者提供了用手直接控制和执行器的感觉。 通过定位相邻控制臂（244R和244L）的视觉显示（246），工作空间的图像（240I）可由操作员直接查看。 公开了使用远程手术器系统进行外科手术的方法。

公开(公告)号：US5797835A

公开(公告)日：1998-08-25

申请号：US928777

申请日：1997-09-12

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B1/01 ,  A61B17/34 ,  A61B19/00 ,  A61B1/00

CPC分类号： A61B1/00066 ,  A61B1/00119 ,  A61B1/00147 ,  A61B17/3401 ,  A61B17/3403 ,  A61B17/3421 ,  A61B90/50 ,  A61B17/3417 ,  A61B2017/3447

摘要： In a system and method for use in endoscopy and endosurgery, at least one link is pivotally connected between first and second cannulas through which first and second endoscopic devices are inserted into a body part through first and second points of entry in the surface of the body part. Angular movement of the first device about the first point of entry induces angular movement of the second device about the second point of entry. When the first and second devices are respectively an endosurgical instrument and an endoscope, the field of view of the endoscope is caused to track the moving tip of the endosurgical instrument by proper adjustment of the linkage. Thereby, a surgeon may operate an endoscopic surgical instrument while, without conscious effort, the endoscope tracks the instrument tip. According to one embodiment, coupling members are utilized to connect to cannulas of existing design. Each coupling member comprises a structural member provided with means for pivotal coupling and a clasp mechanism rigidly attached to the structural member. Each cannula is inserted through, and thereupon tightly gripped by, the clasp mechanism prior to insertion of the cannula into the body part. Pivotal connections are made between the link member and the structural member. Linkage components of adjustable span and configuration enable effective tracking for endoscopic devices of differing designs. Means are provided to control the degree of insertion of the endoscope into the body part, either by manual operation or by a remotely controlled motor drive. Endoscope cables are supported by a cable support that substantially prevents the weight and drag of the endoscope cables from impeding the surgeon's dexterous use of the linked endosurgical instrument.

摘要翻译： 在用于内窥镜检查和内窥镜的系统和方法中，至少一个连杆枢转地连接在第一和第二插管之间，第一和第二内窥镜装置通过所述第一和第二插管通过身体表面中的第一和第二入口入口插入到主体部分中 部分。 第一装置围绕第一入口点的角运动引起第二装置围绕第二入口点的角运动。 当第一和第二装置分别是内科手术器械和内窥镜时，使得内窥镜的视野通过适当地调节连杆来跟踪内窥镜器械的移动尖端。 因此，外科医生可以操作内窥镜手术器械，同时在没有意识的情况下，内窥镜跟踪仪器尖端。 根据一个实施例，联接构件用于连接现有设计的插管。 每个联接构件包括设置有用于枢转联接的装置的结构构件和刚性地附接到结构构件的扣环机构。 在将套管插入身体部位之前，将每个插管插入通过扣紧机构紧紧地夹紧。 在连杆构件和结构构件之间进行枢转连接。 可调跨度和配置的连接部件可以有效地跟踪不同设计的内窥镜装置。 提供了通过手动操作或通过远程控制的电动机驱动来控制内窥镜插入体部的程度的装置。 内窥镜电缆由电缆支撑件支撑，其基本上防止内窥镜电缆的重量和阻力阻碍外科医生灵活地使用连接的内窥镜器械。

公开(公告)号：US5696837A

公开(公告)日：1997-12-09

申请号：US425965

申请日：1995-04-20

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： B25J3/00 ,  A61B17/00 ,  A61B19/00 ,  B25J3/04 ,  B25J7/00 ,  B25J9/16 ,  B25J19/02 ,  B25J19/04 ,  B65B5/06 ,  B65B35/50 ,  B65B57/20 ,  B65B59/00 ,  G03C1/005 ,  G03C1/09 ,  G06T1/00 ,  G06T3/00 ,  G06T17/40 ,  H04N13/00 ,  G06K9/00

CPC分类号： H04N13/0497 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/76 ,  B25J19/023 ,  B25J3/04 ,  B25J9/1689 ,  G06T1/0014 ,  G06T3/00 ,  H04N13/0239 ,  H04N13/0246 ,  H04N13/0296 ,  H04N13/0434 ,  H04N13/0438 ,  A61B17/00234 ,  A61B90/361 ,  G03C1/0053 ,  G05B2219/35506 ,  G05B2219/39389 ,  G05B2219/40158 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05B2219/45123 ,  H04N13/0055 ,  H04N13/0059

摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

摘要翻译： 在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器， 作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中， 与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和 操纵器就好像在真实的存在下查看工作空间。 根据本发明的图像变换包括平移，旋转和透视校正。

公开(公告)号：US4434662A

公开(公告)日：1984-03-06

申请号：US274282

申请日：1981-06-16

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G10K11/30 ,  G10K11/32 ,  G01N29/04

CPC分类号： G10K11/32 ,  G10K11/30

摘要： The ultrasound apparatus contains a focusing device such as a lens or lens system for focusing ultrasound waves. It also contains an ultrasound detector for receiving the focused ultrasound waves. The detector includes a number of elongated piezoelectric detector elements. The longitudinal axis of these elongated elements are curved. The focusing device is an astigmatic focusing device and has a first and a second focal plane. The ultrasound detector is positioned in one of these planes.

摘要翻译： 超声波装置包含聚焦装置，例如用于聚焦超声波的透镜或透镜系统。 它还包含用于接收聚焦超声波的超声波检测器。 检测器包括许多细长的压电检测元件。 这些细长元件的纵向轴线是弯曲的。 聚焦装置是散光聚焦装置，并且具有第一和第二焦平面。 超声检测器位于这些平面之一中。

公开(公告)号：US4129799A

公开(公告)日：1978-12-12

申请号：US644093

申请日：1975-12-24

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G10K11/32 ,  H04R17/00 ,  H01L41/10

CPC分类号： G10K11/32 ,  H04R17/00

摘要： Focused ultrasonic transducer means of the zone plate type are shown for producing a focused ultrasonic wave field without the need for lenses, reflectors, a curved transducer or the like, which transducer means are adapted for ultrasonic nondestructive testing and inspection, ultrasonic examination in diagnostic medicine, sonic heat generation, aerosol formation, and the like. Such transducer means, of course, may be used as a focused ultrasonic transducer receiver as well as a transmitting transducer. The transducer includes a uniformly poled cylindrical shaped body of electromechanically responsive material, such as a piezoelectric crystal, with electrodes formed at opposite parallel faces thereof. A pair of central axially aligned circular electrodes of different size are located on the opposite body faces, together with concentric different size annular electrodes which surround the central electrodes. The radii of the central and annular electrodes are of different lengths such that electrodes on one face overlap adjacent electrodes on the opposite face, with the radial width of the overlapping areas decreasing inversely with increased radial position such that substantially equal overlapping electrode areas are formed. Electrical connection is made between the smallest diameter inner electrode and largest diameter outer electrode such that the large inner circular electrode and annular electrodes function, electrically, as pairs of series-connected electrodes, each of opposite phase. This electrode arrangement, on a uniformly polarized transducer body, results in a transducer with adjacent active opposite polarity zones having opposite deformation, the number of zones being equal to one less than the total number of electrodes employed.

摘要翻译： 示出了聚焦超声波换能器的区域板型，用于产生聚焦超声波场，不需要透镜，反射器，弯曲换能器等，这些换能器装置适用于超声波无损检测和检查，诊断医学中的超声波检查 ，声发热，烟雾形成等。 当然，这样的传感器装置可以用作聚焦超声换能器接收器以及发射换能器。 换能器包括均匀极化的机电响应材料的圆柱形体，例如压电晶体，其电极形成在相对的平行面上。 一对中心轴向排列的不同大小的圆形电极位于相对的身体表面上，以及围绕中心电极的同心不同尺寸的环形电极。 中心和环形电极的半径具有不同的长度，使得一个面上的电极与相对面上的相邻电极重叠，重叠区域的径向宽度与增加的径向位置相反地减小，使得形成基本相等的重叠电极区域。 在最小直径的内部电极和最大直径的外部电极之间进行电连接，使得大的内部圆形电极和环形电极电连接作为成对的串联连接的电极，每个相反的相位。 在均匀极化的换能器主体上的这种电极布置导致具有相反变形的相邻有源相反极性区的换能器，所述区的数量等于比所使用的电极总数小1。

公开(公告)号：US4097835A

公开(公告)日：1978-06-27

申请号：US724416

申请日：1976-09-20

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： G01N29/44 ,  A61B8/00 ,  A61B8/06 ,  A61B8/14 ,  G01N29/04 ,  G01N29/06 ,  G01N29/24 ,  G01N29/26 ,  G01S7/52 ,  G01S15/87 ,  G01S15/89 ,  G01S9/66

CPC分类号： G01S15/8979 ,  G01N29/0609 ,  G01N29/0645 ,  G01S15/87 ,  G01S7/52074

摘要： Combination Doppler and B-scan ultrasonic imaging apparatus is disclosed which includes visual display means for the simultaneous visual display of received ultrasonic Doppler and B-scan information. The apparatus includes first and second focused transducers associated with the Doppler and B-scan systems, which transducers are individually mounted for movement along parallel linear paths. The transducers each comprise a generally semi-cylindrical shaped body of piezoelectric material having opposite end faces upon which electrodes are disposed for connection to Doppler and B-scan transmitter and/or receiver units. The flat side walls of the piezoelectric bodies are positioned closely adjacent a mid-plane extending between the transducers, and means are provided for focusing the transducers at substantially the same depth for operation along a common focal region at, or adjacent, the mid-plane. One such focusing means includes acoustic lenses carried by the piezoelectric bodies. Another focusing means includes an electrode array for connection to the transmitter and/or receiver units through signal delay means. In yet another embodiment, the piezoelectric bodies are formed with curved end faces for focusing.

摘要翻译： 公开了组合多普勒和B扫描超声成像装置，其包括用于同时可视显示接收的超声多普勒和B扫描信息的视觉显示装置。 该装置包括与多普勒和B扫描系统相关联的第一和第二聚焦换能器，该换能器被单独安装以沿着平行线性路径运动。 传感器各自包括具有相对端面的大致半圆柱形的压电材料体，电极设置在该端面上以连接到多普勒和B扫描发射器和/或接收器单元。 压电体的平坦的侧壁定位成紧邻在换能器之间延伸的中间平面，并且提供了用于将换能器聚焦在基本相同的深度处的装置，用于沿着中间平面或邻近中间平面处的公共焦点区域进行操作 。 一种这样的聚焦装置包括由压电体承载的声透镜。 另一个聚焦装置包括用于通过信号延迟装置连接到发射机和/或接收机单元的电极阵列。 在另一个实施例中，压电体形成有用于聚焦的弯曲端面。

公开(公告)号：US4016750A

公开(公告)日：1977-04-12

申请号：US629594

申请日：1975-11-06

申请人： Philip S. Green

发明人： Philip S. Green

IPC分类号： A61B8/00 ,  A61B8/08 ,  A61B8/14 ,  G01N29/06 ,  G01N29/44 ,  G01S7/52 ,  G01S15/89 ,  H04N7/18 ,  G01N29/00

CPC分类号： G01S15/8954 ,  A61B8/08 ,  G01N29/0609 ,  G01N29/0645 ,  G01N29/343 ,  G01N29/4454 ,  G01N29/4463 ,  G01S7/52047 ,  G01S7/52046

摘要： The ultrasonic imaging method and apparatus comprises an ultrasonic wave transducer supplied with recurrent multifrequency energy pulses for pulse insonification of an object under investigation with ultrasonic waves. Resultant echo waves from the object are directed onto the transducer for converting the same to electrical signals which are supplied to a signal processor which includes a variable bandpass filter. One or more of the filter characteristics are varied as a function of depth from which the echo signals are returned for enhanced resolution and signal-to-noise ratio of the received signal. Preferably, the filter is matched to the noise and signal spectra of the system. For A scan and B scan operations wherein reverberated acoustic pulses are derived from a range of depths a time variable filter is employed for time varying operation thereof.

摘要翻译： 超声波成像方法和装置包括一个超声波换能器，该超声波换能器提供有多次频率能量脉冲，用于用超声波对正在研究的物体进行脉冲失真。 来自物体的所得到的回波被引导到换能器上，以将其转换成电信号，电信号被提供给包括可变带通滤波器的信号处理器。 滤波器特征中的一个或多个作为深度的函数而变化，从该距离返回回波信号以提高接收信号的分辨率和信噪比。 优选地，滤波器与系统的噪声和信号光谱相匹配。 对于A扫描和B扫描操作，其中混响声脉冲从深度范围导出，时间可变滤波器用于其时变操作。