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公开(公告)号：US20060178559A1
公开(公告)日：2006-08-10
申请号：US11319012
申请日：2005-12-27
申请人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： A61B1/04
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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2.发明授权Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures 有权多用户医疗机器人系统，用于微创外科手术中的协作或训练公开(公告)号：US08527094B2
公开(公告)日：2013-09-03
申请号：US11319012
申请日：2005-12-27
申请人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter D Niemeyer , J. Kenneth Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mauherjee
发明人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter D Niemeyer , J. Kenneth Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mauherjee
IPC分类号： A61B1/00
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
摘要翻译： 用于微创外科手术中的协作或训练的多用户医疗机器人系统包括第一和第二主输入设备，第一从机器人机构和至少一个处理器，该至少一个处理器被配置为通过可切换地产生第一从机器人机构的第一从机命令 使用指示由第一用户操纵第一主输入设备的第一命令中的一个或两个指示由第二用户操纵第二主输入设备的第二命令。 为了促进协作或训练，第一和第二用户通过音频系统相互通信，并且可以看到第一和第二显示器上的微创外科手术部位，分别可由第一和第二用户观看。
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公开(公告)号：US20130023898A9
公开(公告)日：2013-01-24
申请号：US12173963
申请日：2008-07-16
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： A61B19/00
CPC分类号： G09B23/28 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B90/06 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G05B15/02 , G06F19/00 , G06F19/3418
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
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4.发明申请公开(公告)号：US20050038416A1
公开(公告)日：2005-02-17
申请号：US10948853
申请日：2004-09-23
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
CPC分类号： G06F19/3418 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G06F19/00
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译： 允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。 系统可以包括可由导师控制以移动医疗器械的第一手柄。 该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。 指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。 力反馈推动学生的手与导师的手柄运动相对应。 力量反馈还将推动导师的手向导师提供有关学生运动的信息。 导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。
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5.发明申请公开(公告)号：US20090099576A1
公开(公告)日：2009-04-16
申请号：US12173963
申请日：2008-07-16
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： A61B19/00
CPC分类号： G09B23/28 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B90/06 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G05B15/02 , G06F19/00 , G06F19/3418
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译： 允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。 系统可以包括可由导师控制以移动医疗器械的第一手柄。 该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。 指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。 力反馈推动学生的手与导师的手柄运动相对应。 力量反馈还将推动导师的手向导师提供有关学生运动的信息。 导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。
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6.发明授权公开(公告)号：US06852107B2
公开(公告)日：2005-02-08
申请号：US10051796
申请日：2002-01-16
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
CPC分类号： G09B23/28 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B90/06 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G05B15/02 , G06F19/00 , G06F19/3418
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译： 允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。 系统可以包括可由导师控制以移动医疗器械的第一手柄。 该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。 指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。 力反馈推动学生的手与导师的手柄运动相对应。 力量反馈还将推动导师的手向导师提供有关学生运动的信息。 导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。
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7.发明授权公开(公告)号：US09039681B2
公开(公告)日：2015-05-26
申请号：US12173963
申请日：2008-07-16
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
CPC分类号： G09B23/28 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B90/06 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G05B15/02 , G06F19/00 , G06F19/3418
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译： 允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。 系统可以包括可由导师控制以移动医疗器械的第一手柄。 该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。 指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。 力反馈推动学生的手与导师的手柄运动相对应。 力量反馈还将推动导师的手向导师提供有关学生运动的信息。 导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。
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8.发明授权公开(公告)号：US07413565B2
公开(公告)日：2008-08-19
申请号：US10948853
申请日：2004-09-23
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
CPC分类号： G06F19/3418 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G06F19/00
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译： 允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。 系统可以包括可由导师控制以移动医疗器械的第一手柄。 该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。 指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。 力反馈推动学生的手与导师的手柄运动相对应。 力量反馈还将推动导师的手向导师提供有关学生运动的信息。 导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。
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公开(公告)号：US06871117B2
公开(公告)日：2005-03-22
申请号：US10423429
申请日：2003-04-24
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
CPC分类号： A61B34/70 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/361 , A61B2017/00199 , A61B2018/00982 , A61B2090/064 , Y10S128/923
摘要： A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.
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公开(公告)号：US06785593B2
公开(公告)日：2004-08-31
申请号：US10423432
申请日：2003-04-24
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser
IPC分类号： G05B1500
CPC分类号： A61B34/70 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/361 , A61B2017/00199 , A61B2018/00982 , A61B2090/064 , Y10S128/923
摘要： A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.
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