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公开(公告)号：US20140213892A1
公开(公告)日：2014-07-31
申请号：US14165972
申请日：2014-01-28
IPC分类号： A61B5/06
CPC分类号： A61B5/061 , A61B34/20 , A61B2034/2055
摘要： An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.
摘要翻译： 根据本发明的实施例提供了一种用于跟踪手术领域中的外科手术工具的跟踪系统架构。 将系统架构集成到直接放置在患者脸部上的面罩中。 该系统可以组合多种成像和测距技术，用于跟踪眼睛和手术器械。 该系统可用于产生在外科手术过程中使用的三维场景。 此外，该系统可以结合模块化设计来解释可变解剖结构。 所描述的系统用于眼科手术应用。 然而，该系统也可以用于其它程序，例如人工耳蜗或开颅手术。
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公开(公告)号：US10166080B2
公开(公告)日：2019-01-01
申请号：US15179438
申请日：2016-06-10
摘要： A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.
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公开(公告)号：US10278781B2
公开(公告)日：2019-05-07
申请号：US15383931
申请日：2016-12-19
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
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公开(公告)号：US10039474B2
公开(公告)日：2018-08-07
申请号：US14165972
申请日：2014-01-28
摘要： An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.
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公开(公告)号：US20170156805A1
公开(公告)日：2017-06-08
申请号：US15383931
申请日：2016-12-19
CPC分类号： A61B34/32 , A61B34/30 , A61B90/06 , A61B2017/00477 , A61B2090/064 , A61B2090/065 , A61B2090/0811 , B25J15/0466
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
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6.发明申请COOPERATIVELY-CONTROLLED SURGICAL ROBOTIC SYSTEM WITH REDUNDANT FORCE SENSING 审中-公开具有冗余感测的合作控制的外科手术系统公开(公告)号：US20160361125A1
公开(公告)日：2016-12-15
申请号：US15179438
申请日：2016-06-10
CPC分类号： A61B34/30 , A61B90/13 , A61B2017/0003 , A61B2090/064 , A61B2090/0818 , B25J9/1676 , B25J13/085 , B25J19/06 , G05B2219/39082
摘要： A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.
摘要翻译： 协同控制的机器人系统包括主机器人组件和包括近端和远端的臂组件。 臂组件在近端连接到主机器人组件。 该系统还包括在远端连接到臂组件的工具组件，在臂组件的远端和工具组件之间的第一力传感器，以及在臂组件的近端和主体之间的第二力传感器 机器人装配。 该系统包括控制系统，其被配置为基于由第二力传感器检测到的力来确定在第一力传感器处施加的力，并且将确定的力与由第一力传感器检测到的力进行比较，以检测 所述第一和第二力传感器中的至少一个。
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