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1.发明申请公开(公告)号：US20200275942A1
公开(公告)日：2020-09-03
申请号：US16759602
申请日：2018-10-26
摘要： The present invention is directed to a device to firmly grasp and manipulate delicate tissues in microsurgery, while precisely measuring tool-tissue interaction forces in three dimensions (x-y-z). The design enables precise measurement of forces at the tool tip without being influenced by other forces that may act on the tool shaft. The device of the present invention is capable of measuring axial (z) forces together with the transverse forces (x-y) on an actuated (not static) instrument. Fiber optic sensors are embedded into strategic locations of the design to decouple and precisely detect force components (x-y-z) separately. The force information is used to provide feedback to the operator, or to a robotic platform. The exerted forces on critical tissues, such as the retina in eye surgery, can be maintained at a safe level, clinical complications due to excessive forces can be lessened, safety, and outcome of microsurgical procedures can be enhanced.
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公开(公告)号：US20170156928A1
公开(公告)日：2017-06-08
申请号：US15234896
申请日：2016-08-11
CPC分类号： A61F9/00727 , A61B34/30 , A61B2034/2051 , A61B2090/064 , A61F9/0017 , A61F9/007 , B25J9/023 , B25J13/085 , G01L1/246
摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.
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公开(公告)号：US10363164B2
公开(公告)日：2019-07-30
申请号：US15234896
申请日：2016-08-11
摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.
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公开(公告)号：US09907696B2
公开(公告)日：2018-03-06
申请号：US14256695
申请日：2014-04-18
发明人： Jin U. Kang , Peter L. Gehlbach
CPC分类号： A61F9/00736 , A61B5/0066 , A61B5/0073 , A61B5/7207 , A61F9/0133
摘要： A motion-compensated cutting system includes a hand-held tool body, and an actuator connected to the tool body. A shaft of the actuator is movable relative to the tool body so that a distal end of a cutting implement attached to the shaft is axially movable relative to the tool body. An optical coherence tomography system includes an optical fiber with a distal end fixed relative to the distal end of the cutting implement. The system includes a control unit that can determine a position of the distal end of the cutting implement relative to a reference surface based on input from the optical coherence tomography system. The control unit can control the cutting implement to compensate for relative motion between the tool body and the reference surface, and can maintain a predetermined depth of the distal end of the cutting implement with respect to the reference surface.
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公开(公告)号：US20150305761A1
公开(公告)日：2015-10-29
申请号：US14261264
申请日：2014-04-24
发明人： Jin U. Kang , Peter L. Gehlbach
CPC分类号： A61B17/28 , A61B3/102 , A61B17/30 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2017/2918 , A61B2017/305 , A61B2090/3735
摘要： A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for hand-action-induced motions.
摘要翻译： 一种运动补偿微镊子系统，包括具有多个可移动抓握元件的可手动操作的微镊子组件; 电动机组件，其可操作地连接到所述多个可移动的把持元件; 光学检测系统，其具有相对于多个可移动抓握元件的最远端以固定的轴向距离附接到手动操作的微型钳子组件; 以及电动机控制器，其被配置为与所述光学检测系统和所述电动机组件通信，以提供所述手动可操作的微镊子的所述多个可移动抓握元件的运动补偿，其中所述光学检测系统被配置为输出用于所述确定的信号 在操作期间将微镊的多个可移动抓握元件的距离移动到目标，并且其中所述马达控制器被配置为向马达组件提供反馈控制信号以用于手震和手动操作的运动补偿， 诱发运动。
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公开(公告)号：US20150209527A1
公开(公告)日：2015-07-30
申请号：US14163491
申请日：2014-01-24
发明人： Jin U. Kang , Peter L. Gehlbach
CPC分类号： A61M5/46 , A61B5/0066 , A61B5/6886 , A61M5/1723 , A61M2005/1585 , A61M2205/3306
摘要： A motion-compensated injector system includes a handheld tool having a hollow shaft with a distal end for insertion into tissue of a subject. The system also includes an optical coherence tomography-based optical detection system having an optical fiber with a distal end at a fixed distance from the distal end of the hollow shaft, and an optical sensor to receive a signal from the optical fiber. The system further includes an actuator to move the hollow shaft in an axial direction, and a control unit to control the actuator. The optical detection system can monitor a distance between the distal end of the optical fiber and a reference portion of the tissue of the subject, and the control unit can control the actuator to move the hollow shaft to compensate for relative motion between the handheld tool and the portion of the tissue.
摘要翻译： 运动补偿注射器系统包括具有中空轴的手持工具，所述中空轴具有用于插入受试者组织的远端。 该系统还包括基于光学相干断层摄影的光学检测系统，该光学检测系统具有光纤，该光纤的远端距中空轴的远端为固定的距离，以及光学传感器，用于接收来自光纤的信号。 该系统还包括用于沿轴向移动空心轴的致动器和用于控制致动器的控制单元。 光学检测系统可以监测光纤的远端与受试者的组织的参考部分之间的距离，并且控制单元可以控制致动器移动空心轴，以补偿手持工具和 组织的一部分。
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公开(公告)号：US10188808B2
公开(公告)日：2019-01-29
申请号：US14163491
申请日：2014-01-24
发明人： Jin U. Kang , Peter L. Gehlbach
摘要： A motion-compensated injector system includes a handheld tool having a hollow shaft with a distal end for insertion into tissue of a subject. The system also includes an optical coherence tomography-based optical detection system having an optical fiber with a distal end at a fixed distance from the distal end of the hollow shaft, and an optical sensor to receive a signal from the optical fiber. The system further includes an actuator to move the hollow shaft in an axial direction, and a control unit to control the actuator. The optical detection system can monitor a distance between the distal end of the optical fiber and a reference portion of the tissue of the subject, and the control unit can control the actuator to move the hollow shaft to compensate for relative motion between the handheld tool and the portion of the tissue.
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公开(公告)号：US10188552B2
公开(公告)日：2019-01-29
申请号：US15237347
申请日：2016-08-15
IPC分类号： B25J13/00 , A61F9/007 , A61B34/30 , A61B34/37 , A61B34/35 , A61B90/00 , A61B90/30 , A61B17/00 , G09B19/24
摘要： A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.
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公开(公告)号：US10188281B2
公开(公告)日：2019-01-29
申请号：US15085704
申请日：2016-03-30
发明人： Russell H. Taylor , Seth D. Billings , Peter L. Gehlbach , Gregory D. Hager , James T. Handa , Jin U. Kang , Balazs P. Vagvolgyi , Raphael Sznitman , Zachary Pezzementi
摘要： An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination.
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公开(公告)号：US09872692B2
公开(公告)日：2018-01-23
申请号：US14261264
申请日：2014-04-24
发明人： Jin U. Kang , Peter L. Gehlbach
CPC分类号： A61B17/28 , A61B3/102 , A61B17/30 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2017/2918 , A61B2017/305 , A61B2090/3735
摘要： A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for hand-action-induced motions.
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