公开(公告)号：US11364629B2

公开(公告)日：2022-06-21

申请号：US16801272

申请日：2020-02-26

申请人： The Johns Hopkins University

发明人： Shahriar Sefati ,  Mehran Armand ,  Iulian Iordachita

IPC分类号： B25J9/16 ,  B25J9/10 ,  B25J18/06 ,  B25J19/02

摘要： A flexible manipulator apparatus includes an elongate flexible manipulator having a sensor, a user output device configured to provide sensory outputs to the user, and processing circuitry. The flexible manipulator may be movable to form a curve in the flexible manipulator. The processing circuitry may be configured to receive captured sensor data from the sensor during movement of the flexible manipulator, and determine a collision likelihood score based on application of the captured sensor data to a collision detection model used for position estimation. The collision detection model may be based on an empirical data training for the flexible manipulator that includes training sensor data from the sensor and training image data of positions of the flexible manipulator. The processing circuitry may be configured to control the user output device based on the collision likelihood score to provide a collision alert sensory output to the user.

公开(公告)号：US10603175B2

公开(公告)日：2020-03-31

申请号：US15529042

申请日：2015-11-24

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Farshid Alambeigi ,  Shahriar Sefati ,  Ryan Murphy ,  Mehran Armand ,  Chad R. Gordon ,  Shuya Liu

IPC分类号： A61F2/30 ,  B29C64/188 ,  A61F2/28 ,  A61B34/10 ,  A61B34/20 ,  B29C64/386 ,  B23K26/38 ,  B23K103/14 ,  B23K103/00 ,  A61B34/30 ,  A61B90/00 ,  B33Y80/00 ,  B33Y40/00 ,  B29L31/00 ,  B33Y10/00

摘要： Provided is a method for forming an implant with an autonomous manufacturing device. The method includes accessing a first computer-readable reconstruction of a being's anatomy; accessing a second computer-readable reconstruction of an implant; accessing a third computer-readable reconstruction comprising the first computer-readable reconstruction superimposed with the second computer readable reconstruction; generating at least one computer-readable trace from a point cloud; and forming an implant with an autonomous manufacturing device, wherein the autonomous manufacturing device forms the implant into a shape defined by at least one dimension of the computer-readable trace.

公开(公告)号：US11576786B2

公开(公告)日：2023-02-14

申请号：US16806935

申请日：2020-03-02

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Farshid Alambeigi ,  Shahriar Sefati ,  Ryan Murphy ,  Mehran Armand ,  Chad R. Gordon ,  Shuya Liu

IPC分类号： A61F2/30 ,  A61F2/28 ,  A61B34/10 ,  A61B34/20 ,  B29C64/386 ,  B29C64/188 ,  B23K26/38 ,  B23K103/14 ,  B23K103/00 ,  A61B34/30 ,  A61B90/00 ,  B33Y80/00 ,  B29L31/00 ,  B33Y10/00

摘要： Provided is a method for forming an implant with an autonomous manufacturing device. The method includes accessing a first computer-readable reconstruction of a being's anatomy; accessing a second computer-readable reconstruction of an implant; accessing a third computer-readable reconstruction comprising the first computer-readable reconstruction superimposed with the second computer readable reconstruction; generating at least one computer-readable trace from a point cloud; and forming an implant with an autonomous manufacturing device, wherein the autonomous manufacturing device forms the implant into a shape defined by at least one dimension of the computer-readable trace.

公开(公告)号：US20200338723A1

公开(公告)日：2020-10-29

申请号：US16801272

申请日：2020-02-26

申请人： The Johns Hopkins University

发明人： Shahriar Sefati ,  Mehran Armand ,  Iulian Iordachita

IPC分类号： B25J9/16 ,  B25J18/06 ,  B25J9/10 ,  B25J19/02

摘要： A flexible manipulator apparatus includes an elongate flexible manipulator having a sensor, a user output device configured to provide sensory outputs to the user, and processing circuitry. The flexible manipulator may be movable to form a curve in the flexible manipulator. The processing circuitry may be configured to receive captured sensor data from the sensor during movement of the flexible manipulator, and determine a collision likelihood score based on application of the captured sensor data to a collision detection model used for position estimation. The collision detection model may be based on an empirical data training for the flexible manipulator that includes training sensor data from the sensor and training image data of positions of the flexible manipulator. The processing circuitry may be configured to control the user output device based on the collision likelihood score to provide a collision alert sensory output to the user.