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公开(公告)号：US10369045B2
公开(公告)日：2019-08-06
申请号：US14810277
申请日：2015-07-27
发明人： Berk Gonenc , Iulian Iordachita , Russell H. Taylor , Cameron Riviere , Peter Gehlbach , James Handa
IPC分类号： A61F9/007 , G01L5/22 , A61B17/29 , A61B5/06 , A61B34/00 , G01L25/00 , G01L1/24 , A61B5/00 , A61B17/30 , A61B90/00
摘要： A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force.
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公开(公告)号：US20160030240A1
公开(公告)日：2016-02-04
申请号：US14810277
申请日：2015-07-27
发明人： Berk Gonenc , Iulian Iordachita , Russell H. Taylor , Cameron Riviere , Peter Gehlbach , James Handa
CPC分类号： A61F9/00736 , A61B5/065 , A61B5/489 , A61B5/6848 , A61B17/2909 , A61B34/70 , A61B34/72 , A61B34/75 , A61B2017/2902 , A61B2017/2912 , A61B2017/305 , A61B2090/064 , G01L1/246 , G01L5/226 , G01L25/00
摘要： A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force.
摘要翻译： 微操纵系统包括包括手持件的显微操纵器和包括工具轴并且可操作地连接到手持件的显微操纵工具。 显微操纵器还包括连接到显微操作工具的致动器组件，以提供对微操作工具的手动控制，以及包括附接到工具轴的力传感器的力感测系统。 力感测系统被配置为提供指示施加在工具轴上的力的输出信号。 微操纵系统还包括与力感测系统通信的处理器，并且被配置为接收输出信号并补偿由于微操作工具的致动所引起的力，以确定由于显微操作工具与区域的相互作用而产生的力 出于兴趣。 处理器输出所确定的力的大小和方向中的至少一个的指示。
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3.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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