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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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公开(公告)号：US11503819B2
公开(公告)日：2022-11-22
申请号：US16995164
申请日：2020-08-17
发明人： Russell H. Taylor , Gregory Chirikjian , Iulian Iordachita , Henry Phalen , Hongtao Wu , Mengdi Xu , Shengnan Lu , Michael Aaron Pozin , Jin Seob Kim , Can Kocabalkanli , Balazs Vagvolgyi , Brian K. Chirikjian , Joshua Davis , Ting Da , John S. Chirikjian , Sumana Chakravarty , Stephen Hoffman
摘要： Systems and methods for providing a combined mosquito staging and dissection system are disclosed. The system can include a mosquito staging subsystem; a robotic pick-and-place station; and a dissection, extrusion, collection, and disposal subsystem. The subsystems can include one or more stations to provide orientation, decapitation, extrusion of salivary glands, and disposal of carcasses of the mosquitoes. The resident live sporozoites from the salivary glands can be used to produce Plasmodium SPZ-based vaccines.
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公开(公告)号：US11364629B2
公开(公告)日：2022-06-21
申请号：US16801272
申请日：2020-02-26
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.
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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：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：US10226304B2
公开(公告)日：2019-03-12
申请号：US14970177
申请日：2015-12-15
摘要： A shape sensor system includes a deflection sensor comprising an optical fiber having at least one fiber Bragg grating (FBG) written therein and a substrate, the fiber being attached to the substrate with a selected bias distance from a neutral plane of the deflection sensor. The system further includes an optical source coupled to the fiber to provide input light to be at least partially reflected by the FBG, and an optical detection and processing system arranged to receive at least a portion of the output light and to determine a wavelength shift resulting from a change of an amount of deflection of the deflection sensor. The optical detection and processing system determines a relative amount of deflection of the deflection sensor at the FBG based on the wavelength shift. The selected bias distance is selected based on an expected range of deflection angles to be detected.
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公开(公告)号：US10039530B2
公开(公告)日：2018-08-07
申请号：US14973823
申请日：2015-12-18
发明人： Russell H. Taylor , Iulian Iordachita , Jin U. Kang , Xuan Liu
IPC分类号： A61B17/00 , A61F9/007 , A61B19/00 , A61B17/34 , A61B17/30 , G01J3/26 , A61B90/00 , A61B34/20
摘要： A surgical tool system according to an embodiment of the current invention includes a surgical tool, and an interferometry system optically coupled to the surgical tool. The surgical tool includes a body section, a sensor section at least one of attached to or integral with the body section, and a surgical section at least one of attached to or integral with the sensor section at an opposing end of the sensor section from the body section. The sensor section comprises an interferometric optical sensor defining a reference distance that changes in response to at least one of a force or a torque when applied to the surgical section of the surgical tool.
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公开(公告)号：US20170042730A1
公开(公告)日：2017-02-16
申请号：US15237347
申请日：2016-08-15
IPC分类号： A61F9/007 , A61B34/37 , G09B19/24 , A61B90/00 , A61B90/30 , A61B17/00 , A61B34/30 , A61B34/35
CPC分类号： A61F9/00736 , A61B3/10 , A61B17/00234 , A61B17/29 , A61B17/34 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B90/30 , A61B2017/00022 , A61B2090/065 , A61B2090/066 , A61B2090/306 , 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.
摘要翻译： 手术系统提供至少一个手术工具的免提控制，包括具有工具连接器的机器人，附接到机器人的工具连接器的智能工具，以及配置为与智能工具通信以提供反馈控制的反馈控制系统 的机器人。 智能工具包括具有工具轴的工具，该工具轴具有远端和近端，应变传感器布置在沿工具轴的第一位置处，第二应变传感器或转矩力传感器中的至少一个布置在 所述第二位置比所述第一位置更靠近所述工具轴的近端;以及信号处理器，被配置为与所述应变传感器和所述第二应变传感器或所述扭矩传感器中的至少一个通信， 力传感器从其接收检测信号。 信号处理器被配置为当施加的力的位置在第一和第二位置之间时，处理检测信号以确定施加到工具轴的力的横向分量的大小和位置。 当所施加的力的位置在第一和第二位置之间时，反馈系统控制机器人至少响应于施加到工具轴的力的侧向分量的大小和位置而移动，以便抵消施加的力 到所述工具轴，从而提供对所述至少一个外科手术工具的免提控制。
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