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    Micromanipulation systems and methods
    1.
    发明授权
    Micromanipulation systems and methods 有权

    公开(公告)号：US10369045B2

    公开(公告)日：2019-08-06

    申请号：US14810277

    申请日：2015-07-27

    申请人： The Johns Hopkins University ,  CARNEGIE MELLON UNIVERSITY

    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.

    MICROMANIPULATION SYSTEMS AND METHODS
    2.
    发明申请
    MICROMANIPULATION SYSTEMS AND METHODS 审中-公开
    微观系统和方法

    公开(公告)号：US20160030240A1

    公开(公告)日：2016-02-04

    申请号：US14810277

    申请日：2015-07-27

    申请人： The Johns Hopkins University ,  CARNEGIE MELLON UNIVERSITY

    发明人： Berk Gonenc ,  Iulian Iordachita ,  Russell H. Taylor ,  Cameron Riviere ,  Peter Gehlbach ,  James Handa

    IPC分类号： A61F9/007 ,  A61B17/29 ,  A61B19/00 ,  G01L5/22 ,  A61M25/01

    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。