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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：US11642184B2
公开(公告)日：2023-05-09
申请号：US16625944
申请日：2018-06-27
摘要： The present invention is directed to a device for allowing universal surgical tool exchange. The device of the present invention includes a tool-side adapter and a robot-side adapter that combine the benefits of a robot in the operating room (OR) with a system that has minimal impact on the current surgical workflow. The device of the present invention allows surgeons to preserve their natural grip on the surgical tool, creates a reliable and repeatable connection between the tool and the robot, and allows the user to rapidly swap the tools in and out from the surgical robot using a single-handed motion. A unique RFID tag and receiver is embedded in the tool-side adapter and the robot-side adapter, respectively to allow the robot to identify the tool that has been engaged. The present invention is universally applicable to any robotic system that is intended to hold a set of hand instruments.
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公开(公告)号：US20220354603A1
公开(公告)日：2022-11-10
申请号：US17861530
申请日：2022-07-11
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US11259870B2
公开(公告)日：2022-03-01
申请号：US15725271
申请日：2017-10-04
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC分类号： A61B1/00 , A61B34/10 , A61B8/12 , A61B8/00 , A61B34/00 , A61B34/37 , A61B34/30 , A61B17/00 , A61B90/00
摘要： In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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公开(公告)号：US10603127B2
公开(公告)日：2020-03-31
申请号：US15413378
申请日：2017-01-23
IPC分类号： A61B34/37 , A61B8/00 , A61B34/00 , A61B90/00 , A61B8/12 , A61B34/30 , A61B1/313 , A61B34/10 , A61B17/00
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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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：US10278781B2
公开(公告)日：2019-05-07
申请号：US15383931
申请日：2016-12-19
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
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公开(公告)号：US10039474B2
公开(公告)日：2018-08-07
申请号：US14165972
申请日：2014-01-28
摘要： An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.
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公开(公告)号：US09815206B2
公开(公告)日：2017-11-14
申请号：US14497178
申请日：2014-09-25
IPC分类号： G06F19/00 , B25J13/00 , A61B19/00 , B25J13/04 , B25J13/06 , B25J13/02 , G06F3/0346 , G06F3/0338 , G06F3/0482 , G06F3/0362 , G06F3/0354
CPC分类号： B25J13/003 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/77 , A61B90/20 , A61B90/30 , A61B90/361 , A61B2034/258 , A61B2090/0807 , B25J13/02 , B25J13/04 , B25J13/06 , B25J13/065 , G06F3/0338 , G06F3/0346 , G06F3/03545 , G06F3/0362 , G06F3/0482 , Y10S901/06
摘要： According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.
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