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公开(公告)号：US20240197422A1
公开(公告)日：2024-06-20
申请号：US18586345
申请日：2024-02-23
发明人： Zerui WANG
CPC分类号： A61B34/37 , A61B34/75 , A61B34/76 , A61B2034/305
摘要： The master-end operating device includes a device body, operating mechanisms, a movable member and an elastic member. The operating mechanisms are pivotably connected to the device body, and each is provided with a respective driving part. The movable member is at least partially disposed within the device body and configured to be movable in an axial direction of the device body, where the movable member is provided with follower parts, each of which interferes with the respective driving part to enable the movable member to be movable in the axial direction. The respective follower part has a first constraint surface, which includes at least one bent portion recessed toward a central plane of the device body. The elastic member is configured to provide an elastic force to drive the movable member to move toward a top end of the master-end operating device.
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公开(公告)号：US20240180620A1
公开(公告)日：2024-06-06
申请号：US18398712
申请日：2023-12-28
申请人： Stryker Corporation
发明人： Timothy J. Bozung
IPC分类号： A61B34/10 , A61B17/00 , A61B17/02 , A61B17/16 , A61B17/17 , A61B17/32 , A61B17/34 , A61B34/00 , A61B34/20 , A61B90/00 , A61B90/11 , A61F2/08 , A61F2/28 , A61F2/30 , A61F2/44 , A61F2/46 , A61F11/00 , A61N1/05
CPC分类号： A61B34/10 , A61B17/00234 , A61B17/0218 , A61B17/16 , A61B17/1615 , A61B17/1622 , A61B17/1626 , A61B17/1666 , A61B17/1675 , A61B17/1703 , A61B17/1746 , A61B17/32002 , A61B17/3403 , A61B17/3423 , A61B34/20 , A61B34/25 , A61B34/70 , A61B34/75 , A61B90/11 , A61F2/08 , A61F2/28 , A61F2/30756 , A61F2/4455 , A61F2/4611 , A61F11/00 , A61N1/0541 , A61B2017/00199 , A61B2017/00398 , A61B2017/0042 , A61B2017/00455 , A61B2017/00694 , A61B2017/00991 , A61B2017/1602 , A61B17/162 , A61B17/1624 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2090/372 , A61B2090/374 , A61B2090/3762 , A61F2002/2839
摘要： A system including an instrument adapted to be manually supported and moved by a user. The instrument having a hand-held portion, a working portion movably coupled to the hand-held portion, and a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion. A tracking device is attached to the hand-held portion for tracking the instrument. The tracking device is in communication with a control system, which is used to keep the working portion within or outside of a boundary. A plurality of actuators are operatively coupled to the working portion. The control system instructs the actuators to move the working portion relative to the hand-held portion during the medical procedure in order to maintain a desired relationship between the working portion and the boundary.
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公开(公告)号：US11896314B2
公开(公告)日：2024-02-13
申请号：US17406402
申请日：2021-08-19
申请人： Stryker Corporation
发明人： Timothy J. Bozung
IPC分类号： A61B34/10 , A61B34/00 , A61B90/11 , A61B17/32 , A61F2/08 , A61B17/16 , A61F2/44 , A61F2/46 , A61B17/00 , A61B17/02 , A61B17/17 , A61B17/34 , A61F2/28 , A61F2/30 , A61B34/20 , A61F11/00 , A61N1/05 , A61B90/00
CPC分类号： A61B34/10 , A61B17/00234 , A61B17/0218 , A61B17/16 , A61B17/1615 , A61B17/1622 , A61B17/1626 , A61B17/1666 , A61B17/1675 , A61B17/1703 , A61B17/1746 , A61B17/32002 , A61B17/3403 , A61B17/3423 , A61B34/20 , A61B34/25 , A61B34/70 , A61B34/75 , A61B90/11 , A61F2/08 , A61F2/28 , A61F2/30756 , A61F2/4455 , A61F2/4611 , A61F11/00 , A61N1/0541 , A61B17/162 , A61B17/1624 , A61B2017/0042 , A61B2017/00199 , A61B2017/00398 , A61B2017/00455 , A61B2017/00694 , A61B2017/00991 , A61B2017/1602 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2090/372 , A61B2090/374 , A61B2090/3762 , A61F2002/2839
摘要： A system including an instrument adapted to be manually supported and moved by a user. The instrument having a hand-held portion, a working portion movably coupled to the hand-held portion, and a plurality of actuators operatively coupled to the working portion for moving the working portion in a plurality of degrees of freedom relative to the hand-held portion. The instrument having a tracking device attached to the hand-held portion. The system including a navigation system for determining a position of the working portion relative to a target volume, and a control system in communication with the actuators to control the actuators to move the working portion relative to the hand-held portion such that the working portion autonomously follows a path defined in the control system to remove material of the target volume while the user maintains the hand-held portion in a gross position relative to the target volume.
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公开(公告)号：US20180344497A1
公开(公告)日：2018-12-06
申请号：US16046378
申请日：2018-07-26
发明人： Anupam J. Pathak , Dylan Owens
CPC分类号： A61F4/00 , A47G21/02 , A47G2200/046 , A61B5/002 , A61B5/1101 , A61B5/1121 , A61B5/4082 , A61B5/4836 , A61B5/486 , A61B5/6825 , A61B5/6835 , A61B5/6887 , A61B34/75 , A61B2505/09 , A61B2562/0219 , G05B13/021
摘要： Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used by the user are described. The method may include detecting motion of a handle of the handheld tool manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool. Furthermore, the method may include storing the detected motion in a memory of the handheld tool as motion data. The method may also include controlling, based on the motion data, a motion-generating mechanism of the handheld tool that moves the attachment arm relative to the handle in a degree of freedom.
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公开(公告)号：US10058445B2
公开(公告)日：2018-08-28
申请号：US15171842
申请日：2016-06-02
发明人： Anupam J. Pathak , Dylan Owens
CPC分类号： A61F4/00 , A47G21/02 , A47G2200/046 , A61B5/002 , A61B5/1101 , A61B5/1121 , A61B5/4082 , A61B5/4836 , A61B5/486 , A61B5/6825 , A61B5/6835 , A61B5/6887 , A61B34/75 , A61B2505/09 , A61B2562/0219 , G05B13/021
摘要： Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used by the user are described. The method may include detecting motion of a handle of the handheld tool manipulated by a user while the user is performing a task with a user-assistive device attached to an attachment arm of the handheld tool. Furthermore, the method may include storing the detected motion in a memory of the handheld tool as motion data. The method may also include controlling, based on the motion data, a motion-generating mechanism of the handheld tool that moves the attachment arm relative to the handle in a single degree of freedom in a direction of the detected motion of the handle.
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公开(公告)号：US20180058536A1
公开(公告)日：2018-03-01
申请号：US15249844
申请日：2016-08-29
发明人： Anupam J. Pathak , Dylan Owens
CPC分类号： F16F15/005 , A47G21/02 , A47G21/04 , A47G2200/046 , A61B5/0022 , A61B5/1101 , A61B5/1114 , A61B5/4082 , A61B5/4836 , A61B5/6887 , A61B34/75 , A61B2562/0219 , A61F2002/5003 , A61F2002/5018 , A61F2002/5033 , F16F15/002 , G01C21/18 , G05B5/01 , G05B6/02
摘要： Systems and methods for tracking unintentional muscle movements of a user and stabilizing a handheld tool while it is being used are described. The method may include measuring, with a first inertial measuring unit (“IMU”), at least an orientation of a housing of the handheld tool, and measuring, with a second IMU, at least an orientation or an attachment arm extending from the housing of the handheld tool. The method may also include storing the orientation of the housing and the orientation of the attachment arm in a memory. Furthermore, the method may include controlling, with a processing logic, a first motion generating mechanism and a second motion generating mechanism to move the attachment arm relative to the housing based on the measured orientation of the housing and the measured orientation of the attachment arm to stabilize motion of a user-assistive device attached to a distal end of the attachment arm.
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公开(公告)号：US20180055517A1
公开(公告)日：2018-03-01
申请号：US15804246
申请日：2017-11-06
申请人： MAKO Surgical Corp.
发明人： Hyosig Kang , Scott Nortman
CPC分类号： A61B34/30 , A61B17/16 , A61B17/1622 , A61B34/20 , A61B34/37 , A61B34/75 , A61B34/76 , A61B90/03 , A61B2017/00477
摘要： A robotic surgery method includes tracking a position of a surgical tool as it is manually manipulated to perform a procedure. The tool is coupled to a handheld manipulator assembly, and the handheld manipulator assembly includes a handheld portion configured to be manually supported and moved by a user and a tool drive assembly supported by the handheld portion. The manipulator assembly further includes a plurality of elongate structural members coupled between the tool drive assembly and the handheld portion, at least one pivotal link arranged between the tool drive assembly and the plurality of elongate structural members, a plurality of lead screws and actuators supported by the handheld portion, and a controller in communication with the plurality of actuators. The method further includes selectively operating the actuators to move the tool drive assembly relative to the handheld portion based on the tracked position of the tool.
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公开(公告)号：US20180028269A1
公开(公告)日：2018-02-01
申请号：US15548705
申请日：2016-02-05
申请人： Universite Pierre et Marie Curie , Centre National de la Recherche Scientifique (CNRS) , Endocontrol
发明人： Guillaume MOREL , Lin DONG , Florian RICHER , Nicolas PERRIN , Clément VIDAL , Bérengère BARDOU
CPC分类号： A61B34/37 , A61B34/30 , A61B34/75 , A61B34/76 , A61B34/77 , A61B2090/062 , A61B2090/067 , B25J18/007
摘要： The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.
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公开(公告)号：US09675370B2
公开(公告)日：2017-06-13
申请号：US14166503
申请日：2014-01-28
发明人： Shorya Awtar , Jens Nielsen , Tristan Thomas Trutna , Andrew Mansfield , Rosa Abani , Patrick Quigley , James Geiger
CPC分类号： A61B17/2909 , A61B34/70 , A61B34/71 , A61B34/75 , A61B34/77 , A61B2017/00323 , A61B2017/00424 , A61B2017/00442 , A61B2017/00464 , A61B2017/2917 , A61B2017/2929 , A61B2017/2931 , A61B2017/2937 , A61B2017/2939 , A61B2017/2944 , A61B2034/306
摘要： A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.
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公开(公告)号：US20170156799A1
公开(公告)日：2017-06-08
申请号：US15440819
申请日：2017-02-23
申请人： Stryker Corporation
发明人： Timothy J. Bozung
IPC分类号： A61B34/10 , A61B17/17 , A61B17/32 , A61F2/46 , A61B34/00 , A61F2/08 , A61F2/30 , A61F2/44 , A61B17/16 , A61B90/11
CPC分类号： A61B34/10 , A61B17/00234 , A61B17/0218 , A61B17/16 , A61B17/1615 , A61B17/162 , A61B17/1622 , A61B17/1624 , A61B17/1626 , A61B17/1666 , A61B17/1675 , A61B17/1703 , A61B17/1746 , A61B17/32002 , A61B17/3403 , A61B17/3423 , A61B34/20 , A61B34/25 , A61B34/70 , A61B34/75 , A61B90/11 , A61B2017/00199 , A61B2017/00398 , A61B2017/0042 , A61B2017/00455 , A61B2017/00694 , A61B2017/00991 , A61B2017/1602 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2090/372 , A61B2090/374 , A61B2090/3762 , A61F2/08 , A61F2/28 , A61F2/30756 , A61F2/4455 , A61F2/4611 , A61F11/00 , A61F2002/2839 , A61N1/0541
摘要： An instrument for treating tissue during a medical procedure includes a hand-held portion and a working portion. The hand-held portion is manually supported and moved by a user and the working portion is movably coupled to the hand-held portion. A tracking device is attached to the hand-held portion for tracking the instrument. The tracking device is in communication with a control system, which is used to keep the working portion within or outside of a boundary. A plurality of actuators are operatively coupled to the working portion. The control system instructs the actuators to move the working portion relative to the hand-held portion during the medical procedure in order to maintain a desired relationship between the working portion and the boundary.
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