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    METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS
    1.
    发明申请
    METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS 审中-公开
    方法，装置和系统，用于非单一限制和/或编程单轴操作器工具的运动

    公开(公告)号：WO2009037576A3

    公开(公告)日：2010-02-04

    申请号：PCT/IB2008003323

    申请日：2008-04-16

    Applicant: NEUROARM SURGICAL LTD ,  GREER ALEXANDER ,  SUTHERLAND GARNETTE ,  FIELDING TIM ,  NEWHOOK PERRY

    Inventor： GREER ALEXANDER ,  SUTHERLAND GARNETTE ,  FIELDING TIM ,  NEWHOOK PERRY

    IPC: A61B19/00 ,  B25J9/12 ,  B25J9/18 ,  G06F19/00

    CPC classification number: B25J9/1666 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/107 ,  B25J3/04 ,  B25J9/1671 ,  G05B2219/40128 ,  G05B2219/40399 ,  G05B2219/40418 ,  G05B2219/45117

    Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

    Abstract translation: 方法，装置（例如计算机可读介质）和用于沿着单个轴执行医疗机器人的工具的运动的系统（例如计算机系统），其通过电子地限制医疗机器人的运动以产生工具的运动而实现 而不是机械地限制医疗机器人的运动以产生单轴运动。 即使用户在单轴运动期间将其他轴上连接到医疗机器人的输入设备移动，该工具的运动也将沿着单个轴。 此外，公开了用于使单轴运动自动化的技术，使得其可以被编程为停止在目标位置并且在第二（例如起始）位置处或附近开始，这对于诸如脑活检的过程是有用的， 乳房活检或植入，并且使得用户可以执行指令医疗机器人执行移动的命令，而不需要用户操纵输入设备以引起医疗机器人的实时响应的移动。

    METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS
    6.
    发明申请
    METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS 审中-公开
    方法，装置和系统，用于非单一限制和/或编程单轴操作器工具的运动

    公开(公告)号：WO2009037576A2

    公开(公告)日：2009-03-26

    申请号：PCT/IB2008/003323

    申请日：2008-04-16

    Applicant: THE GOVERNORS OF THE UNIVERSITY OF CALGARY ,  GREER, ALEXANDER ,  SUTHERLAND, GARNETTE ,  FIELDING, TIM ,  NEWHOOK, PERRY

    Inventor： GREER, ALEXANDER ,  SUTHERLAND, GARNETTE ,  FIELDING, TIM ,  NEWHOOK, PERRY

    IPC: A61B19/00 ,  B25J9/12 ,  B25J9/18 ,  G06F19/00

    CPC classification number: B25J9/1666 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B2034/107 ,  B25J3/04 ,  B25J9/1671 ,  G05B2219/40128 ,  G05B2219/40399 ,  G05B2219/40418 ,  G05B2219/45117

    Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

    Abstract translation: 方法，用于沿着单个轴执行医疗机器人的工具的运动的装置（例如计算机可读介质）和系统（例如计算机系统），其通过电子地限制医疗机器人的运动以产生工具的运动而实现 而不是机械地限制医疗机器人的运动以产生单轴运动。 即使用户在单轴运动期间将其他轴上连接到医疗机器人的输入设备移动，该工具的运动也将沿着单个轴。 此外，公开了用于使单轴运动自动化的技术，使得其可以被编程为停止在目标位置并且在第二（例如起始）位置处或附近开始，这对于诸如脑活检的过程是有用的， 乳房活检或植入，并且使得用户可以执行指令医疗机器人执行移动的命令，而不需要用户操纵输入设备以引起医疗机器人的实时响应的移动。

    MICROSURGICAL ROBOT SYSTEM
    7.
    发明申请
    MICROSURGICAL ROBOT SYSTEM 审中-公开
    微型机器人系统

    公开(公告)号：WO2004014244A3

    公开(公告)日：2004-07-29

    申请号：PCT/CA0301201

    申请日：2003-08-13

    Applicant: SUTHERLAND GARNETTE R ,  LOUW DEON F ,  MICROBOTICS CORP ,  MCBETH PAUL BRADLEY ,  FIELDING TIM ,  GREGORIS DENNIS JOHN

    Inventor： SUTHERLAND GARNETTE R ,  LOUW DEON F ,  MCBETH PAUL BRADLEY ,  FIELDING TIM ,  GREGORIS DENNIS JOHN

    IPC: A61B19/00

    CPC classification number: A61B34/70 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B90/20 ,  A61B90/361 ,  A61B90/39 ,  A61B2017/00911 ,  A61B2034/102 ,  A61B2034/2059 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/363 ,  A61B2090/374

    Abstract: A surgical robot system has two movable arms (102, 103) carried on a wheeled base having six degrees of freedom each and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools. Each end effector includes optical force sensors. A microscope provided for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial MRI visible markers. The control system has a pair of hand-controllers (19) simultaneously manipulated by an operator to control movement of the arms providing force feedback. The image from the microscope is displayed on a monitor in 2D (17) and stereoscopically on a microscope viewer. A second MRI display (16) shows the real-time location of the tool. The robot is MRI compatible and configured to operate within a closed magnet bore. The arms are driven by piezoelectric motors.

    Abstract translation: 外科手术机器人系统具有承载在具有六个自由度的轮状基座上的两个可移动臂（102,103）和可围绕其轴线滚动的端部执行器以及可沿轴线滑动以用于操作不同工具的致动器。 每个末端执行器包括光学力传感器。 提供用于观察患者部分的显微镜。 刀尖的位置可以相对于基准MRI可见标记进行数字化。 控制系统具有由操作者同时操纵的一对手控制器（19），以控制提供力反馈的臂的运动。 来自显微镜的图像以2D（17）显示在监视器上，并立体显示在显微镜观察器上。 第二个MRI显示（16）显示了工具的实时位置。 机器人是MRI兼容的并且被配置为在封闭的磁体孔内操作。 臂由压电马达驱动。

    MICROSURGICAL ROBOT SYSTEM
    8.
    发明申请
    MICROSURGICAL ROBOT SYSTEM 审中-公开
    微型机器人系统

    公开(公告)号：WO2004014244A2

    公开(公告)日：2004-02-19

    申请号：PCT/CA2003/001201

    申请日：2003-08-13

    Applicant: MICROBOTICS CORPORATION ,  SUTHERLAND, Garnette, R. ,  LOUW, Deon, F. ,  MCBETH, Paul, Bradley ,  FIELDING, Tim ,  GREGORIS, Dennis, John

    Inventor： SUTHERLAND, Garnette, R. ,  LOUW, Deon, F. ,  MCBETH, Paul, Bradley ,  FIELDING, Tim ,  GREGORIS, Dennis, John

    IPC: A61B19/00

    CPC classification number: A61B34/70 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B90/20 ,  A61B90/25 ,  A61B90/361 ,  A61B90/39 ,  A61B2017/00911 ,  A61B2034/102 ,  A61B2034/2059 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/363 ,  A61B2090/374 ,  G06F19/00

    Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

    Abstract translation: 用于外科手术的机器人系统具有两个可移动臂，每个可移动臂承载在带轮的基座上，每个臂具有六个运动自由度，以及能够绕其轴线滚动的端部执行器，以及可沿轴线滑动的致动器 用于操作适于由效应器支撑的不同工具。 每个末端执行器包括光学力传感器，用于通过与患者的部分接合来检测施加到工具的力。 显微镜位于用于观察患者部分的位置。 相对于在MRI实验中可见的基准标记，刀尖的位置可以被数字化。 工作站和控制系统具有由操作者同时操纵的一对手控制器，以控制相应的一个或两个臂的运动。 来自显微镜的图像显示在二维显示器上并立体显示在显微镜观察器上。 第二MRI显示器显示患者的该部分的图像，该工具的实时位置。 机器人是MRI兼容的，可以配置为在封闭的磁体孔内运行。 臂由压电马达围绕垂直和水平轴驱动。

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