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11. 发明申请

US20090326556A1 MEDICAL ROBOTIC SYSTEM PROVIDING COMPUTER GENERATED AUXILIARY VIEWS OF A CAMERA INSTRUMENT FOR CONTROLLING THE POSITIONING AND ORIENTING OF ITS TIP 有权
标题翻译：医疗机器人系统提供用于控制其位置和方向的摄像机仪器的计算机生成的辅助视图
公开(公告)号：US20090326556A1
公开(公告)日：2009-12-31
申请号：US12336713
申请日：2008-12-17
申请人： Nicola Diolaiti , David Q. Larkin , Daniel Gomez , Tabish Mustufa , Paul W. Mohr , Paul Lilagan
发明人： Nicola Diolaiti , David Q. Larkin , Daniel Gomez , Tabish Mustufa , Paul W. Mohr , Paul Lilagan
IPC分类号： A61B19/00
CPC分类号： A61B1/00149 , A61B1/00006 , A61B1/00009 , A61B1/00039 , A61B1/00045 , A61B1/0005 , A61B1/00087 , A61B1/00154 , A61B1/05 , A61B1/313 , A61B5/065 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/77 , A61B90/03 , A61B90/36 , A61B90/361 , A61B2017/00119 , A61B2034/102 , A61B2034/2074 , A61B2034/301 , A61B2034/305 , A61B2090/364 , A61B2090/365 , G06T7/70 , G09B23/285
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
摘要翻译：医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或相机的可铰接臂的辅助视图是从感测或以其它方式确定的关于它们的位置和取向的信息产生的，并且从显示屏幕的视角指定的观察点。当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。

12. 发明授权

US09084623B2 Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide 有权
标题翻译：控制器在进入和离开进入指南的过程中辅助重新配置关节式仪器
公开(公告)号：US09084623B2
公开(公告)日：2015-07-21
申请号：US12613328
申请日：2009-11-05
申请人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
发明人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
摘要翻译：为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

13. 发明授权

US08028431B2 Portable metrology device 有权
标题翻译：便携式计量装置
公开(公告)号：US08028431B2
公开(公告)日：2011-10-04
申请号：US12883760
申请日：2010-09-16
申请人： Daniel Gomez , Ryan Steger
发明人： Daniel Gomez , Ryan Steger
IPC分类号： G01B5/004
CPC分类号： G01B5/004 , G01B5/14
摘要： Methods and systems for a portable metrology device are described. One embodiment of the present invention is an apparatus including a first link, a first probe coupled with the first link by a first coupling operable to move in a first degree of freedom, a second probe coupled with the first link by a second coupling operable to move in a second degree of freedom, a first sensor operable to output a first sensor signal associated with a motion of the first coupling, and a second sensor operable to output a second sensor signal associated with a motion of the second coupling. The embodiment also includes a processor in communication with the first and second sensors and operable to: receive the first sensor signal and the second sensor signal, and determine a distance between the first probe and the second probe based at least in part on the first sensor signal and the second sensor signal.
摘要翻译：描述便携式计量装置的方法和系统。本发明的一个实施例是一种装置，其包括第一连杆，通过可操作以第一自由度移动的第一联接器与第一连杆相耦合的第一探头，通过第二联接器与第一连杆相耦合的第二探头，以第二自由度移动，第一传感器可操作以输出与第一耦合的运动相关联的第一传感器信号，以及可操作以输出与第二耦合的运动相关联的第二传感器信号的第二传感器。该实施例还包括与第一和第二传感器通信的处理器，可操作以：接收第一传感器信号和第二传感器信号，并且至少部分地基于第一传感器确定第一探针和第二探针之间的距离信号和第二传感器信号。

14. 发明授权

US07797849B2 Portable metrology device 有权
标题翻译：便携式计量装置
公开(公告)号：US07797849B2
公开(公告)日：2010-09-21
申请号：US11930456
申请日：2007-10-31
申请人： Daniel Gomez , Ryan Steger
发明人： Daniel Gomez , Ryan Steger
IPC分类号： G01B5/004
CPC分类号： G01B5/004 , G01B5/14
摘要： Methods and systems for a portable metrology device are described. One embodiment of the present invention is an apparatus including a first link, a first probe coupled with the first link by a first coupling operable to move in a first degree of freedom, a second probe coupled with the first link by a second coupling operable to move in a second degree of freedom, a first sensor operable to output a first sensor signal associated with a motion of the first coupling, and a second sensor operable to output a second sensor signal associated with a motion of the second coupling. The embodiment also includes a processor in communication with the first and second sensors and operable to: receive the first sensor signal and the second sensor signal, and determine a distance between the first probe and the second probe based at least in part on the first sensor signal and the second sensor signal.
摘要翻译：描述便携式计量装置的方法和系统。本发明的一个实施例是一种装置，其包括第一连杆，通过可操作以第一自由度移动的第一联接器与第一连杆相耦合的第一探头，通过第二联接器与第一连杆相耦合的第二探头，以第二自由度移动，第一传感器可操作以输出与第一耦合的运动相关联的第一传感器信号，以及可操作以输出与第二耦合的运动相关联的第二传感器信号的第二传感器。该实施例还包括与第一和第二传感器通信的处理器，可操作以：接收第一传感器信号和第二传感器信号，并且至少部分地基于第一传感器确定第一探针和第二探针之间的距离信号和第二传感器信号。

15. 发明申请

US20090106994A1 Portable Metrology Device 有权
标题翻译：便携式计量设备
公开(公告)号：US20090106994A1
公开(公告)日：2009-04-30
申请号：US11930456
申请日：2007-10-31
申请人： Daniel Gomez , Ryan Steger
发明人： Daniel Gomez , Ryan Steger
IPC分类号： G01B5/004
CPC分类号： G01B5/004 , G01B5/14
摘要： Methods and systems for a portable metrology device are described. One embodiment of the present invention is an apparatus including a first link, a first probe coupled with the first link by a first coupling operable to move in a first degree of freedom, a second probe coupled with the first link by a second coupling operable to move in a second degree of freedom, a first sensor operable to output a first sensor signal associated with a motion of the first coupling, and a second sensor operable to output a second sensor signal associated with a motion of the second coupling. The embodiment also includes a processor in communication with the first and second sensors and operable to: receive the first sensor signal and the second sensor signal, and determine a distance between the first probe and the second probe based at least in part on the first sensor signal and the second sensor signal.
摘要翻译：描述便携式计量装置的方法和系统。本发明的一个实施例是一种装置，其包括第一连杆，通过可操作以第一自由度移动的第一联接器与第一连杆相耦合的第一探头，通过第二联接器与第一连杆相耦合的第二探头，以第二自由度移动，第一传感器可操作以输出与第一耦合的运动相关联的第一传感器信号，以及可操作以输出与第二耦合的运动相关联的第二传感器信号的第二传感器。该实施例还包括与第一和第二传感器通信的处理器，可操作以：接收第一传感器信号和第二传感器信号，并且至少部分地基于第一传感器确定第一探针和第二探针之间的距离信号和第二传感器信号。

16. 发明申请

US20060025959A1 System and method for increasing sensor resolution using interpolation 有权
标题翻译：使用插值增加传感器分辨率的系统和方法
公开(公告)号：US20060025959A1
公开(公告)日：2006-02-02
申请号：US11179067
申请日：2005-07-12
申请人： Daniel Gomez , Danny Grant , Kollin Tierling
发明人： Daniel Gomez , Danny Grant , Kollin Tierling
IPC分类号： G01C17/00
CPC分类号： G01D5/24409 , G06F3/0362 , G06F3/0421
摘要： Systems and methods for increasing sensor resolution using interpolation are described. One described method includes receiving an analog sensor signal associated with a coding surface; deriving a quadrature signal based at least in part on an analog threshold voltage associated with the analog sensor signal; determining a velocity and a derived quadrature position of the coding surface based at least in part on the quadrature signal; outputting the derived quadrature position of the coding surface if the velocity exceeds a velocity threshold; and determining and outputting an interpolated position of the coding surface using analog interpolation if the velocity is less than or equal to the velocity threshold.
摘要翻译：描述了使用插值增加传感器分辨率的系统和方法。一种描述的方法包括接收与编码表面相关联的模拟传感器信号; 至少部分地基于与模拟传感器信号相关联的模拟阈值电压得出正交信号; 至少部分地基于所述正交信号来确定所述编码表面的速度和导出的正交位置; 如果速度超过速度阈值，则输出编码表面的导出正交位置; 以及如果所述速度小于或等于所述速度阈值，则使用模拟插值来确定和输出所述编码表面的内插位置。

17. 发明授权

US4867977A Calcium salts 失效
标题翻译：钙盐
公开(公告)号：US4867977A
公开(公告)日：1989-09-19
申请号：US67311
申请日：1987-06-26
申请人： Jean-Marc Gailly , Daniel Gomez , Burguiene Martine , Andre Gens , Jean Remy
发明人： Jean-Marc Gailly , Daniel Gomez , Burguiene Martine , Andre Gens , Jean Remy
IPC分类号： A61K33/06 , A61K33/10 , A61K47/00 , A61P19/08
CPC分类号： A61K33/10
摘要： A solid stable sugar free and sodium free calcium pharmaceutical composition is disclosed comprising a calcium organic salt, calcium carbonate and an organic polycarboxylic acid.
摘要翻译：公开了一种固体稳定的无糖和钠游离钙药物组合物，其包含钙有机盐，碳酸钙和有机多元羧酸。

18. 发明申请

US20080055244A1 Control schemes for haptic feedback interface devices 有权
公开(公告)号：US20080055244A1
公开(公告)日：2008-03-06
申请号：US11981227
申请日：2007-10-30
申请人： Juan Cruz-Hernandez , Danny Grant , Alex Goldenberg , Daniel Gomez
发明人： Juan Cruz-Hernandez , Danny Grant , Alex Goldenberg , Daniel Gomez
IPC分类号： G06F3/033
CPC分类号： G06F3/016
摘要： A method is disclosed that includes outputting haptic feedback based on a movement of an object in a first direction from a first position to a second position. The haptic feedback is discontinued when the object is moved in a second direction opposite the first direction subsequent to the movement in the first direction. The haptic feedback is output again when the object moves past the second position in the first direction.

19. 发明申请

US20060071917A1 Systems and methods for providing a haptic device 有权
标题翻译：用于提供触觉装置的系统和方法
公开(公告)号：US20060071917A1
公开(公告)日：2006-04-06
申请号：US10949618
申请日：2004-09-24
申请人： Daniel Gomez , Henry DaCosta
发明人： Daniel Gomez , Henry DaCosta
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.
摘要翻译：公开了在用户界面中提供触觉反馈的系统和方法。在一个实施例中，一种装置包括操纵件，与操纵件连通的转子，与转子连通的致动器以及设置在操纵杆和转子之间的偏置元件。致动器可以被配置成改变转子上的力。当致动器增加转子上的力时，偏置元件可被配置为存储输入到设备的能量的至少一部分，并且当致动器减小在转子上的力时，将至少一部分存储的能量提供给操纵转子，或当操纵被释放时。

20. 发明申请

US20050151720A1 Resistive and hybrid control schemes for haptic feedback interface devices 有权
标题翻译：用于触觉反馈接口设备的电阻和混合控制方案
公开(公告)号：US20050151720A1
公开(公告)日：2005-07-14
申请号：US10895982
申请日：2004-07-22
申请人： Juan Cruz-Hernandez , Danny Grant , Alex Goldenberg , Daniel Gomez
发明人： Juan Cruz-Hernandez , Danny Grant , Alex Goldenberg , Daniel Gomez
IPC分类号： G06F3/01 , G09G5/00
CPC分类号： G06F3/016
摘要： A method is disclosed that includes outputting haptic feedback based on a movement of an object in a first direction from a first position to a second position. The haptic feedback is discontinued when the object is moved in a second direction opposite the first direction subsequent to the movement in the first direction. The haptic feedback is output again when the object moves past the second position in the first direction.
摘要翻译：公开了一种方法，其包括基于从第一位置到第二位置的第一方向上的物体的移动来输出触觉反馈。当物体在与第一方向的移动之后的第一方向相反的第二方向移动时，触觉反馈被停止。当物体沿着第一方向移动经过第二位置时，再次输出触觉反馈。

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