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1. 发明申请

WO2003094108A2 METHODS AND SYSTEMS TO CONTROL A SHAPING TOOL 审中-公开
标题翻译：控制成形工具的方法和系统
公开(公告)号：WO2003094108A2
公开(公告)日：2003-11-13
申请号：PCT/US2003/013759
申请日：2003-05-02
申请人： CARNEGIE MELLON UNIVERSITY , BRISSON, Gabriel , KANADE, Takeo , DIGIOIA, Anthony , JARAMAZ, Branislav
发明人： BRISSON, Gabriel , KANADE, Takeo , DIGIOIA, Anthony , JARAMAZ, Branislav
IPC分类号： G06T
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/320068 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G06F19/00 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece that includes a target shape, providing a cutting tool, providing a 3-D image associated with the workpiece, identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece with the workpiece image, registering the cutting tool with the cutting tool image, tracking at least one of the workpiece and the cutting tool, transforming the tracking data based on image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool. In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and/or workpiece.
摘要翻译：一种用于提供控制的方法和系统，包括提供包括目标形状的工件，提供切割工具，提供与工件相关联的3-D图像，识别工件图像内的目标形状，提供与3D相关联的3D图像利用切割工具，将工件与工件图像对准，将切割工具与切割工具图像对准，跟踪至少一个工件和切割工具，基于图像坐标转换跟踪数据，以确定工件之间的关系和切割工具，并且基于该关系向切割工具提供控制。在一个实施例中，工件图像可以被表示为可以基于目标形状，废物和/或工件来分类和/或重新分类的体积像素（体素）。

2. 发明申请

WO2012166817A3 SURGICAL INSTRUMENT WITH SINGLE DRIVE INPUT FOR TWO END EFFECTOR MECHANISMS 审中-公开
标题翻译：具有单向驱动输入的双端效应机构的外科仪器
公开(公告)号：WO2012166817A3
公开(公告)日：2013-03-07
申请号：PCT/US2012040037
申请日：2012-05-30
申请人： INTUITIVE SURGICAL OPERATIONS , BRISSON GABRIEL , LOH ALAN , KERVER LAWRENCE
发明人： BRISSON GABRIEL , LOH ALAN , KERVER LAWRENCE
IPC分类号： A61B17/295
CPC分类号： A61B17/295 , A61B17/285 , A61B17/320016 , A61B34/30 , A61B2017/00389 , A61B2017/2915 , A61B2017/2936 , A61B2018/1455
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.
摘要翻译：公开了用于治疗组织的方法和手术组件及相关方法，其中单个输入用于顺序地关联两个构件。手术组件包括端部执行器，支撑端部执行器的基座，通过第一构造和第二构造之间的运动范围相对于基座可移动的输入连杆以及致动机构。末端执行器包括第一铰接构件和第二铰接构件。所述致动机构在所述运动范围的第一部分内将所述输入连杆驱动地连接到所述第一铰接构件，并且在所述运动范围的第二部分内将所述输入连杆与所述第二铰接构件驱动地联接，使得所述输入连杆从第一构造到第二构造将第一铰接构件铰接，然后铰接第二铰接构件。

3. 发明申请

WO03094108A8 METHODS AND SYSTEMS TO CONTROL A SHAPING TOOL 审中-公开
标题翻译：用于控制成形工具的方法和系统
公开(公告)号：WO03094108A8
公开(公告)日：2004-03-04
申请号：PCT/US0313759
申请日：2003-05-02
申请人： UNIV CARNEGIE MELLON , BRISSON GABRIEL , KANADE TAKEO , DIGIOIA ANTHONY M III , JARAMAZ BRANISLAV
发明人： BRISSON GABRIEL , KANADE TAKEO , DIGIOIA ANTHONY M III , JARAMAZ BRANISLAV
IPC分类号： A61B17/15 , A61B17/16 , A61B17/32 , A61B19/00 , G06T20060101 , G06T
CPC分类号： A61B90/10 , A61B17/155 , A61B17/157 , A61B17/1675 , A61B17/32 , A61B17/32002 , A61B17/320068 , A61B17/3203 , A61B17/3211 , A61B34/20 , A61B90/37 , A61B2017/320052 , A61B2034/2055 , B33Y50/02 , B33Y80/00 , G05B2219/35217 , G05B2219/37097 , G05B2219/39219 , G05B2219/42338 , G05B2219/45118 , G16H50/50 , Y10T83/698
摘要： A method and system for providing control that include providing a workpiece (5126) that includes a target shape, providing a cutting tool, (5122), providing a 3-D image associated with the workpiece (5126), identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece (5126) with the workpiece image, registering the cutting tool (5122) with the cutting tool image, tracking at least one of the workpiece (5126) and the cutting tool (5122), transforming the tracking data based on the image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool (5122). In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and or workpiece (5126).
摘要翻译：一种用于提供控制的方法和系统，所述方法和系统包括提供包括目标形状的工件（5126），提供切割工具（5122），提供与工件（5126）相关联的3D图像，提供与切割工具相关联的3D图像，将工件（5126）与工件图像配准，将切割工具（5122）与切割工具图像配准，跟踪工件（5126）和工件切削工具5122根据图像坐标变换追踪数据，确定工件与切削工具的关系，根据该关系对切削工具5122进行控制。在一个实施例中，工件图像可以被表示为可以基于目标形状，废物和/或工件（5126）被分类和/或重新分类的体积像素（体素）。

4. 发明申请

WO2012166806A1 GRIP FORCE CONTROL IN A ROBOTIC SURGICAL INSTRUMENT 审中-公开
标题翻译：机器人手术仪器中的控制力
公开(公告)号：WO2012166806A1
公开(公告)日：2012-12-06
申请号：PCT/US2012/040015
申请日：2012-05-30
申请人： INTUITIVE SURGICAL OPERATIONS, INC. , BRISSON, Gabriel F.
发明人： BRISSON, Gabriel F.
IPC分类号： A61B17/29 , A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/77 , A61B2017/00477 , A61B2090/064
摘要： Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A surgical assembly includes an end effector including a jaw operable to grip a patient tissue and a spring assembly. The spring assembly includes an output link drivingly coupled with the jaw, an input link drivingly coupled to an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link. The spring is preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level.
摘要翻译：公开了控制组织夹持力的手术组件，仪器和相关方法。手术组件包括端部执行器，其包括可操作以夹持患者组织和弹簧组件的钳口。弹簧组件包括与颚板驱动耦合的输出连杆，驱动地连接到关节运动源的输入连杆，以及与输入和输出连杆耦合以将接合力从输入连杆传递到输出连杆的弹簧。弹簧被预加载以阻止输入连杆和输出连杆之间的相对移动，同时传送的关节运动力低于预定水平，并且当传递的关节运动力高于预定水平时允许输入连杆和输出连杆之间的相对移动水平。

5. 发明申请

WO2012068156A3 DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTOR ACTUATION IN A SURGICAL INSTRUMENT 审中-公开
标题翻译：手术器械解耦仪器轴卷动和末端执行器的动作
公开(公告)号：WO2012068156A3
公开(公告)日：2012-11-01
申请号：PCT/US2011060849
申请日：2011-11-15
申请人： INTUITIVE SURGICAL OPERATIONS , BRISSON GABRIEL F , BURBANK WILLIAM , DACHS II GREGORY W , ZABINSKI JOHN W , MURPHY TODD
发明人： BRISSON GABRIEL F , BURBANK WILLIAM , DACHS II GREGORY W , ZABINSKI JOHN W , MURPHY TODD
IPC分类号： A61B19/00 , A61B17/29 , F16H37/08
CPC分类号： A61B34/70 , A61B17/00 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/71 , A61B2017/00367 , A61B2017/00398 , A61B2017/00477 , A61B2017/2901 , A61B2017/2903 , A61B2017/293 , A61B2017/2932 , A61B2017/2936 , A61B2017/2938 , A61B2017/2943 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/715 , A61B2090/067
摘要： Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
摘要翻译：公开了外科组件和相关方法，其提供器械轴卷和端部执行器致动的解耦。外科组件包括：基座;旋转地安装到基座的器械轴;端部执行器，其支撑在器械轴的远端处并且包括由旋转运动驱动的致动机构;驱动轴，与致动机构旋转地联接并且被配置以向致动机构提供旋转运动，以及与驱动轴旋转耦合并接收第一输入运动和第二输入运动的差速器。该差速器将第一和第二输入运动组合起来以产生使驱动轴旋转的输出运动。第一输入运动可旋转地连接至致动源。第二输入运动与仪器轴相对于基座的旋转相联接。

6. 发明申请

WO2011057153A1 METHODS AND SYSTEMS FOR COMPLETE COVERAGE OF A SURFACE BY AN AUTONOMOUS ROBOT 审中-公开
标题翻译：自动机器人表面完整覆盖的方法和系统
公开(公告)号：WO2011057153A1
公开(公告)日：2011-05-12
申请号：PCT/US2010/055740
申请日：2010-11-05
申请人： EVOLUTION ROBOTICS, INC. , STOUT, Michael, S. , BRISSON, Gabriel, Francis , DI BERNARDO, Enrico , PIRJANIAN, Paolo , GOEL, Dhiraj , CASE, James, Philip , DOOLEY, Michael, J.
发明人： STOUT, Michael, S. , BRISSON, Gabriel, Francis , DI BERNARDO, Enrico , PIRJANIAN, Paolo , GOEL, Dhiraj , CASE, James, Philip , DOOLEY, Michael, J.
IPC分类号： G05D1/02
CPC分类号： B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge- following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
摘要翻译：一种被配置为导航表面的机器人，所述机器人包括移动机构; 表示关于表面的数据和将位置与在导航期间观察到的一个或多个属性相关联的逻辑图; 初始化模块，被配置为建立包括初始位置和初始取向的初始姿势; 区域覆盖模块，被配置为使所述机器人移动以覆盖区域; 边缘跟随模块被配置为使机器人跟随未追随的边缘; 控制模块，被配置为调用覆盖在至少部分地基于初始姿态的至少一部分定义的第一区域上的区域，以调用覆盖至少一个附加区域的区域，以调用边缘跟随，并且调用区域覆盖导致映射模块来标记跟随的边缘，并且使得覆盖在边缘跟随期间发现的区域的第三区域。

7. 发明申请

WO2012166815A1 SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION 审中-公开
标题翻译：具有检测故障条件控制的手术仪器
公开(公告)号：WO2012166815A1
公开(公告)日：2012-12-06
申请号：PCT/US2012/040029
申请日：2012-05-30
申请人： INTUITIVE SURGICAL OPERATIONS, INC , DURANT, Kevin , BRISSON, Gabriel, F. , MANZO, Scott , BURBANK, William, A.
发明人： DURANT, Kevin , BRISSON, Gabriel, F. , MANZO, Scott , BURBANK, William, A.
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B17/295 , A61B34/30 , A61B34/32 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/77 , A61B2017/00017 , A61B2017/00119 , A61B2017/2926 , A61B2034/306
摘要： A method and system of controlling a surgical instrument including an end effector are provided. The method includes detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position, and automatically controlling operation of the end effector component after a second signal is not received within a predetermined time period after detecting the first signal. The second signal indicates that the end effector component is in one of the first position or the second position. The system includes a surgical instrument and a controller to implement the method.
摘要翻译：提供了一种控制包括末端执行器的外科器械的方法和系统。该方法包括检测指示外科器械的末端执行器部件位于第一位置和第二位置之间的第一信号，并且在第二信号在第一信号未被接收之后的预定时间段内自动控制末端执行器部件的操作检测第一信号。第二信号指示末端执行器部件处于第一位置或第二位置之一。该系统包括手术器械和用于实施该方法的控制器。

8. 发明申请

WO2003094108A3 METHODS AND SYSTEMS TO CONTROL A SHAPING TOOL 审中-公开
公开(公告)号：WO2003094108A3
公开(公告)日：2003-11-13
申请号：PCT/US2003/013759
申请日：2003-05-02
申请人： CARNEGIE MELLON UNIVERSITY , BRISSON, Gabriel , KANADE, Takeo , DIGIOIA, Anthony, M., III , JARAMAZ, Branislav
发明人： BRISSON, Gabriel , KANADE, Takeo , DIGIOIA, Anthony, M., III , JARAMAZ, Branislav
IPC分类号： G06F19/00
摘要： A method and system for providing control that include providing a workpiece (5126) that includes a target shape, providing a cutting tool, (5122), providing a 3-D image associated with the workpiece (5126), identifying the target shape within the workpiece image, providing a 3-D image associated with the cutting tool, registering the workpiece (5126) with the workpiece image, registering the cutting tool (5122) with the cutting tool image, tracking at least one of the workpiece (5126) and the cutting tool (5122), transforming the tracking data based on the image coordinates to determine a relationship between the workpiece and the cutting tool, and, based on the relationship, providing a control to the cutting tool (5122). In one embodiment, the workpiece image can be represented as volume pixels (voxels) that can be classified and/or reclassified based on target shape, waste, and or workpiece (5126).

9. 发明申请

WO2012166817A2 SURGICAL INSTRUMENT WITH SINGLE DRIVE INPUT FOR TWO END EFFECTOR MECHANISMS 审中-公开
标题翻译：具有单向驱动输入的双端效应机构的外科仪器
公开(公告)号：WO2012166817A2
公开(公告)日：2012-12-06
申请号：PCT/US2012/040037
申请日：2012-05-30
申请人： INTUITIVE SURGICAL OPERATIONS, INC. , BRISSON, Gabriel , LOH, Alan , KERVER, Lawrence
发明人： BRISSON, Gabriel , LOH, Alan , KERVER, Lawrence
IPC分类号： A61B17/295
CPC分类号： A61B17/295 , A61B17/285 , A61B17/320016 , A61B34/30 , A61B2017/00389 , A61B2017/2915 , A61B2017/2936 , A61B2018/1455
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.
摘要翻译：公开了用于治疗组织的方法和手术组件及相关方法，其中单个输入用于顺序地关联两个构件。手术组件包括端部执行器，支撑端部执行器的基座，通过第一构造和第二构造之间的运动范围相对于基座可移动的输入连杆以及致动机构。末端执行器包括第一铰接构件和第二铰接构件。所述致动机构在所述运动范围的第一部分内将所述输入连杆驱动地连接到所述第一铰接构件，并且在所述运动范围的第二部分内将所述输入连杆与所述第二铰接构件驱动地联接，使得所述输入连杆从第一构造到第二构造将第一铰接构件铰接，然后铰接第二铰接构件。

10. 发明申请

WO2012068156A2 DECOUPLING INSTRUMENT SHAFT ROLL AND END EFFECTOR ACTUATION IN A SURGICAL INSTRUMENT 审中-公开
标题翻译：手术仪器中的解除仪器轴旋转和末端影响
公开(公告)号：WO2012068156A2
公开(公告)日：2012-05-24
申请号：PCT/US2011/060849
申请日：2011-11-15
申请人： INTUITIVE SURGICAL OPERATIONS, INC. , BRISSON, Gabriel F. , BURBANK, William , DACHS II, Gregory W. , ZABINSKI, John W. , MURPHY, Todd
发明人： BRISSON, Gabriel F. , BURBANK, William , DACHS II, Gregory W. , ZABINSKI, John W. , MURPHY, Todd
IPC分类号： A61B19/00 , A61B17/29
CPC分类号： A61B34/70 , A61B17/00 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/71 , A61B2017/00367 , A61B2017/00398 , A61B2017/00477 , A61B2017/2901 , A61B2017/2903 , A61B2017/293 , A61B2017/2932 , A61B2017/2936 , A61B2017/2938 , A61B2017/2943 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/715 , A61B2090/067
摘要： Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
摘要翻译：公开了提供仪器轴辊和端部执行器致动的去耦的手术组件和相关方法。手术组件包括基座，旋转地安装到基座的器械轴，支撑在器械轴的远端处的端部执行器，并且包括由旋转运动驱动的致动机构，与致动机构旋转耦合的驱动轴，以向所述致动机构提供旋转运动，以及旋转地联接到所述驱动轴并接收第一输入运动和第二输入运动的差速器。差速器组合第一和第二输入运动以产生使驱动轴旋转的输出运动。第一输入运动可旋转地耦合到致动源。第二输入运动耦合到仪器轴相对于基座的旋转。

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