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1. 发明专利

IL296914A Splint device for guided surgical robot 未知
公开(公告)号：IL296914A
公开(公告)日：2022-12-01
申请号：IL29691422
申请日：2022-09-29
申请人： NEOCIS INC , FITTIPALDI MAURO , SALCEDO JUAN , GIANELLO MELISSA FRANCESCA , MOSES DENNIS
发明人： FITTIPALDI MAURO , SALCEDO JUAN , GIANELLO MELISSA FRANCESCA , MOSES DENNIS
IPC分类号： A61B34/20 , A61B34/30 , A61B90/00 , A61B90/16
摘要： A splint device for robotically-guided surgery includes elongate co-extending first and second splint portions each defining spaced-apart relief holes between first and second ends. A first separability provision is disposed between and extends along the first and second splint portions. A tracking portion is engaged with and extends outwardly from the first or second splint portion and extending outwardly therefrom, and has a kinematic mount engaged therewith. A second separability provision extending between one of the relief holes of the first splint portion and one of the relief holes of the second splint portion, wherein the second separability provision is arranged to be severable so as to facilitate adjustability of a length of the first and second splint portions and the first separability provision. The splint device can include a tool calibration provision or a fiducial marker element disposed in a predetermined disposition relative to the kinematic mount.

2. 发明专利

IL297169A Splint device for guided surgical robot 未知
公开(公告)号：IL297169A
公开(公告)日：2022-12-01
申请号：IL29716922
申请日：2022-10-06
申请人： NEOCIS INC , GARC?A MIJARES DANIEL JOSE , FITTIPALDI MAURO , PARKER ALEXANDER MAXFIELD , MOSES DENNIS
发明人： GARC?A MIJARES DANIEL JOSE , FITTIPALDI MAURO , PARKER ALEXANDER MAXFIELD , MOSES DENNIS
IPC分类号： A61B34/20 , A61B34/30 , A61B90/00 , A61B90/16
摘要： A splint device (100) for robotically-guided surgery includes elongate first and second splint portions (200, 400) each having opposed longitudinal ends and an interface edge extending between the ends, wherein the respective interface edges (250, 450) are arranged as a complement to each other. First and second alignment elements (800A, 800B) engaged with the first and second splint portions are arranged to interact with each other such that a substantially consistent gap is defined between the first and second interface edges, from the first ends to the second ends of the first and second splint portions. A threaded member (900) is engaged between the first and second splint portions and arranged to advance the first and second interface edges toward each other in response to advancement of the threaded member. A tracking portion (1000) having a kinematic mount (1100) engaged therewith is engaged with the first or second splint portion and extends outwardly therefrom. An associated method is also provided.

3. 发明申请

WO2007136739A3 A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：一种用于控制乐器的方法和装置
公开(公告)号：WO2007136739A3
公开(公告)日：2008-07-24
申请号：PCT/US2007011891
申请日：2007-05-18
申请人： MAKO SURGICAL CORP , QUAID ARTHUR E , KANG HYOSIG , MOSES DENNIS
发明人： QUAID ARTHUR E , KANG HYOSIG , MOSES DENNIS
IPC分类号： G06F3/01 , B25J9/16
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

4. 发明申请

WO2007117297A3 APPARATUS AND METHOD FOR HAPTIC RENDERING 审中-公开
标题翻译：用于快乐渲染的装置和方法
公开(公告)号：WO2007117297A3
公开(公告)日：2008-06-26
申请号：PCT/US2006049216
申请日：2006-12-27
申请人： MAKO SURGICAL CORP , KANG HYOSIG , QUAID ARTHUR E , MOSES DENNIS
发明人： KANG HYOSIG , QUAID ARTHUR E , MOSES DENNIS
IPC分类号： A61B19/00 , A61B17/17 , B25J9/16 , G06F3/01
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016
摘要： In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译：一方面，本发明涉及一种用于产生触觉惩罚力的方法，包括在一个实施例中的步骤：定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力，并且响应于辅助代理位置和HIP位置产生第二力。

5. 发明申请

WO2007136769A2 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：用于控制一个设备的方法和装置
公开(公告)号：WO2007136769A2
公开(公告)日：2007-11-29
申请号：PCT/US2007011940
申请日：2007-05-18
申请人： MAKO SURGICAL CORP , QUAID ARTHUR , MOSES DENNIS , KANG HYOSIG
发明人： QUAID ARTHUR , MOSES DENNIS , KANG HYOSIG
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.
摘要翻译：提供了一种补偿外科手术过程中物体运动的方法。该方法包括确定患者的解剖结构的姿势; 确定手术装置的手术工具的姿势; 定义所述解剖结构的姿态与所述外科手术工具的位置，方位，速度和/或加速度之间的关系; 将解剖结构的姿态，手术工具的姿势与关系联系起来; 以及响应于所述解剖结构的运动和/或所述手术工具的运动而更新所述关联，而不会在所述外科手术期间中断所述外科手术装置的操作。

6. 发明申请

WO2006091494A1 HAPTIC GUIDANCE SYSTEM AND METHOD 审中-公开
标题翻译：习惯指导系统和方法
公开(公告)号：WO2006091494A1
公开(公告)日：2006-08-31
申请号：PCT/US2006/005700
申请日：2006-02-21
申请人： MAKO SURGICAL CORPORATION , QUAID, Arthur, E. , MOSES, Dennis , KANG, Hyosig , ABOVITZ, Rony, A. , FERRE, Maurice , HAJAJ, Binyamin , ROCHE, Martin , ILLSLEY, Scott , ARATA, Louis, K. , MEARS, Dana, C. , BLACKWELL, Timothy , MOZES, Alon , ALY, Sherif , DUGAL, Amardeep, Singh , HAND, Randal , GLAUSER, Sandi , SALCEDO, Juan , EBBITT, Peter , TAPIA, William
发明人： QUAID, Arthur, E. , MOSES, Dennis , KANG, Hyosig , ABOVITZ, Rony, A. , FERRE, Maurice , HAJAJ, Binyamin , ROCHE, Martin , ILLSLEY, Scott , ARATA, Louis, K. , MEARS, Dana, C. , BLACKWELL, Timothy , MOZES, Alon , ALY, Sherif , DUGAL, Amardeep, Singh , HAND, Randal , GLAUSER, Sandi , SALCEDO, Juan , EBBITT, Peter , TAPIA, William
IPC分类号： A61B19/00 , A61G13/12 , G01S3/786 , A61B17/00 , A61B17/16
CPC分类号： A61B90/36 , A61B5/1127 , A61B5/745 , A61B6/032 , A61B6/037 , A61B6/4423 , A61B6/463 , A61B6/5247 , A61B8/463 , A61B17/1677 , A61B17/1739 , A61B17/1764 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/14 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3983 , A61F2/38 , G05B2219/36432 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译：手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。

7. 发明申请

WO2007136771A2 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：用于控制一个设备的方法和装置
公开(公告)号：WO2007136771A2
公开(公告)日：2007-11-29
申请号：PCT/US2007011942
申请日：2007-05-18
申请人： MAKO SURGICAL CORP , MOSES DENNIS , QUAID ARTHUR , KANG HYOSIG
发明人： MOSES DENNIS , QUAID ARTHUR , KANG HYOSIG
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
摘要翻译：提供了一种用于控制外科手术装置的方法。该方法包括操纵手术装置以对患者执行手术; 确定患者的解剖结构与外科手术器械的手术工具的位置，取向，速度和/或加速度之间的关系是否对应于解剖学和位置之间的期望关系，取向，速度，和/或外科手术工具的加速度; 并且如果所述关系不对应于期望的关系和/或检测装置不能检测到所述解剖结构的位置和/或所述外科手术工具的位置，则对所述手术装置施加约束。

8. 发明申请

WO2007136739A2 A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
标题翻译：一种用于控制乐器的方法和装置
公开(公告)号：WO2007136739A2
公开(公告)日：2007-11-29
申请号：PCT/US2007/011891
申请日：2007-05-18
申请人： MAKO SURGICAL CORPORATION , QUAID, Arthur, E. , KANG, Hyosig , MOSES, Dennis
发明人： QUAID, Arthur, E. , KANG, Hyosig , MOSES, Dennis
CPC分类号： B25J9/1638 , B25J13/025 , G06F3/016
摘要： A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译：一种用于控制触觉装置的方法和装置。在一个实施例中，触觉装置包括致动器; 致动器传感器，产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器，致动器传感器和致动器电连通的控制器。控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。在一个实施例中，用于控制触觉装置的致动器的方法包括以下步骤：产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器，以产生对用户的触觉响应。

9. 发明申请

WO2011109041A1 SYSTEM WITH BRAKE TO LIMIT MANUAL MOVEMENT OF MEMBER AND CONTROL SYSTEM FOR SAME 审中-公开
标题翻译：制动系统限制手动运动的成员和控制系统
公开(公告)号：WO2011109041A1
公开(公告)日：2011-09-09
申请号：PCT/US2010/050757
申请日：2010-09-29
申请人： MAKO SURGICAL CORP. , ZIAEI, Kam , MOSES, Dennis
发明人： ZIAEI, Kam , MOSES, Dennis
IPC分类号： A61B19/00 , B25J13/08 , A61B17/56 , A61F2/46
CPC分类号： A61F2/4609 , A61B17/162 , A61B17/1628 , A61B17/1666 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2034/2059 , A61B2034/252 , A61F2002/4687
摘要： A system includes a movable member configured to permit a user to manually move at least a portion of the movable member to permit an object coupled to the movable member to be manipulated in space and thereby facilitate the performance of a task using the coupled object. The movable member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a substantially different weight than the first object. A brake is configured to limit manual movement of at least the portion of the movable member to inhibit manipulation in space of the coupled object, both when the movable member is coupled to the first object and when the movable member is coupled to the second object.
摘要翻译：系统包括可移动构件，其被配置为允许用户手动地移动可移动构件的至少一部分，以允许在空间中操纵耦合到可移动构件的对象，从而便于使用耦合对象执行任务。可移动构件被配置为耦合到至少第一对象和与第一对象可互换的第二对象，并且具有与第一对象大致不同的权重。制动器构造成在可动构件联接到第一物体时以及当可移动构件联接到第二物体时，限制至少可移动构件的部分的手动运动，以阻止在联接物体的空间中的操作。

10. 发明申请

WO2007136769A3 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 审中-公开
公开(公告)号：WO2007136769A3
公开(公告)日：2007-11-29
申请号：PCT/US2007/011940
申请日：2007-05-18
申请人： MAKO SURGICAL CORP. , QUAID, Arthur , MOSES, Dennis , KANG, Hyosig
发明人： QUAID, Arthur , MOSES, Dennis , KANG, Hyosig
IPC分类号： A61B19/00
摘要： A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.

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