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1. 发明申请

US20120071757A1 Ultrasound Registration 审中-公开
标题翻译：超声注册
公开(公告)号：US20120071757A1
公开(公告)日：2012-03-22
申请号：US13235373
申请日：2011-09-17
申请人： Septimiu SALCUDEAN , Michael Chak Luen Yip , Troy Kiefert Adebar , Robert Nicholas Rohling
发明人： Septimiu SALCUDEAN , Michael Chak Luen Yip , Troy Kiefert Adebar , Robert Nicholas Rohling
IPC分类号： A61B8/14
CPC分类号： A61B8/0841 , A61B34/20 , A61B34/30 , A61B2034/2051 , A61B2034/2055 , A61B2090/363 , A61B2090/364 , A61B2090/378
摘要： The present invention relates to a method and apparatus for registering three-dimensional ultrasound images to an external coordinate system, such as the coordinate system attached to a camera-based imaging system or the coordinate system used to define the movements of a surgical robot. The apparatus generally comprises a tool with markers that can be accurately and repeatably located in both the ultrasound and external coordinate systems. In the case of the surgical robot frame, this tool may be a component of the surgical robot itself, such as a portion of a surgical manipulator. The method generally comprises positioning the toot upon the surface of a portion of patient tissue, imaging the tool using the ultrasound, simultaneously imaging the tool using the camera system or monitoring the current mechanical configuration of the surgical robot, localizing corresponding tool elements in both frames, and finally using the corresponding elements as registration fiducials to solve the geometric transformation that relates the two frames.
摘要翻译：本发明涉及用于将三维超声图像登记到外部坐标系统的方法和装置，例如附接到基于相机的成像系统的坐标系或用于限定手术机器人的运动的坐标系。该装置通常包括具有能够精确地且可重复地位于超声和外部坐标系中的标记的工具。在外科手术机器人框架的情况下，该工具可以是外科手术机器人本身的部件，例如手术操纵器的一部分。该方法通常包括将牙齿定位在患者组织的一部分的表面上，使用超声波成像该工具，同时使用相机系统对该工具进行成像或监测手术机器人的当前机械构造，将两个框架中的对应的工具元件，最后使用相应的元素作为注册基准来求解两帧相关的几何变换。

2. 发明申请

US20110152895A1 Apparatus for clamping an organ during surgery 审中-公开
标题翻译：用于在手术期间夹持器官的装置
公开(公告)号：US20110152895A1
公开(公告)日：2011-06-23
申请号：US12972488
申请日：2010-12-19
申请人： Colin Nyuli , Robert Nicholas Rohling , Septimiu Edmund Salcudean , Christopher Nguan
发明人： Colin Nyuli , Robert Nicholas Rohling , Septimiu Edmund Salcudean , Christopher Nguan
IPC分类号： A61B17/08
CPC分类号： A61B17/122 , A61B2017/12004 , A61B2017/2808 , A61B2017/2944
摘要： This invention is a surgical clamp for the purpose of occluding the kidney or other organ and thereby obtaining a bloodless surgical field, while allowing the majority of the organ to remain normally perfused. Previous approaches are limited in ability to provide sufficient clamping force without damaging the oran. The invention comprises a first and second jaw, wherein the proximal ends of the two jaws, and the distal ends of the two jaws are connected by a strap, such that applying tension to the strap results in moving the relative positions of the jaws in a substantially parallel motion, which provide a clamping force to the organ. The jaws can be attached with a flexibly joint to a hollow shaft, such that a cable inside the shaft can be used to apply tension to the strap while maintaining the ability to pivot the jaws relative to the shaft.
摘要翻译：本发明是用于封闭肾脏或其他器官的手术夹具，从而获得无血管手术领域，同时允许大多数器官保持正常灌注。以前的方法在提供足够的夹紧力而不损坏or。的能力方面受到限制。本发明包括第一和第二钳口，其中两个钳口的近端和两个钳口的远端通过带连接，使得向带施加张力导致钳口的相对位置移动到基本上平行的运动，其向器官提供夹紧力。夹爪可以柔性地连接到空心轴上，使得轴内的电缆可用于向带施加张力，同时保持相对于轴枢转卡爪的能力。

3. 发明申请

US20120250454A1 METHOD AND SYSTEM FOR SHAPING A CMUT MEMBRANE 审中-公开
标题翻译：用于形成CMUT膜的方法和系统
公开(公告)号：US20120250454A1
公开(公告)日：2012-10-04
申请号：US13439537
申请日：2012-04-04
申请人： Robert Nicholas Rohling , Edmond Cretu , Wei You
发明人： Robert Nicholas Rohling , Edmond Cretu , Wei You
IPC分类号： G03B42/06 , H04B1/02 , B06B1/06
CPC分类号： G01N29/0654 , B06B1/0292 , G01N29/2406 , G01N2291/02818 , G01N2291/02827 , G01N2291/044 , G10K11/35
摘要： The present disclosure is directed at a method and system for shaping a membrane a capacitive micromachined ultrasonic transducer, or CMUT. A bias voltage is asymmetrically applied to a membrane of the CMUT such that the membrane is directed to send ultrasonic waves that propagate along a propagation axis that is not parallel with a propagation axis along which ultrasonic waves propagate when the bias voltage is symmetrically applied to the membrane. In this way, the ultrasonic waves that are generated using a CMUT array can be physically steered to or focused on a target. Steering and focusing ultrasonic waves by altering the shape of the membrane by asymmetrically biasing the membrane reduces grating lobes and can also be used as part of an adaptive control system that can improve ultrasound image quality.
摘要翻译：本公开涉及用于使电容微机械加工的超声换能器或CMUT的膜成形的方法和系统。偏置电压被不对称地施加到CMUT的膜上，使得膜被引导发送超声波，该超声波沿着传播轴传播，传播轴与超声波传播的传播轴平行，当偏置电压对称地施加到膜。以这种方式，使用CMUT阵列产生的超声波可以被物理地导向或聚焦在目标上。通过不对称地偏置膜来改变膜的形状来转向和聚焦超声波减少了光栅瓣，并且还可以用作可以改善超声图像质量的自适应控制系统的一部分。

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