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    • 7. 发明授权
    • Medical robotic system and method of controlling the same
    • 医疗机器人系统及其控制方法
    • US08740882B2
    • 2014-06-03
    • US12847269
    • 2010-07-30
    • Honggul JunYoonyoung ChangWoohyun Paik
    • Honggul JunYoonyoung ChangWoohyun Paik
    • A61B19/00
    • A61B34/30A61B34/37A61B34/76A61B2034/102A61B2090/065
    • A medical robotic system and method for controlling the system are provided to precisely measure contact force during the minimally invasive surgery. In one embodiment, a medical robotic system includes an input device, a robotic arm assembly, a surgical instrument operably coupled to the robotic arm assembly, the surgical instrument including a contact detection unit configured to detect a contact of the surgical instrument with tissue of a patient, a current measurement unit configured to measure a joint current in the robotic arm assembly, a position/velocity measurement unit configured to measure a joint position and a joint velocity in the robotic arm assembly, an external force calculation unit configured to calculate size and direction of a contact force caused by the contact of the surgical instrument to the tissue based on the joint currents, positions and velocities measured when the contact is occurred and measured when the contact is not occurred.
    • 提供了用于控制系统的医疗机器人系统和方法,以精确测量微创手术期间的接触力。 在一个实施例中,医疗机器人系统包括输入装置,机器人臂组件,可操作地联接到机器人臂组件的手术器械,所述外科器械包括接触检测单元,所述接触检测单元被配置为检测外科器械与组织的接触 患者,被配置为测量所述机器臂组件中的关节电流的电流测量单元,配置成测量所述机器人臂组件中的关节位置和关节速度的位置/速度测量单元,被配置为计算所述机器人臂组件的尺寸和尺寸的外力计算单元, 基于在不发生接触时测量接触时测量的接头电流,位置和速度而引起的外科器械与组织的接触引起的接触力的方向。
    • 9. 发明申请
    • MEDICAL ROBOTIC SYSTEM AND METHOD OF CONTROLLING THE SAME
    • 医用机器人系统及其控制方法
    • US20120029529A1
    • 2012-02-02
    • US12847269
    • 2010-07-30
    • Honggul JunYoonyoung ChangWoohyun Paik
    • Honggul JunYoonyoung ChangWoohyun Paik
    • A61B19/00
    • A61B34/30A61B34/37A61B34/76A61B2034/102A61B2090/065
    • A medical robotic system and method for controlling the system are provided to precisely measure contact force during the minimally invasive surgery. In one embodiment, a medical robotic system includes an input device, a robotic arm assembly, a surgical instrument operably coupled to the robotic arm assembly, the surgical instrument including a contact detection unit configured to detect a contact of the surgical instrument with tissue of a patient, a current measurement unit configured to measure a joint current in the robotic arm assembly, a position/velocity measurement unit configured to measure a joint position and a joint velocity in the robotic arm assembly, an external force calculation unit configured to calculate size and direction of a contact force caused by the contact of the surgical instrument to the tissue based on the joint currents, positions and velocities measured when the contact is occurred and measured when the contact is not occurred.
    • 提供了用于控制系统的医疗机器人系统和方法,以精确测量微创手术期间的接触力。 在一个实施例中,医疗机器人系统包括输入装置,机器人臂组件,可操作地联接到机器人臂组件的手术器械,所述外科器械包括接触检测单元,所述接触检测单元被配置为检测外科器械与组织的接触 患者,被配置为测量所述机器臂组件中的关节电流的电流测量单元,配置成测量所述机器人臂组件中的关节位置和关节速度的位置/速度测量单元,被配置为计算所述机器人臂组件的尺寸和尺寸的外力计算单元, 基于在不发生接触时测量接触时测量的接头电流,位置和速度而引起的外科器械与组织的接触引起的接触力的方向。