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1. 发明授权

US5352946A Linear motor suspension system 失效
标题翻译：直线电机悬架系统
公开(公告)号：US5352946A
公开(公告)日：1994-10-04
申请号：US13295
申请日：1993-02-04
申请人： Brian D. Hoffman , Steven H. Pollack , Peter Smit , John Woolley
发明人： Brian D. Hoffman , Steven H. Pollack , Peter Smit , John Woolley
IPC分类号： B25J19/00 , B25J9/12 , B25J17/02 , H02K41/02 , H02K41/00
CPC分类号： H02K41/031 , B25J17/0208 , B25J9/123 , H02K2201/18
摘要： Power requirements for a robotic system are achieved through the employment of modular-type linear motor (LM) cells of either the one dimensional or two-dimensional type. Increasing system power requirements are met through the utilization of an increasing number of modular linear motor cells precisely positioned upon a common mounting plate to assure proper operation with a common platen. Deviations in the planarity or flatness of the platen and/or linear motor confronting surfaces due, for example, to warpage, temperature fluctuations, machining considerations or the like, are accommodated by mounting each modular LM cell upon a solid suspension member having mounting legs which are machined or otherwise formed from the solid member so as to be compliant in the Z direction only and non-compliant in the mutually perpendicular X and Y directions thereby allowing for movement in the Z direction as well as rotational movement about the X or Y axes to compensate for warpage or non-planarity of the platen and/or linear motor. Each mounting leg has a boss which is provided to enable the compliant legs to undergo proper flexing due to the displacement of the adjacent mounting surface of the LM, provided for by the bosses.
摘要翻译：机器人系统的功率要求通过采用一维或二维型的模块式线性电动机（LM）单元实现。通过利用越来越多的精确定位在公共安装板上的模块化线性电动机单元来满足增加的系统功率要求，以确保使用公共压板正确操作。通过将每个模块LM单元安装在具有安装支脚的固体悬挂构件上来容纳由于例如翘曲，温度波动，加工考虑等导致的压板和/或线性电动机面对面的平面度或平面度的偏差，被加工或以其他方式由实心构件形成，以便仅在Z方向上柔顺，并且在相互垂直的X和Y方向上不顺从，从而允许沿Z方向运动以及围绕X或Y轴的旋转运动以补偿压板和/或线性电动机的翘曲或非平面性。每个安装腿具有凸台，该凸台被设置成使得柔性腿能够由于由凸台提供的LM的相邻安装表面的位移而经历适当的弯曲。

2. 发明授权

US5150452A Method and apparatus for anti-collision and collision protection for multiple robot system 失效
标题翻译：多机器人系统的防撞和防撞保护方法与装置
公开(公告)号：US5150452A
公开(公告)日：1992-09-22
申请号：US387222
申请日：1989-07-28
申请人： Steven H. Pollack , Brian D. Hoffman
发明人： Steven H. Pollack , Brian D. Hoffman
IPC分类号： B25J13/00 , B25J5/00 , B25J9/16 , B25J9/18 , B25J19/02 , B25J19/06
CPC分类号： B25J9/1676
摘要： Collision detection in a multi-robot system. A "map" of the "world" is stored in memory. A collision map containing a desired robot move is created. The initial position of the desired robot is removed from the "world" map by combining the robot map and the "world" map in a logical exclusive-OR operation and thereafter combining the collision map and the "world" map in a logical exclusive-OR operation followed by combining the collision map and the "world" map in a logical "inclusive-OR" operation in a byte-by-byte manner. A collision is indicated by a difference in any bit position of the inclusive and exclusive-OR combinations. The lack of any difference indicates that the move may be made. Similar logic operations are performed to partially and ultimately totally deallocate an allocated path and for considering alternative moves or partial moves responsive to the presence of a "collision". The method is performed using a computer which may be no more sophisticated than a conventional personal computer (i.e. PC) in which calculations are capable of being performed within a millisecond, which operating speed favorably compares with the movement of a robot which requires of the order of one second.

3. 发明授权

US4528747A Method and apparatus for mounting multilead components on a circuit board 失效
标题翻译：在电路板上安装多元器件的方法和装置
公开(公告)号：US4528747A
公开(公告)日：1985-07-16
申请号：US446142
申请日：1982-12-02
申请人： Brian D. Hoffman , Steven H. Pollack , Barry Weissman
发明人： Brian D. Hoffman , Steven H. Pollack , Barry Weissman
IPC分类号： B23P19/00 , H05K3/30 , H05K13/04
CPC分类号： H05K13/0482 , Y10S269/903 , Y10T29/49133 , Y10T29/49153 , Y10T29/53183
摘要： A method for mounting one or a plurality of multilead components (25-28) on a circuit board (20) is herein disclosed. The method comprises the steps of loading a releasable template (32) with the component/components to be mounted, positioning the releasable template proximate to the board, releasing the component/components from the template onto the board such that each lead of each component is proximate to a corresponding aperture in the board, and imparting a vibratory motion (via 29 and 23) to the board thereby inserting the component/components into the board. Also disclosed are various embodiments of an apparatus for achieving this mounting method using a programmable robotic arm (FIG. 2).
摘要翻译：本文公开了一种用于在电路板（20）上安装一个或多个多元件部件（25-28）的方法。该方法包括以下步骤：将可释放模板（32）装载到要安装的部件/组件，将可释放模板定位在板附近，将组件/组件从模板释放到板上，使得每个组件的每个引导件靠近板中的对应的孔，并且向板施加振动（通孔29和23），从而将部件/部件插入板中。还公开了用于使用可编程机器臂（图2）实现该安装方法的装置的各种实施例。

4. 发明授权

US4890241A Robotic system 失效
标题翻译：机器人系统
公开(公告)号：US4890241A
公开(公告)日：1989-12-26
申请号：US112534
申请日：1987-10-26
申请人： Brian D. Hoffman , Steven H. Pollack
发明人： Brian D. Hoffman , Steven H. Pollack
IPC分类号： B25J9/16 , G05B19/418 , G05B19/425
CPC分类号： B25J9/1676 , G05B19/4182 , G05B19/425 , G05B2219/31166 , G05B2219/32239 , G05B2219/33053 , G05B2219/33057 , G05B2219/33297 , G05B2219/34012 , G05B2219/34345 , G05B2219/34348 , G05B2219/34403 , G05B2219/35283 , G05B2219/36147 , G05B2219/45055 , G05B2219/49143 , G05B2219/49276 , G05B2219/50198 , G05B2219/50249 , Y02P90/04 , Y02P90/083
摘要： A robotic system in which robot devices are assembled from an inventory of elements responsive to a work request. The robotic devices include robots incorporating two-dimensional, linear motors movable along a stationary platen and coupled to various power sources through flexible, extendible, umbilical cords. The robot devices are selectively connectible with manipulators for holding parts to be assembled and/or for performing operations on such parts and/or members to which such parts are mounted. The devices are automatically assembled by selecting elements capable of performing the tasks necessary to complete the work request as well as selecting those elements which result in optimization of the assembly time and avoid collisions and cord tangling in moving along the paths traversed by the robot devices during their assembly. A multiplicity of assembled robotic devices may perform the tasks associated with the work request under control of an electronic system permitting simultaneous operations while preventing collisions and cord tangling. Robotic device assembly, disassembly and job tasks based on work requests can be performed simultaneously in any combination.

5. 发明授权

US09526587B2 Fiducial marker design and detection for locating surgical instrument in images 有权
标题翻译：基准标记设计和检测，用于定位手术器械在图像中
公开(公告)号：US09526587B2
公开(公告)日：2016-12-27
申请号：US12428657
申请日：2009-04-23
申请人： Tao Zhao , Wenyi Zhao , Daniel J. Halabe , Brian D. Hoffman , William C. Nowlin
发明人： Tao Zhao , Wenyi Zhao , Daniel J. Halabe , Brian D. Hoffman , William C. Nowlin
IPC分类号： A61B5/05
CPC分类号： A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/2055 , A61B2034/2065 , A61B2090/3937 , A61B2090/3983
摘要： The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.
摘要翻译：本公开涉及使用来自一个或多个位于工具的参考特征的图像衍生数据进行工具跟踪的系统，方法和工具。一种方法包括：捕获包括定义第一标记的多个特征的工具的第一图像，其中第一标记的至少一个特征包括识别特征; 通过处理第一图像确定第一标记的位置; 通过处理所述第一图像来使用所述至少一个识别特征来确定所述第一标记的识别; 以及通过使用所述位置和所述第一标记的识别来确定所述工具的工具状态。

6. 发明授权

US09019345B2 Imaging mode blooming suppression 有权
标题翻译：成像模式开花抑制
公开(公告)号：US09019345B2
公开(公告)日：2015-04-28
申请号：US12855957
申请日：2010-08-13
申请人： Patrick O'Grady , Ian McDowall , Brian D. Hoffman
发明人： Patrick O'Grady , Ian McDowall , Brian D. Hoffman
IPC分类号： H04N13/00 , H04N13/02 , A61B6/02 , H04N13/04
CPC分类号： H04N5/2354 , A61B1/04 , A61B6/022 , H04N13/239 , H04N13/302 , H04N13/398
摘要： A minimally invasive surgical system includes a scene anti-bloom process that allows switching between imaging modes on a stereoscopic display without causing a surgeon to look-away or being momentarily distracted by sudden changes in overall scene luminance. The process receives a switch from a first imaging mode to a second imaging mode. An overall scene luminance of a scene in the first imaging mode is less than an overall scene luminance of a scene in the second imaging mode. The process delays the switch to the second imaging mode until after an illumination output level of a visible illumination source has changed to a higher output level, and then switches to the second imaging mode.
摘要翻译：微创手术系统包括场景防绽放过程，其允许在立体显示器上的成像模式之间进行切换，而不会导致外科医生看起来或被总体场景亮度的突然变化瞬间分散注意力。该过程接收从第一成像模式到第二成像模式的切换。第一成像模式中的场景的整体场景亮度小于第二摄像模式中的场景的整体场景亮度。该过程将开关延迟到第二成像模式，直到可见光源的照明输出电平已经变为更高的输出电平，然后切换到第二成像模式。

7. 发明授权

US08169468B2 Augmented stereoscopic visualization for a surgical robot 有权
标题翻译：手术机器人的增强立体可视化
公开(公告)号：US08169468B2
公开(公告)日：2012-05-01
申请号：US12164363
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
IPC分类号： H04N13/00 , G06F12/00
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译：机器人手术系统定位并保持内窥镜。可见成像系统连接到内窥镜。可见成像系统捕获组织的可见图像。替代的成像系统也耦合到内窥镜。替代成像系统捕获组织的至少一部分的荧光图像。立体视频显示系统耦合到可见成像系统和替代成像系统。立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。

8. 发明授权

US08155479B2 Automated panning and digital zooming for robotic surgical systems 有权
标题翻译：机器人手术系统的自动平移和数字变焦
公开(公告)号：US08155479B2
公开(公告)日：2012-04-10
申请号：US12058663
申请日：2008-03-28
申请人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
发明人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
IPC分类号： G06K9/36
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译：在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。

9. 发明授权

US08073528B2 Tool tracking systems, methods and computer products for image guided surgery 有权
标题翻译：用于图像引导手术的工具跟踪系统，方法和计算机产品
公开(公告)号：US08073528B2
公开(公告)日：2011-12-06
申请号：US11865016
申请日：2007-09-30
申请人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
发明人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
IPC分类号： A61B5/00
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
摘要翻译：在本发明的一个实施例中，公开了一种工具跟踪系统，包括具有计算机可读程序代码的计算机可用介质，用于从至少一个摄像机接收视频帧的图像，并执行机器人仪器的图像匹配以确定视频姿势信息图像中的机器人仪器。工具跟踪系统还包括计算机可读程序代码，以提供用于机器人仪器的精确姿态信息的经校正的运动学信息的状态序列的状态空间模型。状态空间模型接收机械姿态信息的原始运动学信息，并自适应地将机械姿态信息和视频姿态信息融合在一起，以生成机器人仪器的校正运动学信息的状态序列。另外公开了图像引导手术的方法。

10. 发明申请

US20100166323A1 ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
标题翻译：用于机器人手术的稳健的SPARSE图像匹配
公开(公告)号：US20100166323A1
公开(公告)日：2010-07-01
申请号：US12465029
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Dimaio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Dimaio
IPC分类号： G06K9/68
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。约束可用于评估匹配的兴趣点，例如排除不良点。

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