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1. 发明授权

US07792334B2 Locating blood vessels 有权
标题翻译：定位血管
公开(公告)号：US07792334B2
公开(公告)日：2010-09-07
申请号：US12059132
申请日：2008-03-31
申请人： Robert F. Cohen , David Tumey , Scott McDermott
发明人： Robert F. Cohen , David Tumey , Scott McDermott
IPC分类号： G06K9/00
CPC分类号： A61B5/0059 , A61B5/489
摘要： Several systems and methods for locating blood vessels are described in the present disclosure. One of the implementations of a blood vessel locating system comprises an image capture device and processing circuitry. The image capture device is configured to capture a first image of a region of the skin of a subject when the region is illuminated by a first light and to capture a second image of the region of the skin when the region is illuminated by a second light. The processing circuitry is configured to calculate the difference between the first image and the second image to obtain a differential image. The processing circuitry is further configured to enhance the differential image to obtain an enhanced image of blood vessels located under the surface of the skin of the subject.
摘要翻译：在本公开中描述了用于定位血管的几种系统和方法。血管定位系统的实现之一包括图像捕获装置和处理电路。图像捕获装置被配置为当区域被第一光照射时捕获对象的皮肤区域的第一图像，并且当区域被第二光照射时捕获皮肤区域的第二图像。处理电路被配置为计算第一图像和第二图像之间的差以获得差分图像。处理电路还被配置为增强差分图像以获得位于受试者皮肤表面下方的血管的增强图像。

2. 发明申请

US20090245601A1 Locating Blood Vessels 有权
标题翻译：定位血管
公开(公告)号：US20090245601A1
公开(公告)日：2009-10-01
申请号：US12059132
申请日：2008-03-31
申请人： Robert F. Cohen , David Tumey , Scott McDermott
发明人： Robert F. Cohen , David Tumey , Scott McDermott
IPC分类号： G06K9/78
CPC分类号： A61B5/0059 , A61B5/489
摘要： Several systems and methods for locating blood vessels are described in the present disclosure. One of the implementations of a blood vessel locating system comprises an image capture device and processing circuitry. The image capture device is configured to capture a first image of a region of the skin of a subject when the region is illuminated by a first light and to capture a second image of the region of the skin when the region is illuminated by a second light. The processing circuitry is configured to calculate the difference between the first image and the second image to obtain a differential image. The processing circuitry is further configured to enhance the differential image to obtain an enhanced image of blood vessels located under the surface of the skin of the subject.
摘要翻译：在本公开中描述了用于定位血管的几种系统和方法。血管定位系统的实现之一包括图像捕获装置和处理电路。图像捕获装置被配置为当区域被第一光照射时捕获对象的皮肤区域的第一图像，并且当区域被第二光照射时捕获皮肤区域的第二图像。处理电路被配置为计算第一图像和第二图像之间的差以获得差分图像。处理电路还被配置为增强差分图像以获得位于受试者皮肤表面下方的血管的增强图像。

3. 发明申请

WO2009135221A1 APPARATUS AND METHOD FOR PROVIDING CONDITION-BASED VIBROTACTILE FEEDBACK 审中-公开
标题翻译：提供基于条件的振动反馈的装置和方法
公开(公告)号：WO2009135221A1
公开(公告)日：2009-11-05
申请号：PCT/US2009/042751
申请日：2009-05-04
申请人： Immersion Corporation , Robert F. Cohen , Walter E. Ratzat , Tianning Xu
发明人： Robert F. Cohen , Walter E. Ratzat , Tianning Xu
IPC分类号： G04F1/00 , A61C17/22 , A61M16/00
CPC分类号： G08B6/00 , A46B15/0002 , A46B15/0006 , A46B2200/1066 , A61M15/008 , A61M16/0078 , A61M16/0084 , A61M16/122 , A61M2202/0208 , A61M2205/582 , A61M2205/583 , G04F1/005
摘要： Systems and methods for monitoring motion parameters of an object are described in the present disclosure. In one embodiment among many, a sensor, coupled to a housing, senses motion associated with the housing and provides a sensor output based on the sensed motion. A processing device receives the sensor output, accumulates counts associated with the sensor output, and provides an output once a threshold associated with the accumulated counts is reached. A vibrotactile device, that receives the output from the processing device, provides a haptic output in response to the output from the processing device. In one embodiment among many, a toothbrush is described as a monitoring mechanism for monitoring a plurality of brush strokes that a user executes with the toothbrush. The monitoring mechanism is incorporated in the handle of the toothbrush. The monitoring mechanism may be used to provide an alert once a sufficient number of brush strokes is achieved.
摘要翻译：在本公开中描述了用于监视对象的运动参数的系统和方法。在许多实施例中，耦合到壳体的传感器感测与壳体相关联的运动，并且基于感测到的运动提供传感器输出。处理设备接收传感器输出，累积与传感器输出相关联的计数，并且一旦达到与累计计数相关联的阈值，则提供输出。接收来自处理装置的输出的振动消音装置响应于来自处理装置的输出提供触觉输出。在许多实施例中，牙刷被描述为用于监视用户使用牙刷执行的多个画笔笔触的监视机构。监测机构被并入牙刷的手柄中。一旦实现了足够数量的画笔笔划，监视机制就可以用来提供警报。

4. 发明授权

US09679499B2 Systems and methods for sensing hand motion by measuring remote displacement 有权
公开(公告)号：US09679499B2
公开(公告)日：2017-06-13
申请号：US12210825
申请日：2008-09-15
申请人： Robert F. Cohen , Mark S. Meents
发明人： Robert F. Cohen , Mark S. Meents
IPC分类号： G09B23/28 , A61B19/00 , A61B34/00 , A61B17/00 , A61B90/00
CPC分类号： G09B23/285 , A61B34/70 , A61B34/74 , A61B90/06 , A61B2017/00725 , A61B2090/067
摘要： Systems and methods for sensing hand motion by measuring remote displacement are disclosed. For example, one disclosed apparatus includes a first surface configured to engage a first distal member of a surgical tool and a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point. The apparatus further includes a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.

5. 发明授权

US08351299B2 Apparatus and method for providing condition-based vibrotactile feedback 有权
标题翻译：用于提供基于条件的振动脉管反馈的装置和方法
公开(公告)号：US08351299B2
公开(公告)日：2013-01-08
申请号：US12435323
申请日：2009-05-04
申请人： Robert F. Cohen , Walter E. Ratzat , Tianning Xu
发明人： Robert F. Cohen , Walter E. Ratzat , Tianning Xu
IPC分类号： G04B47/00 , G04F10/00 , A46B15/00 , A61M16/00 , A62B9/00
CPC分类号： G08B6/00 , A46B15/0002 , A46B15/0006 , A46B2200/1066 , A61M15/008 , A61M16/0078 , A61M16/0084 , A61M16/122 , A61M2202/0208 , A61M2205/582 , A61M2205/583 , G04F1/005
摘要： Systems and methods for monitoring motion parameters of an object are described in the present disclosure. In one embodiment among many, a sensor, coupled to a housing, senses motion associated with the housing and provides a sensor output based on the sensed motion. A processing device receives the sensor output, accumulates counts associated with the sensor output, and provides an output once a threshold associated with the accumulated counts is reached. A vibrotactile device, that receives the output from the processing device, provides a haptic output in response to the output from the processing device. In one embodiment among many, a toothbrush is described as a monitoring mechanism for monitoring a plurality of brush strokes that a user executes with the toothbrush. The monitoring mechanism is incorporated in the handle of the toothbrush. The monitoring mechanism may be used to provide an alert once a sufficient number of brush strokes is achieved.
摘要翻译：在本公开中描述了用于监视对象的运动参数的系统和方法。在许多实施例中，耦合到壳体的传感器感测与壳体相关联的运动，并且基于感测到的运动提供传感器输出。处理设备接收传感器输出，累积与传感器输出相关联的计数，并且一旦达到与累计计数相关联的阈值，则提供输出。接收来自处理装置的输出的振动消音装置响应于来自处理装置的输出提供触觉输出。在许多实施例中，牙刷被描述为用于监视用户使用牙刷执行的多个画笔笔触的监视机构。监测机构被并入牙刷的手柄中。一旦实现了足够数量的画笔笔划，监视机制就可以用来提供警报。

6. 发明授权

US08167813B2 Systems and methods for locating a blood vessel 有权
标题翻译：用于定位血管的系统和方法
公开(公告)号：US08167813B2
公开(公告)日：2012-05-01
申请号：US11749825
申请日：2007-05-17
申请人： Robert F. Cohen , David M. Tumey
发明人： Robert F. Cohen , David M. Tumey
IPC分类号： A61B5/00
CPC分类号： A61B5/489 , A61B5/015
摘要： Systems and methods for locating a blood vessel are described. One described method includes receiving a first temperature measure associated with a first point on a surface of a skin; receiving a second temperature measure associated with a second point on the surface of the skin, and determining a differential between the first temperature measure and the second temperature measure. The method further includes generating an output signal indicating the presence of a blood vessel if the differential exceeds a threshold.
摘要翻译：描述了用于定位血管的系统和方法。所描述的方法包括接收与皮肤表面上的第一点相关联的第一温度测量; 接收与皮肤表面上的第二点相关联的第二温度测量，以及确定第一温度测量值和第二温度测量值之间的差值。该方法还包括：如果差异超过阈值，则产生指示血管存在的输出信号。

7. 发明授权

US08313330B2 Systems and methods for medical tool auto-capture 有权
标题翻译：用于医疗工具自动捕获的系统和方法
公开(公告)号：US08313330B2
公开(公告)日：2012-11-20
申请号：US11941401
申请日：2007-11-16
申请人： Peter Maspoli , John Michael Brown , Robert F. Cohen
发明人： Peter Maspoli , John Michael Brown , Robert F. Cohen
IPC分类号： G09B23/28
CPC分类号： G09B23/28 , A61B34/70 , A61B34/76 , A61B2017/00716 , A61F2/95
摘要： Systems and methods for medical tool auto-capture are described. One described system for simulation of a medical procedure comprises a first grasper comprising a first grasper proximal end and a first grasper distal end. The system further comprises a first sensor coupled to the first grasper distal end and configured to identify a first medical tool approaching the first sensor, wherein the first grasper is configured to automatically grasp the first medical tool upon the first sensor identifying the first medical tool. The system also comprises an actuator to provide a haptic effect to a user.
摘要翻译：描述了用于医疗工具自动捕获的系统和方法。一种用于模拟医疗程序的系统包括包括第一抓紧器近端和第一抓紧器远端的第一抓紧器。所述系统还包括耦合到所述第一抓紧器远端并被配置为识别接近所述第一传感器的第一医疗工具的第一传感器，其中所述第一抓紧器构造成在所述第一传感器识别所述第一医疗工具时自动地抓住所述第一医疗工具。该系统还包括致动器以向用户提供触觉效果。

8. 发明申请

US20080287824A1 Systems and Methods for Locating A Blood Vessel 有权
标题翻译：定位血管的系统和方法
公开(公告)号：US20080287824A1
公开(公告)日：2008-11-20
申请号：US11749825
申请日：2007-05-17
申请人： Robert F. Cohen , David M. Tumey
发明人： Robert F. Cohen , David M. Tumey
IPC分类号： A61B5/01
CPC分类号： A61B5/489 , A61B5/015
摘要： Systems and methods for locating a blood vessel are described. One described method includes receiving a first temperature measure associated with a first point on a surface of a skin; receiving a second temperature measure associated with a second point on the surface of the skin, and determining a differential between the first temperature measure and the second temperature measure. The method further includes generating an output signal indicating the presence of a blood vessel if the differential exceeds a threshold.
摘要翻译：描述了用于定位血管的系统和方法。所描述的方法包括接收与皮肤表面上的第一点相关联的第一温度测量; 接收与皮肤表面上的第二点相关联的第二温度测量，以及确定第一温度测量值和第二温度测量值之间的差值。该方法还包括：如果差异超过阈值，则产生指示血管存在的输出信号。

9. 发明申请

US20080126041A1 Systems and Methods for Medical Tool Auto-Capture 有权
标题翻译：医疗工具自动捕获系统与方法
公开(公告)号：US20080126041A1
公开(公告)日：2008-05-29
申请号：US11941401
申请日：2007-11-16
申请人： Peter Maspoli , John Michael Brown , Robert F. Cohen
发明人： Peter Maspoli , John Michael Brown , Robert F. Cohen
IPC分类号： G06G7/48 , A61B17/00
CPC分类号： G09B23/28 , A61B34/70 , A61B34/76 , A61B2017/00716 , A61F2/95
摘要： Systems and methods for medical tool auto-capture are described. One described system for simulation of a medical procedure comprises a first grasper comprising a first grasper proximal end and a first grasper distal end. The system further comprises a first sensor coupled to the first grasper distal end and configured to identify a first medical tool approaching the first sensor, wherein the first grasper is configured to automatically grasp the first medical tool upon the first sensor identifying the first medical tool. The system also comprises an actuator to provide a haptic effect to a user.
摘要翻译：描述了用于医疗工具自动捕获的系统和方法。一种用于模拟医疗程序的系统包括包括第一抓紧器近端和第一抓紧器远端的第一抓紧器。所述系统还包括耦合到所述第一抓紧器远端并被配置为识别接近所述第一传感器的第一医疗工具的第一传感器，其中所述第一抓紧器构造成在所述第一传感器识别所述第一医疗工具时自动地抓住所述第一医疗工具。该系统还包括致动器以向用户提供触觉效果。

10. 发明授权

US06929481B1 Interface device and method for interfacing instruments to medical procedure simulation systems 有权
标题翻译：用于将仪器与医疗程序模拟系统进行接口的接口装置和方法
公开(公告)号：US06929481B1
公开(公告)日：2005-08-16
申请号：US09237969
申请日：1999-01-27
申请人： David Alexander , J. Michael Brown , Eric Cabahug , Philip J. Churchill , Robert F. Cohen , Richard L. Cunningham , Ben Feldman , Diego Fontayne , Gregory L. Merril , Mario Turchi
发明人： David Alexander , J. Michael Brown , Eric Cabahug , Philip J. Churchill , Robert F. Cohen , Richard L. Cunningham , Ben Feldman , Diego Fontayne , Gregory L. Merril , Mario Turchi
IPC分类号： G09B23/28
CPC分类号： G09B23/285
摘要： An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g., sheath, catheter and wire), whereby the interface device individually grasps, measures manipulation of and provides force feedback to the nested instruments. In addition, the interface device may be configured to simultaneously accommodate a plurality of independently inserted instruments.
摘要翻译：用于将仪器与医疗程序模拟系统接口的接口装置和方法用于将模拟医疗仪器形式的外围设备连接到医疗程序模拟系统计算机，以便模拟医疗程序。接口装置包括具有模拟身体感兴趣区域的壳体，以便于将诸如内窥镜管的模拟器械插入到界面装置中。感兴趣的模拟身体区域可以枢转以模拟各种患者取向。仪器由捕获机构接合，以测量仪器的旋转和平移运动。致动器设置在接口装置内以向仪器提供力反馈。将测量的运动提供给计算机系统以在模拟期间将仪器运动反映在显示器上。或者，接口装置可以被配置为容纳具有多个嵌套仪器（例如，鞘，导管和线）的仪器组件，由此接口装置单独地掌握，测量对嵌套仪器的操纵并向其提供力反馈。此外，接口装置可以被配置为同时容纳多个独立插入的装置。

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