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1. 发明申请

US20090036902A1 INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS 有权
标题翻译：用于机器人微型外科手术系统的交互式用户界面
公开(公告)号：US20090036902A1
公开(公告)日：2009-02-05
申请号：US12189615
申请日：2008-08-11
申请人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC分类号： A61B19/00
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
摘要翻译：在本发明的一个实施例中，公开了一种用于微创手术系统的方法。该方法包括在外科医生控制台的至少一个显示装置上捕获和显示外科手术部位的相机图像; 切换到以下模式并转换为鼠标（MaM）模式; 将包括交互式图形对象的图形用户界面（GUI）重叠到相机图像上; 并在相机图像内渲染指针以进行用户交互控制。在以下模式中，外科医生控制台的输入装置可将运动耦合到手术器械中。在MaM模式下，输入设备与GUI和交互式图形对象交互。通过具有至少三个自由度的输入装置在三维中操纵指针。交互式图形对象与手术部位中的物理对象或其功能相关，并且可被输入装置操纵。

2. 发明授权

US08398541B2 Interactive user interfaces for robotic minimally invasive surgical systems 有权
标题翻译：机器人微创手术系统的交互式用户界面
公开(公告)号：US08398541B2
公开(公告)日：2013-03-19
申请号：US12189615
申请日：2008-08-11
申请人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Bálazs Peter Vágvölgyi , Joshua Leven
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Bálazs Peter Vágvölgyi , Joshua Leven
IPC分类号： A61B1/04
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
摘要翻译：在本发明的一个实施例中，公开了一种用于微创手术系统的方法。该方法包括在外科医生控制台的至少一个显示装置上捕获和显示外科手术部位的相机图像; 切换到以下模式并转换为鼠标（MaM）模式; 将包括交互式图形对象的图形用户界面（GUI）重叠到相机图像上; 并在相机图像内渲染指针以进行用户交互控制。在以下模式中，外科医生控制台的输入装置可将运动耦合到手术器械中。在MaM模式下，输入设备与GUI和交互式图形对象进行交互。通过具有至少三个自由度的输入装置在三维中操纵指针。交互式图形对象与手术部位中的物理对象或其功能相关，并且可被输入装置操纵。

3. 发明授权

US5951475A Methods and apparatus for registering CT-scan data to multiple fluoroscopic images 失效
标题翻译：将CT扫描数据记录到多个透视图像的方法和装置
公开(公告)号：US5951475A
公开(公告)日：1999-09-14
申请号：US936935
申请日：1997-09-25
申请人： Andre Pierre Gueziec , Peter Kazanzides , Russell H. Taylor
发明人： Andre Pierre Gueziec , Peter Kazanzides , Russell H. Taylor
IPC分类号： A61B19/00 , G06T3/00 , A61B6/00
CPC分类号： G06T3/0068 , A61B90/36 , Y10S128/922
摘要： A method and system is disclosed for registering two dimensional fluoroscopic images with a three dimensional model of a surgical tissue of interest. The method includes steps of: (a) generating, from CT or MRI data, a three dimensional model of a surgical tissue of interest; (b) obtaining at least two, two dimensional, preferably fluoroscopic, x-ray images representing at least two views of the surgical tissue of interest, the images containing radio-opaque markers for associating an image coordinate system with a surgical (robot) coordinate system; (c) detecting the presence of contours of the surgical tissue of interest in each of the at least two views; (d) deriving bundles of three dimensional lines that pass through the detected contours; and (e) interactively matching three dimensional points on three dimensional silhouette curves obtained from the three dimensional model with the bundles of three dimensional lines until the three dimensional model is registered within the surgical coordinate system to a predetermined level of accuracy. The step of iteratively matching includes steps of: defining a distance between surfaces of the model and a beam of three dimensional lines that approach the surfaces; and finding a pose of the surfaces that minimizes a distance to the lines using, preferably, a statistically robust method, thereby providing a desired registration between a surgical robot and a preoperative treatment plan.
摘要翻译：公开了一种用于使用感兴趣的外科组织的三维模型记录二维荧光透视图像的方法和系统。该方法包括以下步骤：（a）从CT或MRI数据生成感兴趣的手术组织的三维模型; （b）获得表示感兴趣的手术组织的至少两个视图的至少两个，二维，优选荧光透视的X射线图像，所述图像包含用于将图像坐标系与手术（机器人）坐标相关联的不透射线标记系统; （c）在所述至少两个视图中的每一个中检测感兴趣的手术组织的轮廓的存在; （d）导出通过检测到的轮廓的三维线束; 以及（e）将由三维模型获得的三维轮廓曲线上的三维点交互地匹配三维线，直到三维模型在外科坐标系内登记到预定的精度水平。迭代匹配的步骤包括以下步骤：定义模型的表面之间的距离和接近表面的三维线束; 并且使用优选地统计上鲁棒的方法来找到使距离线的距离最小化的表面的姿态，从而在手术机器人和术前治疗计划之间提供期望的配准。

4. 发明授权

US5408409A Image-directed robotic system for precise robotic surgery including redundant consistency checking 失效
标题翻译：用于精确机器人手术的图像定向机器人系统，包括冗余一致性检查
公开(公告)号：US5408409A
公开(公告)日：1995-04-18
申请号：US170540
申请日：1993-12-20
申请人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
发明人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
IPC分类号： A61B17/00 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/46 , B25J9/16 , B25J11/00 , B25J13/00 , G05B19/4099 , B23Q15/14 , A61B6/00
CPC分类号： A61F2/46 , A61B34/20 , A61B34/30 , A61B34/70 , B25J9/1679 , G05B19/4099 , A61B17/175 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/065 , A61B2090/3762 , A61B34/10 , A61B34/25 , A61F2002/4633 , G05B2219/35217 , G05B2219/39008 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166 , G05B2219/45168 , G05B2219/49137 , Y10S128/92 , Y10S623/908 , Y10S706/924
摘要： A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28,32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.
摘要翻译：机器人手术系统（10）包括具有手术工具（22）的多自由度操纵臂（14）。臂连接到控制器（24），用于将外科手术工具可控地定位在三维坐标系统内。所述系统还包括用于确定所述外科手术工具在三维坐标系中相对于体积模型的位置的安全监控处理器（38）。体积模型可以表示为建构实体几何（CSG）树数据结构。该系统还包括光学跟踪照相机系统（28,32），其设置成对包括至少一部分操纵臂的空间区域成像。相机系统的输出耦合到处理器（38），处理器（38）处理体积模型以确定手术工具是否位于容积模型的外部。所述系统还包括用于检测固定的组织（例如骨头）与参考点（44）之间三维的滑动的应变计（40）。该系统还包括用于悬挂外科手术工具的运动以防止工具在预定体积的空间外部操作的多个和冗余的安全特征。

5. 发明授权

US5086401A Image-directed robotic system for precise robotic surgery including redundant consistency checking 失效
标题翻译：用于精确机器人手术的图像方向机器人系统，包括冗余一致性检查
公开(公告)号：US5086401A
公开(公告)日：1992-02-04
申请号：US523611
申请日：1990-05-11
申请人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
发明人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
IPC分类号： A61B17/00 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/46 , B25J9/16 , B25J11/00 , B25J13/00 , G05B19/4099
CPC分类号： A61F2/46 , A61B34/20 , A61B34/30 , A61B34/70 , B25J9/1679 , G05B19/4099 , A61B17/175 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/065 , A61B2090/3762 , A61B34/10 , A61B34/25 , A61F2002/4633 , G05B2219/35217 , G05B2219/39008 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166 , G05B2219/45168 , G05B2219/49137 , Y10S128/92 , Y10S623/908 , Y10S706/924
摘要： A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28, 32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

6. 发明申请

US20160143509A1 SYSTEM FOR STEREO RECONSTRUCTION FROM MONOSCOPIC ENDOSCOPE IMAGES 审中-公开
标题翻译：用于立体重建单纯性内窥镜图像的系统
公开(公告)号：US20160143509A1
公开(公告)日：2016-05-26
申请号：US14548948
申请日：2014-11-20
申请人： Kevin C. Olds , Tae Soo Kim , Russell H. Taylor , Austin Reiter
发明人： Kevin C. Olds , Tae Soo Kim , Russell H. Taylor , Austin Reiter
IPC分类号： A61B1/00 , A61B1/07 , A61B1/06 , A61B1/05 , A61B1/012
CPC分类号： A61B1/00009 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/0684 , A61B1/07
摘要： According to some embodiments of the present invention, a system for stereo reconstruction from a monoscopic endoscope is provided. The monoscopic endoscope comprising an image pick-up element at a distal end thereof and a working channel defined by a body of the monoscopic endoscope. The working channel provides a port at the distal end of the monoscopic endoscope. The system for stereo reconstruction comprises a light patterning component configured to be disposed within the working channel of the monoscopic endoscope such that a light emitting end of the light patterning component will be fixed with a defined relative distance from the distal end of the image pick-up element. The system for stereo reconstruction also includes a data processor adapted to be in communication with the image pick-up element. The light patterning component forms a pattern of light that is projected onto a region of interest. The data processor is configured to receive an image signal of the region of interest that includes the pattern, and determine a distance from the endoscope to the region of interest based on the image signal and based on the defined relative distance between the light emitting end of the light patterning component and the distal end of the image pick-up element.
摘要翻译：根据本发明的一些实施例，提供了一种用于从单视镜内窥镜立体重建的系统。该单视镜内窥镜包括其远端处的摄像元件和由单视镜内窥镜的主体限定的工作通道。工作通道在单镜内窥镜的远端提供一个端口。用于立体重建的系统包括：光图案形成部件，被配置为设置在单视野内窥镜的工作通道内，使得光图案形成部件的发光端以与图像拾取器的远端限定的相对距离固定， up元素。用于立体声重建的系统还包括适于与图像拾取元件通信的数据处理器。光图案形成部件形成投射到感兴趣区域上的光图案。数据处理器被配置为接收包括图案的感兴趣区域的图像信号，并且基于图像信号确定从内窥镜到感兴趣区域的距离，并且基于图像信号的发光端之间的限定的相对距离光图案形成部件和图像拾取元件的远端。

7. 发明申请

US20110125165A1 SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE 审中-公开
标题翻译：眼科微手术中微距离增强增敏系统及方法
公开(公告)号：US20110125165A1
公开(公告)日：2011-05-26
申请号：US12992519
申请日：2009-05-18
申请人： Nabil Simaan , Russell H. Taylor , James T. Handa
发明人： Nabil Simaan , Russell H. Taylor , James T. Handa
IPC分类号： A61B19/00 , B23P11/00
CPC分类号： A61F9/007 , A61B34/30 , A61B34/35 , A61B34/72 , A61B2034/305 , A61F9/0017 , Y10T29/49826
摘要： A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.
摘要翻译：用于在眼睛或其他器官的内部区域内操作的系统包括具有位于眼睛外部的近端部分和位于眼睛的内部区域内的远端部分的输送通道，其中输送通道的远端部分限定小于或等于约18规格的外径，以及从所述输送通道的远端部分可延伸的微机器人，其中所述微机器人可远程操作以改变所述眼睛内部区域内的形状。

8. 发明申请

US20110106102A1 Surgical Instrument and Systems with Integrated Optical Sensor 审中-公开
标题翻译：具有集成光学传感器的手术仪器和系统
公开(公告)号：US20110106102A1
公开(公告)日：2011-05-05
申请号：US12917168
申请日：2010-11-01
申请人： Marcin A. Balicki , Russell H. Taylor , Jin U. Kang , Peter L. Gehlbach , James T. Handa , Jaeho Han
发明人： Marcin A. Balicki , Russell H. Taylor , Jin U. Kang , Peter L. Gehlbach , James T. Handa , Jaeho Han
IPC分类号： A61F9/007 , A61B19/00 , A61B17/00
CPC分类号： A61F9/00727 , A61B3/1005 , A61B3/102 , A61B3/1225 , A61B34/30 , A61B34/75 , A61B34/76 , A61B90/361 , A61B2090/061 , A61B2090/3735
摘要： A surgical instrument has a surgical tool that has a proximal end and a distal end, and an optical sensor that has at least a portion attached to the surgical tool. The surgical tool has a portion that is suitable to provide a reference portion of the surgical tool, and the optical sensor has an end fixed relative to the reference portion of the surgical tool such that the reference portion of the surgical tool can be detected along with tissue that is proximate or in contact with the distal end of the surgical tool while in use.
摘要翻译：手术器械具有外科手术工具，其具有近端和远端，以及具有至少一部分附接到外科手术工具的光学传感器。手术工具具有适于提供手术工具的参考部分的部分，并且光学传感器具有相对于外科手术工具的参考部分固定的端部，使得可以检测外科手术工具的参考部分以及在使用中接近或与外科手术工具的远端接触的组织。

9. 发明申请

US20090171271A1 Active Cannula for Bio-Sensing and Surgical Intervention 有权
标题翻译：活动插管生物传感和手术干预
公开(公告)号：US20090171271A1
公开(公告)日：2009-07-02
申请号：US12084979
申请日：2006-11-15
申请人： Robert James Webster , Allison M. Okamura , Noah J. Cowan , Russell H. Taylor
发明人： Robert James Webster , Allison M. Okamura , Noah J. Cowan , Russell H. Taylor
IPC分类号： A61M5/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译：公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。多个柔性管中的每一个基于它们各自的预先形成的曲率和柔性来选择，使得给定的重叠配置导致重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。

10. 发明授权

US5630431A System and method for augmentation of surgery 失效
标题翻译：增加手术的系统和方法
公开(公告)号：US5630431A
公开(公告)日：1997-05-20
申请号：US321320
申请日：1994-10-11
申请人： Russell H. Taylor
发明人： Russell H. Taylor
IPC分类号： A61B17/00 , A61B19/00 , B25J9/04 , B25J17/02
CPC分类号： B25J17/0275 , A61B34/20 , A61B34/30 , A61B34/76 , B25J9/04 , A61B2017/00022 , A61B2017/00115 , A61B2017/00203 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/742 , A61B2090/0813 , A61B2090/365 , A61B2090/3916 , A61B2090/3945 , A61B2090/5025 , A61B34/10 , G05B2219/37074 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166
摘要： The system and method includes a manipulator for manipulating a surgical instrument relative to a patient's body and, a position sensor for sensing the position of the surgical instrument relative to the patient's body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.
摘要翻译：该系统和方法包括用于相对于患者身体操纵外科器械的操纵器和用于感测外科器械相对于患者身体的位置的位置传感器。机械手可以手动或计算机启动，并且可以具有制动器来限制运动。在优选实施例中，提供了在机械手的构件之间仅进行正交运动。位置传感器包括连接到患者和操纵器或手术器械的信标，以及适于感测信标的位置和位置的三维信标传感器。还可以提供操纵器上的冗余关节传感器。该系统和方法使用计算机来主动与外科医生进行交互，并可以使用各种不同的输入和输出设备和模式。

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