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1. 发明公开

EP0985491A2 Method and apparatus for machining a workpiece by piercing 审中-公开
标题翻译：用于切割加工工件的方法和装置
公开(公告)号：EP0985491A2
公开(公告)日：2000-03-15
申请号：EP99306818.8
申请日：1999-08-27
申请人： INGERSOLL-RAND COMPANY
发明人： Zeng, Jiyue
IPC分类号： B23Q15/007
CPC分类号： G05B19/182 , B23K7/10 , B23K10/006 , B23K26/03 , B23K26/14 , B23K26/382 , B24C1/045 , B24C7/0053 , B24C7/0076 , B26D5/005 , B26F3/004 , G05B2219/37409 , G05B2219/37583 , G05B2219/40064
摘要： A method and apparatus for sensing a pierce-through condition of a material made by a piercing force in which a shield (15) surrounding a source of the piercing force is supplied with a gas supply (40) to create a pressure within the shield means. A decrease in pressure caused within the shield by a pierce-through condition created by the piercing force is then detected. The method and apparatus is also for detecting the distance between a nozzle assembly (10) for a machining process and a workpiece (16) to be machined in which gas is supplied to a shield surrounding a nozzle assembly. An increase in pressure in the shield is detected as an open end of the shield (15) approaches a workpiece. The method and apparatus is also for obtaining and maintaining a predetermined gap distance between the nozzle assembly (10) and a workpiece (16) by further detecting when the pressure within the shield means reaches a pressure corresponding values and ranges. The thickness of the workpiece is ascertained by comparing an established nozzle assembly position with a predetermined reference position.

2. 发明公开

EP0985491A3 Method and apparatus for machining a workpiece by piercing 审中-公开
标题翻译：维尔法伦和Vorrichtung zur schneidenden Bearbeitung einesWerkstückes
公开(公告)号：EP0985491A3
公开(公告)日：2001-01-24
申请号：EP99306818.8
申请日：1999-08-27
申请人： INGERSOLL-RAND COMPANY
发明人： Zeng, Jiyue
IPC分类号： G01N3/58 , G01N3/56 , B24C1/04 , B23Q15/007
CPC分类号： G05B19/182 , B23K7/10 , B23K10/006 , B23K26/03 , B23K26/14 , B23K26/382 , B24C1/045 , B24C7/0053 , B24C7/0076 , B26D5/005 , B26F3/004 , G05B2219/37409 , G05B2219/37583 , G05B2219/40064
摘要： A method and apparatus for sensing a pierce-through condition of a material made by a piercing force in which a shield (15) surrounding a source of the piercing force is supplied with a gas supply (40) to create a pressure within the shield means. A decrease in pressure caused within the shield by a pierce-through condition created by the piercing force is then detected. The method and apparatus is also for detecting the distance between a nozzle assembly (10) for a machining process and a workpiece (16) to be machined in which gas is supplied to a shield surrounding a nozzle assembly. An increase in pressure in the shield is detected as an open end of the shield (15) approaches a workpiece. The method and apparatus is also for obtaining and maintaining a predetermined gap distance between the nozzle assembly (10) and a workpiece (16) by further detecting when the pressure within the shield means reaches a pressure corresponding values and ranges. The thickness of the workpiece is ascertained by comparing an established nozzle assembly position with a predetermined reference position.
摘要翻译：一种用于感测由刺穿力制成的材料的穿透状态的方法和装置，其中围绕刺穿力源的屏蔽（15）被供应有气体供应源（40）以在屏蔽装置内产生压力。然后检测由穿刺力产生的穿透条件在屏蔽内产生的压力减小。该方法和装置还用于检测用于加工过程的喷嘴组件（10）和待加工的工件（16）之间的距离，其中气体被供应到围绕喷嘴组件的屏蔽件。当屏蔽件（15）的开口端接近工件时，检测到屏蔽件中的压力的增加。该方法和装置还用于通过进一步检测屏蔽装置内的压力何时达到压力对应值和范围来获得并保持喷嘴组件（10）和工件（16）之间的预定间隙距离。通过将已建立的喷嘴组件位置与预定的参考位置进行比较来确定工件的厚度。

3. 发明授权

EP2600789B1 MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR MANIPULATION OF DELICATE TISSUE 有权
标题翻译：微功耗控制的协调控制进行操纵敏感组织
公开(公告)号：EP2600789B1
公开(公告)日：2015-11-18
申请号：EP11815201.6
申请日：2011-08-02
申请人： The Johns Hopkins University
发明人： TAYLOR, Russell H. , BALICKI, Marcin Arkadiusz , HANDA, James Tahara , GEHLBACH, Peter Louis , IORDACHITA, Iulian , UNERI, Ali
IPC分类号： B25J9/16 , G05B19/423 , A61B19/00
CPC分类号： A61B34/72 , A61B34/30 , A61B2090/064 , A61B2090/065 , A61F9/007 , B25J9/1689 , G05B19/423 , G05B2219/36432 , G05B2219/40064 , G05B2219/45123 , Y10S901/46
摘要： A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

4. 发明公开

EP2600789A4 MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR SURGICAL MANIPULATION OF DELICATE TISSUE 有权
标题翻译：米克拉斯哥诺维亚KOOPERATIVE STEUERUNG ZUR CHIRCHGISCHEN操作VON EMPFINDLICHEM GEWEBE
公开(公告)号：EP2600789A4
公开(公告)日：2014-06-25
申请号：EP11815201
申请日：2011-08-02
申请人： UNIV JOHNS HOPKINS
发明人： TAYLOR RUSSELL H , BALICKI MARCIN ARKADIUSZ , HANDA JAMES TAHARA , GEHLBACH PETER LOUIS , IORDACHITA IULIAN , UNERI ALI
IPC分类号： A61B19/00 , B25J13/08 , B25J19/02 , B25J19/06
CPC分类号： A61B34/72 , A61B19/2203 , A61B34/30 , A61B2090/064 , A61B2090/065 , A61F9/007 , B25J9/1689 , G05B19/423 , G05B2219/36432 , G05B2219/40064 , G05B2219/45123 , Y10S901/46
摘要： A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.
摘要翻译：一种用于微力导向协同控制的方法和系统，其帮助操作者在最小阻力的方向上操纵组织。工具架接收适于由机器人和外科医生保持的手术工具。第一传感器测量手术工具的尖端和感兴趣区域的组织之间的相互作用力。第二传感器测量外科医生与外科手术工具的手柄之间的相互作用力。数据处理器被配置为执行算法以通过针对最小阻力的路径产生偏置并且限制作为手柄输入力和尖端力的函数的外科手术工具的方向工具力的方向来主动地引导手术工具。该功能有助于对视网膜剥离过程的挑战，这需要外科医生精细地分层脆性组织，由于不希望的力量而容易出血和撕裂。

5. 发明公开

EP2600789A2 MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR SURGICAL MANIPULATION OF DELICATE TISSUE 有权
标题翻译：琉璃苣BE TE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE BE
公开(公告)号：EP2600789A2
公开(公告)日：2013-06-12
申请号：EP11815201.6
申请日：2011-08-02
申请人： The Johns Hopkins University
发明人： TAYLOR, Russell H. , BALICKI, Marcin Arkadiusz , HANDA, James Tahara , GEHLBACH, Peter Louis , IORDACHITA, Iulian , UNERI, Ali
IPC分类号： A61B19/00 , B25J13/08 , B25J19/06 , B25J19/02
CPC分类号： A61B34/72 , A61B34/30 , A61B2090/064 , A61B2090/065 , A61F9/007 , B25J9/1689 , G05B19/423 , G05B2219/36432 , G05B2219/40064 , G05B2219/45123 , Y10S901/46
摘要： A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.
摘要翻译：一种用于微力导向协同控制的方法和系统，其帮助操作者在最小阻力的方向上操纵组织。工具架接收适于由机器人和外科医生保持的手术工具。第一传感器测量手术工具的尖端和感兴趣区域的组织之间的相互作用力。第二传感器测量外科医生与外科手术工具的手柄之间的相互作用力。数据处理器被配置为执行算法以通过针对最小阻力的路径产生偏置并且限制作为手柄输入力和尖端力的函数的外科手术工具的方向工具力的方向来主动地引导手术工具。该功能有助于对视网膜剥离过程的挑战，这需要外科医生精细地分层脆性组织，由于不希望的力量而容易出血和撕裂。

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