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81. 发明申请

US20100063630A1 MICROSURGICAL ROBOT SYSTEM 有权
标题翻译：微型机器人系统
公开(公告)号：US20100063630A1
公开(公告)日：2010-03-11
申请号：US11562768
申请日：2006-11-22
申请人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fielding , Dennis John Gregoris
发明人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fielding , Dennis John Gregoris
IPC分类号： G05B15/00
CPC分类号： A61B34/70 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/20 , A61B90/25 , A61B90/361 , A61B90/39 , A61B2017/00911 , A61B2034/102 , A61B2034/2059 , A61B2034/305 , A61B2090/064 , A61B2090/363 , A61B2090/374 , G06F19/00
摘要： A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.
摘要翻译：用于外科手术的机器人系统具有两个可移动臂，每个可移动臂承载在轮式基座上，每个臂具有六个运动自由度，以及可绕其轴线滚动的端部执行器，以及可沿轴线滑动的致动器用于操作适于由效应器支撑的不同工具。每个末端执行器包括光学力传感器，用于通过与患者的部分接合来检测施加到工具的力。显微镜位于用于观察患者部分的位置。相对于在MRI实验中可见的基准标记，刀尖的位置可以被数字化。工作站和控制系统具有同时由操作者操纵以控制相应的一个或两个臂的运动的一对手控制器。来自显微镜的图像以2D显示器显示在立体显微镜上。第二MRI显示器显示患者部分的图像，该工具的实时位置。机器人是MRI兼容的，可以配置为在封闭的磁体孔内运行。臂由压电马达围绕垂直和水平轴驱动。

82. 发明申请

US20080004632A1 MICROSURGICAL ROBOT SYSTEM 有权
标题翻译：微型机器人系统
公开(公告)号：US20080004632A1
公开(公告)日：2008-01-03
申请号：US11735983
申请日：2007-04-16
申请人： Garnette Sutherland , Deon Louw , Paul McBeth , Tim Fielding , Dennis Gregoris
发明人： Garnette Sutherland , Deon Louw , Paul McBeth , Tim Fielding , Dennis Gregoris
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/20 , A61B90/25 , A61B90/361 , A61B90/39 , A61B2017/00911 , A61B2034/102 , A61B2034/2059 , A61B2034/305 , A61B2090/064 , A61B2090/363 , A61B2090/374 , G06F19/00
摘要： A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.
摘要翻译：用于外科手术的机器人系统具有两个可移动臂，每个可移动臂承载在轮式基座上，每个臂具有六个运动自由度，以及可绕其轴线滚动的端部执行器，以及可沿轴线滑动的致动器用于操作适于由效应器支撑的不同工具。每个末端执行器包括光学力传感器，用于通过与患者的部分接合来检测施加到工具的力。显微镜位于用于观察患者部分的位置。相对于在MRI实验中可见的基准标记，刀尖的位置可以被数字化。工作站和控制系统具有同时由操作者操纵以控制相应的一个或两个臂的运动的一对手控制器。来自显微镜的图像以2D显示器显示在立体显微镜上。第二MRI显示器显示患者部分的图像，该工具的实时位置。机器人是MRI兼容的，可以配置为在封闭的磁体孔内运行。臂由压电马达绕垂直和水平轴驱动。

83. 发明申请

US20070265638A1 Surgical robot and robotic controller 有权
标题翻译：手术机器人和机器人控制器
公开(公告)号：US20070265638A1
公开(公告)日：2007-11-15
申请号：US11603352
申请日：2006-11-20
申请人： Kenneth Lipow , Dennis Gregoris
发明人： Kenneth Lipow , Dennis Gregoris
IPC分类号： A61B19/00
CPC分类号： G09B23/28 , A61B1/05 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/74 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/10 , A61B90/14 , A61B90/20 , A61B90/30 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00207 , A61B2017/0046 , A61B2017/00464 , A61B2034/305 , A61B2034/742 , A61B2090/061 , A61B2090/064 , A61B2090/065 , A61B2090/372
摘要： The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human's actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon's hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicking of the surgeon's behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon's humanly limited senses while not introducing disruptive variables to the surgeon's naturally occurring operation of his neurophysiology. This is therefore also a new field, neurophysiological symbiotic robotics.
摘要翻译：本发明由神经外科医学开发，旨在模仿灵长类动物神经学研究的结果，其指示人的实际神经控制结构和逻辑。具体来说，在创建本发明的机器人和操作方法时，考虑了外科医生的手和内部手控系统从肌肉层次到神经网络的纤维内系统的运动本体感觉和触觉神经生理学功能。因此，手术并不像本领域那样放慢，因为外科医生在基于机器人功能的外科医生的行为神经模拟的情况下，意识到和潜意识的自然协调和与机器人致动的手术器械协调一致。因此，机器人可以增强外科医生人为有限的感觉，同时不会为外科医生自然发生的神经生理学运动引入破坏性变量。因此，这也是一个新的领域，神经生物共生机器人。

84. 发明授权

US07155316B2 Microsurgical robot system 有权
公开(公告)号：US07155316B2
公开(公告)日：2006-12-26
申请号：US10639692
申请日：2003-08-13
申请人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fielding , Dennis John Gregoris
发明人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fielding , Dennis John Gregoris
IPC分类号： G06F19/00
CPC分类号： A61B34/70 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/20 , A61B90/25 , A61B90/361 , A61B90/39 , A61B2017/00911 , A61B2034/102 , A61B2034/2059 , A61B2034/305 , A61B2090/064 , A61B2090/363 , A61B2090/374 , G06F19/00
摘要： A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

85. 发明申请

US20060155263A1 Augmented surgical interface 失效
标题翻译：增强手术界面
公开(公告)号：US20060155263A1
公开(公告)日：2006-07-13
申请号：US11249041
申请日：2005-10-12
申请人： Kenneth Lipow
发明人： Kenneth Lipow
IPC分类号： A61B17/00
CPC分类号： G09B23/28 , A61B1/05 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/74 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/10 , A61B90/14 , A61B90/20 , A61B90/30 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00207 , A61B2017/0046 , A61B2017/00464 , A61B2034/305 , A61B2034/742 , A61B2090/061 , A61B2090/064 , A61B2090/065 , A61B2090/372
摘要： The present invention is a system comprising surgical units and operator interface units configured to provide multiple capabilities within a surgical environment, or within a surgical training environment. The system may provide such capabilities in a modular fashion, such that various functions may be accomplished through the addition or deletion of modules to the system to allow core components to be used to accomplish more than one function.
摘要翻译：本发明是一种包括手术单元和操作者界面单元的系统，其被配置为在外科手术环境或外科训练环境内提供多种能力。该系统可以以模块化方式提供这样的能力，使得可以通过向系统添加或删除模块来实现各种功能，以允许使用核心组件来完成多于一个功能。

86. 发明授权

US07074179B2 Method and apparatus for performing minimally invasive cardiac procedures 失效
标题翻译：用于进行微创心脏手术的方法和装置
公开(公告)号：US07074179B2
公开(公告)日：2006-07-11
申请号：US10241143
申请日：2002-09-10
申请人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： A61B1/00
CPC分类号： A61B34/75 , A61B17/0469 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B46/10 , A61B2017/00199 , A61B2017/00252 , A61B2017/00973 , A61B2034/742
摘要： A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.
摘要翻译：一种机器人系统，其响应于可由外科医生的脚操作的脚踏板的致动而移动外科器械。机器人系统具有适于保持诸如内窥镜的外科器械的端部执行器。末端执行器联接到可以相对于患者移动内窥镜的机器人臂组件。该系统包括计算机，其响应于从脚踏板接收的输入信号来控制机器人臂的运动。

87. 发明授权

US07025064B2 Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US07025064B2
公开(公告)日：2006-04-11
申请号：US10289740
申请日：2002-11-06
申请人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
IPC分类号： A61B19/00 , A61B1/00
CPC分类号： A61B17/11 , A61B17/0469 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , B25J9/1689 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

88. 发明申请

US20050038416A1 Minimally invasive surgical training using robotics and telecollaboration 有权
标题翻译：使用机器人和远程绘图的微创手术训练
公开(公告)号：US20050038416A1
公开(公告)日：2005-02-17
申请号：US10948853
申请日：2004-09-23
申请人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： G09B9/00 , A61B17/00 , A61B19/00 , B25J3/00 , B25J13/02
CPC分类号： G06F19/3418 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B34/76 , A61B34/77 , A61B90/361 , A61B2017/00707 , A61B2034/305 , A61B2090/064 , G06F19/00
摘要： A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.
摘要翻译：允许导师教导学生如何使用机器人控制的医疗器械的医疗系统。系统可以包括可由导师控制以移动医疗器械的第一手柄。该系统还可以具有可由瞳孔移动以控制相同仪器的第二手柄。指导者和瞳孔的手柄运动之间的偏差可以作为对瞳孔和导师手柄的力反馈来提供。力反馈推动学生的手与导师的手柄运动相对应。力量反馈还将推动导师的手向导师提供有关学生运动的信息。导师因此能够引导学生的手通过瞳孔手柄的力反馈来教导学生如何使用系统。

89. 发明申请

US20040186345A1 Medical robotic arm that is attached to an operating table 失效
标题翻译：附在手术台上的医疗机器人手臂
公开(公告)号：US20040186345A1
公开(公告)日：2004-09-23
申请号：US10737195
申请日：2003-12-15
申请人： Computer Motion, Inc.
发明人： Yulun Yang , Darrin Uecker , Keith P. Laby , Jeff D. Wilson , Charles S. Jordan , James W. Wright , Modjtaba Ghodoussi
IPC分类号： A61B001/00 , A61B019/00
CPC分类号： B25J9/1689 , A61B17/0469 , A61B17/11 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00203 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.
摘要翻译：用于执行微创心脏手术的系统包括耦合到一对机器人手臂的一对外科器械，其具有可被操纵以保持和缝合组织的末端执行器。机器人手臂通过控制器耦合到一对主手柄，以产生末端执行器的相应运动。手柄的移动被缩放，使得末端执行器运动与由外科医生的手执行的运动不同，通常较小。输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。该系统可以包括允许外科医生远程观察外科手术部位的机器人控制的内窥镜。外科医生可以操纵手柄并移动末端执行器来执行心脏手术。

90. 发明申请

US20030125716A1 Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US20030125716A1
公开(公告)日：2003-07-03
申请号：US10289740
申请日：2002-11-06
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
IPC分类号： A61B017/00
CPC分类号： A61B17/11 , A61B17/0469 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , B25J9/1689 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

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