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1. 发明申请

US20150005768A1 Bipolar Forceps with Force Measurement 审中-公开
标题翻译：双力钳力测量
公开(公告)号：US20150005768A1
公开(公告)日：2015-01-01
申请号：US13930361
申请日：2013-06-28
申请人： Garnette Roy Sutherland , Kourosh Zareinia , Liu Shi Gan , Tomas Jens Hirmer , Sanju Lama
发明人： Garnette Roy Sutherland , Kourosh Zareinia , Liu Shi Gan , Tomas Jens Hirmer , Sanju Lama
IPC分类号： A61B18/14
CPC分类号： A61B18/1442 , A61B2018/00791 , A61B2018/00898 , A61B2018/1462 , A61B2090/065 , A61B2218/002
摘要： Bipolar forceps of the type where each of the prongs has a manually engageable portion spaced from the tip for manual squeezing of the prongs and an electrical supply system for applying a high-frequency electric current between tool tips to dissect through tissue planes and/or seal blood vessels includes a set of force measuring sensors for measuring forces, particularly squeezing forces, applied to the prongs at the tip. A temperature sensor is included to provide temperature information and temperature compensation. The sensors are applied to each prong in opposing pairs on the inside and outside surfaces and the outputs thereof are applied to a bridge arrangement. The signals are sent to a processor for generating warning signals and for recording forces for training purposes where a haptic system can be used.
摘要翻译：其中每个插脚具有与尖端间隔开的用于手动挤压插脚的手动接合部分的类型的双极镊子和用于在工具尖端之间施加高频电流以通过组织平面分解和/或密封的电源系统血管包括一组力测量传感器，用于测量施加在尖端处的尖头上的力，特别是挤压力。包括温度传感器以提供温度信息和温度补偿。传感器在内表面和外表面上以相对对的方式施加到每个插脚，并且其输出被施加到桥接装置。信号被发送到处理器，用于产生警告信号，并且用于记录用于可以使用触觉系统的训练目的的力。

2. 发明授权

US08005571B2 Microsurgical robot system 有权
标题翻译：显微手术机器人系统
公开(公告)号：US08005571B2
公开(公告)日：2011-08-23
申请号：US11480701
申请日：2006-07-03
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： G05B19/418
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。

3. 发明授权

US08170717B2 Microsurgical robot system 有权
标题翻译：显微手术机器人系统
公开(公告)号：US08170717B2
公开(公告)日：2012-05-01
申请号：US12027043
申请日：2008-02-06
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 , G05B19/04 , G05B19/418 , G05B19/18 , G05B15/00 , G05B19/00
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 surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.
摘要翻译：一种外科机器人，其包括具有多个关节和至少六个自由度的至少一个机器人臂，所述机器人手臂还包括：磁共振（MR）兼容的结构材料; 多MR兼容接头电机; 和多个MR兼容联合编码器。

4. 发明授权

US09220567B2 Microsurgical robot system 有权
标题翻译：显微手术机器人系统
公开(公告)号：US09220567B2
公开(公告)日：2015-12-29
申请号：US11735983
申请日：2007-04-16
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： A61B19/00 , A61B17/00
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 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 end effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. 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的臂，每个臂具有六个自由度的运动自由度，以及一个可围绕其轴线滚动的端部执行器，以及一个可沿轴线滑动的致动器，用于操作适于由末端执行器支撑。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。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。

5. 发明申请

US20080161830A1 Microsurgical Robot System 有权
标题翻译：显微外科机器人系统
公开(公告)号：US20080161830A1
公开(公告)日：2008-07-03
申请号：US12027043
申请日：2008-02-06
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： 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 surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.
摘要翻译：一种外科机器人，其包括具有多个关节和至少六个自由度的至少一个机器人臂，所述机器人手臂还包括：磁共振（MR）兼容的结构材料; 多MR兼容接头电机; 和多个MR兼容联合编码器。

6. 发明申请

US20080161677A1 Methods Relating to Microsurgical Robot System 有权
标题翻译：关于显微外科机器人系统的方法
公开(公告)号：US20080161677A1
公开(公告)日：2008-07-03
申请号：US12027066
申请日：2008-02-06
申请人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fieding , Dennis John Gregoris
发明人： Garnette Roy Sutherland , Deon Francois Louw , Paul Bradley McBeth , Tim Fieding , Dennis John Gregoris
IPC分类号： A61B17/94
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 method of operating a surgical system. The method includes obtaining a magnetic resonance imaging (MRI) scan in which magnetic resonance (MR) visible targets are located; registering a robotic arm to the MRI scan using a digitizing tool, the robotic arm including: multiple joints and multiple degrees of freedom; an MR-compatible structural material; multiple MR-compatible joint motors; multiple MR-compatible joint encoders; and an end effector holding an MR-compatible surgical tool having a tool tip; and displaying a location of the tool tip relative to an image from the MRI scan.
摘要翻译：一种操作手术系统的方法。该方法包括获得其中磁共振（MR）可见目标位于的磁共振成像（MRI）扫描; 使用数字化工具将机器人臂注册到MRI扫描，所述机器人手臂包括：多个关节和多个自由度; MR兼容结构材料; 多MR兼容接头电机; 多MR兼容联合编码器; 以及保持具有刀尖的MR兼容手术工具的末端执行器; 并且相对于来自MRI扫描的图像显示工具尖端的位置。

7. 发明授权

US5735278A Surgical procedure with magnetic resonance imaging 失效
标题翻译：手术与磁共振成像
公开(公告)号：US5735278A
公开(公告)日：1998-04-07
申请号：US616737
申请日：1996-03-15
申请人： David Hoult , John K. Saunders , Garnette Roy Sutherland , Franklin A. Roberts
发明人： David Hoult , John K. Saunders , Garnette Roy Sutherland , Franklin A. Roberts
IPC分类号： A61B5/055 , A61B17/00 , A61B19/00 , A61G13/10 , G01R33/28 , G01R33/38
CPC分类号： G01R33/3802 , A61B6/0485 , A61B90/00 , A61B17/00 , G01R33/3806
摘要： Apparatus is provided for use in surgical procedures comprising an operating table for receiving a patient for surgery and a magnetic resonance imaging system for obtaining images of a part of the patient at a series of times through the surgical procedure for analysis by the surgical team to allow the surgical team to monitor the progress of the surgery. The high field magnet and the operating table are shaped and arranged for positioning of the part of the patient into the magnetic field while the patient remains in place on the table and the magnet is mounted for movement between a first position spaced from the table and the patient thereon to allow the surgical team to carry out the surgical procedure and a second position for applying the magnetic field to the part of the patient. The table remains substantially stationary and only the magnet is moved to a position spaced from an adjacent end of the table to allow the surgical team to move around the adjacent end of table and to each side of the table to access the patient.
摘要翻译：提供了用于外科手术的装置，其包括用于接收手术患者的手术台和用于通过外科手术用于通过外科手术组进行分析的一系列时间获得患者部分的图像的磁共振成像系统，以允许手术队监测手术进展。高场磁体和操作台被成形和布置成用于将患者的一部分定位在磁场中，同时患者保持在桌子上的适当位置，并且安装磁体以在与工作台间隔开的第一位置和患者在其上以允许外科手术组执行外科手术，以及用于将磁场施加到患者部分的第二位置。桌子基本上保持静止，只有磁铁移动到与桌子的相邻端隔开的位置，以允许外科手术组围绕桌子的相邻端移动到桌子的每一侧以接近病人。

8. 发明授权

US10987155B2 Bipolar forceps with force measurement 有权
公开(公告)号：US10987155B2
公开(公告)日：2021-04-27
申请号：US13930361
申请日：2013-06-28
申请人： Garnette Roy Sutherland , Kourosh Zareinia , Liu Shi Gan , Tomas Jens Hirmer , Sanju Lama
发明人： Garnette Roy Sutherland , Kourosh Zareinia , Liu Shi Gan , Tomas Jens Hirmer , Sanju Lama
IPC分类号： A61B18/14 , A61B18/00 , A61B90/00
摘要： Bipolar forceps of the type where each of the prongs has a manually engageable portion spaced from the tip for manual squeezing of the prongs and an electrical supply system for applying a high-frequency electric current between tool tips to dissect through tissue planes and/or seal blood vessels includes a set of force measuring sensors for measuring forces, particularly squeezing forces, applied to the prongs at the tip. A temperature sensor is included to provide temperature information and temperature compensation. The sensors are applied to each prong in opposing pairs on the inside and outside surfaces and the outputs thereof are applied to a bridge arrangement. The signals are sent to a processor for generating warning signals and for recording forces for training purposes where a haptic system can be used.

9. 发明授权

US08396598B2 Microsurgical robot system 有权
标题翻译：显微手术机器人系统
公开(公告)号：US08396598B2
公开(公告)日：2013-03-12
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： G05B19/00
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。

10. 发明授权

US08041459B2 Methods relating to microsurgical robot system 有权
标题翻译：有关显微外科机器人系统的方法
公开(公告)号：US08041459B2
公开(公告)日：2011-10-18
申请号：US12027066
申请日：2008-02-06
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： A61B16/00
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 method of operating a surgical system. The method includes obtaining a magnetic resonance imaging (MRI) scan in which magnetic resonance (MR) visible targets are located; registering a robotic arm to the MRI scan using a digitizing tool, the robotic arm including: multiple joints and multiple degrees of freedom; an MR-compatible structural material; multiple MR-compatible joint motors; multiple MR-compatible joint encoders; and an end effector holding an MR-compatible surgical tool having a tool tip; and displaying a location of the tool tip relative to an image from the MRI scan.
摘要翻译：一种操作手术系统的方法。该方法包括获得其中磁共振（MR）可见目标位于的磁共振成像（MRI）扫描; 使用数字化工具将机器人臂注册到MRI扫描，所述机器人手臂包括：多个关节和多个自由度; MR兼容结构材料; 多MR兼容接头电机; 多MR兼容联合编码器; 以及保持具有刀尖的MR兼容手术工具的末端执行器; 并且相对于来自MRI扫描的图像显示工具尖端的位置。

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