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1. 发明申请

US20070038080A1 Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure 审中-公开
公开(公告)号：US20070038080A1
公开(公告)日：2007-02-15
申请号：US11496958
申请日：2006-08-01
申请人： J. Salisbury , Gunter Niemeyer , Robert Younge , Gary Guthart , David Mintz , Thomas Cooper
发明人： J. Salisbury , Gunter Niemeyer , Robert Younge , Gary Guthart , David Mintz , Thomas Cooper
IPC分类号： A61B5/05
CPC分类号： A61B8/5238 , A61B1/00 , A61B1/0005 , A61B1/00149 , A61B1/313 , A61B8/12 , A61B8/483 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506
摘要： A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system. The image display is typically operatively connected to the image capture device so as to display, on the display area, the image of the surgical site and the end effector captured by the image capture device. The method can further include permitting an operator of the surgical system to manipulate a master control at the operator control station whilst viewing the image of the surgical site on the image display, the master control being operatively associated with the surgical instrument thereby to cause the end effector to move in response to manipulation of the master control so as to perform at least part of the surgical procedure on the patient at the surgical site. The method yet further typically comprises operatively linking the image display to a source of selectively accessible auxiliary information related to the surgical procedure to be performed, enabling the operator selectively to access the source of auxiliary information from the operator control station so as to forward the auxiliary information to the image display, causing the auxiliary information to be displayed across the display area of the image display in response to the operator selectively accessing the source of auxiliary information at the operator control station and enabling the operator selectively to move the auxiliary information when displayed on the image display relative to the image of the surgical site displayed on the image display. The master control is typically operatively linked with the source of auxiliary information, enabling the operator selectively to access the source of auxiliary information then including permitting the operator selectively to disassociate the master control from the surgical instrument and to use the master control to access the source of auxiliary information so as to enable the auxiliary information to be displayed on the display area of the image display.

2. 发明申请

US20060241414A1 Repositioning and reorientation of master/slave relationship in minimally invasive telesuregery 有权
标题翻译：在微创远程办公室中重新定位主/从关系
公开(公告)号：US20060241414A1
公开(公告)日：2006-10-26
申请号：US11377225
申请日：2006-03-15
申请人： William Nowlin , Gary Guthart , J. Salisbury , Gunter Niemeyer
发明人： William Nowlin , Gary Guthart , J. Salisbury , Gunter Niemeyer
IPC分类号： A61B6/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译：本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。在一些实施例中，独立重新定位限于平移自由度。在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。

3. 发明申请

US20060178559A1 Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures 有权
公开(公告)号：US20060178559A1
公开(公告)日：2006-08-10
申请号：US11319012
申请日：2005-12-27
申请人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
发明人： Rajesh Kumar , Brian Hoffman , Giuseppe Prisco , David Larkin , William Nowlin , Frederic Moll , Stephen Blumenkranz , Gunter Niemeyer , J. Salisbury , Yulun Wang , Modjtaba Ghodoussi , Darrin Uecker , James Wright , Amante Mangaser , Ranjan Mukherjee
IPC分类号： A61B1/04
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

4. 发明申请

US20050043718A1 Robotic apparatus 有权
标题翻译：机器人装置
公开(公告)号：US20050043718A1
公开(公告)日：2005-02-24
申请号：US10893613
申请日：2004-07-15
申请人： Akhil Madhani , J. Salisbury , Gunter Niemeyer
发明人： Akhil Madhani , J. Salisbury , Gunter Niemeyer
IPC分类号： A61B19/00 , B25J3/00 , B25J9/16 , A61B17/00
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/00477 , A61B2017/00703 , A61B2034/305 , A61B2034/715 , A61B2090/506 , B25J9/1615 , Y10S901/10 , Y10S901/29
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译：机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。三个串行宏自由具有大范围的运动和惯性。四个串联微自由具有小范围的运动和惯性。末端执行器沿y方向的平移由至少一个微关节和至少一个宏观接头致动。该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。可以控制具有比主机更高自由度（DOF）的从动机。可移动的效应器单元用电缆致动其DOF。殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。

5. 发明申请

US20050222830A1 Force reflecting haptic interface 失效
公开(公告)号：US20050222830A1
公开(公告)日：2005-10-06
申请号：US10990226
申请日：2004-11-16
申请人： Thomas Massie , J. Salisbury
发明人： Thomas Massie , J. Salisbury
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G05B11/01 , B25J9/1689 , B25J13/02 , G05B17/02 , G05B2219/23021 , G05G1/52 , G05G9/047 , G05G2009/04766 , G06F3/014 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G06F2203/0331 , G06G7/48
摘要： The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch. Another embodiment is a virtual bristled brush, again which presents to the user the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.

6. 发明申请

US20070268248A1 METHOD AND APPARATUS FOR DETERMINING FORCES TO BE APPLIED TO A USER THROUGH A HAPTIC INTERFACE 审中-公开
标题翻译：用于通过快速接口确定用户的方法和装置
公开(公告)号：US20070268248A1
公开(公告)日：2007-11-22
申请号：US11739005
申请日：2007-04-23
申请人： Craig Zilles , J. Salisbury , Thomas Massie , David Brock , Mandayam Srinivasan , Hugh Morgenbesser
发明人： Craig Zilles , J. Salisbury , Thomas Massie , David Brock , Mandayam Srinivasan , Hugh Morgenbesser
IPC分类号： G09G5/00
CPC分类号： G06F3/01 , G06F3/011 , G06F3/016
摘要： A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects. In one embodiment, the method calculates a stiffness force to be applied to the user. In other embodiments, the method calculates damping and friction forces to be applied to the user. In one embodiment the step of generating a representation of an object in graphic space includes defining the object as a mesh of planar surfaces and associating surface condition values to each of the nodes defining the planar surfaces. In another embodiment, the step of generating a representation of an object in graphic space includes describing the surface of the object using a coordinate system and associating surface condition values with each set of coordinates of the coordinate system.
摘要翻译：一种用于确定通过触觉界面施加到用户的力的方法和装置。该方法包括以下步骤：在图形空间中生成对象的表示，感测用户在实际空间中的位置，并响应于用户的触觉界面和用户的基准对象计算应用于用户的力。用户的基准对象表示如果触觉界面不能穿透虚拟对象的表面，则用户的触觉界面将位于图形空间中的位置。在一个实施例中，该方法计算要施加给用户的刚度力。在其他实施例中，该方法计算要施加到使用者的阻尼和摩擦力。在一个实施例中，在图形空间中生成对象的表示的步骤包括将对象定义为平面表面的网格，并将表面条件值与限定平面表面的每个节点相关联。在另一个实施例中，在图形空间中生成对象的表示的步骤包括使用坐标系描述对象的表面并将表面条件值与坐标系的每个坐标系相关联。

7. 发明申请

US20060012197A1 Robotic hand with extendable palm 有权
标题翻译：机器人手与可伸缩手掌
公开(公告)号：US20060012197A1
公开(公告)日：2006-01-19
申请号：US11019808
申请日：2004-12-20
申请人： Perry Anderson , J. Alcorta , Scott DeWinter , Joel Jensen , J. Salisbury , Eliot Wegbreit
发明人： Perry Anderson , J. Alcorta , Scott DeWinter , Joel Jensen , J. Salisbury , Eliot Wegbreit
IPC分类号： B66C1/00
CPC分类号： B25J15/08 , B25J15/0009 , B25J15/0028
摘要： A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.
摘要翻译：机器人手包括具有手指和手掌的基座。手指定义工作量。手能够通过改变从手掌到工作体积的距离来掌握手指和手掌之间的物体。通过将手掌向工作体积移动或通过将工作体积朝向手掌移动，可以实现不同的距离。移动手掌的机器人手包括将手掌从基部延伸到工作体积的致动器。相对于手掌移动工作体积的机械手将手指安装到被配置为相对于底座平移的公共手指支撑单元。

8. 发明申请

US20080077159A1 ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY 有权
标题翻译：用于执行具有增强的毒性和敏感性的微创外科手术的手术仪器
公开(公告)号：US20080077159A1
公开(公告)日：2008-03-27
申请号：US11945424
申请日：2007-11-27
申请人： Akhil Madhani , J. Salisbury
发明人： Akhil Madhani , J. Salisbury
IPC分类号： A61B17/29
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/29 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/2927 , A61B2017/2929 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J3/04 , B25J9/104 , Y10T74/20329 , Y10T74/20335
摘要： An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
摘要翻译：一种用于增强微创外科手术的表现的关节式手术器械。仪器具有高灵敏度，低摩擦，低惯性和良好的力反射。独特的电缆和滑轮驱动系统可以减少摩擦和增强力反射。与标准腹腔镜手术相比，独特的手腕机构可以增强手术灵敏度。该系统经过优化，可以减少执行器所需的数量，从而产生最小尺寸的全功能关节式手术器械。

9. 发明申请

US20080046226A1 FORCE REFLECTING HAPTIC INTERFACE 审中-公开
标题翻译：强制反射的接口
公开(公告)号：US20080046226A1
公开(公告)日：2008-02-21
申请号：US11876422
申请日：2007-10-22
申请人： Thomas Massie , J. Salisbury
发明人： Thomas Massie , J. Salisbury
IPC分类号： G06F17/50
CPC分类号： G05B11/01 , B25J9/1689 , B25J13/02 , G05B17/02 , G05B2219/23021 , G05G1/52 , G05G9/047 , G05G2009/04766 , G06F3/014 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G06F2203/0331 , G06G7/48
摘要： The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch. Another embodiment is a virtual bristled brush, again which presents to the user the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译：本发明是用于在用户本地的环境中与用户物理交换力的装置。连接元件连接到用户的主体部件和连接元件与接地之间的连接。连杆包括用于为连接元件相对于地面的至少三个独立自由提供动力的装置和用于维持连接元件相对于没有动力的地面的至少一个独立自由度的装置。连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。本发明的其他方面包括用于控制链路上的点的两个致动器平衡。本发明还包括用于建立虚拟开关的装置，其向用户呈现弹簧开关的力和位移关系。另一个实施例是虚拟刷毛，再次向使用者呈现这种刷子的力和位移关系，同时还改变虚拟环境以反映用户的位置变化。

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