专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US09089256B2 Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide 有权
标题翻译：医疗机器人系统提供辅助视图，其包括从进入引导件的远端延伸的可铰接仪器的运动限制范围
公开(公告)号：US09089256B2
公开(公告)日：2015-07-28
申请号：US12489566
申请日：2009-06-23
申请人： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
发明人： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
IPC分类号： A61B19/00 , A61B1/00 , A61B1/04 , A61B1/018
CPC分类号： A61B34/30 , A61B1/00183 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B34/10 , A61B34/20 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/361 , A61B90/37 , A61B2034/101 , A61B2034/102 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/305 , A61B2034/306 , A61B2090/0811 , A61B2090/3762
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
摘要翻译：医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或照相机的可铰接臂的辅助视图是从感测的或以其他方式确定的关于它们的位置和方向的信息产生的，并且随着运动限制范围的指示而显示从指定的观察点的角度在显示屏幕上。

2. 发明申请

US20090326318A1 MEDICAL ROBOTIC SYSTEM PROVIDING AN AUXILARY VIEW INCLUDING RANGE OF MOTION LIMITATIONS FOR ARTICULATABLE INSTRUMENTS EXTENDING OUT OF A DISTAL END OF AN ENTRY GUIDE 有权
标题翻译：提供辅助视图的医疗机器人系统，包括延伸到入门指南的远端的可伸缩仪器的运动限制范围
公开(公告)号：US20090326318A1
公开(公告)日：2009-12-31
申请号：US12489566
申请日：2009-06-23
申请人： MARC E. TOGNACCINI , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
发明人： MARC E. TOGNACCINI , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
IPC分类号： A61B1/018 , A61B19/00 , A61B1/04
CPC分类号： A61B34/30 , A61B1/00183 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B34/10 , A61B34/20 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/361 , A61B90/37 , A61B2034/101 , A61B2034/102 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/305 , A61B2034/306 , A61B2090/0811 , A61B2090/3762
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
摘要翻译：医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或照相机的可铰接臂的辅助视图是从感测的或以其他方式确定的关于它们的位置和方向的信息产生的，并且随着运动限制范围的指示而显示从指定的观察点的角度在显示屏幕上。

3. 发明授权

US09084623B2 Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide 有权
标题翻译：控制器在进入和离开进入指南的过程中辅助重新配置关节式仪器
公开(公告)号：US09084623B2
公开(公告)日：2015-07-21
申请号：US12613328
申请日：2009-11-05
申请人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
发明人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
摘要翻译：为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

4. 发明申请

US20130197672A1 Pass-Through Controller for Cascaded Proportional-Integral-Derivative Control Loops 审中-公开
标题翻译：用于级联比例积分微分控制环的直通控制器
公开(公告)号：US20130197672A1
公开(公告)日：2013-08-01
申请号：US13358735
申请日：2012-01-26
申请人： Probal Mitra
发明人： Probal Mitra
IPC分类号： G05B13/02
CPC分类号： G05B13/024
摘要： A cascade control system includes pass-through controller and a Proportional-Integral-Derivative (PID) controller, wherein the PID controller controls a first output of a device to generate an input to drive the device. The pass-through controller provides a setpoint to the PID controller and controls a second output of the device. The first output and optionally also a derivative of the first output is passed to the pass-through controller so that a pass-through control algorithm can be implemented that results in the input to the device only having terms of the second output, thereby avoiding dynamic interaction between the control loops of the pass-through controller and the PID controller.
摘要翻译：级联控制系统包括直通控制器和比例积分微分（PID）控制器，其中PID控制器控制设备的第一输出以产生用于驱动设备的输入。直通控制器为PID控制器提供设定值，并控制设备的第二个输出。第一输出和可选地还有第一输出的导数被传递到直通控制器，使得可以实现直通控制算法，其导致仅对具有第二输出的项的器件的输入，从而避免动态直通控制器和PID控制器的控制回路之间的相互作用。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式