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1. 发明申请

US20170042730A1 SURGICAL SYSTEM PROVIDING HANDS-FREE CONTROL OF A SURGICAL TOOL 审中-公开
标题翻译：提供手术工具无手术控制的外科系统
公开(公告)号：US20170042730A1
公开(公告)日：2017-02-16
申请号：US15237347
申请日：2016-08-15
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Yuki Horise , Russell H. Taylor , Peter L. Gehlbach
IPC分类号： A61F9/007 , A61B34/37 , G09B19/24 , A61B90/00 , A61B90/30 , A61B17/00 , A61B34/30 , A61B34/35
CPC分类号： A61F9/00736 , A61B3/10 , A61B17/00234 , A61B17/29 , A61B17/34 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/06 , A61B90/30 , A61B2017/00022 , A61B2090/065 , A61B2090/066 , A61B2090/306 , G09B19/24
摘要： A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.
摘要翻译：手术系统提供至少一个手术工具的免提控制，包括具有工具连接器的机器人，附接到机器人的工具连接器的智能工具，以及配置为与智能工具通信以提供反馈控制的反馈控制系统的机器人。智能工具包括具有工具轴的工具，该工具轴具有远端和近端，应变传感器布置在沿工具轴的第一位置处，第二应变传感器或转矩力传感器中的至少一个布置在所述第二位置比所述第一位置更靠近所述工具轴的近端;以及信号处理器，被配置为与所述应变传感器和所述第二应变传感器或所述扭矩传感器中的至少一个通信，力传感器从其接收检测信号。信号处理器被配置为当施加的力的位置在第一和第二位置之间时，处理检测信号以确定施加到工具轴的力的横向分量的大小和位置。当所施加的力的位置在第一和第二位置之间时，反馈系统控制机器人至少响应于施加到工具轴的力的侧向分量的大小和位置而移动，以便抵消施加的力到所述工具轴，从而提供对所述至少一个外科手术工具的免提控制。

2. 发明授权

US10188552B2 Surgical system providing hands-free control of a surgical tool 有权
公开(公告)号：US10188552B2
公开(公告)日：2019-01-29
申请号：US15237347
申请日：2016-08-15
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Yuki Horise , Russell H. Taylor , Peter L. Gehlbach
IPC分类号： B25J13/00 , A61F9/007 , A61B34/30 , A61B34/37 , A61B34/35 , A61B90/00 , A61B90/30 , A61B17/00 , G09B19/24
摘要： A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.

3. 发明授权

US09549781B2 Multi-force sensing surgical instrument and method of use for robotic surgical systems 有权
标题翻译：多功能感应手术器械及其机器人手术系统的使用方法
公开(公告)号：US09549781B2
公开(公告)日：2017-01-24
申请号：US14292361
申请日：2014-05-30
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Marcin Balicki , Russell H. Taylor
IPC分类号： A61B19/00 , A61B17/00 , G01L5/16 , G01L1/24 , A61F9/007
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/10 , A61B34/35 , A61B34/72 , A61B34/76 , A61B34/77 , A61B90/06 , A61B2017/00345 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2560/0247 , A61B2562/0266 , A61B2562/0271 , A61F9/007 , G01L1/246 , G01L5/166
摘要： A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.
摘要翻译：一种多力传感仪器包括具有工具轴的工具，其具有远端和近端，应变传感器布置在沿工具轴的第一位置处，第二应变传感器或转矩力传感器中的至少一个布置在沿着工具轴的第二位置处，第二位置比第一位置更靠近工具轴的近端，并且信号处理器被配置为与应变传感器和第二应变传感器中的至少一个通信，转矩力传感器从其接收检测信号。信号处理器被配置为当施加的力的位置在第一和第二位置之间时，处理信号以确定施加到工具轴的力的横向分量的大小和位置。

4. 发明申请

US20150342695A1 MULTI-FORCE SENSING SURGICAL INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS 有权
标题翻译：多功能感应手术器械及其用于机器人手术系统的方法
公开(公告)号：US20150342695A1
公开(公告)日：2015-12-03
申请号：US14292361
申请日：2014-05-30
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Marcin Balicki , Russell H. Taylor
IPC分类号： A61B19/00 , A61F9/007 , A61B17/00 , G01L5/16
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/10 , A61B34/35 , A61B34/72 , A61B34/76 , A61B34/77 , A61B90/06 , A61B2017/00345 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2560/0247 , A61B2562/0266 , A61B2562/0271 , A61F9/007 , G01L1/246 , G01L5/166
摘要： A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions.
摘要翻译：一种多力传感仪器包括具有工具轴的工具，其具有远端和近端，应变传感器布置在沿工具轴的第一位置处，第二应变传感器或转矩力传感器中的至少一个布置在沿着工具轴的第二位置处，第二位置比第一位置更靠近工具轴的近端，并且信号处理器被配置为与应变传感器和第二应变传感器中的至少一个通信，转矩力传感器从其接收检测信号。信号处理器被配置为当施加的力的位置在第一和第二位置之间时，处理信号以确定施加到工具轴的力的横向分量的大小和位置。

5. 发明申请

US20170156928A1 TOOL AND TOOL SYSTEM HAVING INDEPENDENT AXIAL AND TRANSVERSE FORCE SENSING 审中-公开
公开(公告)号：US20170156928A1
公开(公告)日：2017-06-08
申请号：US15234896
申请日：2016-08-11
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Russell H. Taylor , James T. Handa , Peter L. Gehlbach
IPC分类号： A61F9/007 , B25J13/08 , G01L1/24
CPC分类号： A61F9/00727 , A61B34/30 , A61B2034/2051 , A61B2090/064 , A61F9/0017 , A61F9/007 , B25J9/023 , B25J13/085 , G01L1/246
摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

6. 发明授权

US11457987B2 Manipulator device and therapeutic and diagnostic methods 有权
公开(公告)号：US11457987B2
公开(公告)日：2022-10-04
申请号：US15574483
申请日：2016-05-13
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian I. Iordachita , Vincent Van Geirt , Peter Gehlbach , Russell Taylor
IPC分类号： A61B34/30 , A61B17/29 , A61B34/00 , A61F9/007 , A61B17/00 , A61F9/00 , A61M25/00 , A61M25/01
摘要： Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

7. 发明授权

US10363164B2 Tool and tool system having independent axial and transverse force sensing 有权
公开(公告)号：US10363164B2
公开(公告)日：2019-07-30
申请号：US15234896
申请日：2016-08-11
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian Iordachita , Russell H. Taylor , James T. Handa , Peter L. Gehlbach
IPC分类号： A61F9/007 , A61B34/30 , A61F9/00 , B25J9/02 , B25J13/08 , G01L1/24 , A61B34/20 , A61B90/00
摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

8. 发明申请

US20180125596A1 Manipulator Device and Therapeutic and Diagnostic Methods 审中-公开
公开(公告)号：US20180125596A1
公开(公告)日：2018-05-10
申请号：US15574483
申请日：2016-05-13
申请人： The Johns Hopkins University
发明人： Xingchi He , Iulian I. Iordachita , Vincent Van Geirt , Peter Gehlbach , Russell Taylor
IPC分类号： A61B34/00
CPC分类号： A61B34/77 , A61B17/29 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/00314 , A61B2017/00327 , A61B2034/306 , A61B2034/715 , A61F9/0008 , A61F9/00727 , A61M25/0084 , A61M25/0147 , A61M2210/0612
摘要： Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

9. 发明申请

US20130222565A1 System and Method for Sensor Fusion of Single Range Camera Data and Inertial Measurement for Motion Capture 审中-公开
标题翻译：单范围摄像机数据传感器融合的系统和方法以及运动捕捉的惯性测量
公开(公告)号：US20130222565A1
公开(公告)日：2013-08-29
申请号：US13780252
申请日：2013-02-28
申请人： The Johns Hopkins University
发明人： Kelleher Riccio Guerin , Allison Okamura , Michele Rotella , Xingchi He , Jonathan Bohren
IPC分类号： H04N7/18
CPC分类号： A63F13/428 , A61B5/11 , A61B5/1128 , A61B5/6831 , A61B5/744 , A61B5/7455 , A61B2562/0219 , A63F13/211 , A63F13/213 , A63F2300/105 , A63F2300/1087 , A63F2300/6045 , G06F3/011 , G06F3/016 , G06F3/017 , G06F3/0304 , G06F3/0346 , G06F3/0425 , G06K9/00342 , G06K9/6289
摘要： An embodiment in accordance with the present invention provides a motion capture system that can be coupled with a feedback system. The system can be used for collecting motion capture data about a user's position and/or movement and comparing that data to an exemplary position or movement to determine errors in the position or movement. The system can include a single range camera to provide color and depth data as well as inertial sensors to provide inertial measurements. Additionally, the system can provide feedback to the user to encourage correction of the errors the system finds with respect to the user's position and/or movement.
摘要翻译：根据本发明的实施例提供了一种可与反馈系统耦合的运动捕捉系统。该系统可用于收集关于用户位置和/或运动的运动捕获数据，并将该数据与示例性位置或运动进行比较以确定位置或运动中的错误。该系统可以包括单范围相机，以提供颜色和深度数据以及惯性传感器来提供惯性测量。此外，系统可以向用户提供反馈，以鼓励系统针对用户的位置和/或移动找到的错误的校正。

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