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1. 发明授权

US09595207B2 Method and system for minimally-invasive surgery training using tracking data 有权
标题翻译：使用跟踪数据进行微创手术训练的方法和系统
公开(公告)号：US09595207B2
公开(公告)日：2017-03-14
申请号：US13806891
申请日：2011-05-26
申请人： Thenkurussi Kesavadas , Khurshid Guru
发明人： Thenkurussi Kesavadas , Khurshid Guru
IPC分类号： G09B23/28
CPC分类号： G09B23/28 , G06F19/00
摘要： A system and method for training a person in minimally-invasive surgery (“MIS”) utilizing a video of the MIS. The system comprises a processor, a display, and a first interaction device. The processor programmed to receive the video and to obtain tracking data. The tracking data may correspond to the motion of a tool controller. The tracking data may correspond to motion of a first surgical tool in the video. The processor programmed to calculate motion of the first interaction device corresponding to the tracking data, to display the video, and to cause the first interaction device to move according to the calculated motion. The method comprises receiving the video, obtaining the tracking data, calculating a motion of a first interaction device corresponding to the tracking data, displaying the video, and causing the first interaction device to move according to the calculated motion.
摘要翻译：一种利用管理信息系统的视频来训练微创手术（“MIS”）的人的系统和方法。该系统包括处理器，显示器和第一交互设备。处理器被编程为接收视频并获取跟踪数据。跟踪数据可对应于工具控制器的运动。跟踪数据可以对应于视频中的第一外科手术工具的运动。所述处理器被编程为计算对应于所述跟踪数据的所述第一交互装置的运动，以显示所述视频，并且使所述第一交互装置根据所计算的运动而移动。该方法包括接收视频，获得跟踪数据，计算与跟踪数据相对应的第一交互装置的运动，显示视频，以及使第一交互装置根据所计算的运动而移动。

2. 发明申请

US20130288214A1 Method and System for Automatic Tool Position Determination for Minimally-Invasive Surgery Training 有权
标题翻译：微创外科手术自动刀具位置确定方法与系统
公开(公告)号：US20130288214A1
公开(公告)日：2013-10-31
申请号：US13806889
申请日：2011-05-26
申请人： Thenkurussi Kesavadas , Khurshid Guru
发明人： Thenkurussi Kesavadas , Khurshid Guru
IPC分类号： G09B5/02 , G09B23/28
CPC分类号： G09B5/02 , G09B23/28 , G09B23/285
摘要： The present invention may be embodied as a method of minimally-invasive surgery (“MIS”) training using a video of an MIS comprising the steps of providing a processor, a display, and a first input device. The method comprises the step of processing the video using the processor to determine a location of the first surgical tool in each of the frames, determining whether the configuration of the first input device substantially corresponds to the location of the first surgical tool in each frame of the video while the video is displayed. The present invention may be embodied as a system for MIS training. The system comprises a processor, a communication device, and a first input device in communication with the processor. The processor is programmed perform any or all of the described disclosed methods.
摘要翻译：本发明可以被实现为使用MIS的视频的微创手术（“MIS”）训练的方法，包括提供处理器，显示器和第一输入设备的步骤。该方法包括以下步骤：使用处理器处理视频以确定每个帧中的第一外科手术工具的位置，确定第一输入装置的配置是否基本上对应于第一外科手术工具在每一帧中的位置视频显示时的视频。本发明可以被实现为用于MIS训练的系统。该系统包括处理器，通信设备和与处理器通信的第一输入设备。处理器被编程执行所描述的所公开的方法中的任何一个或全部。

3. 发明申请

US20090305210A1 System For Robotic Surgery Training 审中-公开
标题翻译：机器人手术训练系统
公开(公告)号：US20090305210A1
公开(公告)日：2009-12-10
申请号：US12402303
申请日：2009-03-11
申请人： Khurshid Guru , Thenkurussi Kesavadas , Govindarajan Srimathveeravalli
发明人： Khurshid Guru , Thenkurussi Kesavadas , Govindarajan Srimathveeravalli
IPC分类号： G09B23/28
摘要： A system according to the invention may include a frame, a computer, a display, and two input devices. The frame may be adjustable, may be made from a lightweight material, and may fold for easier portability. The display and the computer may be in communication with each other and each may be attached to the frame. The display may be a binocular display, or may be a touchscreen display. Additional displays may be used. Two input devices may be used to simulate the master console of a surgical robot. The input devices may be articulated armature devices suitable for providing 3D input. The input devices may be attached to the frame in an “upside-down” configuration wherein a base of each input device is affixed to the frame such that a first joint of an arm is below the base. The input devices may be in communication with the computer and may provide positional signals to the computer. The positional signals may correspond to a position of an arm of each input device.
摘要翻译：根据本发明的系统可以包括框架，计算机，显示器和两个输入设备。框架可以是可调节的，可以由轻质材料制成，并且可以折叠以便于便于携带。显示器和计算机可以彼此通信，并且每个可以附接到框架。显示器可以是双目显示器，或者可以是触摸屏显示器。可以使用附加的显示器。可以使用两个输入装置来模拟外科手术机器人的主控制台。输入设备可以是适于提供3D输入的铰接式电枢装置。输入设备可以以“倒置”配置附接到框架，其中每个输入设备的基座固定到框架，使得臂的第一接头在基座下方。输入设备可以与计算机通信，并且可以向计算机提供位置信号。位置信号可以对应于每个输入装置的臂的位置。

4. 发明授权

US09601025B2 Method and system for automatic tool position determination for minimally-invasive surgery training 有权
公开(公告)号：US09601025B2
公开(公告)日：2017-03-21
申请号：US13806889
申请日：2011-05-26
申请人： Thenkurussi Kesavadas , Khurshid Guru
发明人： Thenkurussi Kesavadas , Khurshid Guru
IPC分类号： G09B5/02 , G09B23/28
CPC分类号： G09B5/02 , G09B23/28 , G09B23/285
摘要： The present invention may be embodied as a method of minimally-invasive surgery (“MIS”) training using a video of an MIS comprising the steps of providing a processor, a display, and a first input device. The method comprises the step of processing the video using the processor to determine a location of the first surgical tool in each of the frames, determining whether the configuration of the first input device substantially corresponds to the location of the first surgical tool in each frame of the video while the video is displayed. The present invention may be embodied as a system for MIS training. The system comprises a processor, a communication device, and a first input device in communication with the processor. The processor is programmed perform any or all of the described disclosed methods.

5. 发明申请

US20130295540A1 Method and System for Minimally-Invasive Surgery Training Using Tracking Data 有权
标题翻译：使用跟踪数据进行微创手术训练的方法和系统
公开(公告)号：US20130295540A1
公开(公告)日：2013-11-07
申请号：US13806891
申请日：2011-05-26
申请人： Thenkurussi Kesavadas , Khurshid Guru
发明人： Thenkurussi Kesavadas , Khurshid Guru
IPC分类号： G09B23/28
CPC分类号： G09B23/28 , G06F19/00
摘要： A system and method for training a person in minimally-invasive surgery (“MIS”) utilizing a video of the MIS. The system comprises a processor, a display, and a first interaction device. The processor programmed to receive the video and to obtain tracking data. The tracking data may correspond to the motion of a tool controller. The tracking data may correspond to motion of a first surgical tool in the video. The processor programmed to calculate motion of the first interaction device corresponding to the tracking data, to display the video, and to cause the first interaction device to move according to the calculated motion. The method comprises receiving the video, obtaining the tracking data, calculating a motion of a first interaction device corresponding to the tracking data, displaying the video, and causing the first interaction device to move according to the calculated motion.
摘要翻译：一种利用管理信息系统的视频来训练微创手术（“MIS”）的人的系统和方法。该系统包括处理器，显示器和第一交互设备。处理器被编程为接收视频并获取跟踪数据。跟踪数据可对应于工具控制器的运动。跟踪数据可以对应于视频中的第一外科手术工具的运动。所述处理器被编程为计算对应于所述跟踪数据的所述第一交互装置的运动，以显示所述视频，并且使所述第一交互装置根据所计算的运动而移动。该方法包括接收视频，获得跟踪数据，计算与跟踪数据相对应的第一交互装置的运动，显示视频，以及使第一交互装置根据所计算的运动而移动。

6. 发明申请

US20100285438A1 Method And System For Minimally-Invasive Surgery Training 审中-公开
标题翻译：微创外科手术方法与系统
公开(公告)号：US20100285438A1
公开(公告)日：2010-11-11
申请号：US12723579
申请日：2010-03-12
申请人： Thenkurussi Kesavadas , Khurshid Guru , Govindarajan Srimathveeravalli
发明人： Thenkurussi Kesavadas , Khurshid Guru , Govindarajan Srimathveeravalli
IPC分类号： G09B23/28
CPC分类号： A61B17/00234 , A61B34/30 , A61B2017/00119 , A61B2017/00707 , A61B2090/364 , G09B23/285
摘要： The present invention may be embodied as a method of minimally-invasive surgery (“MIS”) training wherein a simulator having a display, a computer, and a first input device, is provided. A video of an MIS is displayed on the display, and a first surgical tool is visible in at least a portion of the video. A match zone corresponding to a position on the first surgical tool is determined. A computer-generated virtual surgical tool (“CG tool”) is superimposed on the displayed video. The CG tool is selectively controlled by the first input device. A target position of the CG tool is determined. If the target position is not determined to be within the match zone, further steps may be taken. For example, the video may be paused, a message may be displayed to the operator, or the computer may signal the input device to move to a position such that the target position is within the match zone.
摘要翻译：本发明可以被实施为一种微创手术（“MIS”）训练的方法，其中提供了具有显示器，计算机和第一输入装置的模拟器。在显示器上显示MIS的视频，并且在视频的至少一部分中可见第一外科手术工具。确定与第一外科手术工具上的位置对应的匹配区域。计算机生成的虚拟手术工具（“CG工具”）叠加在所显示的视频上。 CG工具由第一输入装置选择性地控制。确定CG工具的目标位置。如果目标位置未被确定在匹配区域内，则可以采取进一步的步骤。例如，视频可以被暂停，可以向操作者显示消息，或者计算机可以向输入设备发信号以移动到使得目标位置在匹配区域内的位置。

7. 发明申请

US20120245595A1 System and Method for Endovascular Telerobotic Access 审中-公开
标题翻译：血管内Telerobotic访问的系统和方法
公开(公告)号：US20120245595A1
公开(公告)日：2012-09-27
申请号：US13391764
申请日：2010-08-26
申请人： Thenkurussi Kesavadas , Govindarajan Srimathveeravalli
发明人： Thenkurussi Kesavadas , Govindarajan Srimathveeravalli
IPC分类号： A61B19/00
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/301 , A61B2090/065 , B25J9/1689 , B25J13/025 , G05B2219/45118
摘要： A system for manipulating elongate surgical instruments comprises a console, which comprises an input controller. The input controller may have a haptic feedback mechanism. The system further comprises a slave component, which comprises a first linear actuator, a second linear actuator, and a first rotational actuator. Each actuator is in electrical communication with the input controller. The slave component further comprises a force sensor in electronic communication with the input controller. The force sensor is configured to measure a force acting upon the first elongate member on at least one degree of freedom. The force sensor will send a force signal to the haptic feedback mechanism of the input controller.
摘要翻译：用于操纵细长外科器械的系统包括控制台，其包括输入控制器。输入控制器可以具有触觉反馈机制。该系统还包括从属部件，其包括第一线性致动器，第二线性致动器和第一旋转致动器。每个执行器与输入控制器电连通。从属部件还包括与输入控制器电子通信的力传感器。力传感器构造成以至少一个自由度来测量作用在第一细长构件上的力。力传感器将向输入控制器的触觉反馈机构发送一个力信号。

8. 发明申请

US20090278798A1 Active Fingertip-Mounted Object Digitizer 审中-公开
标题翻译：主动指尖安装对象数字化仪
公开(公告)号：US20090278798A1
公开(公告)日：2009-11-12
申请号：US11828463
申请日：2007-07-26
申请人： Young-Seok Kim , Thenkurussi Kesavadas
发明人： Young-Seok Kim , Thenkurussi Kesavadas
IPC分类号： G06F3/033
CPC分类号： G06F3/0346 , G06F3/011 , G06F3/014 , G06F3/016 , G06F3/017 , G06F2203/0331
摘要： A finger-mounted implement including a kinesthetic sensor, at least one tactile sensor, and means for securing the kinesthetic sensor and the at least one tactile sensor to a fingertip. The tactile sensor may be a thin-film force transducer, a piezoelectric accelerometer, or a combination thereof. An artificial fingernail may be connected to the accelerometer. The kinesthetic sensor may include a magnetic transducer and may sense an X-Y-Z position and an angular orientation of a fingertip to which the kinesthetic sensor is secured. The securing means may include at least one means selected from the group consisting of adhesive tape, an elastically deformable cover, and detachable adhesive. The implement can be further connected to a computer processing system for, amongst other things, the virtual representation of sensed objects. The implement can also be used as part of a method of haptic sensing of objects.
摘要翻译：一种手指式工具，其包括运动感应传感器，至少一个触觉传感器，以及用于将感觉传感器和至少一个触觉传感器固定到指尖的装置。触觉传感器可以是薄膜力传感器，压电加速度计或其组合。人造指甲可以连接到加速度计。动觉传感器可以包括磁换能器，并且可以感测X-Y-Z位置和固定感觉传感器的指尖的角度定向。固定装置可以包括从粘合带，可弹性变形的盖和可拆卸粘合剂组成的组中选择的至少一种装置。该装置可以进一步连接到计算机处理系统，用于除其他之外，感测对象的虚拟表示。该工具还可以用作触觉感测物体的方法的一部分。

9. 发明授权

US06752770B2 System and method for analyzing a region below one or more layers of tissue 失效
标题翻译：用于分析低于一层或多层组织的区域的系统和方法
公开(公告)号：US06752770B2
公开(公告)日：2004-06-22
申请号：US09992471
申请日：2001-11-14
申请人： James Mayrose , Thenkurussi Kesavadas , Kevin Chugh
发明人： James Mayrose , Thenkurussi Kesavadas , Kevin Chugh
IPC分类号： A61B5103
CPC分类号： A61B5/0051 , A61B5/442
摘要： An apparatus for analyzing a region below one or more layers of tissue includes a force sensor, a position sensor, and a processing system. The force sensor provides a force signal representative of an amount of force applied to a portion of the one or more layers of tissue which is adjacent to the region. The position sensor provides a position signal representative of the location of the position sensor when the force is applied. The processing system coupled to the force sensor and the position sensor determines at least one property of the region based on the force signal and the position signal.
摘要翻译：用于分析低于一层或多层组织的区域的装置包括力传感器，位置传感器和处理系统。力传感器提供代表施加到与该区域相邻的一层或多层组织的一部分的力的力信号。当施加力时，位置传感器提供表示位置传感器的位置的位置信号。耦合到力传感器和位置传感器的处理系统基于力信号和位置信号确定区域的至少一个属性。

10. 发明申请

US20060119578A1 System for interfacing between an operator and a virtual object for computer aided design applications 审中-公开
标题翻译：用于计算机辅助设计应用程序的操作员和虚拟对象之间的接口系统
公开(公告)号：US20060119578A1
公开(公告)日：2006-06-08
申请号：US11272530
申请日：2005-11-10
申请人： Thenkurussi Kesavadas , Ameya Kamerkar , Ajay Anand
发明人： Thenkurussi Kesavadas , Ameya Kamerkar , Ajay Anand
IPC分类号： G09G5/08 , G05B15/00
CPC分类号： G06F3/014 , G06F3/0481
摘要： An apparatus (15) for interfacing between an operator (26) and computer generated virtual object comprising a force sensor (19) that provides a force signal as a function of the amount of force applied to a representative physical body (22), a position sensor (18) that provides a position signal representative of the location of the position sensor when the force is applied, an article (16) for coupling the force sensor and the position sensor to an extremity of an operator, and a processor system (20) communicating with the force sensor and the position sensor and adapted to deform a virtual object (24) as a function of the force signal and the position signal.
摘要翻译：一种用于在操作者（26）和计算机生成的虚拟对象之间进行接口的装置（15），包括：力传感器（19），其提供作为施加到代表性物体（22）的力的函数的力信号;力位置传感器（18），其在施加力时提供表示位置传感器的位置的位置信号，用于将力传感器和位置传感器耦合到操作者的末端的物品（16）以及处理器系统（20 ）与力传感器和位置传感器通信并且适于根据力信号和位置信号使虚拟物体（24）变形。

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