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1. 发明授权

US08209051B2 Medical tele-robotic system 有权
标题翻译：医疗远程机器人系统
公开(公告)号：US08209051B2
公开(公告)日：2012-06-26
申请号：US11529108
申请日：2006-09-27
申请人： Yulun Wang , Keith Phillip Laby , Charles S. Jordan , Steven Edward Butner , Jonathan Southard
发明人： Yulun Wang , Keith Phillip Laby , Charles S. Jordan , Steven Edward Butner , Jonathan Southard
IPC分类号： G06F19/00
CPC分类号： G06F19/3418 , B25J5/007 , B25J9/0003 , B25J9/1602 , B25J9/162 , B25J9/163 , B25J9/1633 , B25J9/1689 , B25J9/1692 , B25J11/0005 , B25J19/022 , B25J19/023 , G05D1/0038 , G05D1/0225 , G05D2201/0206 , G05D2201/0211 , G06F19/00 , G06F19/3456 , G16H10/60 , H04N7/142 , H04N7/185
摘要： A robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.
摘要翻译：包括遥控机器人的机器人系统。机器人可以包括相机，监视器和全部连接到机器人壳体的完整平台。机器人可以由也具有相机和监视器的远程控制台控制。远程控制站可以链接到无线地耦合到机器人的基站。照相机和监视器允许远程位置的护理人员通过机器人监视和照顾病人。整体平台允许机器人围绕家庭或设施移动以定位和/或跟随患者。

2. 发明授权

US07074179B2 Method and apparatus for performing minimally invasive cardiac procedures 失效
标题翻译：用于进行微创心脏手术的方法和装置
公开(公告)号：US07074179B2
公开(公告)日：2006-07-11
申请号：US10241143
申请日：2002-09-10
申请人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： A61B1/00
CPC分类号： A61B34/75 , A61B17/0469 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/76 , A61B34/77 , A61B46/10 , A61B2017/00199 , A61B2017/00252 , A61B2017/00973 , A61B2034/742
摘要： A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.
摘要翻译：一种机器人系统，其响应于可由外科医生的脚操作的脚踏板的致动而移动外科器械。机器人系统具有适于保持诸如内窥镜的外科器械的端部执行器。末端执行器联接到可以相对于患者移动内窥镜的机器人臂组件。该系统包括计算机，其响应于从脚踏板接收的输入信号来控制机器人臂的运动。

3. 发明授权

US07025064B2 Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US07025064B2
公开(公告)日：2006-04-11
申请号：US10289740
申请日：2002-11-06
申请人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
IPC分类号： A61B19/00 , A61B1/00
CPC分类号： A61B17/11 , A61B17/0469 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , B25J9/1689 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

4. 发明授权

US06925357B2 Medical tele-robotic system 有权
公开(公告)号：US06925357B2
公开(公告)日：2005-08-02
申请号：US10206457
申请日：2002-07-25
申请人： Yulun Wang , Keith Phillip Laby , Charles S. Jordan , Steven Edward Butner , Jonathan Southard
发明人： Yulun Wang , Keith Phillip Laby , Charles S. Jordan , Steven Edward Butner , Jonathan Southard
IPC分类号： B25J5/00 , B25J9/00 , G05B20060101 , G05B1/00 , G06F11/00 , G06F15/00 , G06F17/00 , H04N7/18 , G06F19/00
CPC分类号： G06F19/3418 , B25J5/007 , B25J9/0003 , B25J9/1602 , B25J9/162 , B25J9/163 , B25J9/1633 , B25J9/1689 , B25J9/1692 , B25J11/0005 , B25J19/022 , B25J19/023 , G05D1/0038 , G05D1/0225 , G05D2201/0206 , G05D2201/0211 , G06F19/00 , G06F19/3456 , G16H10/60 , H04N7/142 , H04N7/185
摘要： A robotic system that includes a remote controlled robot. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform allows the robot to move about a home or facility to locate and/or follow a patient.

5. 发明授权

US06244809B1 Method and apparatus for performing minimally invasive cardiac procedures 失效
标题翻译：用于进行微创心脏手术的方法和装置
公开(公告)号：US06244809B1
公开(公告)日：2001-06-12
申请号：US09000703
申请日：1997-12-30
申请人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
发明人： Yulun Wang , Darrin R. Uecker , Keith Phillip Laby , Jeff Wilson , Steve Jordan , James Wright
IPC分类号： B25J100
CPC分类号： A61B17/11 , A61B17/0469 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B46/10 , A61B50/00 , A61B90/361 , A61B2017/00199 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , B25J9/1689 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
摘要翻译：用于执行微创心脏手术的系统。该系统包括耦合到一对机器人臂的一对外科器械。仪器具有能够被操纵以保持和缝合组织的末端效应器。机器人手臂通过控制器耦合到一对主手柄。手柄可由外科医生移动以产生末端执行器的相应运动。手柄的移动被缩放，使得末端执行器具有与由外科医生的手执行的运动不同的，通常较小的相应运动。比例因子是可调节的，因此外科医生可以控制末端执行器运动的分辨率。端部执行器的运动可以由输入按钮控制，使得当外科医生按下按钮时，末端执行器仅移动。输入按钮允许外科医生调整手柄的位置而不移动末端执行器，使得手柄可以移动到更舒适的位置。该系统还可以具有机器人控制的内窥镜，其允许外科医生远程观察手术部位。可以通过在患者皮肤中进行小切口并将仪器和内窥镜插入患者来进行心脏手术。外科医生操纵手柄并移动末端执行器以执行心脏手术，例如冠状动脉旁路移植物。

6. 发明授权

US5855583A Method and apparatus for performing minimally invasive cardiac procedures 失效
公开(公告)号：US5855583A
公开(公告)日：1999-01-05
申请号：US755063
申请日：1996-11-22
申请人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
发明人： Yulun Wang , Darrin R. Uecker , Charles S. Jordan , James W. Wright , Keith Phillip Laby , Jeff D. Wilson
IPC分类号： A61B17/06 , A61B1/00 , A61B17/00 , A61B17/04 , A61B17/11 , A61B17/28 , A61B19/00 , A61B19/02 , A61B19/08 , B25J1/00 , B25J11/00
CPC分类号： B25J9/1689 , A61B17/11 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B34/75 , A61B34/76 , A61B34/77 , A61B17/0469 , A61B17/29 , A61B2017/00199 , A61B2017/00203 , A61B2017/00243 , A61B2017/00252 , A61B2017/0046 , A61B2017/00477 , A61B2017/00703 , A61B2017/00973 , A61B2017/1107 , A61B2017/1135 , A61B2017/2927 , A61B2017/2929 , A61B2034/2059 , A61B2034/742 , A61B2090/064 , A61B46/10 , A61B50/00 , A61B90/361 , G05B2219/45119
摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

7. 发明授权

US5841950A Automated endoscope system for optimal positioning 失效
标题翻译：自动内窥镜系统优化定位
公开(公告)号：US5841950A
公开(公告)日：1998-11-24
申请号：US903955
申请日：1997-07-31
申请人： Yulun Wang , Keith Phillip Laby
发明人： Yulun Wang , Keith Phillip Laby
IPC分类号： B60R22/46 , A61B1/00 , A61B17/00 , A61B19/00 , B60R21/01 , B60R21/16 , A61B17/36
CPC分类号： A61B34/70 , B60R21/0132 , A61B2017/00199 , A61B2017/00973 , A61B2034/2059 , A61B2034/742 , A61B2090/508
摘要： A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to an articulate arm which can move the endoscope relative to the patient. The articulate arm can be located within a first coordinate system, the end effector may be located in a second coordinate system and the surgical instrument may be located within a third coordinate system. The system includes a computer which controls the movement of the robotic arm in response to input commands received from an input device such as the foot pedal. The controller may perform a software routine that computes the movement of the articulate arm and end effector in response to the input commands. The software routine may utilize transformation functions to transfer movement of the instrument from one coordinate system to another coordinate system. The surgical instrument may be an endoscope that is coupled to a video monitor. The monitor may display an organ of a patient. Movement of the articulate arm allows the surgeon to view different areas of the patient.
摘要翻译：一种机器人系统，其响应于可由外科医生的脚操作的脚踏板的致动而移动外科器械。机器人系统具有适于保持诸如内窥镜的外科器械的端部执行器。末端执行器联接到能够相对于患者移动内窥镜的关节臂。所述关节臂可位于第一坐标系内，所述端部执行器可位于第二坐标系中，并且所述外科器械可位于第三坐标系内。该系统包括计算机，其响应于从诸如脚踏板的输入装置接收的输入命令来控制机器人臂的运动。控制器可以执行软件程序，该程序响应于输入命令计算关节臂和末端执行器的移动。软件程序可以利用变换功能将仪器的运动从一个坐标系传递到另一个坐标系。外科器械可以是连接到视频监视器的内窥镜。显示器可能显示患者的器官。关节臂的运动允许外科医生观察患者的不同区域。

8. 发明申请

US20160046024A1 MULTI-CAMERA MOBILE TELECONFERENCING PLATFORM 审中-公开
标题翻译：多摄像机移动电话平台
公开(公告)号：US20160046024A1
公开(公告)日：2016-02-18
申请号：US14924453
申请日：2015-10-27
申请人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , Keith Phillip Laby , John Cody Herzog
发明人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , Keith Phillip Laby , John Cody Herzog
IPC分类号： B25J9/16 , B25J13/06 , B25J13/00 , B25J5/00 , B25J19/02
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/00 , G06F19/3418 , G16H50/50 , H04N7/185
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
摘要翻译：一种遥控机器人系统，包括移动机器人和遥控站。用户可以控制机器人从遥控站的移动。移动机器人包括能够捕获并向远程站发送变焦图像和非变焦图像的照相机系统。遥控站包括显示机器人视野的监视器。机器人视图字段可以显示非缩放图像。缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。

9. 发明授权

US09198728B2 Multi-camera mobile teleconferencing platform 有权
标题翻译：多相机移动电话会议平台
公开(公告)号：US09198728B2
公开(公告)日：2015-12-01
申请号：US11240941
申请日：2005-09-30
申请人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , John Cody Herzog , Keith Phillip Laby
发明人： Yulun Wang , Charles S. Jordan , Marco Pinter , Jonathan Southard , John Cody Herzog , Keith Phillip Laby
IPC分类号： G06F19/00 , A61B19/00 , H04N7/18
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/361 , B25J5/00 , B25J13/006 , B25J13/06 , B25J19/021 , G06F19/00 , G06F19/3418 , G16H50/50 , H04N7/185
摘要： A remote controlled robot system that includes a mobile robot and a remote control station. A user can control movement of the robot from the remote control station. The mobile robot includes a camera system that can capture and transmit to the remote station a zoom image and a non-zoom image. The remote control station includes a monitor that displays a robot view field. The robot view field can display the non-zoom image. The zoom image can be displayed in the robot view field by highlighting an area of the non-zoom field. The remote control station may also store camera locations that allow a user to move the camera system to preset locations.
摘要翻译：一种遥控机器人系统，包括移动机器人和遥控站。用户可以控制机器人从遥控站的移动。移动机器人包括能够捕获并向远程站发送变焦图像和非变焦图像的照相机系统。遥控站包括显示机器人视野的监视器。机器人视图字段可以显示非缩放图像。缩放图像可以通过突出显示非缩放字段的区域来显示在机器人视图字段中。遥控站还可以存储允许用户将相机系统移动到预设位置的照相机位置。

10. 发明授权

US07161322B2 Robot with a manipulator arm 有权
标题翻译：机器人与机械臂
公开(公告)号：US07161322B2
公开(公告)日：2007-01-09
申请号：US10716792
申请日：2003-11-18
申请人： Yulun Wang , Keith Phillip Laby , Ranjan Mukherjee
发明人： Yulun Wang , Keith Phillip Laby , Ranjan Mukherjee
IPC分类号： G05B19/04 , B25J15/02 , B25J5/00 , G06F19/00
CPC分类号： B25J5/007 , A61G5/00 , A61G5/047 , A61G2203/12 , A61G2203/16 , B25J3/04 , B25J9/1689 , B25J15/0052 , B25J19/023
摘要： A robot that includes an arm coupled to a platform. The arm includes an actuator that moves a second arm linkage relative to a first arm linkage. In a first mode of operation the actuator moves the second linkage in a first degree of freedom. In a second mode of operation the actuator moves the second linkage in a second degree of freedom. The use of a single actuator to provide two degrees of freedom reduces the number parts and associated cost of the arm. The arm further includes a grasper that can grab an object such as a wheelchair. The robot can be used to push the wheelchair. Commands to operate the robot can be generated at a remote input station and transmitted through a broadband network.
摘要翻译：一种机器人，其包括联接到平台的臂。臂包括使第二臂连杆相对于第一臂连杆移动的致动器。在第一操作模式中，致动器以第一自由度移动第二连杆。在第二操作模式中，致动器以第二自由度移动第二连杆。使用单个致动器来提供两个自由度减少了臂的数量和相关成本。该手臂还包括能够抓住诸如轮椅的物体的抓紧器。机器人可以用来推轮椅。操作机器人的命令可以在远程输入站生成并通过宽带网络传输。

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