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. 发明申请

US20120039162A1 Synchronous Data Communication 有权
标题翻译：同步数据通信
公开(公告)号：US20120039162A1
公开(公告)日：2012-02-16
申请号：US13280150
申请日：2011-10-24
申请人： Michael B. Druke , Christopher J. Jacques
发明人： Michael B. Druke , Christopher J. Jacques
IPC分类号： G06F11/00
CPC分类号： H04L47/10 , H04L1/0083 , H04L1/1664 , H04L1/1671 , H04L1/1854 , H04L1/1887 , H04L47/263 , H04L47/35
摘要： A data packet is provided that includes a synchronization field and an acknowledgement field indicative of an acknowledgement of receipt of a prior data packet. The data packet also includes a response field that includes information indicative of a system fault, a header field, and a sequence number field that includes a number assigned to the data packet. The data packet further includes a data field, an end of packet field, and an error-checking field. Methods and computer program products are provided that, in some implementations, include retransmitting packets if the acknowledgement field in a received data packet is a no acknowledgement (NAK) and/or placing a node into a safe state in response to a fault signal that is included in the received data packet.
摘要翻译：提供了包括同步字段和指示接收先前数据分组的确认的确认字段的数据分组。数据分组还包括包括指示系统故障的信息，报头字段和包括分配给数据分组的编号的序列号字段的响应字段。数据分组还包括数据字段，分组字段的结束和错误检查字段。提供了方法和计算机程序产品，在一些实现中，如果接收到的数据分组中的确认字段是无响应（NAK）和/或响应于故障信号将节点置于安全状态，则包括重传分组包含在接收的数据包中。

2. 发明申请

US20110276059A1 Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses 有权
公开(公告)号：US20110276059A1
公开(公告)日：2011-11-10
申请号：US13175498
申请日：2011-07-01
申请人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
发明人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

3. 发明申请

US20110264110A1 Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses 有权
公开(公告)号：US20110264110A1
公开(公告)日：2011-10-27
申请号：US13175519
申请日：2011-07-01
申请人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
发明人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

4. 发明申请

US20110166706A1 MEDICAL ROBOTIC SYSTEM WITH SLIDING MODE CONTROL 审中-公开
标题翻译：具有滑动模式控制的医用机器人系统
公开(公告)号：US20110166706A1
公开(公告)日：2011-07-07
申请号：US13014150
申请日：2011-01-26
申请人： GIUSEPPE M. PRISCO , David Q. Larkin
发明人： GIUSEPPE M. PRISCO , David Q. Larkin
IPC分类号： B25J13/00
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , B25J9/1646 , B25J9/1689 , G05B2219/42347 , G05B2219/42351 , G05B2219/42352 , G05B2219/45123 , A61B19/2203 , A61B19/5212
摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要翻译：医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统主操纵器。该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

5. 发明申请

US20110071473A1 SURGICAL PORT FEATURE 有权
标题翻译：外科手术功能
公开(公告)号：US20110071473A1
公开(公告)日：2011-03-24
申请号：US12618621
申请日：2009-11-13
申请人： THEODORE W. ROGERS , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
发明人： THEODORE W. ROGERS , Craig R. Gerbi , John Ryan Steger , Charles E. Swinehart
IPC分类号： A61B17/34 , A61B1/32 , B23P17/04
CPC分类号： A61B17/0218 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10T29/49826
摘要： A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要翻译：机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。具有被动柔性轴的手术器械延伸穿过弯曲的插管。插管被定向以将器械引导到外科手术部位。公开了支撑单个开口内的弯曲插管的各种端口特征。在一个方面，手术器械通道在端口特征的顶表面和底表面之间以不同的角度延伸。在另一方面，漏斗部分和舌部分由腰部分开，手术器械通道从漏斗部分穿过腰部延伸。公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

6. 发明申请

US20100332030A1 ARM WITH A COMBINED SHAPE AND FORCE SENSOR 有权
标题翻译：具有组合形状和力传感器的ARM
公开(公告)号：US20100332030A1
公开(公告)日：2010-12-30
申请号：US12490487
申请日：2009-06-24
申请人： DAVID Q. LARKIN , Vincent Duindam
发明人： DAVID Q. LARKIN , Vincent Duindam
IPC分类号： G06F19/00
CPC分类号： A61B34/30 , A61B34/77 , A61B2034/301 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , Y10S901/15 , Y10S901/17 , Y10S901/46
摘要： A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
摘要翻译：弯曲传感器用于确定施加到机器人手臂的力。力可以是施加到臂的外力，内部致动力或两者。在一些方面，加强元件用于将臂恢复到最小的运动能态。在其他方面，消除了加强元件，并且臂完全致动。

7. 发明申请

US20100331855A1 Efficient Vision and Kinematic Data Fusion For Robotic Surgical Instruments and Other Applications 有权
标题翻译：机器人手术器械及其他应用的高效视觉和运动学数据融合
公开(公告)号：US20100331855A1
公开(公告)日：2010-12-30
申请号：US12495304
申请日：2009-06-30
申请人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
发明人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B2034/2059 , A61B2034/2065 , A61B2090/3937
摘要： Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
摘要翻译：通过微创孔径用于远程手术治疗的机器人装置，系统和方法通过大部分机器人运动链中的基于联合的数据，但是选择性地依赖来自图像捕获装置的信息来确定沿着连接相邻的位置和取向机器人手术工具的轴进入患者的枢转中心。偏移偏移可以应用于枢转中心处的姿势（包括方向和位置），以提高精度。偏移偏移可以作为从基于图像的枢转中心姿态到基于关节的枢转中心姿态的简单刚性变换来应用。

8. 发明申请

US20100317965A1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
标题翻译：用于微创外科手术的虚拟测量工具
公开(公告)号：US20100317965A1
公开(公告)日：2010-12-16
申请号：US12485503
申请日：2009-06-16
申请人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
发明人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B5/05 , G06K9/00
CPC分类号： A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , A61B2090/061
摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
摘要翻译：用于远程外科手术和其他应用的机器人和/或测量装置，系统和方法使用可操作地耦合到工具的输入装置，以允许系统用户操纵被测量的组织和其他结构。该系统可以利用来自立体图像的三维位置信息。可以在三维中指定两个或更多个离散点，以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。离散点可以通过单个外科手术工具或通过分离两个或更多个手术工具的距离来识别，用户可选地通过行走一对工具“移交”来测量比立体图像捕获装置的视场更长的结构 - 手“沿结构。通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量，可以提高测量精度和测量容易度。

9. 发明申请

US20100298843A1 CLEANING OF A SURGICAL INSTRUMENT FORCE SENSOR 有权
标题翻译：手术仪器传感器的清洁
公开(公告)号：US20100298843A1
公开(公告)日：2010-11-25
申请号：US12468618
申请日：2009-05-19
申请人： STEPHEN J. BLUMENKRANZ
发明人： STEPHEN J. BLUMENKRANZ
IPC分类号： A61B19/00
CPC分类号： A61B90/70 , A61B34/30 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/701 , B08B9/00
摘要： In one embodiment, a force sensing robotic surgical instrument includes a proximal housing linkable with a surgical robot arm, a shaft having a proximal portion and a distal portion, the proximal portion operably coupled to the housing, and a force transducer operably coupled to the distal portion of the shaft, the force transducer having a proximal portion, a distal portion, a plurality of radial ribs, and a strain gauge positioned over each of the plurality of radial ribs, the radial ribs forming a plurality of through passages. The instrument further includes a wrist mechanism coupled to the distal portion of the force transducer, an end effector coupled to the wrist mechanism, and a flush manifold that receives a liquid from the proximal portion of the shaft and directs the liquid along a first subset of through passages of the force transducer toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages different from the first subset of through passages.
摘要翻译：在一个实施例中，力感测机器人手术器械包括可与手术机器人手臂连接的近侧壳体，具有近端部分和远侧部分的轴，可操作地联接到壳体的近侧部分和可操作地联接到远端的力传感器所述力传感器具有近端部分，远侧部分，多个径向肋和位于所述多个径向肋的每一个上的应变计，所述径向肋形成多个通过的通道。仪器还包括联接到力传感器的远端部分的手腕机构，连接到手腕机构的端部执行器以及从轴的近端部分接收液体并将液体沿第一子集引导的冲洗歧管通过力传感器的通道朝向力传感器的远端部分。在力传感器的远端部分处的气室将液体从第一通路子集收集，并将液体沿着不同于通过通道的第一子集的通路的第二子集重新定向到轴的近端部分。

10. 发明申请

US20100251514A1 CASTER 审中-公开
公开(公告)号：US20100251514A1
公开(公告)日：2010-10-07
申请号：US12416201
申请日：2009-04-01
申请人： RANDAL P. GOLDBERG , DEAN F. HOORNAERT , DEEPAK R. KAPOOR , MARK W. ZIMMER
发明人： RANDAL P. GOLDBERG , DEAN F. HOORNAERT , DEEPAK R. KAPOOR , MARK W. ZIMMER
IPC分类号： B60B33/00
CPC分类号： B60B33/0028 , B60B33/0042 , B60B33/0049 , B60B33/0057 , B60B33/0068 , B60B33/0073 , Y10T16/1853
摘要： A caster assembly includes a primary wheel and a secondary wheel. As the caster assembly is rolled against and over an obstacle threshold, the secondary wheel is positioned to contact the obstacle threshold first. As the caster assembly begins to roll over the threshold, the secondary wheel lifts the caster assembly part way. As the caster assembly continues to roll over the threshold, the primary wheel contacts the threshold and lifts the caster assembly over the obstacle threshold. One or more secondary or primary wheels may be used. The secondary wheel or wheels may be positioned to remain within a sweep volume of the primary wheel as the caster assembly swivels around a caster swivel axis.
摘要翻译：脚轮组件包括主轮和副轮。当脚轮组件滚动并超过障碍物阈值时，辅助轮被定位成首先接触障碍物阈值。当脚轮组件开始翻转阈值时，辅助轮将脚轮组件部分地提升。当脚轮组件继续滚过阈值时，主轮接触阈值并将脚轮组件提升到障碍物阈值上。可以使用一个或多个次轮或主轮。当脚轮组件围绕脚轮旋转轴线旋转时，次轮或轮可被定位成保持在主轮的扫掠体积内。

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