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1. 发明申请

US20110028992A1 SURGERY ASSISTANCE SYSTEM FOR GUIDING A SURGICAL INSTRUMENT 有权
标题翻译：用于引导手术仪器的手术辅助系统
公开(公告)号：US20110028992A1
公开(公告)日：2011-02-03
申请号：US12935012
申请日：2009-03-20
申请人： Robert Geiger , Jürgen Scherr
发明人： Robert Geiger , Jürgen Scherr
IPC分类号： A61B19/00
CPC分类号： B25J9/1664 , A61B34/70 , A61B90/11 , A61B90/50 , A61B2017/3409 , G05B2219/39389 , G05B2219/40415 , G05B2219/45123 , G05B2219/45166
摘要： The invention relates to a surgery assistance system for guiding a surgical instrument, in particular a camera system (2) having an endoscope (3) dependant on manual actuation of at least one function key (T1-T6) of a control element (BE). The surgical instrument (3) is fastened to an arm system (10, 12, 14) of the surgery assistance system (1) having an instrument mount (15) and at least the tip (S) of the surgical instrument (3) can be moved in a controlled manner by means of the arm system (10, 12, 14) in a Cartesian patient coordinate system (PKS), whereby at least one of the three spatial axes (x, y, z) of the Cartesian patient coordinate system (PKS) extends through the surgical opening or the trocar point (T) receiving the surgical instrument (3). Advantageously, the angle of inclination (w) of the surgical instrument (3) is determined with respect to the spatial axis (z) of the Cartesian patent coordinate system (PKS) extending through the trocar point (T) and the angle of inclination (w) so determined is compared with a predetermined set angle of inclination (wS). When the determined angle of inclination (w) exceeds the set angle of inclination (wS), the tip (S) of the surgical instrument (3) is guided on a semi-spherical surface (TK) which concentrically surrounds the trocar point (T) and which receives the tip (S) of the instrument (3), and when the determined angle of inclination (w) is below the set angle of inclination (wS), the tip (S) of the surgical instrument (3) is guided along a tangent (TG) which extends through the tip (S) of the instrument (3) and which rests on the semi-spherical surface (TK).
摘要翻译：本发明涉及用于引导外科器械的手术辅助系统，特别是具有取决于手动致动控制元件（BE）的至少一个功能键（T1-T6）的内窥镜（3）的照相机系统（2）。外科器械（3）被固定到手术辅助系统（1）的具有器械安装座（15）的臂系统（10,12,14）上，并且外科器械（3）的至少尖端（S）可以通过笛卡尔患者坐标系（PKS）中的臂系统（10,12,14）以受控的方式移动，由此笛卡尔患者坐标的三个空间轴（x，y，z）中的至少一个坐标系统（PKS）延伸通过外科手术开口或接收外科器械（3）的套管针点（T）。有利地，外科器械（3）的倾斜角（w）相对于延伸穿过针刺点（T）的笛卡尔专利坐标系（PKS）的空间轴线（z）和倾斜角 w）与预定的倾斜角（wS）进行比较。当确定的倾斜角（w）超过设定倾斜角（wS）时，手术器械（3）的尖端（S）被引导在同心围绕套管针点（T）的半球形表面（TK）上），并且其接收仪器（3）的尖端（S），并且当确定的倾斜角（w）低于设定倾斜角（wS）时，外科器械（3）的尖端（S）为沿着延伸穿过仪器（3）的尖端（S）并且搁置在半球形表面（TK）上的切线（TG）引导。

2. 发明授权

US07333642B2 Method and apparatus for transforming coordinate systems in a telemanipulation system 有权
标题翻译：用于转换远程操作系统中的坐标系的方法和装置
公开(公告)号：US07333642B2
公开(公告)日：2008-02-19
申请号：US10414814
申请日：2003-04-15
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G06K9/00 , A61B1/00 , A61B1/04
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。根据本发明的图像变换包括平移，旋转和透视校正。

3. 发明申请

US20130023899A1 METHOD AND APPARATUS FOR TRANSFORMING COORDINATE SYSTEMS IN A TELEMANIPULATION SYSTEM 失效
标题翻译：用于在电视系统中变换坐标系的方法和装置
公开(公告)号：US20130023899A1
公开(公告)日：2013-01-24
申请号：US13281342
申请日：2011-10-25
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： A61B19/00
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的端部执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。

4. 发明申请

US20100228265A1 Operator Input Device for a Robotic Surgical System 有权
标题翻译：机器人手术系统的操作员输入装置
公开(公告)号：US20100228265A1
公开(公告)日：2010-09-09
申请号：US12400728
申请日：2009-03-09
申请人： Giuseppe M. Prisco
发明人： Giuseppe M. Prisco
IPC分类号： A61B19/00 , G06F19/00 , B25J9/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/77 , A61B2034/301 , G05B2219/39387 , G05B2219/39389 , G05B2219/45117 , Y10T74/20305
摘要： A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
摘要翻译：机器人手术系统包括具有输入手柄的主控制器和包括手术端部执行器和内窥镜照相机的机器人操纵器组件。输入手柄可平移以提供位置并且可旋转以提供取向。控制系统将主控制器耦合到第一和第二操纵器组件。控制系统响应于输入手柄的位置和方向移动外科末端执行器。在重新定位输入手柄位置，末端执行器或内窥镜摄像机中的至少一个的情况下，控制系统移动输入手柄以使输入手柄对准于从内窥镜照相机的角度看的手术末端执行器的取向。控制系统可以仅在第一模式中移动手术末端执行器，并且仅在第二模式中定向输入手柄。

5. 发明授权

US06766204B2 Alignment of master and slave in a minimally invasive surgical apparatus 有权
标题翻译：在微创外科手术器械中主和从属对齐
公开(公告)号：US06766204B2
公开(公告)日：2004-07-20
申请号：US10033212
申请日：2001-12-28
申请人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
发明人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
摘要翻译：本发明涉及建立远程操作系统的主机和从机之间的对准或期望的取向关系。本发明可有利地用于手术设备中。提供了一种在观察者显示的图像中观察时，在主控制器的手持部分和相关联的从动件的末端执行器之间建立期望的取向关系的方法。该方法包括使末端执行器保持静止，确定末端执行器相对于与观察者可操作地相关联的图像捕获装置的观察端的当前方向，并且确定主控制器的手持部分的期望的相应取向相对于观察者，在哪个取向上，将建立主控制器的手持部分和末端执行器之间的期望取向关系。该方法还包括使主控制器的手持部分移动到期望的相应取向。本发明延伸到一个控制系统，该控制系统被布置成在主控制器的手持部分和相关联的从动件的末端执行器之间产生期望的取向关系，如在观察者上显示的成像中所观察到的那样，主控制和从机已经中断。

6. 发明申请

US20030228039A1 Method and apparatus for transforming coordinate systems in a telemanipulation system 有权
公开(公告)号：US20030228039A1
公开(公告)日：2003-12-11
申请号：US10414814
申请日：2003-04-15
申请人： SRI International, Inc.
发明人： Philip S. Green
IPC分类号： G06K009/00
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

7. 发明授权

US06574355B2 Method and apparatus for transforming coordinate systems in a telemanipulation system 失效
标题翻译：用于转换远程操作系统中的坐标系的方法和装置
公开(公告)号：US06574355B2
公开(公告)日：2003-06-03
申请号：US09813506
申请日：2001-03-21
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G06K900
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。根据本发明的图像变换包括平移，旋转和透视校正。

8. 发明授权

US08433389B2 Surgery assistance system for guiding a surgical instrument 有权
标题翻译：用于引导手术器械的手术辅助系统
公开(公告)号：US08433389B2
公开(公告)日：2013-04-30
申请号：US12935012
申请日：2009-03-20
申请人： Robert Geiger , Jürgen Scherr
发明人： Robert Geiger , Jürgen Scherr
IPC分类号： A61B19/00
CPC分类号： B25J9/1664 , A61B34/70 , A61B90/11 , A61B90/50 , A61B2017/3409 , G05B2219/39389 , G05B2219/40415 , G05B2219/45123 , G05B2219/45166
摘要： The invention relates to a surgery assistance system for guiding a surgical instrument. The surgical instrument (3) is fastened lo an arm system (10, 12, 14), the tip (S) of the surgical instrument (3) can be moved in a controlled manner by means of the arm system (10, 12, 14) in a Cartesian patient coordinate system (PKS), one of the three spatial axes (x, y, z) of the Cartesian patient coordinate system (PKS) extends through the surgical opening or the trocar point (T) receiving the surgical instrument (3). Advantageously, the angle of inclination (w) of the surgical instrument (3) is determined with respect to the spatial axis (z) of the Cartesian patent coordinate system (PKS) extending through the trocar point (T), the angle of inclination (w) so determined is compared with a predetermined set angle of inclination (ws) for the purpose of guiding the tip (S).
摘要翻译：本发明涉及一种用于引导外科器械的手术辅助系统。手术器械（3）被固定在臂系统（10,12,14）上，手术器械（3）的尖端（S）可以通过臂系统（10,12，14）以受控的方式移动，在笛卡尔患者坐标系（PKS）中，笛卡尔患者坐标系（PKS）的三个空间轴（x，y，z）之一延伸穿过外科手术开口或接收手术器械的套管针点（T）（3）。有利地，手术器械（3）的倾斜角（w）相对于延伸通过套针针尖（T）的笛卡尔专利坐标系（PKS）的空间轴线（z），倾斜角 w）与预定的倾斜角（ws）进行比较，以便引导尖端（S）。

9. 发明申请

US20090082905A1 METHOD AND APPARATUS FOR TRANSFORMING COORDINATE SYSTEMS IN A TELEMANIPULATION SYSTEM 有权
标题翻译：用于在电视系统中变换坐标系的方法和装置
公开(公告)号：US20090082905A1
公开(公告)日：2009-03-26
申请号：US11971984
申请日：2008-01-10
申请人： PHILIP S. GREEN
发明人： PHILIP S. GREEN
IPC分类号： B25J13/06 , A61B1/045 , G06K9/00 , B25J19/04
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。根据本发明的图像变换包括平移，旋转和透视校正。

10. 发明申请

US20020055795A1 Alignment of master and slave in a minimally invasive surgical apparatus 有权
标题翻译：在微创外科手术器械中主和从属对齐
公开(公告)号：US20020055795A1
公开(公告)日：2002-05-09
申请号：US10033212
申请日：2001-12-28
申请人： Intuitive Surgical, Inc.
发明人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
IPC分类号： G06F017/00
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
摘要翻译：本发明涉及建立远程操作系统的主机和从机之间的对准或期望的取向关系。本发明可有利地用于手术设备中。提供了一种在观察者显示的图像中观察时，在主控制器的手持部分和相关联的从动件的末端执行器之间建立期望的取向关系的方法。该方法包括使末端执行器保持静止，确定末端执行器相对于与观察者可操作地相关联的图像捕获装置的观察端的当前方向，并且确定主控制器的手持部分的期望的相应取向相对于观察者，在哪个取向上，将建立主控制器的手持部分和末端执行器之间的期望取向关系。该方法还包括使主控制器的手持部分移动到期望的相应取向。本发明延伸到一个控制系统，该控制系统被布置成在主控制器的手持部分和相关联的从动件的末端执行器之间产生期望的取向关系，如在观察者上显示的成像中所观察到的那样，主控制和从机已经中断。

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