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    Remote center-of-motion robot for surgery
    51.
    发明授权
    Remote center-of-motion robot for surgery 失效
    用于手术的远程移动机器人

    公开(公告)号：US5397323A

    公开(公告)日：1995-03-14

    申请号：US968715

    申请日：1992-10-30

    申请人： Russell H. Taylor ,  Janez Funda ,  David D. Grossman ,  John P. Karidis ,  David A. LaRose

    发明人： Russell H. Taylor ,  Janez Funda ,  David D. Grossman ,  John P. Karidis ,  David A. LaRose

    IPC分类号： B25J9/06 ,  A61B1/00 ,  A61B10/02 ,  A61B19/00 ,  B25J9/10 ,  B25J19/00

    CPC分类号： B25J19/0008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/76 ,  B25J9/1065 ,  A61B2090/506

    摘要： An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links which rotate about pivots to position and re-position an instrument, like a surgical instrument, at a work point proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.The proximal part of the apparatus is adjustably fixed to a stationary object, like an operating table, while the distal part of the apparatus holds the instrument. Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.

    摘要翻译： 用于辅助外科医生手术的装置分为近端和远端两部分。 该装置具有多个刚性连杆，其围绕枢轴转动以将器械（如手术器械）定位和重新定位在靠近患者但远离装置的工作点处。 这些连杆以一种在工作点解决的具有正交解耦自由度的运动中心来移动机械手的方式。 装置的近端部分可调节地固定到静止物体上，如操作台，同时装置的远端部分保持仪器。 可以在长度上调节的某些连杆相对于装置的近端部分移动远端部分。 以这种方式，改变操纵器的工作点和设备的工作半径而不移动近端部分。 执行器，手动或遥控（计算机）控制，两者都绕着枢轴旋转连杆并调节可调链节的长度。 所有致动器可以安装在设备的近端部分上，并与机械手电隔离，以减少对患者的冲击危害。

    SYSTEM FOR STEREO RECONSTRUCTION FROM MONOSCOPIC ENDOSCOPE IMAGES
    53.
    发明申请
    SYSTEM FOR STEREO RECONSTRUCTION FROM MONOSCOPIC ENDOSCOPE IMAGES 审中-公开
    用于立体重建单纯性内窥镜图像的系统

    公开(公告)号：US20160143509A1

    公开(公告)日：2016-05-26

    申请号：US14548948

    申请日：2014-11-20

    申请人： Kevin C. Olds ,  Tae Soo Kim ,  Russell H. Taylor ,  Austin Reiter

    发明人： Kevin C. Olds ,  Tae Soo Kim ,  Russell H. Taylor ,  Austin Reiter

    IPC分类号： A61B1/00 ,  A61B1/07 ,  A61B1/06 ,  A61B1/05 ,  A61B1/012

    CPC分类号： A61B1/00009 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/0684 ,  A61B1/07

    摘要： According to some embodiments of the present invention, a system for stereo reconstruction from a monoscopic endoscope is provided. The monoscopic endoscope comprising an image pick-up element at a distal end thereof and a working channel defined by a body of the monoscopic endoscope. The working channel provides a port at the distal end of the monoscopic endoscope. The system for stereo reconstruction comprises a light patterning component configured to be disposed within the working channel of the monoscopic endoscope such that a light emitting end of the light patterning component will be fixed with a defined relative distance from the distal end of the image pick-up element. The system for stereo reconstruction also includes a data processor adapted to be in communication with the image pick-up element. The light patterning component forms a pattern of light that is projected onto a region of interest. The data processor is configured to receive an image signal of the region of interest that includes the pattern, and determine a distance from the endoscope to the region of interest based on the image signal and based on the defined relative distance between the light emitting end of the light patterning component and the distal end of the image pick-up element.

    摘要翻译： 根据本发明的一些实施例，提供了一种用于从单视镜内窥镜立体重建的系统。 该单视镜内窥镜包括其远端处的摄像元件和由单视镜内窥镜的主体限定的工作通道。 工作通道在单镜内窥镜的远端提供一个端口。 用于立体重建的系统包括：光图案形成部件，被配置为设置在单视野内窥镜的工作通道内，使得光图案形成部件的发光端以与图像拾取器的远端限定的相对距离固定， up元素。 用于立体声重建的系统还包括适于与图像拾取元件通信的数据处理器。 光图案形成部件形成投射到感兴趣区域上的光图案。 数据处理器被配置为接收包括图案的感兴趣区域的图像信号，并且基于图像信号确定从内窥镜到感兴趣区域的距离，并且基于图像信号的发光端之间的限定的相对距离 光图案形成部件和图像拾取元件的远端。

    SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE
    54.
    发明申请
    SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE 审中-公开
    眼科微手术中微距离增强增敏系统及方法

    公开(公告)号：US20110125165A1

    公开(公告)日：2011-05-26

    申请号：US12992519

    申请日：2009-05-18

    申请人： Nabil Simaan ,  Russell H. Taylor ,  James T. Handa

    发明人： Nabil Simaan ,  Russell H. Taylor ,  James T. Handa

    IPC分类号： A61B19/00 ,  B23P11/00

    CPC分类号： A61F9/007 ,  A61B34/30 ,  A61B34/35 ,  A61B34/72 ,  A61B2034/305 ,  A61F9/0017 ,  Y10T29/49826

    摘要： A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.

    摘要翻译： 用于在眼睛或其他器官的内部区域内操作的系统包括具有位于眼睛外部的近端部分和位于眼睛的内部区域内的远端部分的输送通道，其中输送通道的远端部分 限定小于或等于约18规格的外径，以及从所述输送通道的远端部分可延伸的微机器人，其中所述微机器人可远程操作以改变所述眼睛内部区域内的形状。

    Active Cannula for Bio-Sensing and Surgical Intervention
    56.
    发明申请
    Active Cannula for Bio-Sensing and Surgical Intervention 有权
    活动插管生物传感和手术干预

    公开(公告)号：US20090171271A1

    公开(公告)日：2009-07-02

    申请号：US12084979

    申请日：2006-11-15

    申请人： Robert James Webster ,  Allison M. Okamura ,  Noah J. Cowan ,  Russell H. Taylor

    发明人： Robert James Webster ,  Allison M. Okamura ,  Noah J. Cowan ,  Russell H. Taylor

    IPC分类号： A61M5/00

    CPC分类号： A61M25/0108 ,  A61B1/0055 ,  A61B17/3417 ,  A61B17/3421 ,  A61B17/3478 ,  A61B2017/003 ,  A61B2017/00331 ,  A61B2017/00398 ,  A61B2017/00809 ,  A61B2034/301 ,  A61M25/0127 ,  A61M25/0152 ,  A61M2025/0161

    摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.

    摘要翻译： 公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。 针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。 多个柔性管中的每一个基于它们各自的预先形成的曲率和柔性来选择，使得给定的重叠配置导致重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。 通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。

    Device and method for determining the location and orientation of a drillhole
    59.
    发明授权
    Device and method for determining the location and orientation of a drillhole 失效
    用于确定钻孔位置和方向的装置和方法

    公开(公告)号：US4485453A

    公开(公告)日：1984-11-27

    申请号：US363211

    申请日：1982-03-29

    申请人： Russell H. Taylor

    发明人： Russell H. Taylor

    IPC分类号： B23Q17/22 ,  B23B39/04 ,  B23B39/08 ,  B23Q15/00 ,  B25J9/02 ,  B25J9/16 ,  B25J9/18 ,  B25J17/02 ,  G01B7/00 ,  G01B7/008 ,  G01B7/31 ,  G01B21/00 ,  G01B21/12 ,  G01B21/20 ,  G05B19/42 ,  G01B5/20

    CPC分类号： G01B7/008 ,  B25J17/0208 ,  B25J9/026 ,  B25J9/1692 ,  G01B21/12 ,  G01B7/00 ,  G01B7/31 ,  G05B19/42 ,  G05B2219/40087 ,  G05B2219/45083 ,  G05B2219/49113 ,  G05B2219/50353 ,  Y10T408/08 ,  Y10T408/175

    摘要： A drillhole centerline determining interposer having a central cavity enables a robot to probe the interposer to learn the location and orientation of the desired drillhole. The interposer is a mushroom shaped device with a planar head and a stem dimensioned to fit snugly in the hole to be drilled. The interposer, in addition to the planar head from which the perpendicular can be calculated through multiple probes, has a central pocket concentric to the interposer stem.The method of using the drillhole centerline determining interposer is to place a number of such interposers manually in position in holes in a master part located in the work envelope of the robot. The robot operator prepositions the probe at an initial position facing the cavity of the interposer for a drillhole locating sequence for the related drillhole. In sequence, the robot moves the probe from the initial position sufficient to clear the edge of the cavity and by multiple probes determines the plane of the interposer surface platform. The robot then adjusts the yaw and pitch of the probe to orient the probe orthogonal to the platform plane (a vector parallel to the desired drillhole centerline axis). The robot, with orientation vector stored, now locates the XYZ coordinates of the drillhole by cavity probing actions determining the epicenter of the pocket.With orientation vector (pitch and yaw) known, and with coordinates (XYZ) known, the drillhole is determined.

    摘要翻译： 具有中心腔的钻孔中心线确定插入件使得机器人能够探测插入件以了解所需钻孔的位置和取向。 插入器是具有平面头部和茎的蘑菇形装置，其尺寸适于紧密地配合在待钻孔中。 除了可以通过多个探针计算垂直的平面头之外，插入件具有与插入件杆同心的中心凹部。 使用钻孔中心线确定插入件的方法是将若干这样的插入件手动地放置在位于机器人的工作包络中的主要部件中的孔中。 机器人操作者将探针放置在面向插入件的空腔的初始位置处，用于相关钻孔的钻孔定位序列。 依次，机器人将探头从初始位置移动到足以清除空腔边缘，并通过多个探头确定插入器表面平台的平面。 机器人然后调整探头的偏转和俯仰，使探头与平台平面垂直（平行于所需钻孔中心线轴线的矢量）定向。 存储定向向量的机器人现在通过确定口袋震中的腔探测动作来定位钻孔的XYZ坐标。 已知方向矢量（俯仰和偏航），并且已知坐标（XYZ）时，确定钻孔。