公开(公告)号：US10406026B2

公开(公告)日：2019-09-10

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： A61F9/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61F9/007

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.

公开(公告)号：US09345397B2

公开(公告)日：2016-05-24

申请号：US13238538

申请日：2011-09-21

申请人： Russell H. Taylor ,  Jin U. Kang ,  John Niparko

发明人： Russell H. Taylor ,  Jin U. Kang ,  John Niparko

IPC分类号： A61B6/00 ,  A61B1/227 ,  A61B1/00 ,  A61B5/00 ,  A61F11/00 ,  A61N1/36

CPC分类号： A61B1/227 ,  A61B1/00172 ,  A61B5/0066 ,  A61F11/004 ,  A61N1/36036

摘要： A sensing system for implant surgery includes an insertion device for moving an implant into a narrow cavity in a patient's body. A sensor measures the distance from an end of the insertion device to anatomic surfaces at a distance from the end of the insertion device. An optical coherence tomography (OCT) system integrates the sensor and produces OCT images, which can be quantified to distance measurements. The system is particularly useful for cochlear implant surgery.

摘要翻译： 用于植入手术的感测系统包括用于将植入物移动到患者体内的狭窄腔中的插入装置。 传感器测量从插入装置的端部到与插入装置的端部相距一定距离的解剖表面的距离。 光学相干断层扫描（OCT）系统集成了传感器并产生OCT图像，可以将其量化为距离测量。 该系统对于人工耳蜗手术特别有用。

公开(公告)号：US08886330B2

公开(公告)日：2014-11-11

申请号：US13238903

申请日：2011-09-21

申请人： Russell H. Taylor ,  Wade Wei-De Chien ,  Iulian Iordachita ,  John Niparko

发明人： Russell H. Taylor ,  Wade Wei-De Chien ,  Iulian Iordachita ,  John Niparko

IPC分类号： A61B19/00 ,  A61B5/00 ,  A61N1/05 ,  A61B17/34

CPC分类号： A61B19/54 ,  A61B5/6817 ,  A61B5/6844 ,  A61B90/11 ,  A61B90/39 ,  A61B2017/3407 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/3912 ,  A61B2090/3983 ,  A61B2090/3987 ,  A61B2090/3995 ,  A61N1/0541

摘要： A system for cochlear implant surgery includes a reference device having at least a portion adapted to be arranged at a fixed position relative to a cochlea of a patient to provide a reference position, an image acquisition and processing system adapted to acquire an image of at least a portion of the cochlea relative to the reference position and to provide an implant plan based at least partially on the acquired image, and an implant system adapted for implanting a cochlear lead array using the reference position and the implant plan.

摘要翻译： 一种用于耳蜗植入手术的系统包括参考装置，其具有至少一部分，其适于布置在相对于患者的耳蜗的固定位置以提供参考位置，图像获取和处理系统适于获取至少 耳蜗相对于参考位置的一部分并且至少部分地基于获取的图像提供植入计划，以及适于使用参考位置和植入物计划植入耳蜗引线阵列的植入物系统。

公开(公告)号：US08715226B2

公开(公告)日：2014-05-06

申请号：US13416772

申请日：2012-03-09

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： A61M31/00

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： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.

摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的插管路径。

公开(公告)号：US20140052150A1

公开(公告)日：2014-02-20

申请号：US13813727

申请日：2011-08-02

申请人： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

发明人： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

IPC分类号： A61B19/00 ,  A61B3/10 ,  A61B5/00 ,  A61F9/007

CPC分类号： A61B5/4836 ,  A61B3/102 ,  A61B5/7455 ,  A61B34/30 ,  A61B34/35 ,  A61B34/72 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00119 ,  A61B2034/2061 ,  A61B2034/303 ,  A61B2090/065 ,  A61B2090/066 ,  A61F9/007 ,  A61F9/00727

摘要： A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation.

摘要翻译： 一种用于外科手术工具的协同控制的系统和方法，包括用于接收适于由机器人和外科医生保持的外科手术工具的工具夹具，用于基于操作者输入和/或刀尖力检测力的传感器，用于 基于检测到的力来限制机器人速度以提供触觉反馈;选择器，用于基于所检测到的施加的力自动选择多级音频反馈的一个级别，表示施加的力的相对强度的音频反馈，以及 用于将音频反馈与触觉反馈一起提供的音频设备。 音频反馈为外科医生提供了额外的信息，允许在手术期间施加较小的力。

公开(公告)号：US20140049629A1

公开(公告)日：2014-02-20

申请号：US14113563

申请日：2012-04-30

申请人： Jeffrey H. Siewerdsen ,  Yoshito Otake ,  Russell H. Taylor

发明人： Jeffrey H. Siewerdsen ,  Yoshito Otake ,  Russell H. Taylor

IPC分类号： A61B19/00

CPC分类号： A61B34/20 ,  A61B6/4441 ,  A61B2034/2055 ,  A61B2090/376 ,  A61B2090/3983 ,  A61N2005/1061

摘要： A tracking and navigation system is provided. The system includes an imaging or treatment device, a tracker device, and a fiducial marker. At least part of the imaging or treatment device is movable relative to a patient. The tracker device is mounted on the imaging or treatment device and is movable therewith relative to the patient. The fiducial marker may be fixed relative to the patient to define a patient coordinate system. The fiducial marker is detectable by the tracker device to substantially maintain registration between the tracker device and the patient coordinate system. A tracking and navigation kit including the tracker device and at least one fiducial marker may also be provided, for example, for retrofitting to existing imaging or treatment devices

摘要翻译： 提供跟踪和导航系统。 该系统包括成像或治疗装置，跟踪装置和基准标记。 成像或治疗装置的至少一部分可相对于患者移动。 跟踪器装置安装在成像或治疗装置上并且可相对于患者移动。 基准标记可以相对于患者固定以定义患者坐标系。 基准标记可由跟踪器装置检测，以基本维持跟踪装置与病人坐标系之间的对准。 还可以提供包括跟踪器装置和至少一个基准标记的跟踪和导航套件，例如用于改装现有的成像或治疗装置

公开(公告)号：US20130304258A1

公开(公告)日：2013-11-14

申请号：US13813738

申请日：2011-08-02

申请人： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

发明人： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa ,  Peter Louis Gehlbach ,  Iulian Iordachita ,  Ali Uneri

IPC分类号： A61B19/00

CPC分类号： A61B34/72 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/065 ,  A61F9/007 ,  B25J9/1689 ,  G05B19/423 ,  G05B2219/36432 ,  G05B2219/40064 ,  G05B2219/45123 ,  Y10S901/46

摘要： A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

摘要翻译： 用于微力导向协同控制的方法和系统，其帮助操作者在最小阻力的方向上操纵组织。 工具架接收适于由机器人和外科医生保持的手术工具。 第一传感器测量手术工具的尖端和感兴趣区域的组织之间的相互作用力。 第二传感器测量外科医生与手术工具的手柄之间的相互作用力。 数据处理器被配置为执行算法以通过针对最小阻力的路径产生偏置并且限制外科手术工具的定向工具力作为手柄输入力和尖端力的函数来主动地引导手术工具。 该功能可帮助挑战性的视网膜剥离程序，这需要外科医生精细地分层脆性组织，由于不希望的力量而容易出血和撕裂。

公开(公告)号：US20130123759A1

公开(公告)日：2013-05-16

申请号：US13811077

申请日：2011-07-20

申请人： Jin Ung Kang ,  Peter Gehlbach ,  Russell H. Taylor ,  Kang Zhang

发明人： Jin Ung Kang ,  Peter Gehlbach ,  Russell H. Taylor ,  Kang Zhang

IPC分类号： A61B17/00

CPC分类号： A61B17/00 ,  A61B3/102 ,  A61B3/113 ,  A61B34/70 ,  A61B34/72 ,  A61B34/75 ,  A61B2017/00057 ,  A61B2017/00061 ,  A61B2017/00075 ,  A61B2017/00225 ,  A61B2017/00402 ,  A61B2017/00694 ,  A61B2017/305 ,  A61F9/00727

摘要： A motion-compensating surgical tool system includes a surgical tool that includes a hand piece and a moveable component, a drive assembly connecting the moveable component to the hand piece such that the moveable component is movable in an axial direction relative to the hand piece by the drive assembly. The motion-compensating surgical tool system also includes an optical detection system that includes an optical fiber attached to the moveable component with an end at a fixed distance to a distal-most portion of the moveable component. The optical detection system is configured to output a signal for the determination of a distance of the distal-most portion of the moveable component to a target during surgery.

摘要翻译： 运动补偿手术工具系统包括外科手术工具，该手术工具包括手持件和可动部件，驱动组件，其将可移动部件连接到手持部件，使得可移动部件可相对于手持件沿轴向方向移动 驱动装置。 运动补偿外科手术工具系统还包括光学检测系统，其包括附接到可移动部件的光纤，其端部与可移动部件的最远端部分固定距离。 光学检测系统被配置为输出用于在手术期间确定可移动部件的最远部分到目标的距离的信号。

公开(公告)号：US08365633B2

公开(公告)日：2013-02-05

申请号：US10850821

申请日：2004-05-21

申请人： Nabil Simaan ,  Russell H. Taylor ,  Paul Flint ,  Gregory Chirikjian ,  David Stein

发明人： Nabil Simaan ,  Russell H. Taylor ,  Paul Flint ,  Gregory Chirikjian ,  David Stein

IPC分类号： A61M31/00

CPC分类号： A61B34/30 ,  A61B17/24 ,  A61B17/3421 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/003 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  Y10T74/20323

摘要： Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.

公开(公告)号：US20130018303A1

公开(公告)日：2013-01-17

申请号：US13416772

申请日：2012-03-09

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： A61M25/092

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： A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path.

摘要翻译： 用于引导具有多个重叠的柔性管的手术插管的方法包括确定期望的插管路径; 选择多个柔性管，其中多个中的每个柔性管具有预先形成的曲率和柔性; 确定所述多个柔性管的最终重叠构型，使得所述重叠构型的最终曲率基本上对应于所述套管路径; 以及确定所述多个柔性管的多个中间重叠配置。 每个中间构造对应于所需的套管路径。