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公开(公告)号:US08287522B2
公开(公告)日:2012-10-16
申请号:US11750845
申请日:2007-05-18
申请人: Dennis Moses , Arthur Quaid , Hyosig Kang
发明人: Dennis Moses , Arthur Quaid , Hyosig Kang
IPC分类号: A61B19/00
CPC分类号: A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要: A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
摘要翻译: 提供了一种用于控制外科手术装置的方法。 该方法包括操纵手术装置以对患者执行手术; 确定患者的解剖结构与外科手术器械的手术工具的位置,取向,速度和/或加速度之间的关系是否对应于解剖学和位置之间的期望关系,取向,速度 ,和/或外科手术工具的加速度; 并且如果所述关系不对应于期望的关系和/或检测装置不能检测到所述解剖结构的位置和/或所述外科手术工具的位置,则对所述手术装置施加约束。
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公开(公告)号:US08010180B2
公开(公告)日:2011-08-30
申请号:US11357197
申请日:2006-02-21
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
IPC分类号: A61B5/05
CPC分类号: A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要: A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译: 手术装置包括外科装置,其被配置为由用户操纵以对患者执行手术,以及计算机系统。 计算机系统被编程为实现用于控制外科手术装置的控制参数,以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个 手术装置的一部分的位置,方向,速度和加速度,以及响应于手术期间解剖结构的移动来调整控制参数。
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公开(公告)号:US20080010706A1
公开(公告)日:2008-01-10
申请号:US11750845
申请日:2007-05-18
申请人: Dennis Moses , Arthur Quaid , Hyosig Kang
发明人: Dennis Moses , Arthur Quaid , Hyosig Kang
IPC分类号: A61B5/05
CPC分类号: A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要: A method for controlling a surgical device is provided. The method includes manipulating the surgical device to perform a procedure on a patient; determining whether a relationship between an anatomy of the patient and a position, an orientation, a velocity, and/or an acceleration of a surgical tool of the surgical device corresponds to a desired relationship between the anatomy and the position, the orientation, the velocity, and/or the acceleration of the surgical tool; and imposing a constraint on the surgical device if the relationship does not correspond to the desired relationship and/or a detection device is unable to detect a position of the anatomy and/or the position of the surgical tool.
摘要翻译: 提供了一种用于控制外科手术装置的方法。 该方法包括操纵手术装置以对患者执行手术; 确定患者的解剖结构与外科手术器械的手术工具的位置,取向,速度和/或加速度之间的关系是否对应于解剖学和位置之间的期望关系,取向,速度 ,和/或外科手术工具的加速度; 并且如果所述关系不对应于期望的关系和/或检测装置不能检测到所述解剖结构的位置和/或所述外科手术工具的位置,则对所述手术装置施加约束。
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公开(公告)号:US20070296366A1
公开(公告)日:2007-12-27
申请号:US11804374
申请日:2007-05-18
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses
IPC分类号: B25J19/02
CPC分类号: B25J9/1638 , B25J13/025 , G06F3/016
摘要: A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
摘要翻译: 一种用于控制触觉装置的方法和装置。 在一个实施例中,触觉装置包括致动器; 致动器传感器,产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器,致动器传感器和致动器电连通的控制器。 控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。 在一个实施例中,用于控制触觉装置的致动器的方法包括以下步骤:产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器,以产生对用户的触觉响应。
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公开(公告)号:US20060142657A1
公开(公告)日:2006-06-29
申请号:US11357197
申请日:2006-02-21
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号: A61B5/05
CPC分类号: A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要: A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译: 手术装置包括外科装置,其被配置为由用户操纵以对患者执行手术,以及计算机系统。 计算机系统被编程为实现用于控制外科手术装置的控制参数,以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个 手术装置的一部分的位置,方向,速度和加速度,以及响应于手术期间解剖结构的移动来调整控制参数。
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公开(公告)号:US10231790B2
公开(公告)日:2019-03-19
申请号:US12144507
申请日:2008-06-23
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randal Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randal Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号: A61B34/10 , A61B34/30 , A61F2/30 , G06F3/01 , A61B17/16 , A61B34/37 , A61B34/35 , A61N1/05 , A61N1/36 , A61N1/372 , G06F19/00 , A61F2/46 , A61B5/11 , A61B17/17 , A61B17/00 , A61F2/38 , A61B5/00 , A61B90/00 , A61B34/20 , A61B34/00 , A61B90/14
摘要: A method for joint replacement is provided. A representation of a first bone is created, and a representation of a second bone is created. Bone preparation for implanting a first implant on the first bone is planned. The first bone to receive the first implant is prepared by manipulating a surgical tool to sculpt the first bone. Bone preparation for implanting a second implant on the second bone after preparing the first bone is planned. The second bone to receive the second implant is prepared by manipulating the surgical tool to sculpt the second bone.
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公开(公告)号:US09775681B2
公开(公告)日:2017-10-03
申请号:US13195733
申请日:2011-08-01
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Scott Illsley
IPC分类号: A61B34/30 , A61B90/00 , A61F2/30 , G06F3/01 , A61B17/16 , A61B34/37 , A61B34/35 , A61N1/05 , A61N1/36 , A61N1/372 , A61F2/46 , A61B5/11 , A61B17/17 , A61B17/00 , A61F2/38 , A61B5/00 , A61B34/10 , A61B34/20 , A61B34/00 , A61B90/14
CPC分类号: A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要: A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
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公开(公告)号:US20070270685A1
公开(公告)日:2007-11-22
申请号:US11750815
申请日:2007-05-18
申请人: Hyosig Kang , Dennis Moses , Arthur Quaid
发明人: Hyosig Kang , Dennis Moses , Arthur Quaid
IPC分类号: A61B5/05
CPC分类号: A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
摘要翻译: 提供了一种用于校准外科装置的方法。 该方法包括在第一位置获取包括设置在手术装置上的第一物体的位置和/或取向的第一数据; 在第二位置处获取包括设置在所述外科手术装置上的第二物体的位置和/或取向的第二数据; 确定包括所述第一对象相对于所述第二位置的位置和/或取向的第三数据; 以及至少部分地基于所述第一数据,所述第二数据和所述第三数据来确定所述第二对象相对于所述第二位置的位置和/或取向。
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公开(公告)号:US10028789B2
公开(公告)日:2018-07-24
申请号:US11750840
申请日:2007-05-18
申请人: Arthur Quaid , Hyosig Kang , Dennis Moses
发明人: Arthur Quaid , Hyosig Kang , Dennis Moses
CPC分类号: A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要: A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.
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公开(公告)号:US20070142751A1
公开(公告)日:2007-06-21
申请号:US11646204
申请日:2006-12-27
申请人: Hyosig Kang , Arthur Quaid , Dennis Moses
发明人: Hyosig Kang , Arthur Quaid , Dennis Moses
IPC分类号: A61B5/103
CPC分类号: A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要: In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.
摘要翻译: 一方面,本发明涉及一种用于产生触觉惩罚力的方法,包括在一个实施例中的步骤:定义主代理位置; 定义副代理职位; 定义HIP位置; 响应于主代理位置和HIP位置产生第一力,并且响应于辅助代理位置和HIP位置产生第二力。
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