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公开(公告)号：US09220568B2
公开(公告)日：2015-12-29
申请号：US13444121
申请日：2012-04-11
申请人： Thomas Bromander , David Handler , Tal Wenderow
发明人： Thomas Bromander , David Handler , Tal Wenderow
CPC分类号： A61B19/22 , A61B34/37 , A61B34/70 , A61B2034/301 , A61B2034/742 , A61M25/01 , B25J9/1664 , G06F19/00 , G16H50/50
摘要： A workstation configured for operating a robotic catheter system is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling movement of at least a first percutaneous device and a second percutaneous device. At least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about a longitudinal axis of the first percutaneous device. The workstation also includes a device movement algorithm subsystem including at least one set of instructions. The control system controls the first percutaneous device based upon both the user input and the at least one set of instructions of the device movement algorithm subsystem.
摘要翻译： 提供了一种用于操作机器人导管系统的工作站。 工作站包括被配置为接收用户输入的用户界面和可操作地耦合到用户界面的控制系统，用于远程地且独立地控制至少第一经皮装置和第二经皮装置的移动。 至少第一经皮装置可以沿着第一经皮装置的纵向轴线前进和缩回并且围绕第一经皮装置的纵向轴线旋转。 工作站还包括包括至少一组指令的设备移动算法子系统。 控制系统基于用户输入和设备移动算法子系统的至少一组指令来控制第一经皮装置。
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公开(公告)号：US09027431B2
公开(公告)日：2015-05-12
申请号：US13320582
申请日：2010-05-12
CPC分类号： A61B19/22 , A61B34/30 , A61B34/70 , A61B34/71 , A61B2090/506 , Y10S901/15 , Y10S901/16 , Y10S901/21 , Y10T74/18056 , Y10T74/18088 , Y10T74/18848 , Y10T74/20323
摘要： An apparatus having a member that revolves about a remote center of motion (RCM) and a base link coupled to a mounting fixture. A first and second link are pivotably coupled to the member at respective distances from the RCM and are translatable relative to the base link along a first direction, at a fixed ratio of displacement. The ratio of respective distances equals a fixed ratio of displacement. The apparatus has a translational motion generator for a first and second element along parallel opposing directions. The translational motion generator is disposed on the first link and enables motion parallel to the first direction. The base link is fixed in position, the first element is fixed to the base link and the second element is fixed to the second link, such that the first and second link may translate relative to the base link with fixed ratio of displacement.
摘要翻译： 具有围绕远程运动中心（RCM）旋转的构件和联接到安装夹具的基座连杆的装置。 第一和第二连杆以相对于RCM的距离枢转地联接到构件，并且可以以固定的位移比例沿着第一方向相对于基座连杆平移。 各距离的比例等于固定的位移比例。 该装置具有沿着平行的相对方向的第一和第二元件的平移运动发生器。 平移运动发生器设置在第一连杆上并且能够平行于第一方向运动。 基座固定在位置上，第一元件固定在基座连杆上，第二元件固定在第二连杆上，使得第一和第二连杆可相对于底座连杆以固定的位移比例平移。
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3.发明授权Shape sensor contained in a link of a kinematic chain with at least one pre-set perturbation and method to sense relative partial-pose information using the shape sensor 有权包含在具有至少一个预设扰动的运动链的链接中的形状传感器和使用形状传感器来检测相对部分姿势信息的方法公开(公告)号：US08957367B2
公开(公告)日：2015-02-17
申请号：US12617995
申请日：2009-11-13
CPC分类号： A61B19/22 , A61B34/37 , A61B34/70 , A61B2034/2059 , A61B2034/2061 , A61B2090/067
摘要： A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
摘要翻译： 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。
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公开(公告)号：US20120271319A1
公开(公告)日：2012-10-25
申请号：US13444121
申请日：2012-04-11
申请人： Thomas Bromander , David Handler , Tal Wenderow
发明人： Thomas Bromander , David Handler , Tal Wenderow
IPC分类号： A61B19/00
CPC分类号： A61B19/22 , A61B34/37 , A61B34/70 , A61B2034/301 , A61B2034/742 , A61M25/01 , B25J9/1664 , G06F19/00 , G16H50/50
摘要： A workstation configured for operating a robotic catheter system is provided. The workstation includes a user interface configured to receive a user input and a control system operatively coupled to the user interface for remotely and independently controlling movement of at least a first percutaneous device and a second percutaneous device. At least the first percutaneous device is moveable both for advancement and retraction along a longitudinal axis of the first percutaneous device and for rotation about a longitudinal axis of the first percutaneous device. The workstation also includes a device movement algorithm subsystem including at least one set of instructions. The control system controls the first percutaneous device based upon both the user input and the at least one set of instructions of the device movement algorithm subsystem.
摘要翻译： 提供了一种用于操作机器人导管系统的工作站。 工作站包括被配置为接收用户输入的用户界面和可操作地耦合到用户界面的控制系统，用于远程地且独立地控制至少第一经皮装置和第二经皮装置的移动。 至少第一经皮装置可以沿着第一经皮装置的纵向轴线前进和缩回并且围绕第一经皮装置的纵向轴线旋转。 工作站还包括包括至少一组指令的设备移动算法子系统。 控制系统基于用户输入和设备移动算法子系统的至少一组指令来控制第一经皮装置。
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公开(公告)号：US07899578B2
公开(公告)日：2011-03-01
申请号：US12247346
申请日：2008-10-08
IPC分类号： B25J13/08
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。
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公开(公告)号：US20110015647A1
公开(公告)日：2011-01-20
申请号：US12503727
申请日：2009-07-15
IPC分类号： A61B19/00
CPC分类号： A61B19/22 , A61B17/00234 , A61B34/70 , A61B90/50 , A61B2017/00544 , A61B2017/00876 , A61F11/004 , B25J17/0275 , B25J19/0004 , F16C11/10
摘要： A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded.Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint. The first joint may have two portions separated by a gas cushion, the first joint allowing the end effector to be movable with respect to the base. The method may further comprise manually positioning the end effector, and removing the gas cushion to cause the two joint portions to contact each other, thereby locking the end effector in the precise location in which it was positioned.
摘要翻译： 公开了一种定位系统，其具有基座，手动可移动的端部执行器和插入在基座和端部执行器之间的第一接头。 第一关节可以包括通过磁吸引而联接在一起的近端部分和远端部分，并且构造成被加压气体垫间断地分开。 第一接头可以构造成在可移动状态和固定状态之间是可变的。 在可移动状态下，近端部分和远端部分被加压气垫隔开，并且可相对于彼此移动。 在固定状态下，近端部分和远端部分彼此接触，从而阻碍相对运动。 精确定位末端执行器的方法可以包括提供具有基座，远离基部的第一关节以及远离第一关节的末端执行器的装置。 第一关节可以具有由气垫隔开的两个部分，第一关节允许末端执行器相对于基部移动。 该方法可以进一步包括手动地定位末端执行器，以及移除气垫以使两个关节部分彼此接触，从而将末端执行器锁定在其定位的精确位置。
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公开(公告)号：US20170165019A1
公开(公告)日：2017-06-15
申请号：US15439915
申请日：2017-02-22
发明人： Matthew R. Penny , Nicholas J. Bender , Mohan Nathan , Nicholas J. Jardine , Galen Robertson , Carson Shellenberger , Lucas A. Tew , Richard M. Mueller , James Cuevas , Jeff Wilson , Keith Philip Laby
CPC分类号： A61B34/71 , A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B2017/003 , A61B2017/00477 , A61B2017/2906 , A61B2017/3447 , A61B2019/2211 , A61B2019/2223 , A61B2019/2234 , A61B2019/2242 , A61B2034/301 , A61B2034/305
摘要： A motorized surgical system includes at least one support positionable within a sterile field in proximity to a patient positioned on a surgical table. An instrument driver is carried by the support and includes a steerable distal end positionable in a body cavity. A user input device is carried by the support and is configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user. One or more steering motors are operably coupled to the instrument driver and are operable to deflect the steerable distal end of the instrument driver in response to the movement signals.
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公开(公告)号：US20160167223A1
公开(公告)日：2016-06-16
申请号：US14579224
申请日：2014-12-22
发明人： Brett Zubiate , Howard Choset
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B19/22 , A61B19/2203 , A61B2017/00314 , A61B2017/00323 , A61B2019/2242 , A61B2019/2246 , A61B2034/301 , A61B2034/306 , B25J9/065 , B25J9/104 , B25J9/105 , Y10S901/21
摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.
摘要翻译： 铰接式探针装置包括第一机构，第二机构和外套管机构。 第一机构包括可连接到第一中间连杆，多个中间连杆以及可移动地联接到第二中间连杆的远端连杆的近端连杆。 第二机构包括可移动地联接到第一中间连杆，多个中间连杆和可移动地联接到第二中间连杆的远侧连杆的近端连杆。 外套管机构包括可连接到第一中间连杆，多个中间连杆以及可移动地联接到第二中间连杆的近端连杆的近端连杆。 此外，第一机构，第二机构和外套管机构中的至少一个是可操纵的并且可延伸超过其他机构。
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公开(公告)号：US09148811B2
公开(公告)日：2015-09-29
申请号：US14366205
申请日：2012-12-18
申请人： Anite Finland Oy
发明人： Steven Thompson
CPC分类号： A61B19/22 , A61B17/00234 , A61B17/29 , A61B17/320016 , A61B34/70 , A61B34/71 , A61B2017/00367 , A61B2017/0042 , A61B2017/0046 , H04B7/2125 , H04M1/72519 , H04W24/08
摘要： Apparatus and method for recognizing Global System for Mobile communication (GSM) signals are provided. The solution comprises obtaining position and timing information from a satellite positioning system; tuning to a frequency channel with GSM transmission; collecting a group of I/Q samples for the length of 12 GSM frames; performing peak detection using at least two peak detectors over the group of samples wherein the found peak values are the locations of synchronization bursts (SCH). For the found peaks, the timing information, carrier-to-noise ratio, in phase and quadrature values are determined. A group of I/Q samples for the length of 12 or 51 GSM frames are collected. From the found SCH, base station identification code BSIC, frame number and Broadcast Control Channel (BCCH) training sequence are determined. BCCHs corresponding to all SCH are decoded; and transmitting base stations identified.
摘要翻译： 提供了用于识别全球移动通信系统（GSM）信号的装置和方法。 解决方案包括从卫星定位系统获取位置和定时信息; 调谐到具有GSM传输的频道; 收集一组长度为12个GSM帧的I / Q样本; 在采样组中使用至少两个峰值检测器执行峰值检测，其中发现的峰值是同步脉冲串（SCH）的位置。 对于找到的峰值，确定相位和正交值中的定时信息，载波噪声比。 收集一组长度为12或51个GSM帧的I / Q采样。 从发现的SCH中，确定基站识别码BSIC，帧号和广播控制信道（BCCH）训练序列。 对应于所有SCH的BCCH被解码; 并发送识别的基站。
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公开(公告)号：US09008842B2
公开(公告)日：2015-04-14
申请号：US13013346
申请日：2011-01-25
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。
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