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    MEDICAL ROBOTIC SYSTEM WITH IMAGE REFERENCED CAMERA CONTROL USING PARTITIONABLE ORIENTATIONAL AND TRANSLATIONAL MODES
    1.
    发明申请
    MEDICAL ROBOTIC SYSTEM WITH IMAGE REFERENCED CAMERA CONTROL USING PARTITIONABLE ORIENTATIONAL AND TRANSLATIONAL MODES 有权
    具有图像参考摄像机的医疗机器人系统使用可分辨的定位和翻译模式

    公开(公告)号：US20090326322A1

    公开(公告)日：2009-12-31

    申请号：US12163051

    申请日：2008-06-27

    申请人： Nicola Diolaiti

    发明人： Nicola Diolaiti

    IPC分类号： A61B1/045

    CPC分类号： A61B1/045 ,  A61B1/00039 ,  A61B1/00149 ,  A61B1/008 ,  A61B1/05 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00296 ,  A61B2019/2211 ,  A61B2019/2269 ,  A61B2019/2296 ,  A61B2019/5257 ,  A61B2034/305 ,  A61B2090/306

    摘要： A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

    摘要翻译： 医疗机器人系统包括具有诸如外科手术工具和可从其远端伸出的照相机的关节运动器械的进入引导件。 照相机仪器可由相机操纵器操纵，照相机操纵器具有第一机构，用于围绕相机仪器的枢轴枢转照相机乐器的焦点;以及第二机构，用于响应于平移命令将音轴定位在三维空间内 从一个或一对耦合的输入设备接收。 该系统还包括控制器，其被配置为接收感测到的输入设备的移动，并且如果系统处于定向模式并响应于所述第二机构响应于所述第二机构的致动而响应于所感测到的移动而致动所述第一机构 如果系统处于平移模式，感测到运动。

    MASTER-SLAVE SYSTEM
    4.
    发明申请
    MASTER-SLAVE SYSTEM 有权
    主从系统

    公开(公告)号：US20160058514A1

    公开(公告)日：2016-03-03

    申请号：US14842045

    申请日：2015-09-01

    申请人： OLYMPUS CORPORATION

    发明人： Ryohei OGAWA ,  Kosuke KISHI

    IPC分类号： A61B19/00 ,  A61B1/04 ,  A61B1/005 ,  A61B1/00

    CPC分类号： A61B1/00045 ,  A61B1/00087 ,  A61B1/00149 ,  A61B1/005 ,  A61B1/04 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2019/2211 ,  A61B2019/2223 ,  A61B2019/2269 ,  A61B2019/464 ,  A61B2034/301 ,  A61B2090/064 ,  B25J3/04 ,  B25J13/02

    摘要： There is provided a master-slave system including: a slave unit including an observation optical system imaging a subject A; a treatment part projecting from a surface on which the observation optical system is provided and at least part of the treatment tools is imaged along with the subject A by the observation optical system; a master apparatus including an operating unit held and operated by an operator; a control unit associating operation of the operating unit of the master apparatus with motion of the slave unit and motion of the treatment part; and a monitor screen displaying an image acquired by the observation optical system, wherein the operating unit includes a command input unit into which a motion command for a slave unit is inputted while the operating unit is held by the operator without changing a pose of the operating unit.

    摘要翻译： 提供了一种主从系统，包括：从单元，包括对被摄体A成像的观察光学系统; 从设置有观察光学系统的表面突出的处理部，并且至少一部分处理工具与被检体A一起通过观察光学系统成像; 包括由操作者保持和操作的操作单元的主设备; 控制单元，使主设备的操作单元与从单元的运动和处理部件的运动相关联; 以及显示由观察光学系统获取的图像的监视器屏幕，其中，所述操作单元包括命令输入单元，其中在操作单元被操作者保持的同时，操作单元被保持而被输入到其中的从动单元的运动命令，而不改变操作姿态 单元。

    Medical robotic system with image referenced camera control using partitionable orientational and translational modes
    5.
    发明授权
    Medical robotic system with image referenced camera control using partitionable orientational and translational modes 有权
    具有图像参考的摄像机控制的医疗机器人系统使用可分割的定向和平移模式

    公开(公告)号：US09179832B2

    公开(公告)日：2015-11-10

    申请号：US12163051

    申请日：2008-06-27

    申请人： Nicola Diolaiti

    发明人： Nicola Diolaiti

    IPC分类号： A61B1/00 ,  A61B1/313 ,  A61B19/00 ,  A61B1/04

    CPC分类号： A61B1/045 ,  A61B1/00039 ,  A61B1/00149 ,  A61B1/008 ,  A61B1/05 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00296 ,  A61B2019/2211 ,  A61B2019/2269 ,  A61B2019/2296 ,  A61B2019/5257 ,  A61B2034/305 ,  A61B2090/306

    摘要： A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

    摘要翻译： 医疗机器人系统包括具有诸如外科手术工具和可从其远端伸出的照相机的关节运动器械的进入引导件。 照相机仪器可由相机操纵器操纵，照相机操纵器具有第一机构，用于围绕相机仪器的枢轴枢转照相机乐器的焦点;以及第二机构，用于响应于平移命令将音轴定位在三维空间内 从一个或一对耦合的输入设备接收。 该系统还包括控制器，其被配置为接收感测到的输入设备的移动，并且如果系统处于定向模式并响应于所述第二机构响应于所述第二机构的致动而响应于所感测到的移动而致动所述第一机构 如果系统处于平移模式，感测到运动。