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1. 发明申请

US20130224710A1 ROBOTIC DEVICE FOR USE IN IMAGE-GUIDED ROBOT ASSISTED SURGICAL TRAINING 有权
标题翻译：用于图像引导机器人辅助手术训练的机器人装置
公开(公告)号：US20130224710A1
公开(公告)日：2013-08-29
申请号：US13820065
申请日：2011-09-01
申请人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
发明人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
IPC分类号： G09B23/28 , B25J3/04 , B25J7/00
CPC分类号： G09B23/28 , A61B34/30 , B25J3/04 , B25J7/00 , G09B23/285
摘要： A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.
摘要翻译：一种用于图像引导机器人辅助外科手术训练的机器人装置，所述机器人装置包括被配置为模拟外科手术工具的处理的手动界面结构; 手动界面结构的平移运动的平移机制; 用于手动接口结构的旋转运动的旋转机构; 以及球面机构，被配置为将手动界面结构的取向分离成空间坐标，其中旋转机构，旋转机构和球面机构之间的联动以及手动界面结构设置在俯仰的交叉点的相对侧上轴和球面机构的偏转轴。

2. 发明授权

US07236618B1 Virtual surgery system with force feedback 失效
标题翻译：具有力反馈的虚拟手术系统
公开(公告)号：US07236618B1
公开(公告)日：2007-06-26
申请号：US10332429
申请日：2000-07-07
申请人： Chee-Kong Chui , Hua Wei , Yaoping Wang , Wieslaw L. Nowinski
发明人： Chee-Kong Chui , Hua Wei , Yaoping Wang , Wieslaw L. Nowinski
IPC分类号： G06K9/00
CPC分类号： G06F3/016 , G06T19/00 , G06T2210/28
摘要： In one aspect, the present invention provides a method of interacting with simulated three-dimensional objects, the method including the steps of the identification of three-dimensional objects from volume images; the association of physical properties with identified objects said properties including at least visual and haptic properties of the identified objects; and incorporating said identified objects and associated physical properties into a system including at least one visual interface device and at least one haptic interface device thus enabling the system to simulate visual and haptic properties of the identified objects, or any part thereof, to a human user interacting with the simulated three-dimensional objects, or any part thereof, said interaction including the generation of signals by the system for transmission to the at least one visual interface device in accordance with the physical properties associated with the objects and the reception of signals from the least one haptic interface device in accordance with user requests.
摘要翻译：一方面，本发明提供了一种与模拟三维物体相互作用的方法，该方法包括从体积图像中识别三维物体的步骤; 物理属性与识别对象的关联，所述属性至少包括识别对象的视觉和触觉属性; 以及将所述识别的对象和相关联的物理属性合并到包括至少一个可视界面设备和至少一个触觉界面设备的系统中，从而使系统能够将所识别的对象或其任何部分的视觉和触觉属性模拟到人类用户与仿真的三维物体或其任何部分相互作用，所述相互作用包括根据与物体相关联的物理特性以及由物体接收信号而由系统产生信号以传输到至少一个可视界面设备根据用户请求的至少一个触觉接口设备。

3. 发明授权

US09033979B2 Articulating ablation and division device with blood flow sensing capability 有权
标题翻译：具有血流检测能力的消融消融装置
公开(公告)号：US09033979B2
公开(公告)日：2015-05-19
申请号：US13704560
申请日：2011-06-22
申请人： Stephen Kin Yong Chang , Chee Kong Chui
发明人： Stephen Kin Yong Chang , Chee Kong Chui
IPC分类号： A61B18/14 , A61B18/08 , A61B17/32 , A61B18/00 , A61B18/18 , A61B17/00
CPC分类号： A61B18/082 , A61B17/32 , A61B18/1402 , A61B18/1815 , A61B2017/00106 , A61B2017/00544 , A61B2018/00589 , A61B2018/00642 , A61B2018/00708 , A61B2018/00958 , A61B2018/143 , A61B2018/1455
摘要： A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.
摘要翻译：描述了腹腔镜肝切除装置。该装置将射频消融（RFA）技术与切割机构，血流传感器和柔性致动机构结合，以同时凝结和切割肝组织并检测血流的存在以确认血流性。本发明消除了由于切割过深而导致的过度出血的风险，并且减少了恢复时间和用于凝结区域再凝结的时间，从而缩短了手术的持续时间。此外，一旦检测到目标组织中的血液不足或没有血液流动，则实施例也可以通过停止靶组织上的消融活性来防止过度消融。因此，提供了无血液组织/器官分割方法的闭环控制。

4. 发明申请

US20140188135A1 Bio-Absorbable Micro-Clip And Applicator For Minimal Access Wound Closure 审中-公开
标题翻译：生物可吸收的微型夹子和敷料器，用于最小的进入伤口闭合
公开(公告)号：US20140188135A1
公开(公告)日：2014-07-03
申请号：US14124558
申请日：2012-06-11
申请人： David Pang Cheng Lau , Chee Kong Chui , Chin Boon Chng , Jun Quan Choo , Tao Yang , Swee Hin Teoh
发明人： David Pang Cheng Lau , Chee Kong Chui , Chin Boon Chng , Jun Quan Choo , Tao Yang , Swee Hin Teoh
IPC分类号： A61B17/08 , A61B17/10
CPC分类号： A61B17/083 , A61B17/0643 , A61B17/0644 , A61B17/0682 , A61B17/10 , A61B17/24 , A61B2017/00004 , A61B2017/00862
摘要： The present disclosure includes a bio-absorbable wound closure clip for wound closure without crushing of the tissue being closed. The bio-absorbable wound closure clip can be used in minimal access surgery as well as on tissue, such as mucosal tissue, where tactile feedback is reduced. Representative surgical instruments for applying the bio-absorbable wound closure clip and methods of using the same are also provided herein.
摘要翻译：本公开内容包括用于伤口闭合的生物吸收性伤口闭合夹，而不破坏被关闭的组织。生物可吸收伤口闭合夹可用于最小的手术以及组织，如粘膜组织，其中触觉反馈减少。用于施用生物吸收性伤口闭合夹的代表性手术器械及其使用方法也在本文中提供。

5. 发明授权

US08764448B2 Robotic device for use in image-guided robot assisted surgical training 有权
标题翻译：用于图像引导机器人辅助外科手术的机器人装置
公开(公告)号：US08764448B2
公开(公告)日：2014-07-01
申请号：US13820065
申请日：2011-09-01
申请人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
发明人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
IPC分类号： G09B23/28 , A61B17/00 , G06G7/58 , A61B19/00
CPC分类号： G09B23/28 , A61B34/30 , B25J3/04 , B25J7/00 , G09B23/285
摘要： A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.
摘要翻译：一种用于图像引导机器人辅助外科手术训练的机器人装置，所述机器人装置包括被配置为模拟外科手术工具的处理的手动界面结构; 手动界面结构的平移运动的平移机制; 用于手动接口结构的旋转运动的旋转机构; 以及球面机构，被配置为将手动界面结构的取向分离成空间坐标，其中旋转机构，旋转机构和球面机构之间的联动以及手动界面结构设置在俯仰的交叉点的相对侧上轴和球面机构的偏转轴。

6. 发明授权

US08409076B2 Device for laparoscopic or thoracoscopic surgery 失效
标题翻译：腹腔镜或胸腔镜手术装置
公开(公告)号：US08409076B2
公开(公告)日：2013-04-02
申请号：US12095059
申请日：2006-10-19
申请人： Ah San Pang , Chong Jin Ong , Chee Kong Chui
发明人： Ah San Pang , Chong Jin Ong , Chee Kong Chui
IPC分类号： A61B1/04 , A61B1/00
CPC分类号： A61B10/0233 , A61B1/313 , A61B2017/00876
摘要： A device (10) for laparoscopic or thoracoscopic surgery, the device (10) comprising: a first member (20) to be moved across the body (5) of a patient; and a second member (30) to be placed within the body (5), the second member (30) comprising an image capturing device (32) to capture images from within the body (5) and to transmit the captured images for display; wherein the second member (30) is in magnetic engagement with the first member (20) such that the movement of the second member (30) within the body (5) is in response to movement of the first member (20) across the body (5).
摘要翻译：一种用于腹腔镜或胸腔镜手术的装置（10），所述装置（10）包括：穿过患者的身体（5）移动的第一构件（20）以及第二构件（30），其被放置在所述主体（5）内，所述第二构件（30）包括用于从所述主体（5）内捕获图像的图像捕获装置（32），并且传送所述捕获的图像以进行显示; 其中所述第二构件（30）与所述第一构件（20）磁性接合，使得所述第二构件（30）在所述主体（5）内的运动是响应于所述第一构件（20）穿过所述主体（5）。

7. 发明授权

US09786202B2 Robot assisted surgical training 有权
公开(公告)号：US09786202B2
公开(公告)日：2017-10-10
申请号：US13582907
申请日：2011-03-04
申请人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhuo Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
发明人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhuo Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
IPC分类号： G09B23/28 , G09B23/30
CPC分类号： G09B23/28 , G06F19/00 , G09B23/30
摘要： A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.

8. 发明申请

US20130085497A1 Articulating Ablation And Division Device With Blood Flow Sensing Capability 失效
标题翻译：具有血流检测能力的消融消融装置
公开(公告)号：US20130085497A1
公开(公告)日：2013-04-04
申请号：US13704560
申请日：2011-06-21
申请人： Stephen Kin Yong Chang , Chee Kong Chui
发明人： Stephen Kin Yong Chang , Chee Kong Chui
IPC分类号： A61B18/08
CPC分类号： A61B18/082 , A61B17/32 , A61B18/1402 , A61B18/1815 , A61B2017/00106 , A61B2017/00544 , A61B2018/00589 , A61B2018/00642 , A61B2018/00708 , A61B2018/00958 , A61B2018/143 , A61B2018/1455
摘要： A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.
摘要翻译：描述了腹腔镜肝切除装置。该装置将射频消融（RFA）技术与切割机构，血流传感器和柔性致动机构结合，以同时凝结和切割肝组织并检测血流的存在以确认血流性。本发明消除了由于切割过深而导致的过度出血的风险，并且减少了恢复时间和用于凝结区域再凝结的时间，从而缩短了手术的持续时间。此外，一旦检测到目标组织中的血液不足或没有血液流动，则实施例也可以通过停止靶组织上的消融活性来防止过度消融。因此，提供了无血液组织/器官分割方法的闭环控制。

9. 发明申请

US20090005636A1 Device for Laparoscopic or Thoracoscopic Surgery 失效
标题翻译：腹腔镜或胸腔镜手术器械
公开(公告)号：US20090005636A1
公开(公告)日：2009-01-01
申请号：US12095059
申请日：2006-10-19
申请人： Ah San Pang , Chong Jin Ong , Chee Kong Chui
发明人： Ah San Pang , Chong Jin Ong , Chee Kong Chui
IPC分类号： A61B1/313 , A61B1/045
CPC分类号： A61B10/0233 , A61B1/313 , A61B2017/00876
摘要： A device (10) for laparoscopic or thoracoscopic surgery, the device (10) comprising: a first member (20) to be moved across the body (5) of a patient; and a second member (30) to be placed within the body (5), the second member (30) comprising an image capturing device (32) to capture images from within the body (5) and to transmit the captured images for display; wherein the second member (30) is in magnetic engagement with the first member (20) such that the movement of the second member (30) within the body (5) is in response to movement of the first member (20) across the body (5).
摘要翻译：一种用于腹腔镜或胸腔镜手术的装置（10），所述装置（10）包括：穿过患者的身体（5）移动的第一构件（20）以及第二构件（30），其被放置在所述主体（5）内，所述第二构件（30）包括用于从所述主体（5）内捕获图像的图像捕获装置（32），并且传送所述捕获的图像以进行显示; 其中所述第二构件（30）与所述第一构件（20）磁性接合，使得所述第二构件（30）在所述主体（5）内的运动是响应于所述第一构件（20）穿过所述主体（5）。

10. 发明申请

US20130196300A1 ROBOT ASSISTED SURGICAL TRAINING 有权
标题翻译：机器人辅助手术训练
公开(公告)号：US20130196300A1
公开(公告)日：2013-08-01
申请号：US13582907
申请日：2011-03-04
申请人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhou Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
发明人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhou Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
IPC分类号： G09B23/28
CPC分类号： G09B23/28 , G06F19/00 , G09B23/30
摘要： A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.
摘要翻译：外科手术训练系统及方法该系统包括用于记录表示由主用户计算机生成的对象的模型的参考操纵的参考数据的装置; 用于在由所述受训用户对所述对象的模型的训练操纵期间基于所记录的参考数据物理地引导所述受训用户的装置; 以及用于在没有指导的情况下记录代表对象的模型的评估操纵的评估数据的方法。

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