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1. 发明申请

US20140052150A1 METHOD FOR PRESENTING FORCE SENSOR INFORMATION USING COOPERATIVE ROBOT CONTROL AND AUDIO FEEDBACK 审中-公开
标题翻译：使用合作机器人控制和音频反馈来呈现力传感器信息的方法
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。

2. 发明申请

US20130304258A1 MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR SURGICAL MANIPULATION OF DELICATE TISSUE 有权
标题翻译：微观组织辅助手术的协调控制
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。

3. 发明授权

US08921767B2 Automatic calibration of fourier-domain optical coherence tomography systems 有权
标题翻译：傅立叶光学相干断层扫描系统的自动校准
公开(公告)号：US08921767B2
公开(公告)日：2014-12-30
申请号：US13813611
申请日：2011-08-02
申请人： Jin Kang , Marcin Arkadiusz Balicki , Xuan Liu
发明人： Jin Kang , Marcin Arkadiusz Balicki , Xuan Liu
IPC分类号： G01D18/00 , G12B13/00 , G01B9/02 , G01N21/47
CPC分类号： G01B9/02091 , G01B9/02044 , G01B9/02074 , G01N21/4795
摘要： A method for calibrating a Fourier domain optical coherence tomography system includes receiving spectral data from an optical detector comprising a linear array of detector elements, each detector element having a position labeled n, wherein detected light was wavelength-dispersed across the linear array of detector elements; determining parameters of a preselected functional relationship between wave number, kn, corresponding to detector element n as a function of optical detector element n based on the spectral data; further receiving subsequent spectral data subsequent to the first-mentioned receiving, wherein detected light was wavelength-dispersed across the linear array of detector elements; converting the subsequent spectral data using the preselected functional relationship between wave number kn and optical detector element n to obtain converted spectral data; and performing an inverse Fourier transform of the converted spectral data to obtain a depth profile.
摘要翻译：用于校准傅立叶域光学相干断层摄影系统的方法包括从包括检测器元件的线性阵列的光学检测器接收光谱数据，每个检测器元件具有标记为n的位置，其中检测到的光被波长分散在检测器元件的线性阵列 ; 基于光谱数据确定与检测器元件n相对应的波数kn的预选功能关系的参数作为光检测器元件n的函数; 进一步接收在所述第一次接收之后的随后的光谱数据，其中检测的光被波长分散在检测器元件的线性阵列上; 使用波数kn和光检测器元件n之间的预选功能关系来转换随后的光谱数据，以获得转换的光谱数据; 并对所转换的光谱数据执行逆傅立叶变换以获得深度分布。

4. 发明申请

US20140066944A1 TOOL EXCHANGE INTERFACE AND CONTROL ALGORITHM FOR COOPERATIVE SURGICAL ROBOTS 有权
标题翻译：工具交换界面和合作手术机器人的控制算法
公开(公告)号：US20140066944A1
公开(公告)日：2014-03-06
申请号：US13813717
申请日：2011-08-02
申请人： Russell H. Taylor , Marcin Arkadiusz Balicki , James Tahara Handa
发明人： Russell H. Taylor , Marcin Arkadiusz Balicki , James Tahara Handa
IPC分类号： A61B19/00
CPC分类号： A61B34/32 , A61B34/30 , A61B90/06 , A61B2017/00477 , A61B2090/064 , A61B2090/065 , A61B2090/0811 , B25J15/0466
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
摘要翻译：用于协同控制的机器人的手术期间的用于工具交换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保持器，用于约束工具的向下运动的工具保持元件，同时允许小的力除去来自保持器的手术工具，用于检测外科手术工具是否对接在刀架内的第一传感器，以及选择器，用于根据第一传感器检测到的信息，自动选择待执行刀架的不同移动或动作。本发明的系统和方法通过提高刀具保持器可以在远离患者的方向移动的速度来提供经常缓慢移动的协作机器人的优点。

5. 发明申请

US20130128267A1 AUTOMATIC CALIBRATION OF FOURIER-DOMAIN OPTICAL COHERENCE TOMOGRAPHY SYSTEMS 有权
标题翻译： FOURIER-DOMAIN光学相干系统的自动校准
公开(公告)号：US20130128267A1
公开(公告)日：2013-05-23
申请号：US13813611
申请日：2011-08-02
申请人： Jin Kang , Marcin Arkadiusz Balicki , Xuan Liu
发明人： Jin Kang , Marcin Arkadiusz Balicki , Xuan Liu
IPC分类号： G01B9/02
CPC分类号： G01B9/02091 , G01B9/02044 , G01B9/02074 , G01N21/4795
摘要： A method for calibrating a Fourier domain optical coherence tomography system includes receiving spectral data from an optical detector comprising a linear array of detector elements, each detector element having a position labeled n, wherein detected light was wavelength-dispersed across the linear array of detector elements; determining parameters of a preselected functional relationship between wave number, kn, corresponding to detector element n as a function of optical detector element n based on the spectral data; further receiving subsequent spectral data subsequent to the first-mentioned receiving, wherein detected light was wavelength-dispersed across the linear array of detector elements; converting the subsequent spectral data using the preselected functional relationship between wave number kn and optical detector element n to obtain converted spectral data; and performing an inverse Fourier transform of the converted spectral data to obtain a depth profile.
摘要翻译：用于校准傅立叶域光学相干断层摄影系统的方法包括从包括检测器元件的线性阵列的光学检测器接收光谱数据，每个检测器元件具有标记为n的位置，其中检测到的光被波长分散在检测器元件的线性阵列 ; 基于光谱数据确定与检测器元件n相对应的波数kn的预选功能关系的参数作为光检测器元件n的函数; 进一步接收在所述第一次接收之后的随后的光谱数据，其中检测的光被波长分散在检测器元件的线性阵列上; 使用波数kn和光检测器元件n之间的预选功能关系来转换随后的光谱数据，以获得转换的光谱数据; 并对所转换的光谱数据执行逆傅立叶变换以获得深度分布。

6. 发明授权

US09554864B2 Tool exchange interface and control algorithm for cooperative surgical robots 有权
标题翻译：协同手术机器人的刀具交换界面和控制算法
公开(公告)号：US09554864B2
公开(公告)日：2017-01-31
申请号：US13813717
申请日：2011-08-02
申请人： Russell H. Taylor , Marcin Arkadiusz Balicki , James Tahara Handa
发明人： Russell H. Taylor , Marcin Arkadiusz Balicki , James Tahara Handa
IPC分类号： A61B34/30 , B25J15/04 , A61B17/00
CPC分类号： A61B34/32 , A61B34/30 , A61B90/06 , A61B2017/00477 , A61B2090/064 , A61B2090/065 , A61B2090/0811 , B25J15/0466
摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
摘要翻译：用于协同控制的机器人的手术期间的用于工具交换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保持器，用于约束工具的向下运动的工具保持元件，同时允许小的力除去来自保持器的手术工具，用于检测外科手术工具是否对接在刀架内的第一传感器，以及选择器，用于根据第一传感器检测到的信息，自动选择待执行刀架的不同移动或动作。本发明的系统和方法通过提高刀具保持器可以在远离患者的方向移动的速度来提供经常缓慢移动的协作机器人的优点。

7. 发明申请

US20130253313A1 AUTOFOCUSING ENDOSCOPE AND SYSTEM 审中-公开
标题翻译：自动注射内镜和系统
公开(公告)号：US20130253313A1
公开(公告)日：2013-09-26
申请号：US13813896
申请日：2011-08-02
申请人： Jin Kang , Marcin Arkadiusz Balicki , Rajesh Kumar , Russell H. Taylor
发明人： Jin Kang , Marcin Arkadiusz Balicki , Rajesh Kumar , Russell H. Taylor
IPC分类号： A61B1/00 , A61B3/10 , A61B1/07
CPC分类号： A61B1/00188 , A61B1/00004 , A61B1/00165 , A61B1/00172 , A61B1/0669 , A61B1/07 , A61B1/313 , A61B3/102 , A61B3/1225 , A61F9/007
摘要： An autofocusing endoscope includes an objective lens, a relay optical system arranged to relay an image between the objective lens and a proximal end of the autofocusing endoscope, an optical fiber arranged with a distal end proximate the objective lens, a light source arranged to couple light into the optical fiber, an optical detection system arranged to receive and detect light from the optical fiber, and a data processor constructed to communicate with the optical detection system while in operation. The data processor is configured to determine a distance of a surface to be imaged through the objective lens and provide instructions for adjusting a focus of the autofocusing endoscope of the surface.
摘要翻译：一种自动对焦内窥镜，包括：物镜;中继光学系统，被配置为中继所述物镜与所述自聚焦内窥镜的近端之间的图像，配置有靠近所述物镜的远端的光纤;光源，光纤检测系统被布置成接收和检测来自光纤的光;以及数据处理器，被构造成在操作中与光学检测系统进行通信。数据处理器被配置为确定要通过物镜成像的表面的距离，并提供用于调整表面的自动聚焦内窥镜的焦点的指令。

8. 发明授权

US09662174B2 Micro-force guided cooperative control for surgical manipulation of delicate tissue 有权
公开(公告)号：US09662174B2
公开(公告)日：2017-05-30
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： A61F9/007 , B25J9/16 , A61B19/00 , G05B19/423 , A61B34/30 , A61B34/00 , A61B90/00
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.

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