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1. 发明申请

US20140168073A1 Methods and Systems for Haptic Rendering and Creating Virtual Fixtures from Point Clouds 有权
标题翻译：触角渲染方法和系统，从点云创建虚拟装置
公开(公告)号：US20140168073A1
公开(公告)日：2014-06-19
申请号：US14125574
申请日：2012-06-15
申请人： Howard Jay Chizeck , Fredrik Rydén , Sina Nia Kosari , Blake Hannaford , Nicklas Gustafsson , Hawkeye I. King
发明人： Howard Jay Chizeck , Fredrik Rydén , Sina Nia Kosari , Blake Hannaford , Nicklas Gustafsson , Hawkeye I. King
IPC分类号： G06F3/01
CPC分类号： G06F3/016 , G06T15/405 , G06T2210/28 , G06T2210/56
摘要： Methods, articles of manufacture, and devices related to generating haptic feedback for point clouds are provided. A computing device receives depth data about an environment. The computing device generates a point cloud from the depth data. The computing device determines a haptic interface point (HIP). The computing device determines a haptic interface point (HIP). The computing device determines a force vector between the HIP and point cloud. The computing device sends an indication of haptic feedback based on the force vector.
摘要翻译：提供了与产生点云的触觉反馈相关的方法，制品和设备。计算设备接收关于环境的深度数据。计算设备从深度数据生成点云。计算设备确定触觉接口点（HIP）。计算设备确定触觉接口点（HIP）。计算设备确定HIP和点云之间的力矢量。计算设备基于力向量发送触觉反馈的指示。

2. 发明授权

US08617197B2 Introducer device 有权
标题翻译：导引装置
公开(公告)号：US08617197B2
公开(公告)日：2013-12-31
申请号：US13051888
申请日：2011-03-18
申请人： Diana C. W. Friedman , Blake Hannaford , Devin Karns , Aylin Z. Kim , Louis Kim , Thomas S. Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
发明人： Diana C. W. Friedman , Blake Hannaford , Devin Karns , Aylin Z. Kim , Louis Kim , Thomas S. Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
IPC分类号： A61B1/32 , A61M29/02
CPC分类号： A61B34/35 , A61B17/00234 , A61B17/3421 , A61B17/3423 , A61B34/30 , A61B34/74 , A61B34/76 , A61B90/60 , A61B2017/00973 , A61B2017/3433 , A61B2017/3454 , A61M29/00 , B25J13/02 , G06F3/011 , G06F3/014 , G06F3/016
摘要： An introducer and method provides a surgical tool with a pathway through tissue to a surgical site, wherein the surgical tool includes at least one surgical instrument. The introducer comprises a flexible sheath having a distal portion including a distal end and is arranged for receiving the surgical tool. A tissue separation tip at the distal portion of the sheath advances the sheath into the tissue towards the surgical site. The tissue separation tip is arranged to form a tissue gap and provide the at least one surgical instrument access to the tissue gap for performing a medical procedure consonant with the formation of the tissue gap or the performance of work at the surgical site.
摘要翻译：导引器和方法为手术工具提供穿过组织到手术部位的通路，其中外科手术工具包括至少一个手术器械。导引器包括柔性护套，其具有包括远端的远侧部分，并且被布置成用于接收外科手术工具。在护套的远端部分处的组织分离尖端使护套进入组织朝向手术部位。组织分离尖端布置成形成组织间隙，并且提供至少一个手术器械进入组织间隙，用于执行与组织间隙的形成或手术部位的工作表现有关的医疗过程。

3. 发明申请

US20120203069A1 SURGICAL SHIELD FOR SOFT TISSUE PROTECTION 审中-公开
标题翻译：软组织保护手术护理
公开(公告)号：US20120203069A1
公开(公告)日：2012-08-09
申请号：US13369952
申请日：2012-02-09
申请人： Blake Hannaford , Randall A. Bly , James S. Pridgeon , Eugene G. Chen , Kristen S. Moe , Louis Kim , Jacob Rosen
发明人： Blake Hannaford , Randall A. Bly , James S. Pridgeon , Eugene G. Chen , Kristen S. Moe , Louis Kim , Jacob Rosen
IPC分类号： A61B1/32
CPC分类号： A61B17/3423 , A61B17/24 , A61B17/3431 , A61B17/3496 , A61B90/00 , A61B90/39 , A61B2017/00849 , A61B2017/00871 , A61B2017/00876 , A61B2017/345 , A61B2090/08021 , A61B2090/306 , A61B2217/005 , A61B2217/007 , A61M1/0084
摘要： A soft tissue protection surgical shield protects collateral soft tissue from damage during a surgical procedure within a surgical space of a body. The shield comprises an elongated flexible shield having a proximal end and a distal end. The proximal end has a first opening and the distal end has a second opening. The shield further comprises a side wall between the proximal and distal ends that defines the first and second openings. The side wall is conformal to the surgical space and arranged to resist perforation by surgical instruments in use during the surgical procedure, and also to define and maintain the access pathway to the surgical site.
摘要翻译：软组织保护手术屏蔽保护外科软组织免于外科手术在身体手术空间内的损伤。护罩包括具有近端和远端的细长柔性护罩。近端具有第一开口，并且远端具有第二开口。护罩还包括限定第一和第二开口的近端和远端之间的侧壁。侧壁与外科手术空间一致，并被布置为抵抗在手术过程中使用的手术器械的穿孔，并且还限定和维持到外科手术部位的通路。

4. 发明申请

US20110020779A1 SKILL EVALUATION USING SPHERICAL MOTION MECHANISM 审中-公开
标题翻译：使用球形运动机制的技能评估
公开(公告)号：US20110020779A1
公开(公告)日：2011-01-27
申请号：US12825236
申请日：2010-06-28
申请人： Blake Hannaford , Jacob Rosen , Jeffrey D. Brown , Timothy Kowaleski , Mika N. Sinanan , Lily Chang
发明人： Blake Hannaford , Jacob Rosen , Jeffrey D. Brown , Timothy Kowaleski , Mika N. Sinanan , Lily Chang
IPC分类号： G09B23/28 , B25J9/02 , G06F3/01
CPC分类号： G16H40/20 , A61B34/30 , A61B34/70 , A61B2017/00707 , G09B23/28 , G09B23/285 , Y10T29/49826 , Y10T74/18568 , Y10T74/18832
摘要： Software tools, methods and apparatus for objectively assessing surgical and medical procedural skills are described. Data corresponding to performance of a manipulative task by a subject is modeled using Markov modeling techniques and compared with stored models corresponding to each of a plurality of proficiency levels. A particular proficiency level is selected based on proximity of the subject data relative to each of the stored models.
摘要翻译：描述了用于客观评估手术和医疗程序技能的软件工具，方法和装置。使用马尔科夫建模技术对与对象的操作任务的执行相对应的数据进行建模，并与与多个熟练度级别中的每一个相对应的存储模型进行比较。基于相对于每个存储的模型的主题数据的接近度来选择特定的熟练度。

5. 再颁专利

USRE37528E1 Direct-drive manipulator for pen-based force display 失效
标题翻译：直接驱动机械手，用于基于笔的力显示
公开(公告)号：USRE37528E1
公开(公告)日：2002-01-22
申请号：US09110370
申请日：1998-06-30
申请人： Blake Hannaford , Pietro Buttolo
发明人： Blake Hannaford , Pietro Buttolo
IPC分类号： G05B1500
CPC分类号： G06F3/016 , B25J9/106 , B25J13/02 , B25J13/085 , G06F3/0346 , G06F2203/015 , G09B23/28
摘要： A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.
摘要翻译：基于笔的直接驱动操纵器使得能够在三个自由度内精确地操纵和强制显示控制点。控制点基本上没有表现出齿隙，非常低的摩擦和非常低的惯性，使其作为力显示是有用的。机械手还具有非常高的力产生带宽，允许显示高频力分量。平行致动器结构在水平面中控制两个自由度的运动。并联结构是冗余结构，包括在控制点处并联耦合的三条链。冗余结构在整个机械手工作空间中提供均匀的力。一对旋转致动器围绕一个轴线旋转平行结构以近似沿着第三轴线的直线运动。旋转致动器为控制点提供第三自由度。关于第三轴的运动基本上与水平面的运动分离。

6. 发明授权

US5642469A Direct-drive manipulator for pen-based force display 失效
标题翻译：直接驱动机械手，用于基于笔的力显示
公开(公告)号：US5642469A
公开(公告)日：1997-06-24
申请号：US334621
申请日：1994-11-03
申请人： Blake Hannaford , Pietro Buttolo
发明人： Blake Hannaford , Pietro Buttolo
IPC分类号： B25J9/10 , B25J13/02 , B25J13/08 , G06F3/00 , G06F3/01 , G06F3/033 , G09B23/28 , G06F15/00
CPC分类号： G06F3/016 , B25J13/02 , B25J13/085 , B25J9/106 , G06F3/0346 , G09B23/28 , G06F2203/015
摘要： A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.
摘要翻译：基于笔的直接驱动操纵器使得能够在三个自由度内精确地操纵和强制显示控制点。控制点基本上没有表现出齿隙，非常低的摩擦和非常低的惯性，使其作为力显示是有用的。机械手还具有非常高的力产生带宽，允许显示高频力分量。平行致动器结构在水平面中控制两个自由度的运动。并联结构是冗余结构，包括在控制点处并联耦合的三条链。冗余结构在整个机械手工作空间中提供均匀的力。一对旋转致动器围绕一个轴线旋转平行结构以近似沿着第三轴线的直线运动。旋转致动器为控制点提供第三自由度。关于第三轴的运动基本上与水平面的运动分离。

7. 发明授权

US5528955A Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint 失效
标题翻译：具有位于不相邻接头处的第五致动器的五轴直驱迷你机器人
公开(公告)号：US5528955A
公开(公告)日：1996-06-25
申请号：US302564
申请日：1994-09-08
申请人： Blake Hannaford , Manuel R. Moreyra , Pierre-Henry M. J. Marbot
发明人： Blake Hannaford , Manuel R. Moreyra , Pierre-Henry M. J. Marbot
IPC分类号： B25J9/04 , B25J9/06 , B25J19/00 , G05G11/00
CPC分类号： B25J9/047 , B25J19/002 , B25J9/06 , Y10T74/20305 , Y10T74/20317 , Y10T74/20323
摘要： A substantially balanced, five-axis, direct drive mini-robot provides repeatable micro-manipulation to micron precision. Dynamic forces of each link are nearly decoupled from the dynamic forces of remaining links. The robot is generally formed as a shoulder, arm and wrist assembly. At the shoulder a linear actuator drives the robot in a linear horizontal movement along a first axis (e.g., z axis). Two additional actuators at the shoulder provide revolute motion to rotate the arm in an xz plane (e.g., for lateral motion) and a yz plane (e.g., for vertical motion), respectively. A fourth actuator provides rotational motion to move an end-effector (manipulator) at the wrist through a yaw motion. A fifth actuator, positioned at the shoulder and linked to the wrist, provides rotational motion to move the end-effector through a pitch motion.
摘要翻译：一个基本平衡的五轴直接驱动迷你机器人提供可重复的微操作，以微米精度。每个链路的动态力量与剩余链路的动态力几乎分离。机器人通常形成为肩部，手臂和腕部组件。在肩部处，线性致动器沿着第一轴线（例如，z轴线）以线性水平运动驱动机器人。在肩部的两个额外的致动器提供旋转运动以分别在xz平面（例如，用于横向运动）和yz平面（例如，用于垂直运动）中旋转臂。第四致动器提供旋转运动以通过偏航运动来移动手腕处的末端执行器（操纵器）。定位在肩部并连接到手腕的第五致动器提供旋转运动以通过俯仰运动来移动末端执行器。

8. 发明授权

US09775640B2 Surgical device 有权
公开(公告)号：US09775640B2
公开(公告)日：2017-10-03
申请号：US12943745
申请日：2010-11-10
申请人： Jesse A. Dosher , Diana C. W. Friedman , Daniel Glozman , Blake Hannaford , Aylin Z. Kim , Louis Kim , Thomas S Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
发明人： Jesse A. Dosher , Diana C. W. Friedman , Daniel Glozman , Blake Hannaford , Aylin Z. Kim , Louis Kim , Thomas S Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
IPC分类号： A61B1/00 , A61B17/34 , A61B18/22 , A61B17/00 , A61B17/29 , A61N7/02
CPC分类号： A61B17/3421 , A61B18/22 , A61B2017/003 , A61B2017/2906 , A61B2017/2908 , A61B2017/3447 , A61N7/022
摘要： A surgical device that has an external sheath having a proximal end and a distal end for insertion through an opening of a body and a plurality of tool components extending from the distal end of the external sheath. The tool components are independently deflectable with respect to each other and with respect to the external sheath and removable from the device without requiring withdrawal of the sheath through the opening of the body. The external sheath is flexible and deflectable intermediate the distal and proximal ends. This permits the device to be steered in a curvilinear manner towards a surgical target.

9. 发明申请

US20110257672A1 INTRODUCER DEVICE 有权
标题翻译：介绍设备
公开(公告)号：US20110257672A1
公开(公告)日：2011-10-20
申请号：US13051888
申请日：2011-03-18
申请人： Diana C.W. FRIEDMAN , Blake Hannaford , Devin Karns , Aylin Z. Kim , Louis Kim , Thomas S. Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
发明人： Diana C.W. FRIEDMAN , Blake Hannaford , Devin Karns , Aylin Z. Kim , Louis Kim , Thomas S. Lendvay , Kristen S. Moe , James S. Pridgeon , Jacob Rosen , Laligam Sekhar
IPC分类号： A61B17/00
CPC分类号： A61B34/35 , A61B17/00234 , A61B17/3421 , A61B17/3423 , A61B34/30 , A61B34/74 , A61B34/76 , A61B90/60 , A61B2017/00973 , A61B2017/3433 , A61B2017/3454 , A61M29/00 , B25J13/02 , G06F3/011 , G06F3/014 , G06F3/016
摘要： An introducer and method provides a surgical tool with a pathway through tissue to a surgical site, wherein the surgical tool includes at least one surgical instrument. The introducer comprises a flexible sheath having a distal portion including a distal end and is arranged for receiving the surgical tool. A tissue separation tip at the distal portion of the sheath advances the sheath into the tissue towards the surgical site. The tissue separation tip is arranged to form a tissue gap and provide the at least one surgical instrument access to the tissue gap for performing a medical procedure consonant with the formation of the tissue gap or the performance of work at the surgical site.
摘要翻译：导引器和方法为手术工具提供穿过组织到手术部位的通路，其中外科手术工具包括至少一个手术器械。导引器包括柔性护套，其具有包括远端的远侧部分，并且被布置成用于接收外科手术工具。在护套的远端部分处的组织分离尖端使护套进入组织朝向手术部位。组织分离尖端布置成形成组织间隙，并且提供至少一个手术器械进入组织间隙，用于执行与组织间隙的形成或手术部位的工作表现有关的医疗过程。

10. 发明授权

US09471142B2 Methods and systems for haptic rendering and creating virtual fixtures from point clouds 有权
标题翻译：从点云触觉渲染和创建虚拟夹具的方法和系统
公开(公告)号：US09471142B2
公开(公告)日：2016-10-18
申请号：US14125574
申请日：2012-06-15
申请人： Howard Jay Chizeck , Fredrik Rydén , Sina Nia Kosari , Blake Hannaford , Nicklas Gustafsson , Hawkeye I. King
发明人： Howard Jay Chizeck , Fredrik Rydén , Sina Nia Kosari , Blake Hannaford , Nicklas Gustafsson , Hawkeye I. King
IPC分类号： G06F3/01 , G06T15/40
CPC分类号： G06F3/016 , G06T15/405 , G06T2210/28 , G06T2210/56
摘要： Methods, articles of manufacture, and devices related to generating haptic feedback for point clouds are provided. A computing device receives depth data about an In-Contact environment. The computing device generates a point cloud from the depth data. The computing device determines a haptic interface point (HIP). The computing device determines a haptic interface point (HIP). The computing device determines a force vector between the HIP and point cloud. The computing device sends an indication of haptic feedback based on the force vector.
摘要翻译：提供了与产生点云的触觉反馈相关的方法，制品和设备。计算设备接收关于In-Contact环境的深度数据。计算设备从深度数据生成点云。计算设备确定触觉接口点（HIP）。计算设备确定触觉接口点（HIP）。计算设备确定HIP和点云之间的力向量。计算设备基于力向量发送触觉反馈的指示。

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