专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US08526737B2 Method and apparatus for transforming coordinate systems in a telemanipulation system 失效
标题翻译：用于转换远程操作系统中的坐标系的方法和装置
公开(公告)号：US08526737B2
公开(公告)日：2013-09-03
申请号：US13281342
申请日：2011-10-25
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G06K9/34 , H04N13/00 , A61B1/04 , A61B19/00
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。

2. 发明授权

US08500753B2 Surgical manipulator for a telerobotic system 失效
标题翻译：用于远程操作系统的手术操纵器
公开(公告)号：US08500753B2
公开(公告)日：2013-08-06
申请号：US13240843
申请日：2011-09-22
申请人： Philip S. Green , Joel F. Jensen
发明人： Philip S. Green , Joel F. Jensen
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/71 , A61B90/50 , A61B2017/00477 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , A61B2090/0813 , A61B2090/506 , B25J3/04 , B25J15/04 , B25J18/04 , Y10T403/581 , Y10T403/587
摘要： A manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system, comprising an instrument holder (4) movably mounted on a base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.
摘要翻译：一种用于在远程操作系统中保持和操纵外科器械（14）的操纵器组件（2），包括可移动地安装在基座上的器械夹具（4）。仪器夹持器包括底盘（6）和可移动地安装在主体上并具有可与外科器械接合的界面的仪器支架（70），以将仪器可释放地安装到仪器架上。驱动组件（7）可操作地联接到仪器保持器，用于为仪器提供至少两个自由度。仪器架可与基座和驱动组件分离，以便保持器可以消毒。组件附接到远程中心定位器（300），用于约束仪器以旋转与入口切口重合的点和用于防止作用在系统机构上的重力被外科医生感觉到的倾斜计（350）。

3. 发明申请

US20110295315A1 SYSTEM AND METHOD FOR RELEASABLY HOLDING A SURGICAL INSTRUMENT 审中-公开
标题翻译：可持续手术器械的系统和方法
公开(公告)号：US20110295315A1
公开(公告)日：2011-12-01
申请号：US13198876
申请日：2011-08-05
申请人： Joel F. Jensen , Philip S. Green
发明人： Joel F. Jensen , Philip S. Green
IPC分类号： A61B17/28
CPC分类号： B25J18/04 , A61B17/29 , A61B34/35 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2017/00464 , A61B2017/00477 , A61B2017/2932 , A61B2034/305 , A61B2090/506 , B25J9/1065 , B25J15/04 , Y10T403/581 , Y10T403/587
摘要： The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.
摘要翻译：本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

4. 发明授权

US07890211B2 Master-slave manipulator system and apparatus 失效
标题翻译：主从机械手系统及装置
公开(公告)号：US07890211B2
公开(公告)日：2011-02-15
申请号：US11765883
申请日：2007-06-20
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G05B19/04
CPC分类号： A61B1/00193 , A61B17/00234 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/72 , A61B34/76 , A61B34/77 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/305 , A61B2090/064 , A61B2090/371 , B25J3/04 , B25J13/025 , B25J19/023 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.
摘要翻译：示出了具有远程呈现的远程操作器系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。相机（46R和46L）从不同的角度观看工作空间（30），用于在线（48R和48L）处产生立体信号输出。响应于相机输出，产生三维顶部到底部倒置图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。在控制臂（76R和76L）附近产生虚拟图像（30V），由操作者（18）看到控制臂的方向。公开了使用远程手术器系统进行外科手术的方法。

5. 发明授权

US06731988B1 System and method for remote endoscopic surgery 失效
标题翻译：远程内窥镜手术的系统和方法
公开(公告)号：US06731988B1
公开(公告)日：2004-05-04
申请号：US09583389
申请日：2000-05-30
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G05B1918
CPC分类号： A61B34/77 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2034/301 , A61B2090/064 , B25J3/04 , B25J19/023 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. By locating the workspace image (30V) adjacent the control arms (76R and 76L) the operator is provided with a sense that end effectors (40R and 40L) carried by manipulator arms (34R and 34L) and control arms (76R and 76L) are substantially integral. This sense of connection between the control arms (76R and 76L) and end effectors (40R and 40L) provide the operator with the sensation of directly controlling the end effectors by hand. By locating visual display (246) adjacent control arms (244R and 244L) image (240I) of the workspace is directly viewable by the operator (FIGS. 12 and 13). Use of the teleoperator system for surgical procedures is also disclosed (FIGS. 7-9 and 13).
摘要翻译：示出了具有远程呈现的远程操作器系统，其包括用于通过使用包括计算机（42）的伺服机构来控制右操纵器（24R和24L）的左右控制器（72R和72L）。相机（46R和46L）从不同的角度观看工作空间（30），用于在线（48R和48L）处产生立体信号输出。响应于相机输出，产生三维顶部到底部倒置图像（30I），其被反射镜（66）反射到操作者（18）的眼睛。在控制臂（76R和76L）附近产生虚拟图像（30V），由操作者（18）看到控制臂的方向。通过将工作空间图像（30V）定位在与控制臂（76R和76L）相邻的位置，操作者具有由操纵臂（34R和34L）和控制臂（76R和76L）承载的末端执行器（40R和40L）和控制臂基本一体。控制臂（76R和76L）与末端执行器（40R和40L）之间的连接感为操作者提供了用手直接控制末端执行器的感觉。通过定位相邻控制臂（244R和244L）的视觉显示（246），工作空间的图像（240I）可由操作者直接观看（图12和13）。还公开了用于外科手术的远程手术器系统的使用（图7-9和13）。

6. 发明授权

US06221007B1 System and method for endoscopic imaging and endosurgery 失效
标题翻译：内窥镜成像和外科手术的系统和方法
公开(公告)号：US06221007B1
公开(公告)日：2001-04-24
申请号：US09241321
申请日：1999-02-01
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： A61B104
CPC分类号： A61B1/3132 , A61B1/00052 , A61B1/00135 , A61B1/00183 , A61B1/00193 , A61B1/018 , A61B1/042 , A61B1/0607 , A61B17/00234 , A61B17/3421 , A61B90/36 , A61B2017/00469 , A61B2017/347 , A61B2090/372 , A61B2090/373
摘要： An endoscopic surgical system for use in endoscopic surgery including an endosurgical instrument having an elongated shaft and an end-effector operably mounted to a distal end of the shaft. A video endoscope device includes an elongated telescope portion containing a distal viewing face, and a coupling device couples the instrument to the endoscope device. This coupling substantially maintains the relative position of the elongated shaft adjacent the telescope portion such that the endoscope viewing face is rearward of the distal end effector to view the distal end-effector from a position along the shaft. A handle portion is provided operably coupled to the coupling device in a manner enabling the distal end-effector and the viewing face to be manually positioned as a single unit during endoscopic surgery. The handle portion is further configured to manually operate the end-effector. A video display device is operably coupled to the coupling device at a viewing angle and location therealong wherein an image of the end-effector displayed on the display device appears to be a substantially direct view of the end-effector that is positioned in-line with the insertion shaft.
摘要翻译：一种用于内窥镜手术的内窥镜手术系统，包括具有细长轴的内科器械和可操作地安装到所述轴的远端的末端执行器。视频内窥镜装置包括包含远端观察面的细长望远镜部分，耦合装置将仪器连接到内窥镜装置。该联接器基本上保持细长轴相对于望远镜部分的相对位置，使得内窥镜观察面在远端执行器的后方，以从远离轴的位置观察远端执行器。提供可操作地联接到联接装置的手柄部分，使得能够在内窥镜手术期间使远端末端执行器和观察面手动地定位为单个单元。手柄部分还被配置为手动操作末端执行器。视频显示装置以与其相对的视角和位置可操作地耦合到耦合装置，其中显示在显示装置上的末端执行器的图像看起来是与位于与插入轴。

7. 发明授权

US5928137A System and method for endoscopic imaging and endosurgery 失效
标题翻译：内窥镜成像和外科手术的系统和方法
公开(公告)号：US5928137A
公开(公告)日：1999-07-27
申请号：US841167
申请日：1997-04-29
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： A61B1/00 , A61B1/012 , A61B1/018 , A61B1/04 , A61B1/313 , A61B17/00 , A61B17/34 , A61B19/00
CPC分类号： A61B1/00052 , A61B1/00135 , A61B1/00183 , A61B1/018 , A61B1/042 , A61B1/0607 , A61B1/3132 , A61B90/36 , A61B1/00193 , A61B17/00234 , A61B17/3421 , A61B2017/00469 , A61B2017/347 , A61B2090/372 , A61B2090/373
摘要： A video image display is attached to a video endoscopic surgical component such as video endoscope, an endoscopic surgical instrument, a carrier for coupling the endoscope and the instrument, or a cannula through which the endoscope or the instrument is passed into a body part. Attachment is by means of an attachment mechanism which may be adjusted to enable the display position to be varied with respect to the component to which it is attached. According to another embodiment, a carrier in the form of an elongated tube is employed to combine and relate the movement of the endoscope and endosurgical instrument, which, by means of the carrier, may be jointly inserted into a body part either directly or through a cannula, enabling the surgeon to operate both the endoscope and the instrument with a single hand. A video display attached to the endoscope or carrier and positioned near the instrument actuation handle provides the surgeon with a visual perspective similar to that encountered in open surgery.
摘要翻译：视频图像显示器附接到视频内窥镜外科部件，例如视频内窥镜，内窥镜手术器械，用于联接内窥镜和器械的载体，或内窥镜或器械通过其穿过身体部分的插管。附件是借助于可以被调节以使显示位置相对于其所附接的部件变化的连接机构。根据另一个实施例，采用细长管形式的载体来组合并关联内窥镜和内窥镜器械的移动，内窥镜和内窥镜器械借助于载体可以直接地或通过一个套管，使得外科医生能够用单手操作内窥镜和仪器。附接到内窥镜或载体并且位于仪器致动手柄附近的视频显示器为外科医生提供类似于在开放手术中遇到的视觉透视。

8. 发明授权

US5859934A Method and apparatus for transforming coordinate systems in a telemanipulation system 失效
公开(公告)号：US5859934A
公开(公告)日：1999-01-12
申请号：US783644
申请日：1997-01-14
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： B25J3/00 , A61B17/00 , A61B19/00 , B25J3/04 , B25J7/00 , B25J9/16 , B25J19/02 , B25J19/04 , B65B5/06 , B65B35/50 , B65B57/20 , B65B59/00 , G03C1/005 , G03C1/09 , G06T1/00 , G06T3/00 , G06T17/40 , H04N13/00 , G06K9/32 , A61B1/00
CPC分类号： H04N13/0497 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J19/023 , B25J3/04 , B25J9/1689 , G06T1/0014 , G06T3/00 , H04N13/0239 , H04N13/0246 , H04N13/0296 , H04N13/0434 , H04N13/0438 , A61B17/00234 , A61B90/361 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , H04N13/0055 , H04N13/0059
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

9. 发明授权

US5631973A Method for telemanipulation with telepresence 失效
标题翻译：远程呈现远程操作的方法
公开(公告)号：US5631973A
公开(公告)日：1997-05-20
申请号：US239086
申请日：1994-05-05
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： B25J3/00 , A61B17/00 , A61B19/00 , B25J3/04 , B25J7/00 , B25J9/16 , B25J19/02 , B25J19/04 , B65B5/06 , B65B35/50 , B65B57/20 , B65B59/00 , G03C1/005 , G03C1/09 , G06T1/00 , G06T3/00 , G06T17/40 , H04N13/00 , G06K9/32 , A61B1/00
CPC分类号： H04N13/0497 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J19/023 , B25J3/04 , B25J9/1689 , G06T1/0014 , G06T3/00 , H04N13/0239 , H04N13/0246 , H04N13/0296 , H04N13/0434 , H04N13/0438 , A61B17/00234 , A61B90/361 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , H04N13/0055 , H04N13/0059
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.
摘要翻译：在用于操作位于远程工作场所的工作空间中的物体的遥控操作系统中，操作者从操作员站（例如在远程外科系统中）操纵远程工作现场，具有操纵器，其具有用于在工作空间操纵物体的末端执行器，作为体腔，控制器包括在控制操作员站处的用于遥控操纵器的手控制，诸如照相机的图像捕获装置和用于再现可视实时图像的图像输出装置，其中，与图像捕获装置相关联的位置传感器感测相对于末端执行器的位置，并且处理器通过手动控制器的末端执行器的相关操作将可视实时图像转换为透视图像，使得操作者可以操纵末端执行器和操纵器就好像在真实的存在下查看工作空间。根据本发明的图像变换包括平移，旋转和透视校正。

10. 发明授权

US4446740A Frequency controlled hybrid ultrasonic imaging arrays 失效
标题翻译：频率混合超声波成像阵列
公开(公告)号：US4446740A
公开(公告)日：1984-05-08
申请号：US356467
申请日：1982-03-09
申请人： David A. Wilson , James L. Buxton , Philip S. Green
发明人： David A. Wilson , James L. Buxton , Philip S. Green
IPC分类号： G01S7/52 , G01S15/89 , G01N29/00
CPC分类号： G01S7/52085 , G01S15/8918 , G01S7/52046 , G01S7/5206
摘要： This ultrasonic imaging apparatus has an array (44, 52 or 100) of transducer elements (44, 50 or 104) for transmitting ultrasonic signals having a first predetermined center frequency (fc1) into an object (12) to be analyzed through use of the transmitted signals reflected from within the object. A means (150, 116-1 through 116-X and 120-1 through 120-X) is connected to transmit the ultrasonic signals from the array (44, 52 or 104) in a stepped array mode. A means (150, 116-1 through 116-X and 120-1 through 120-X) is connected to transmit the ultrasonic signals from the array (44, 52 or 104) in an angle scanning mode. There is a means (150, 128-1 through 128-X) for focusing the transmitted signals at a desired depth within the object (12). The reflected signals sensed by the apparatus have a second center frequency (fc2) less than the first center frequency (fc1) as a result of signal attenuation by the object (12). There is a means connected to select between the stepped array transmission mode and the angle scanning transmission mode for operating the array elements based on the second center frequency (fc2). Varying the operating mode of the apparatus on this basis gives improved image resolution over a wider operating range than with prior art systems.
摘要翻译：该超声波成像装置具有用于将具有第一预定中心频率（fc1）的超声波信号发送到待分析的物体（12）的换能器元件（44,50或104）的阵列（44,452或100）从物体内反射的发射信号。连接装置（150,116-1至116-X和120-1至120-X）以分阶阵列模式从阵列（44,452或104）传送超声波信号。连接装置（150,116-1至116-X和120-1至120-X）以角度扫描模式从阵列（44,452或104）传送超声波信号。存在用于将所发送的信号聚焦在物体（12）内的期望深度的装置（150,128-1至128-X）。作为由物体（12）的信号衰减的结果，由装置感测到的反射信号具有小于第一中心频率（fc1）的第二中心频率（fc2）。连接有用于基于第二中心频率（fc2）在步进阵列传输模式和用于操作阵列元件的角度扫描传输模式之间进行选择的装置。在此基础上改变设备的操作模式在现有技术的系统中，在更宽的操作范围内提供了改进的图像分辨率。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式