[특허]Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus

[미국특허] Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A61B-019/00 G05B-015/02
출원번호	US-0491788 (2000-01-26)
발명자 / 주소	Ela Ben-Ur
출원인 / 주소	Massachusetts Institute of Technology
대리인 / 주소	Steven J. Weissburg
인용정보	피인용 횟수 : 205 인용 특허 : 13

초록 ▼

A handle module actuates handles of a user interface for various applications, including minimally invasive surgery ("MIS"). A modified MIS tool handle has two shafts that translate relative to each other upon relative motion of the handles. They also can rotate relative to each other. A housing engages both. The first is translationally fixed and rotatably free relative to the housing. An actuator actuates rotation of the first shaft. The second shaft is coupled to the housing such that it is rotationally fixed about and translatable along the axis of its elongation. The second shaft is fixed to a cartridge that is a linear capstan and translates relative to the housing, in response to relative translation of the shafts. A jaw action actuator is coupled to the cartridge through a cable drive, and can actuate the relative translation of the shafts, and thus, the handles. The jaw action actuator can actuate jaw action of a tool in a tool environment, either virtual, or actual. The first actuator can actuate rotation of the tool in a tool environment. The handle module can actuate both the jaw action of a jawed tool, as well as rotation around the long axis of the shafts. The actuation may also provide force feedback, for use as a simulator, or telerobotic master. A base mechanical interface can be added, that provides additional degrees of freedom, to enable simulation and force feedback that represent MIS insertion, pitch and yaw around the insertion point.

대표청구항 ▼

1. A haptic apparatus to interface a human user with a tool environment through the interchange of force, the apparatus comprising:a. a user contact element for physically contacting a body member of the user, the contact element comprising a pair of first and second contact members that are movable relative to each other; b. a first elongated member that is translationally fixed to the first contact member; c. a second elongated member that is parallel with the first elongated member, and that is coupled to the second contact member, such that the second elongated member is translatable relative to the first elongated member upon relative motion of the first and second contact members, the second elongated member further being rotatable relative to the first elongated member upon rotation of the first contact member relative to the second elongated member; d. a first actuator, which is coupled to both of the first and second elongated members, such that upon actuation the first actuator actuates relative translation of the first and second elongated members; and e. a second actuator, which is coupled to both of the elongated members, such that upon actuation, the second actuator actuates relative rotation of the first and second elongated members about an axis parallel to their axes of elongation.

이 특허에 인용된 특허 (13) 인용/피인용 타임라인 분석

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Hon David C. (1450 Northwest Woodbine Way Seattle WA 98103), Expert system simulator for modeling realistic internal environments and performance.
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Massie Thomas H. (Vanceburg KY) Salisbury ; Jr. J. Kenneth (Cambridge MA), Force reflecting haptic interface.
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Madhani Akhil J. ; Salisbury J. Kenneth, Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced.
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Tuason Leo B. (130 Boring Pl. Martinsville IN 46151), Laparoscopic surgery simulator and method of use.
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Martin Kenneth M. ; Levin Mike D. ; Rosenberg Louis B., Mechanical interface having multiple grounded actuators.
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Rosenberg Louis B., Method and apparatus for providing passive force feedback to human-computer interface systems.
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Sinclair Michael J. ; Peifer John W., Surgical simulator and method for simulating surgical procedure.
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Gillio Robert G., Virtual surgery system instrument.
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Madhani Akhil J. ; Salisbury J. Kenneth, Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitiv.
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Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
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Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
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Nowlin, William C.; Mohr, Paul W.; Schena, Bruce Michael; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
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Shelton, IV, Frederick E., Staple cartridges for forming staples having differing formed staple heights.
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Swayze, Jeffrey S.; Hueil, Joseph C.; Morgan, Jerome R.; Shelton, IV, Frederick E., Stapling assembly configured to produce different formed staple heights.
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Shelton, IV, Frederick E.; Harris, Jason L., Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw.
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Schmid, Katherine J.; Morgan, Jerome R.; Korvick, Donna L.; Shelton, IV, Frederick E., Stapling system comprising an adjunct and a flowable adhesive.
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Shelton, IV, Frederick E.; Baxter, III, Chester O.; Aronhalt, Taylor W.; Young, Joseph E., Stapling system including an actuation system.
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Iddan, Gavriel; Tolkowsky, David; Cohen, Ran; Blank, Jacob, Stepwise advancement of a medical tool.
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Beckman, Andrew T.; Nalagatla, Anil K.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band.
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Beckman, Andrew T.; Nalagatla, Anil K.; Koch, Jr., Robert L.; Hibner, John A.; Shelton, IV, Frederick E., Surgical apparatus configured to track an end-of-life parameter.
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Shelton, IV, Frederick E., Surgical cutting and fastening instrument.
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Shelton, IV, Frederick E.; Swayze, Jeffrey S.; Baxter, III, Chester O., Surgical fastening apparatus with a rotary end effector drive shaft for selective engagement with a motorized drive system.
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Brock, David L.; Lee, Woojin, Surgical instrument.
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Yates, David C.; Huitema, Thomas W.; Shelton, IV, Frederick E., Surgical instrument comprising a control system.
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Overmyer, Mark D.; Auld, Michael D.; Adams, Shane R.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical instrument comprising a lockable battery housing.
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Leimbach, Richard L.; Beckman, Andrew T.; Schultz, Darwin L.; Adams, Shane R., Surgical instrument comprising a rotatable shaft.
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Lee,Woojin; Mazzuca,Michael J.; Gorhan,Michael C., Surgical instrument coupling mechanism.
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Brock, David L.; Lee, Woojin, Surgical instrument design.
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Kerr, Wendy A.; Lytle, IV, Thomas W.; Overmyer, Mark D.; Swensgard, Brett E.; Sackett, Kevin D.; Leimbach, Richard L.; Houser, Kevin L.; Morgan, Jerome R.; Shelton, IV, Frederick E., Surgical instrument system comprising lockable systems.
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Yates, David C.; Shelton, IV, Frederick E.; Giordano, James R., Surgical instrument system for evaluating tissue impedance.
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Shelton, IV, Frederick E.; Baxter, III, Chester O., Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge.
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Hunter, Morgan R.; Schultz, Darwin L.; Worthington, Sarah A.; Shelton, IV, Frederick E.; Weaner, Lauren S.; Vendely, Michael J., Surgical instrument with articulating and axially translatable end effector.
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Brock, David L.; Lee, Woojin, Surgical instruments.
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Hunter, Morgan R.; Schultz, Darwin L.; Dunki-Jacobs, Adam R.; Baxter, III, Chester O.; Swayze, Jeffrey S., Surgical instruments with tensioning arrangements for cable driven articulation systems.
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Crawford, Neil R.; Theodore, Nicholas; Foster, Mitchell A, Surgical robot platform.
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Adams, Shane R.; Yates, David C.; Shelton, IV, Frederick E.; Harris, Jason L., Surgical shaft assemblies with watertight housings.
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Chosack, Edna; Barkay, David; Bronstein, Ran; Fisher, Niv, Surgical simulation device, system and method.
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Cunningham, Richard L.; Cohen, Robert F.; Brown, J. Michael; Falk, Robert B., Surgical simulation interface device and method.
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Harris, Jason L.; Morgan, Jerome R.; Zeiner, Mark S.; Shelton, IV, Frederick E., Surgical staple and driver arrangements for staple cartridges.
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Murray, Michael A.; Morgan, Jerome R.; Hess, Christopher J.; Weisenburgh, II, William B.; Zwolinski, Andrew M., Surgical staple cartridge.
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Overmyer, Mark D.; Yates, David C.; Shelton, IV, Frederick E.; Adams, Shane R.; Leimbach, Richard L., Surgical stapler having motor control based on an electrical parameter related to a motor current.
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Shelton, IV, Frederick E.; Setser, Michael E.; Weisenburgh, II, William B., Surgical stapling instrument with lockout features to prevent advancement of a firing assembly unless an unfired surgical staple cartridge is operably mounted in an end effector portion of the instrument.
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Shelton, IV, Frederick E.; Morgan, Jerome R., Surgical stapling instruments with rotatable staple deployment arrangements.
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Johnson, Norbert; Stevens, Robert; Salem, Hisham; Cheng, Yuan, Surgical tool systems and method.
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Miller, Daniel; Swarup, Nitish; Turner, Michael; Hourtash, Arjang M.; Griffiths, Paul G.; Mohr, Paul W., System and method for breakaway clutching in an articulated arm.
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Merril, Gregory L.; Cunningham, Richard L.; Brown, J. Michael; Cohen, Robert F.; Feldman, Philip G., System and method for controlling force applied to and manipulation of medical instruments.
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Quaid, III,Arthur E., System and method for haptic sculpting of physical objects.
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Quaid, III, Arthur E., System and method for interactive haptic positioning of a medical device.
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Quaid, III, Arthur E., System and method for interactive haptic positioning of a medical device.
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Abovitz,Rony A.; Quaid, III,Arthur E.; Santos Munne,Julio J., System and method for intra-operative haptic planning of a medical procedure.
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Boulware, Paul Christopher; Conrardy, Christopher C.; Clark, Douglas A.; Forquer, M. William, System and method for manual welder training.
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Boulware, Paul Christopher; Conrardy, Christopher C.; Clark, Douglas A.; Forquer, M. William, System and method for manual welder training.
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Quaid, Arthur E.; Abovitz, Rony A., System and method for performing surgical procedure using drill guide and robotic device operable in multiple modes.
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Quaid, III, Arthur E., System and method for using a haptic device as an input device.
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Arata, Louis; Aly, Sherif; Van Vorhis, Robert; Glauser, Sandi; Blackwell, Timothy; Abovitz, Rony; Ferre, Maurice R., System and method for verifying calibration of a surgical device.
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Boulware, Paul Christopher; Conrardy, Christopher C.; Clark, Douglas A.; Forquer, M. William, System for characterizing manual welding operations.
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Boulware, Paul Christopher; Conrardy, Christopher C.; Clark, Douglas A.; Forquer, M. William, System for characterizing manual welding operations.
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Boulware, Paul Christopher; Conrardy, Christopher C.; Clark, Douglas A.; Forquer, M. William, System for characterizing manual welding operations.
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Conrardy, Christopher C.; Boulware, Paul C., System for characterizing manual welding operations.
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Shelton, IV, Frederick E.; Harris, Jason L.; Yates, David C., System for controlling articulation forces.
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Hourtash, Arjang M.; Hingwe, Pushkar; Schena, Bruce Michael; Devengenzo, Roman L., Systems and methods for avoiding collisions between manipulator arms using a null-space.
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Hourtash, Arjang M.; Hingwe, Pushkar; Schena, Bruce Michael; Devengenzo, Roman L., Systems and methods for avoiding collisions between manipulator arms using a null-space.
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Hourtash, Arjang M.; Mohr, Paul W.; Hingwe, Pushkar; Millman, Paul; Schena, Bruce Michael; Devengenzo, Roman L.; Luke, Scott, Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space.
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Hourtash, Arjang M.; Mohr, Paul W.; Hingwe, Pushkar; Millman, Paul; Schena, Bruce Michael; Devengenzo, Roman L.; Luke, Scott, Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space.
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Ullrich, Christopher J., Systems and methods for minimally invasive surgical tools with haptic feedback.
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Cohen, Robert F.; Meents, Mark S., Systems and methods for sensing hand motion by measuring remote displacement.
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Quaid, Arthur E.; Abovitz, Rony A., Teleoperation system with visual indicator and method of use during surgical procedures.
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Brown, Garrett W.; Holway, Jerry, Tensile parallelogram arm.
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Shelton, IV, Frederick E.; Harris, Jason L.; Swensgard, Brett E.; Leimbach, Richard L.; Adams, Shane R.; Overmyer, Mark D., Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures.
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Johansson, Christer; Larsson, Anders, User interface device for surgical simulation system.
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Daniel, Joseph A.; Postlethwaite, Deanna; Blankenship, George D., Virtual reality and real welding training system and method.
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Postlethwaite, Deanna; Zboray, David; Gandee, Chris; Aditjandra, Antonius; Wallace, Matthew; Lenker, Zach, Virtual reality pipe welding simulator and setup.
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Ullrich, Christopher J.; Kunkler, Kevin J., Virtual tool manipulation system.
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Conrardy, Christopher C.; Penrod, Victor M.; Boulware, Paul C.; Reichert Lamorte, Constance T., Welding training system.
상세보기
Penrod, Victor Matthew; Boulware, Paul C.; Conrardy, Christopher C.; Reichert LaMorte, Constance T., Welding training system.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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[미국특허] Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus 원문보기

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[미국특허] Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

전체(0) 논문(0) 특허(0) 보고서(0)

이 특허에 인용된 특허 (13) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (205) 인용/피인용 타임라인 분석

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