Surgical manipulator capable of controlling a surgical instrument in multiple modes
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-019/00
B25J-013/00
A61B-017/16
출원번호
US-0958070
(2013-08-02)
등록번호
US-9119655
(2015-09-01)
발명자
/ 주소
Bowling, David Gene
Stuart, John Michael
Culp, Jerry A.
Malackowski, Donald W.
Moctezuma de la Barrera, Jose Luis
Roessler, Patrick
Beer, Joel N.
Ketchel, John
출원인 / 주소
STRYKER CORPORATION
대리인 / 주소
Howard & Howard Attorneys PLLC
인용정보
피인용 횟수 :
15인용 특허 :
300
초록▼
A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes a switch and at least one controller configured to control operation of the surgical manipulator in a first operating mode or a sec
A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator further includes a switch and at least one controller configured to control operation of the surgical manipulator in a first operating mode or a second operating mode. The at least one controller is also configured to determine a commanded pose to which the energy applicator is advanced based on a summation of a plurality of input forces and torques and transition between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch.
대표청구항▼
1. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: a switch; andat least one controller configured to: control operation of said surgical manipulator in a first operating mode or a se
1. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: a switch; andat least one controller configured to: control operation of said surgical manipulator in a first operating mode or a second operating mode; determine a commanded pose to which the energy applicator is advanced based on a summation of a plurality of input forces and torques; and transition between said operating modes by adjusting said plurality of input forces and torques in response to actuation of said switch. 2. The surgical manipulator of claim 1, wherein said at least one controller is further configured to determine a commanded velocity at which the energy applicator is advanced based on said summation of said plurality of input forces and torques. 3. The surgical manipulator of claim 1, wherein said first operating mode is a manual mode to advance the energy applicator based on forces and torques applied to the surgical instrument by a user and said second operating mode is a semi-autonomous mode to advance the energy applicator along a tool path. 4. The surgical manipulator of claim 3, wherein said at least one controller is configured to reorient the surgical instrument in said semi-autonomous mode as the energy applicator advances along the tool path in response to reorientation forces and torques applied to the surgical instrument by the user while in said semi-autonomous mode. 5. The surgical manipulator of claim 3, wherein said at least one controller is configured to reorient the surgical instrument in said semi-autonomous mode as the energy applicator advances along the tool path in response to reorientation forces and torques applied to the surgical instrument by obstructions. 6. The surgical manipulator of claim 3, wherein said at least one controller is configured to transition from said semi-autonomous mode to said manual mode by adjusting two of said plurality of input forces and torques to zero. 7. The surgical manipulator of claim 1, including a plurality of links wherein a connection between two links forms a joint and wherein an angle between two links forms a joint angle. 8. The surgical manipulator of claim 7, wherein said at least one controller includes a plurality of modules, and wherein at least one of said plurality of modules is a behavior control module configured to determine said commanded pose, and wherein at least another of said plurality of modules is a motion control module configured to determine joint angles that position the energy applicator according to said commanded pose. 9. The surgical manipulator of claim 8, wherein said behavior control module is configured to model the surgical instrument and the energy applicator as a virtual rigid body having virtual mass and virtual inertia. 10. The surgical manipulator of claim 9, wherein said behavior control module is configured to selectively apply said plurality of input forces and torques to said virtual rigid body to emulate orientation and movement of the energy applicator. 11. The surgical manipulator of claim 9, wherein said behavior control module is further configured to determine a total force and a total torque, wherein said total force and total torque are applied to a center of gravity of said virtual rigid body. 12. The surgical manipulator of claim 11, wherein said behavior control module includes a total force summer module configured to calculate said total force and said total torque based on said plurality of input forces and torques. 13. The surgical manipulator of claim 11, wherein said total force and said total torque are a sum of an instrument force vector, an orientation force vector, and an environmental force. 14. The surgical manipulator of claim 13, wherein said instrument force vector is a vector having three distinct forces and three distinct torques, said instrument force vector being selectively applied to said virtual rigid body to emulate advancement of the energy applicator at a particular velocity, and wherein said orientation force vector is a force and torque vector selectively applied to said virtual rigid body to emulate repositioning of an axis of the surgical instrument towards a centering point, and wherein said environmental force is a weighted sum. 15. The surgical manipulator of claim 14, wherein said behavior control module further includes a tool path force calculator module configured to determine said instrument force vector and said orientation force vector. 16. The surgical manipulator of claim 14, wherein said behavior control module further includes an environmental force summer configured to determine said environmental force. 17. The surgical manipulator of claim 16, wherein said environmental force summer is configured to receive a plurality of force inputs that include one or more of: a joint limit force, an interference limit force, a workspace boundary force, an external force and a damping force. 18. The surgical manipulator of claim 17, wherein said environmental force is determined by summing said plurality of force inputs. 19. The surgical manipulator of claim 18, wherein said environmental force summer is configured to selectively balance a relative contribution of each force input by applying coefficients to each of said plurality of force inputs. 20. The surgical manipulator of claim 19, wherein said first mode is a manual mode and said second mode is a semi-autonomous mode and said coefficients vary as a function of a transition between said manual mode and said semi-autonomous mode such that said coefficients are increased or decreased over a time interval following said transition. 21. A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: a switch;at least one arm for connecting to the surgical instrument, said at least one arm having a plurality of links, wherein an angle between two links forms a joint angle; andat least one controller configured to: control operation of said surgical manipulator in a first operating mode or a second operating mode;model the surgical instrument and the energy applicator as a virtual rigid body;determine a commanded pose of the energy applicator based on a summation of a plurality of input forces and torques, wherein said plurality of input forces and torques are applied to said virtual rigid body to emulate orientation and movement of the energy applicator;determine commanded joint angles that position the energy applicator according to said commanded pose; andtransition between said operating modes by adjusting said plurality of input forces and torques in response to actuation of said switch. 22. The surgical manipulator of claim 21, wherein said first operating mode is a manual mode to advance the energy applicator based on forces and torques applied to the surgical instrument by a user and said second operating mode is a semi-autonomous mode to advance the energy applicator along a tool path. 23. The surgical manipulator of claim 22, wherein said at least one controller is configured to transition from said semi-autonomous mode to said manual mode by adjusting two of said plurality of input forces and torques to zero. 24. The surgical manipulator of claim 22, wherein in said manual mode, said forces and torques applied by the user indicate the user's desired positioning of the surgical instrument, and wherein said at least one controller emulates the user's desired positioning of the surgical instrument by positioning the surgical instrument according to said commanded pose. 25. The surgical manipulator of claim 22, wherein in said semi-autonomous mode, said plurality of input forces and torques include forces and torques directed to advancing and maintaining an orientation of the surgical instrument along the tool path. 26. The surgical manipulator of claim 21, wherein said at least one controller is configured to selectively balance a relative contribution of each of said summed plurality of input forces and torques by applying coefficients to each of said plurality of input forces and torques. 27. A method for controlling a surgical manipulator, wherein the surgical manipulator includes a switch and at least one arm connected to a surgical instrument, and wherein the at least one arm includes a plurality of links, and wherein an angle between two links forms a joint angle, and wherein an energy applicator extends from the surgical instrument, said method comprising the steps of: controlling operation of the surgical manipulator in a first operating mode or a second operating mode;modeling the surgical instrument and the energy applicator as a virtual rigid body;determining a commanded pose for the energy applicator based on a summation of a plurality of input forces and torques, wherein the plurality of input forces and torques are selectively applied to the virtual rigid body to emulate orientation and movement of the energy applicator;determining commanded joint angles that position the energy applicator according to the commanded pose; andtransitioning between the operating modes by adjusting the plurality of input forces and torques in response to actuation of the switch. 28. The method of claim 27, further including determining a commanded velocity at which the energy applicator is advanced based on the summation of the plurality of input forces and torques. 29. The method of claim 27, wherein controlling operation of the surgical manipulator in the first operating mode or the second operating mode includes: controlling operation of the surgical manipulator in a manual mode to advance the energy applicator based on forces and torques applied by a user on the surgical instrument; orcontrolling operation of the surgical manipulator in a semi-autonomous mode to advance the energy applicator along a tool path. 30. The method of claim 29, further including transitioning from the semi-autonomous mode to the manual mode by adjusting two of the plurality of input forces and torques to zero. 31. The method of claim 27, further including computing a total force and a total torque, wherein the total force and the total torque are applied to a center of gravity of the virtual rigid body. 32. The method of claim 31, wherein the total force and the total torque are a sum of an instrument force vector, an orientation force vector, and an environmental force. 33. The method of claim 32, wherein the instrument force vector is a vector having three distinct forces and three distinct torques, the instrument force vector being selectively applied to the virtual rigid body to emulate advancement of the energy applicator at a particular velocity, and wherein the orientation force vector is a force and torque vector selectively applied to the virtual rigid body to emulate repositioning of an axis of the surgical instrument towards a centering point, and wherein the environmental force is a weighted sum. 34. The method of claim 32, wherein the environmental force includes a plurality of force inputs that include one or more of: a joint limit force, an interference limit force, a workspace boundary force, an external force and a damping force. 35. The method of claim 34, wherein determining the environmental force includes summing the plurality of force inputs. 36. The method of claim 35, further including selectively balancing a relative contribution of each force input by applying coefficients to each of the plurality of force inputs. 37. The method of claim 36, wherein the first operating mode is a manual mode and the second operating mode is a semi-autonomous mode and further including varying the coefficients as a function of a transition between the manual mode and the semi-autonomous mode such that the coefficients are increased or decreased over a time interval following the transition. 38. The method of claim 29, further including reorienting the surgical instrument in the semi-autonomous mode as the energy applicator advances along the tool path in response to reorientation forces and torques applied to the surgical instrument by the user while in the semi-autonomous mode. 39. The method of claim 29, further including reorienting the surgical instrument in the semi-autonomous mode as the energy applicator advances along the tool path in response to reorientation forces and torques applied to the surgical instrument by obstructions.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (300)
Goodwin, William Alexander; Handley, Joshua Eric; Winston, Philip Brown, 3-D selection and manipulation with a multiple dimension haptic interface.
DiGioia ; III Anthony M. ; Simon David A. ; Jaramaz Branislav ; Blackwell Michael K. ; Morgan Frederick M. ; O'Toole Robert V. ; Kanade Takeo, Apparatus and method facilitating the implantation of artificial components in joints.
Wodicka George R. (West Lafayette IN) Mansfield Jeffrey P. (Lafayette IN) Voorhees William D. (West Lafayette IN), Apparatus and method for acoustically guiding, positioning, and monitoring a tube within a body.
DiGioia ; III Anthony M. ; Simon David A. ; Jaramaz Branislav ; Blackwell Michael K. ; Morgan Frederick M. ; O'Toole Robert V. ; Kanade Takeo, Apparatus and method for facilitating the implantation of artificial components in joints.
DiGioia III Anthony M. ; Simon David A. ; Jaramaz Branislav ; Blackwell Michael K. ; Morgan Frederick M. ; O'Toole Robert V. ; Kanade Takeo, Apparatus and method for facilitating the implantation of artificial components in joints.
Mark Peter Heilbrun ; Paul McDonald ; J. Clayton Wiker ; Spencer Koehler ; William Peters, Apparatus and method for photogrammetric surgical localization.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Yeh-Liang Hsu TW; Shih-Tseng Lee TW; Chong-Fai Wang TW; Jia-Wen Chen TW; Hao-Wei Lin TW; Tsung-Cheng Huang TW, Automatic bone drilling apparatus for surgery operation.
Morel Guillaume,FRX ; Dubowsky Steven, Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use ther.
Ulrich Daniel J. (Cincinnati OH) Weismiller Matthew W. (Batesville IN) Scott Tom (Indianapolis IN) Jennings Bob (Annandale VA) Myers Julie (Indianapolis IN) Novak Joe (Batesville IN), Bed status information system for hospital beds.
DiGioia ; III Anthony M. ; Simon David A. ; Jaramaz Branislav ; Blackwell Michael K. ; Morgan Frederick M. ; O'Toole Robert V. ; Kanade Takeo, Computer-assisted surgery planner and intra-operative guidance system.
Delp Scott L. (2728 Woodbine Evanston IL 60201) Loan J. Peter (3233 Harrison St. Evanston IL 60201) Robinson Craig B. (3307 N. Kenmore Ave. ; Apt. Garden-Front Chicago IL 60657) Wong Arthur Y. (8261/, Computer-assisted surgical system.
Malackowski,Don; Dozeman,Michael D.; Hoekstra,Paul M.; Wildgen,Michael R., Control console to which powered surgical handpieces are connected, the console configured to simultaneously energize more than one and less than all of the handpieces.
Ohm Timothy ; Boswell Curtis ; Das Hari ; Paljug Eric ; Rodriguez Guillermo ; Schenker Paul ; Lee Sukhan ; Barlow Ed ; Charles Steve, Decoupled six degree-of-freedom robot manipulator.
Ohm Timothy ; Das Hari ; Guillermo Rodriguez ; Boswell Curtis ; Paljug Eric ; Schenker Paul ; Barlow Ed ; Steve Charles, Decoupled six degree-of-freedom teleoperated robot system.
Mushabac David R. (919 Ocean Ave. Brooklyn NY 11226), Device for obtaining three dimensional contour data and for operating on a patient and related method.
Salisbury, Jr., J. Kenneth; Niemeyer, Gunter D.; Younge, Robert G.; Guthart, Gary S.; Mintz, David S.; Cooper, Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Braun, Adam C.; Beamer, Jonathan L.; Rosenberg, Louis B.; Chang, Dean C., Force feedback system including multi-tasking graphical host environment and interface device.
Madhani Akhil J. ; Salisbury J. Kenneth, Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced.
Bevirt JoeBen ; Moore David F. ; Norwood John Q. ; Rosenberg Louis B. ; Levin Mike D., Hemispherical, high bandwidth mechanical interface for computer systems.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) Ta, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Marquart, Joel; Hand, Randall; Quaid, III, Arthur E.; Arata, Louis K.; Abovitz, Rony A.; Sati, Marwan, Interactive computer-assisted surgery system and method.
H. Dean McGee ; Eric C. Lee ; Robert V. Bauer ; Peter J. Swanson ; Sai-Kai Cheng ; Chi-Keng Tsai ; Yi Sun, Lead-through teach handle assembly and method of teaching a robot assembly.
Skaar Steven B. ; Seelinger Michael J. ; Robinson Matthew L. ; Gonzalez Galvan Emilio J.,MXX, Means and method of robot control relative to an arbitrary surface using camera-space manipulation.
Hui Raymond Chung-Ying,CAX ; Hayward Vincent,CAX ; Ouellet Alain Gerard,CAX ; Peruzzini Walter,CAX ; Gregorio Pedro,CAX ; Wang Andrew,CAX ; Vukovich George,CAX, Mechanism for control of position and orientation in three dimensions.
Thilaka S. Sumanaweera ; John I. Jackson ; Michael G. Curley ; Randall Schlesinger ; John A. Hossack ; Linyong Pang, Medical diagnostic ultrasound system and method for mapping surface data for three dimensional imaging.
Kami Kuniaki (Hachioji JPX) Adachi Hideyuki (Hachioji JPX) Umeyama Koichi (Kasukabe JPX) Kosaka Yoshihiro (Hachioji JPX) Yamaguchi Seiji (Hachioji JPX) Fuse Eiichi (Hachioji JPX) Sato Michio (Hino JP, Medical system for reproducing a state of contact of the treatment section in the operation unit.
Pelzer, Martin; Neubrandt, Walter; Luber, Joachim; Mackevics, Arvids, Medical therapeutic and/or diagnostic apparatus having a position detecting device.
Braun, Adam C.; Tierling, Kollin M.; Martin, Kenneth M.; Schena, Bruce M., Method and apparatus for compensating for position slip in interface devices.
Craig B. Zilles ; J. Kenneth Salisbury, Jr. ; Thomas H. Massie ; David Lawrence Brock ; Mandayam A. Srinivasan ; Hugh B. Morgenbesser, Method and apparatus for determining forces to be applied to a user through a haptic interface.
Zilles Craig B. ; Salisbury ; Jr. J. Kenneth ; Massie Thomas H. ; Brock David Lawrence ; Srinivasan Mandayam A. ; Morgenbesser Hugh B., Method and apparatus for determining forces to be applied to a user through a haptic interface.
Zilles,Craig B.; Salisbury, Jr.,J. Kenneth; Massie,Thomas H.; Brock,David Lawrence; Srinivasan,Mandayam A.; Morgenbesser,Hugh B., Method and apparatus for determining forces to be applied to a user through a haptic interface.
Tarr Christopher ; Salisbury ; Jr. J. Kenneth ; Massie Thomas Harold ; Aviles Walter A., Method and apparatus for generating and interfacing with a haptic virtual reality environment.
Tarr, Christopher; Salisbury, Jr., J. Kenneth; Massie, Thomas Harold; Aviles, Walter A., Method and apparatus for generating and interfacing with a haptic virtual reality environment.
Tarr,Christopher; Salisbury, Jr.,Kenneth; Massie,Thomas Harold; Aviles,Walter A., Method and apparatus for generating and interfacing with a haptic virtual reality environment.
Wang Yulun ; Uecker Darrin R. ; Jordan Charles S. ; Wright James W. ; Laby Keith Phillip ; Wilson Jeff D., Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith P. ; Wilson Jeff D. ; Jordan Charles S. ; Ghodoussi Modjtaba ; Wright James W., Method and apparatus for performing minimally invasive surgical procedures.
Wang, Yulun; Uecker, Darrin; Laby, Keith P.; Wilson, Jeff D.; Jordan, Charles S.; Wright, James W.; Ghodoussi, Modjtaba, Method and apparatus for performing minimally invasive surgical procedures.
Yulun Wang ; Darrin Uecker ; Keith Laby ; Jeff Wilson ; Charles Jordan ; James Wright ; Modjtaba Ghodoussi, Method and apparatus for performing minimally invasive surgical procedures.
Bevirt,JoeBen; Moore,David F.; Norwood,John Q.; Rosenberg,Louis B.; Levin,Mike D., Method and apparatus for providing an interface mechanism for a computer simulation.
Jacobus Charles J. ; Griffin Jennifer Lynn, Method and system for simulating medical procedures including virtual reality and control method and system for use the.
Brent D. Mittelstadt, Method for determining the location and orientation of a bone for computer-assisted orthopedic procedures using intraoperatively attached markers.
Parker, Andrew J.; McKinney, Jr., Edward C.; Christianson, Tristan M.; Thalheimer, Richard J.; Lau, Shek Fai; Duncan, Mark; Taylor, Charles E., Multi-functional robot with remote and video system.
Philip C. Evans ; Frederic H. Moll ; Gary S. Guthart ; William C. Nowlin ; Rand P. Pendleton ; Christopher P. Wilson ; Andris D. Ramans ; David J. Rosa ; Volkmar Falk ; Robert G. Younge, Performing cardiac surgery without cardioplegia.
Katoh Kooichi,JPX ; Matsumoto Michio,JPX ; Sagara Makoto,JPX, Position control apparatus and method of the same, numerical control program preparation apparatus and method of the same, and methods of controlling numerical control machine tool.
Philippe Cinquin FR; Stephane Lavallee FR; Francois Leitner FR; Richard Minfelde FR; Frederic Picard ; Dominique Saragaglia FR; Hans-Joachim Schulz DE, Process and device for the preoperative determination of the positioning data of endoprosthetic parts.
Taylor Russell H. (Yorktown NY) Funda Janez (Valhalla NY) Grossman David D. (Chappaqua NY) Karidis John P. (Ossining NY) LaRose David A. (Croton on Hudson NY), Remote center-of-motion robot for surgery.
Cruz-Hernandez, Juan Manuel; Grant, Danny A.; Goldenberg, Alex S.; Gomez, Daniel H., Resistive and hybrid control schemes for haptic feedback interface devices.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Bernard Christopher J. ; Kang Hyosig ; Sachs Barton L. ; Singh Sunil K. ; Wen John T., Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery.
Rosenberg Louis B. (Pleasanton CA) Braun Adam C. (Sunnyvale CA) Schena Bruce M. (Menlo Park CA), Safe and low cost computer peripherals with force feedback for consumer applications.
Nowlin, William C.; Mohr, Paul W; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary, Software center and highly configurable robotic systems for surgery and other uses.
Malackowski, Donald W.; de la Barrere, Jose Luis Moctezuma; Hershberger, David E.; Bohringer, Markus; Forst, Peter; Buehner, Ulrich; Stangenberg, Martin; Culp, Jerry A.; Welte, Klaus, Surgery system.
Bucholz Richard D. ; Foley Kevin T. ; Smith Kurt R. ; Bass Daniel ; Wiedenmaier Thomas ; Pope Todd ; Wiedenmaier Udo, Surgical navigation systems including reference and localization frames.
Richard D. Bucholz ; Kevin T. Foley ; Kurt R. Smith ; Daniel Bass ; Thomas Wiedenmaier ; Todd Pope ; Udo Wiedenmaier, Surgical navigation systems including reference and localization frames.
Odermatt, Daniel; Bassik, Renen; Wu, Chunyan; Landeck, Danielle; Wojcik, Jason, Surgical robotic systems with manual and haptic and/or active control modes.
Sahay Alind ; Mittelstadt Brent ; Williamson ; Jr. Willie ; Zuhars Joel ; Kazanzides Peter, System and method for cavity generation for surgical planning and initial placement of a bone prosthesis.
Kaufman, Arie E.; Liang, Zhengrong; Wax, Mark R.; Wan, Ming; Chen, Dongquing, System and method for performing a three-dimensional examination with collapse correction.
Mittelstadt Brent D. ; Cohan Steven M. ; Schreiner Steve, System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system.
Taylor Russell Highsmith (Ossining NY) Kim Yong-yil (Seoul KRX), System for manipulating movement of a surgical instrument with computer controlled brake.
Loren Shih ; Walter A. Aviles ; Thomas H. Massie ; Christopher M. Tarr, Systems and methods for interacting with virtual objects in a haptic virtual reality environment.
Shih,Loren; Aviles,Walter A.; Massie,Thomas H.; Shannon, III,Walter C., Systems and methods for sculpting virtual objects in a haptic virtual reality environment.
Yanof, Jeffrey Harold; West, Karl J.; Bauer, Christopher; Kwartowitz, David Morgan, Tactile feedback and display in a CT image guided robotic system for interventional procedures.
Simon, David Anthnoy; Foley, Kevin T.; Carls, Thomas Andrew; Melkent, Anthony J., Trajectory storage apparatus and method for surgical navigation system.
Fukushima, Toshiyuki; Kura, Kaname; Sato, Masahir; Kida, Yoshiaki, Vehicular electronic control system, and electronic control unit, program, and storing member for the same.
Evans Richard John,GB2 ; Harris Christopher George,GB2 ; Colchester Alan Charles Francis,GB2, Video-based systems for computer assisted surgery and localisation.
Moctezuma de la Barrera, José Luis; Bowling, David Gene; Malackowski, Donald W.; Roessler, Patrick; Beer, Joel N., Robotic systems and methods for controlling a tool removing material from a workpiece.
Stuart, John Michael; Culp, Jerry A.; Moctezuma de la Barrera, Jose Luis, System and method for demonstrating planned autonomous manipulation of an anatomy.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.