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公开(公告)号：DE69322202D1
公开(公告)日：1999-01-07
申请号：DE69322202
申请日：1993-05-13
Applicant: IBM
Inventor： FUNDA JANEZ , LAROSE DAVID ARTHUR , TAYLOR RUSSELL HIGHSMITH
Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
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公开(公告)号：ES2102577T3
公开(公告)日：1997-08-01
申请号：ES93117400
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：ES2123586T3
公开(公告)日：1999-01-16
申请号：ES93107816
申请日：1993-05-13
Applicant: IBM
Inventor： FUNDA JANEZ , LAROSE DAVID ARTHUR , TAYLOR RUSSELL
Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
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Patent Agency Ranking
公开(公告)号：AT173596T
公开(公告)日：1998-12-15
申请号：AT93107816
申请日：1993-05-13
Applicant: IBM
Inventor： FUNDA JANEZ , LAROSE DAVID ARTHUR , TAYLOR RUSSELL HIGHSMITH
Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
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公开(公告)号：AT152026T
公开(公告)日：1997-05-15
申请号：AT93117400
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：DE69322202T2
公开(公告)日：1999-07-01
申请号：DE69322202
申请日：1993-05-13
Applicant: IBM
Inventor： FUNDA JANEZ , LAROSE DAVID ARTHUR , TAYLOR RUSSELL HIGHSMITH
Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.
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公开(公告)号：DE69310085T2
公开(公告)日：1997-10-16
申请号：DE69310085
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：DE69310085D1
公开(公告)日：1997-05-28
申请号：DE69310085
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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