公开(公告)号：WO2014165060A3

公开(公告)日：2014-12-24

申请号：PCT/US2014024269

申请日：2014-03-12

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSÉ LUIS ,  ROESSLER PATRICK ,  CULP JERRY A ,  STUART JOHN MICHAEL ,  BEER JOEL N

IPC: A61B19/00 ,  A61B17/02 ,  A61B17/56

CPC classification number: A61B34/30 ,  A61B17/02 ,  A61B17/16 ,  A61B19/2203 ,  A61B34/20 ,  A61B34/32 ,  A61B90/03 ,  A61B2017/00734 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/2068 ,  A61B2090/3937 ,  A61B2090/3945 ,  A61B2090/3983 ,  Y10S901/09 ,  Y10S901/47

Abstract: Systems and methods for establishing and tracking virtual boundaries are disclosed. The virtual boundaries can delineate zones in which an instrument (22) is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument (22) is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures (F,T) to be treated by the instrument (22) or to be avoided by the instrument (22) during the surgical procedure.

Abstract translation: 公开了建立和跟踪虚拟边界的系统和方法。 虚拟边界可以描绘在手术过程中不允许仪器（22）的区域。 虚拟边界还可以描绘外科手术期间允许手术器械（22）的区域。 虚拟边界还可以识别待由仪器（22）处理的物体或结构（F，T）或在外科手术过程中被仪器（22）避免。

公开(公告)号：WO2014151550A3

公开(公告)日：2014-11-27

申请号：PCT/US2014025975

申请日：2014-03-13

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  CULP JERRY A ,  MALACKOWSKI DONALD W ,  ROESSLER PATRICK ,  BEER JOEL N ,  KETCHEL JOHN ,  MOCTEZUMA DE LA BARRERA JOSÉ LUIS

IPC: A61B19/00 ,  A61B17/16

CPC classification number: B25J13/00 ,  A61B17/16 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/70 ,  A61B34/76 ,  A61B2034/107 ,  A61B2034/2046

Abstract: A surgical system is provided to remove a predetermined volume of material from a workpiece using a surgical instrument having an energy applicator extending therefrom. The surgical system includes a tool path generator module, a manipulator controller, and a material logger module wherein the tool path generator module modifies a tool path based on an updated solid body model such that the tool path in semi-autonomous mode traverses only areas wherein the predetermined volume of material remains.

Abstract translation: 提供外科系统以使用具有从其延伸的能量施加器的手术器械从工件移除预定体积的材料。 手术系统包括刀具路径发生器模块，操纵器控制器和材料记录器模块，其中刀具路径发生器模块基于更新的实体模型修改刀具路径，使得半自主模式中的刀具路径仅穿过其中 预定体积的材料保留。

公开(公告)号：WO2014022786A2

公开(公告)日：2014-02-06

申请号：PCT/US2013053451

申请日：2013-08-02

Applicant: STRYKER CORP

Inventor： 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

IPC: A61B19/00

CPC classification number: A61B34/74 ,  A61B17/16 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2046 ,  A61B2034/2055 ,  A61B2034/2059 ,  B25J9/161 ,  B25J9/1633 ,  B25J13/00 ,  Y10S901/09

Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument. The surgical manipulator includes at least one controller configured to determine a commanded pose to which the energy applicator is advanced, wherein the commanded pose is determined based on a plurality of force and torque signals.

Abstract translation: 用于操纵手术器械的手术操纵器和从手术器械延伸的能量施加器。 手术操纵器包括至少一个控制器，其被配置为确定能量施加器向前推进的指令姿势，其中基于多个力和扭矩信号来确定所述指令姿势。

公开(公告)号：AU2019275554B2

公开(公告)日：2020-11-26

申请号：AU2019275554

申请日：2019-12-03

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  CULP JERRY A ,  MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSE LUIS ,  ROESSLER PATRICK ,  BEER JOEL N

IPC: A61B17/16

Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate, wherein said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semi autonomous mode and wherein said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables, wherein said feed rate calculator is configured to adjust said defined feed rate based on a signal from a force overrider module so that said instrument feed rate is zero, said force overrider module configured to be run by said at least one controller to compare forces and torques to one or more limit values and generate said signal when said one or more limit values are exceeded, wherein said force overrider module is configured to output said signal to transition said surgical manipulator from said semi-autonomous mode to said manual mode.

公开(公告)号：AU2014248758B2

公开(公告)日：2018-04-12

申请号：AU2014248758

申请日：2014-03-12

Applicant: STRYKER CORP

Inventor： MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSE LUIS ,  ROESSLER PATRICK ,  CULP JERRY A ,  STUART JOHN MICHAEL ,  BEER JOEL N ,  BOWLING DAVID GENE

IPC: A61B17/02 ,  A61B17/56

Abstract: Systems and methods for establishing and tracking virtual boundaries are disclosed. The virtual boundaries can delineate zones in which an instrument (22) is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument (22) is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures (F,T) to be treated by the instrument (22) or to be avoided by the instrument (22) during the surgical procedure.

公开(公告)号：CA2897873A1

公开(公告)日：2014-10-09

申请号：CA2897873

申请日：2014-03-12

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSE LUIS ,  ROESSLER PATRICK ,  CULP JERRY A ,  STUART JOHN MICHAEL ,  BEER JOEL N

IPC: A61B19/00 ,  A61B17/02 ,  A61B17/56

Abstract: Systems and methods for establishing and tracking virtual boundaries are disclosed. The virtual boundaries can delineate zones in which an instrument (22) is not permitted during a surgical procedure. The virtual boundaries can also delineate zones in which the surgical instrument (22) is permitted during the surgical procedure. The virtual boundaries can also identify objects or structures (F,T) to be treated by the instrument (22) or to be avoided by the instrument (22) during the surgical procedure.

公开(公告)号：AU2019275554A1

公开(公告)日：2020-01-02

申请号：AU2019275554

申请日：2019-12-03

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  CULP JERRY A ,  MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSE LUIS ,  ROESSLER PATRICK ,  BEER JOEL N

IPC: A61B17/16

Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate, wherein said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semi autonomous mode and wherein said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables, wherein said feed rate calculator is configured to adjust said defined feed rate based on a signal from a force overrider module so that said instrument feed rate is zero, said force overrider module configured to be run by said at least one controller to compare forces and torques to one or more limit values and generate said signal when said one or more limit values are exceeded, wherein said force overrider module is configured to output said signal to transition said surgical manipulator from said semi-autonomous mode to said manual mode.

公开(公告)号：AU2025201896A1

公开(公告)日：2025-04-03

申请号：AU2025201896

申请日：2025-03-17

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  BEER JOEL N

IPC: A61B17/16

Abstract: A surgical manipulator for manipulating an instrument and an energy applicator extending from the instrument, the surgical manipulator comprising:a plurality of links and a plurality of actuators configured to move the plurality of links to position the energy applicator; a force/torque sensor configured to sense forces and torques applied to the instrument; and at least one controller configured to: control operation of the surgical manipulator in a semi autonomous mode, and in the semi-autonomous mode, the surgical manipulator is configured to advance the energy applicator along a tool path by moving the energy applicator to a target position on the tool path; transition from the semi-autonomous mode to a manual mode in response to a user action, and in the manual mode, operation of the surgical manipulator is controlled in response to forces and torques applied to the instrument; in the manual mode, model the instrument and the energy applicator as a virtual rigid body and determine forces to apply to the virtual rigid body based on the forces and torques applied to the instrument and to enable movement of the energy applicator to one or more positions different from the target position; and transition from the manual mode back to the semi-autonomous mode by moving the energy applicator back to the target position on the tool path.

公开(公告)号：AU2018220167B9

公开(公告)日：2019-12-05

申请号：AU2018220167

申请日：2018-08-27

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  CULP JERRY A ,  MALACKOWSKI DONALD W ,  MOCTEZUMA DE LA BARRERA JOSE LUIS ,  ROESSLER PATRICK ,  BEER JOEL N

IPC: A61B17/16

Abstract: A surgical manipulator for manipulating a surgical instrument and an energy applicator extending from the surgical instrument, said surgical manipulator comprising: at least one controller configured to operate said surgical manipulator in a manual mode or a semi-autonomous mode, said at least one controller including a feed rate calculator configured to calculate an instrument feed rate, wherein said instrument feed rate is a velocity at which a distal end of the energy applicator advances along a path segment of a tool path in said semi autonomous mode and wherein said feed rate calculator calculates said instrument feed rate by adjusting a defined feed rate based on a plurality of variables, wherein said at least one controller is configured to model the surgical instrument and the energy applicator as a virtual rigid body and said feed rate calculator is configured to adjust said defined feed rate based on a virtual force applied to said virtual rigid body.

公开(公告)号：AU2018202741B2

公开(公告)日：2019-11-14

申请号：AU2018202741

申请日：2018-04-19

Applicant: STRYKER CORP

Inventor： BOWLING DAVID GENE ,  STUART JOHN MICHAEL ,  CULP JERRY A ,  MALACKOWSKI DONALD W ,  ROESSLER PATRICK ,  BEER JOEL N ,  KETCHEL JOHN ,  MOCTEZUMA DE LA BARRERA JOSE LUIS

IPC: A61B17/16

Abstract: 2018202741 A method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path, the method being implemented on at least one computing device having a non-transitory computer-readable storage medium with an executable program stored thereon, said method comprising the steps of: executing the program stored on the computer-readable storage medium, wherein the program instructs the at least one computing device to: determine actual torques for each active joint of an actuated arm mechanism; calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint; determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path.