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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
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。
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2.发明专利Powered surgical tool system with handpiece having variable speed motor, capable of customizing current consumption of handpiece motor depending on speed of handpiece 审中-公开具有可变速度电动机的电动手术工具系统，能够根据汉斯顿速度自定义电动马达的电流消耗
公开(公告)号：JP2012035088A
公开(公告)日：2012-02-23
申请号：JP2011204286
申请日：2011-09-20
Applicant: Stryker Corp , ストライカー・コーポレーション
Inventor： CULP JERRY A , SCHEMANSKY KEVIN J , MONK DAVID E , FINLEY MARSHALL ERIC , TYLER STEVEN ANTHONY , FRATICELLI MICHAEL JOHN
CPC classification number: A61B17/32002 , A61B17/1622 , A61B17/1626 , A61B17/320068 , A61B18/14 , A61B90/90 , A61B90/98 , A61B2017/00017 , A61B2017/00137 , A61B2017/00199 , A61B2017/00367 , A61B2017/00398 , A61B2017/0046 , A61B2017/00464 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2017/320084 , A61B2034/258 , A61M2205/6018
Abstract: PROBLEM TO BE SOLVED: To provide a powered surgical tool system for powered surgical handpieces that facilitates the use of tools having different power and control signal requirements and that allows the individual tools to be used with different combinations of accessory units.SOLUTION: The powered surgical handpieces 32, 33 includes a motor to drive attachments 34, 35, a switch to issue control signals and a memory for storing data on the motor. A control table adjusts the motor speed based on control signals, prevents the motor from operating beyond the maximum speed stored in the memory, and calculates the maximum allowed current consumed by the motor based on the data in the memory showing the maximum allowable motor current allowed for the motor speed as well as individual instrumental speeds. If a comparison between current consumption by the motor and maximum allowed current shows that the motor current consumption is more than the maximum allowed current, energization signals supplied to the motor is adjusted.
Abstract translation: 要解决的问题：提供一种用于动力手术手术的动力外科手术工具系统，其有利于使用具有不同功率和控制信号要求的工具，并且允许各个工具与附件单元的不同组合一起使用。 解决方案：动力手术器具32,33包括驱动附件34,35的电动机，发出控制信号的开关和用于在马达上存储数据的存储器。 控制表根据控制信号调整电机转速，防止电机超出存储在存储器中的最大速度，并根据存储器中显示允许的最大允许电机电流的数据计算电机消耗的最大允许电流 用于电机速度以及单个仪器速度。 如果通过电动机的电流消耗与最大允许电流之间的比较表明电动机电流消耗大于最大允许电流，则调节供给电动机的通电信号。 版权所有（C）2012，JPO＆INPIT
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3.发明专利
公开(公告)号：JP2007195993A
公开(公告)日：2007-08-09
申请号：JP2007040406
申请日：2007-02-21
Applicant: Stryker Corp , ストライカー・コーポレーション
Inventor： CULP JERRY A , SCHEMANSKY KEVIN J , MONK DAVID E , FINLEY MARSHALL ERIC , TYLER STEVEN ANTHONY , FRATICELLI MICHAEL JOHN
CPC classification number: A61B17/32002 , A61B17/1622 , A61B17/1626 , A61B17/320068 , A61B18/14 , A61B90/90 , A61B90/98 , A61B2017/00017 , A61B2017/00137 , A61B2017/00199 , A61B2017/00367 , A61B2017/00398 , A61B2017/0046 , A61B2017/00464 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2017/320084 , A61B2034/258 , A61M2205/6018
Abstract: PROBLEM TO BE SOLVED: To improve an electric-powered surgical instrument system used for an electric-powered handpiece for more facilitating the application of individual surgical instruments with different electric power and control signal specifications, and the use of these instruments together with their attachments in a different combination. SOLUTION: This invention is characterized in that an electric-powered handpiece is provided with a motor to drive attachments, a switch to issue control signals and a memory for storing data on the motor, that a control table adjusts the motor speed based on control signals, prevents the motor from operating beyond the maximum speed stored in the memory, and calculates the maximum allowable current consumed by the motor based on the data in the memory showing the maximum allowable motor current allowed for the motor speed as well as individual instrumental speeds, and that if a comparison between motor's current consumption and maximum allowable current has shown that the motor consumed current beyond the maximum allowable level specified, the momentum signal given to the motor is adjusted. COPYRIGHT: (C)2007,JPO&INPIT
Abstract translation: 要解决的问题：为了改进用于电动手机的电动外科手术器械系统，以更方便地应用具有不同电力和控制信号规格的各个外科器械的应用，以及这些器械的使用以及 他们的附件以不同的组合。 解决方案：本发明的特征在于，电动手机设置有用于驱动附件的电动机，发出控制信号的开关和用于在电动机上存储数据的存储器，控制表基于电动机速度来调整 在控制信号上，防止电动机超出存储在存储器中的最大速度的运行，并且基于存储器中显示电动机速度允许的最大允许电动机电流的数据以及个体来计算电动机消耗的最大允许电流 仪器速度，如果电动机的电流消耗与最大允许电流的比较表明电动机的消耗电流超出了规定的最大允许电平，则调整给予电动机的动量信号。 版权所有（C）2007，JPO＆INPIT
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4.发明申请SURGICAL MANIPULATOR CAPABLE OF CONTROLLING A SURGICAL INSTRUMENT IN MULTIPLE MODES 审中-公开可在多种模式下控制手术仪器的外科手术器械
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
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。
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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。
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Patent Agency Ranking
公开(公告)号：WO9806338A3
公开(公告)日：1998-06-11
申请号：PCT/US9715242
申请日：1997-08-14
Applicant: CULP JERRY A , SCHEMANSKY KEVIN J , MONK DAVID E , FINLEY MARSHALL ERIC , TYLER STEVEN ANTHONY , FRATICELLI MICHAEL JOHN , STRYKER CORP
Inventor： CULP JERRY A , SCHEMANSKY KEVIN J , MONK DAVID E , FINLEY MARSHALL ERIC , TYLER STEVEN ANTHONY , FRATICELLI MICHAEL JOHN
CPC classification number: A61B17/32002 , A61B17/1622 , A61B17/1626 , A61B17/320068 , A61B18/14 , A61B90/90 , A61B90/98 , A61B2017/00017 , A61B2017/00137 , A61B2017/00199 , A61B2017/00367 , A61B2017/00398 , A61B2017/0046 , A61B2017/00464 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2017/320084 , A61B2034/258 , A61M2205/6018
Abstract: An integrated surgical tool system (30) for energizing different powered surgical handpieces (32, 33). Internal to each handpiece is a non-volatile memory (72) which stores data regarding the operating parameters of the handpiece. This data includes information about the speeds at which any motor internal to the handpiece should be driven, the maximum current that should be drawn by the handpiece and the maximum internal temperature of the handpiece. The handpiece is plugged into a complementary control console (36). The control console reads the data in the internal memory. Based on the retrieved data and manual control signals, the control console supplies energization signals to the handpiece so as to cause the appropriate actuation of the handpiece.
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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.
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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.
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公开(公告)号：AU2018220167B2
公开(公告)日：2019-09-12
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.
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公开(公告)号：AU2018220167A1
公开(公告)日：2018-09-13
申请号：AU2018220167
申请日：2018-08-27
Applicant: STRYKER CORP
Inventor： ROESSLER PATRICK , BEER JOEL N , BOWLING DAVID GENE , STUART JOHN MICHAEL , CULP JERRY A , MALACKOWSKI DONALD W , MOCTEZUMA DE LA BARRERA JOSE LUIS
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.
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