发明名称 |
MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR SURGICAL MANIPULATION OF DELICATE TISSUE |
摘要 |
A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces. |
申请公布号 |
KR20130103710(A) |
申请公布日期 |
2013.09.24 |
申请号 |
KR20137003142 |
申请日期 |
2011.08.02 |
申请人 |
THE JOHNS HOPKINS UNIVERSITY |
发明人 |
TAYLOR RUSSELL H.;BALICKI MARCIN ARKADIUSZ;HANDA JAMES TAHARA;GEHLBACH PETER LOUIS;IORDACHITA IULIAN;UNERI ALI |
分类号 |
A61B19/00;B25J13/08;B25J19/02;B25J19/06 |
主分类号 |
A61B19/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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