03-05-2012 дата публикации
Номер: US20120109150A1
Автор:
Arthur Quaid,
Hyosig Kang,
Dennis Moses,
Rony Abovitz,
Maurice R. Ferre,
Binyamin Hajaj,
Martin Roche,
Scott Illsley,
Louis Arata,
Dana Mears,
Timothy Blackwell,
Alon Mozes,
Sherif Aly,
Amardeep Singh Dugal,
Randall Hand,
Sandi Glauser,
Juan Salcedo,
Peter Ebbitt,
William Tapia,
QUAID ARTHUR,
KANG HYOSIG,
MOSES DENNIS,
ABOVITZ RONY,
FERRE MAURICE R,
HAJAJ BINYAMIN,
ROCHE MARTIN,
ILLSLEY SCOTT,
ARATA LOUIS,
MEARS DANA,
BLACKWELL TIMOTHY,
MOZES ALON,
ALY SHERIF,
DUGAL AMARDEEP SINGH,
HAND RANDALL,
GLAUSER SANDI,
SALCEDO JUAN,
EBBITT PETER,
TAPIA WILLIAM,
FERRE MAURICE R.
A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure. 1. A surgical apparatus , comprising:a surgical device configured to be manipulated by a user to perform a procedure on a patient; and to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and', 'to adjust the control parameters in response to movement of the anatomy during the procedure., 'a computer system programmed2. The surgical apparatus of claim 1 , wherein the surgical device includes an arm claim 1 , a surgical tool coupled to the arm claim 1 , and an interface associated with at least one of the arm and the surgical tool.3. The surgical apparatus of claim 2 , wherein the interface includes a first part configured to enable the user to change a configuration of the arm and a second part configured to enable the user to move the surgical tool relative to the arm.4. The surgical apparatus of claim 3 , wherein the first part comprises a joint of the arm and the second part comprises at least one of a distal end of the arm and the surgical tool.5. The surgical apparatus of claim 2 , wherein the computer system is programmed to control the ...
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