The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 30, 2017
Filed:
Aug. 02, 2011
Russell H. Taylor, Severna Park, MD (US);
Marcin Arkadiusz Balicki, Baltimore, MD (US);
James Tahara Handa, Baltimore, MD (US);
Peter Louis Gehlbach, Hunt Valley, MD (US);
Iulian Iordachita, Towson, MD (US);
Ali Uneri, Baltimore, MD (US);
Russell H. Taylor, Severna Park, MD (US);
Marcin Arkadiusz Balicki, Baltimore, MD (US);
James Tahara Handa, Baltimore, MD (US);
Peter Louis Gehlbach, Hunt Valley, MD (US);
Iulian Iordachita, Towson, MD (US);
Ali Uneri, Baltimore, MD (US);
THE JOHNS HOPKINS UNIVERSITY, Baltimore, MD (US);
Abstract
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.