Patents by Inventor Janez Funda
Janez Funda has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 8123675Abstract: A robotic device for use in surgery includes a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.Type: GrantFiled: July 21, 2008Date of Patent: February 28, 2012Assignee: International Business Machines CorporationInventors: Janez Funda, David Arthur LaRose, Russell Highsmith Taylor
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Publication number: 20090048611Abstract: A robotic device for use in surgery includes a first surgical instrument having a proximal end, a distal end, and a shaft extending therebetween, the distal end of the first instrument and adjacent shaft being insertable distally into a first incision; a first manipulator movably supporting the first instrument; a plurality of motorized drives coupled to the manipulator; an input device having an input movable in two degrees of freedom; and a computer coupling the input device to the motorized drives so that the motorized drives effect a motion of the first surgical instrument in response to movement of the input, a center of the motion located along the shaft at the incision when the first instrument is used during surgery.Type: ApplicationFiled: July 21, 2008Publication date: February 19, 2009Applicant: International Business Machines CorporationInventors: Janez Funda, David Arthur LaRose, Russell Highsmith Taylor
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Patent number: 7447537Abstract: Image processing is used to determine information about the position of a designated object, particularly where the object is difficult to view or locate. In particular, use in endoscopic surgery can determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition a surgical instrument in relation to the designated object. An instrument placed in relation to the designated object is capable of sending information about the object to a computer. Image processing generates images and determines positional information, which can be used as input to robotic devices or rendered to a human user.Type: GrantFiled: June 16, 2000Date of Patent: November 4, 2008Assignee: International Business Machines CorporationInventors: Janez Funda, David Arthur LaRose, Russell Highsmith Taylor
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Patent number: 6393340Abstract: Control of a robotic mechanism comprising both active and passive joints is accomplished, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism, or the nature of the task such as a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice. The control incrementally moves the mechanism in a series of successive movements from its actual position to its desired or target position. The effect of moving each individual joint of the mechanism is characterized by Cartesian displacement of the target and a Jacobian is constructed mapping between infinitesimal joint displacements of the target to be extended to include both passive and active joints. Thus, hybrid robots containing both active and passive joints can be effectively controlled.Type: GrantFiled: December 28, 2000Date of Patent: May 21, 2002Assignee: International Business Machines CorporationInventors: Janez Funda, Russell Highsmith Taylor
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Publication number: 20010001132Abstract: The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.Type: ApplicationFiled: December 28, 2000Publication date: May 10, 2001Inventors: Janez Funda, Russell Highsmith Taylor
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Patent number: 6226566Abstract: The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.Type: GrantFiled: February 18, 1999Date of Patent: May 1, 2001Assignee: International Business Machines CorporationInventors: Janez Funda, Russell Highsmith Taylor
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Patent number: 6201984Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user.Type: GrantFiled: January 26, 1995Date of Patent: March 13, 2001Assignee: International Business Machines CorporationInventors: Janez Funda, David Aruthur LaRose, Russell Highsmith Taylor
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Patent number: 5887121Abstract: The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, the mechanical construction of the mechanism or the nature of the task. The method is capable of controlling mechanisms with multiple sets of passive joints with multiple environmental constraints restricting the motion of the mechanism. In a preferred embodiment the novel method is used to control a surgical robot holding a surgical instrument inserted into a patient through a natural or man-made orifice.Type: GrantFiled: July 17, 1997Date of Patent: March 23, 1999Assignee: International Business Machines CorporationInventors: Janez Funda, Russell Highsmith Taylor
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Patent number: 5749362Abstract: The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user. Various input apparatus are attached to the transmitting or other used instruments to provide control inputs to the computer.Type: GrantFiled: January 26, 1995Date of Patent: May 12, 1998Assignee: International Business Machines CorporationInventors: Janez Funda, David Arthur LaRose, Russell Highsmith Taylor
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Patent number: 5572999Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determined positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user.Type: GrantFiled: January 26, 1995Date of Patent: November 12, 1996Assignee: International Business Machines CorporationInventors: Janez Funda, David A. LaRose, Russell H. Taylor
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Patent number: 5417210Abstract: The present method and apparatus use image processing to determine information about the position of a designated object. The invention is particularly useful in applications where the object is difficult to view or locate. In particular, the invention is used in endoscopic surgery to determine positional information about an anatomical feature within a patient's body. The positional information is then used to position or reposition an instrument (surgical instrument) in relation to the designated object (anatomical feature). The invention comprises an instrument which is placed in relation to the designated object and which is capable of sending information about the object to a computer. Image processing methods are used to generated images of the object and determine positional information about it. This information can be used as input to robotic devices or can be rendered, in various ways (video graphics, speech synthesis), to a human user.Type: GrantFiled: May 27, 1992Date of Patent: May 23, 1995Assignee: International Business Machines CorporationInventors: Janez Funda, David A. LaRose, Russell H. Taylor
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Patent number: 5397323Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links which rotate about pivots to position and re-position an instrument, like a surgical instrument, at a work point proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.The proximal part of the apparatus is adjustably fixed to a stationary object, like an operating table, while the distal part of the apparatus holds the instrument. Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links.Type: GrantFiled: October 30, 1992Date of Patent: March 14, 1995Assignee: International Business Machines CorporationInventors: Russell H. Taylor, Janez Funda, David D. Grossman, John P. Karidis, David A. LaRose