Russell R Taylor

US Patent:

6393340, May 21, 2002

Filed:

Dec 28, 2000

Appl. No.:

09/748850

Inventors:

Janez Funda - Valhalla NY
Russell Highsmith Taylor - Ossining NY

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

G05B 1500

US Classification:

700263, 700246, 700260, 700264, 3185681, 31856824, 901 46, 901 48, 703 1, 703 3, 703 7

Abstract:

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.

US Patent:

7447537, Nov 4, 2008

Filed:

Jun 16, 2000

Appl. No.:

09/595186

Inventors:

Janez Funda - Valhalla NY, US
David Arthur LaRose - Croton on Hudson NY, US
Russell Highsmith Taylor - Ossining NY, US

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

A61B 5/05

US Classification:

600424, 606130

Abstract:

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.

US Patent:

8123675, Feb 28, 2012

Filed:

Jul 21, 2008

Appl. No.:

12/176597

Inventors:

Janez Funda - Valhalla NY, US
David Arthur LaRose - Croton on Hudson NY, US
Russell Highsmith Taylor - Ossining NY, US

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

A61B 1/00

US Classification:

600114, 600146

Abstract:

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.

US Patent:

20110125165, May 26, 2011

Filed:

May 18, 2009

Appl. No.:

12/992519

Inventors:

Nabil Simaan - New York NY, US
Russell H. Taylor - Severna Park MD, US
James T. Handa - Baltimore MD, US

Assignee:

The Johns Hopkins University - Baltimore MD

International Classification:

A61B 19/00
B23P 11/00

US Classification:

606130, 29428

Abstract:

A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.

US Patent:

53433858, Aug 30, 1994

Filed:

Aug 17, 1993

Appl. No.:

8/108027

Inventors:

Leo Joskowicz - Bronx NY
Russell H. Taylor - Yorktown NY

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

G06F 1546
G06F 1520

US Classification:

36416701

Abstract:

The present method and apparatus determines an interference-free trajectory for fitting a moving solid body into a cavity, particularly where the body has a complex shape and tightly fits into the cavity. The method begins by describing the body surface with a finite set of body surface elements and the cavity surface with a finite set of cavity surface elements. Then a set of surface element pairs is determined. Each set comprises a body surface element and a corresponding cavity surface element. A neighborhood is a volume that contains the pair of surface elements but no other surface element pairs or parts of surface elements. Body motion constraints are developed for each pair. The constraints do not allow the body motion to cause the surface elements in the pair to interpenetrate or to leave their respective neighborhood. An incremental movement of the body, along a preferred direction, is then determined subject to the constraints.

US Patent:

54084091, Apr 18, 1995

Filed:

Dec 20, 1993

Appl. No.:

8/170540

Inventors:

Edward Glassman - New York NY
William A. Hanson - Mountain View CA
Peter Kazanzides - Davis CA
Brent D. Mittelstadt - Placerville CA
Bela L. Musits - Hopewell Junction NY
Howard A. Paul - Loomis CA
Russell H. Taylor - Ossining NY

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

B23Q 1514
A61B 600

US Classification:

36441313

Abstract:

A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28,32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44).

US Patent:

52992888, Mar 29, 1994

Filed:

Sep 18, 1991

Appl. No.:

7/761720

Inventors:

Edward Glassman - New York NY
William A. Hanson - Mountain View CA
Brent D. Mittelstadt - Placerville CA
Bela L. Musits - Hopewell Junction NY
Howard A. Paul - Loomis CA
Russell H. Taylor - Ossining NY

Assignee:

International Business Machines Corporation - Armonk NY
Regents of the University of California - Armonk NY

International Classification:

B23Q 1514
A61B 600
A61B 1700

US Classification:

395 80

Abstract:

A robotic surgical system includes a multiple degree of freedom manipulator arm having a surgical tool. The arm is coupled to a controller for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point. The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

US Patent:

58871217, Mar 23, 1999

Filed:

Jul 17, 1997

Appl. No.:

8/896218

Inventors:

Janez Funda - Valhalla NY
Russell Highsmith Taylor - Ossining NY

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

G05B 1500

US Classification:

395 98

Abstract:

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.