公开(公告)号：US10682249B2

公开(公告)日：2020-06-16

申请号：US14641039

申请日：2015-03-06

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Homayoon Kazerooni ,  Wayne Tung ,  Don Jin Hyun ,  Stephen McKinley ,  Yoon Jung Jeong

IPC: A61F5/01 ,  A61H1/02 ,  A61H3/00 ,  B25J9/00 ,  A61H1/00

Abstract: An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).

公开(公告)号：US20190008103A1

公开(公告)日：2019-01-10

申请号：US15752474

申请日：2016-08-11

Applicant: The Regents of the University of California

Inventor： Ken Goldberg ,  Stefano Carpin ,  Stephen McKinley ,  Stavros Vougioukas ,  David Gealy

IPC: A01G25/16 ,  G01C21/00 ,  A01G25/02 ,  G05D1/02 ,  G06K7/10 ,  G05B19/10 ,  B25J11/00 ,  F16K47/04 ,  B25J5/00

Abstract: According to some embodiments of the invention, an adjusting device for adjusting a passive drip irrigation valve to enable precision irrigation includes a device body configured to be at least one of hand-held or attachable to a robot, the device body having a manipulator end, and a manipulator assembly contained within and extending from the manipulator end of the device body. The manipulator assembly includes a coarse alignment adjustment assembly constructed and arranged to align the adjusting device with the passive drip irrigation valve. The manipulator assembly also includes a fine actuator configured to rotate the passive drip irrigation valve by a specified angle.

公开(公告)号：US20180177558A1

公开(公告)日：2018-06-28

申请号：US15738482

申请日：2016-06-23

Applicant: The Regents of the University of California

Inventor： Stephen McKinley ,  Animesh Garg ,  Sachin Patil ,  Susan M. L. Lim ,  Ken Goldberg

IPC: A61B34/35 ,  A61B10/02 ,  A61M5/20 ,  A61B34/32 ,  A61B34/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B10/0233 ,  A61B17/3211 ,  A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/77 ,  A61B90/00 ,  A61B90/361 ,  A61B2010/0208 ,  A61M5/20 ,  A61M2205/50 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47

Abstract: According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.

公开(公告)号：US11529205B2

公开(公告)日：2022-12-20

申请号：US15738482

申请日：2016-06-23

Applicant: The Regents of the University of California

Inventor： Stephen McKinley ,  Animesh Garg ,  Sachin Patil ,  Susan M. L. Lim ,  Ken Goldberg

IPC: A61B34/35 ,  A61M5/20 ,  A61B34/32 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B10/02 ,  B25J9/16 ,  A61B17/3211

Abstract: According to some embodiments of the invention, a surgical robot includes a robot arm having an end effector, the end effector comprising a needle assembly. The surgical robot further includes a robot control system operatively connected to the robot arm, and an end effector control system operatively connected to the end effector. The robot control system provides control signals for operation of the robot arm to move the end effector to selected positions relative to a subject. The end effector control system is configured to provide signals for operation of the end effector to at least one of inject material through the needle assembly to a selected location within the subject's body or extract material through the needle assembly from the selected location within the subject's body.