-
公开(公告)号：US5625576A
公开(公告)日：1997-04-29
申请号：US130639
申请日：1993-10-01
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G06F3/014 , B25J13/02 , B25J9/1689 , G05B17/02 , G05G1/52 , G05G9/047 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G05B2219/23021 , G05G2009/04766 , G06F2203/0331
摘要： A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译： 诸如套管的连接元件连接到使用者的身体部件，并通过连杆机构连接到地面参考。 设备在用户本地的环境中与用户物理交换力。 连接能够使连接元件相对于参考的至少三个独立的自由。 它还保持连接元件相对于无功率的参考的至少一个独立的自由度。 连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。 万向节连接万向节与连杆。 零，一个或两个万向轴可以通电。 五杆连接将连接元件连接到还包括两个执行器的平衡。 第三个执行器将五个杆连杆与参考连接。 平衡的两个致动器可以通过单个电缆连接到链中的下一个链路到参考。 信号处理设备为执行器供电，以在连接元件处传递代表由编程的计算机产生的虚拟情况或远程环境中的物理条件的信号。 虚拟开关向用户呈现弹簧开关的力和位移关系。 一个虚拟的刷毛显示了这样的刷子的力和位移关系，同时也改变了虚拟环境，以反映用户的位置变化。
-
公开(公告)号：US5046375A
公开(公告)日：1991-09-10
申请号：US438524
申请日：1989-11-17
CPC分类号： B25J9/046 , B25J17/02 , B25J9/1045 , F16H19/005 , F16H2019/0695 , Y10T74/18832 , Y10T74/18848
摘要： A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conductive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C. motor operating under the control of a pulse width modulated controller responsive to the current drawn by the motor, in combination with the cable transmission of this invention, provide excellent force control.
摘要翻译： 预拉伸的电缆沿着第一支撑构件（连接）将动力从旋转致动器传递到旋转的输出接头，通常是固定到第二连杆臂但可在第一和第二连杆之间的联接中旋转的输出滑轮。 典型地，两组不同直径的联接惰轮的减速器安装在从致动器移除的点处，并且优选地尽可能靠近输出接头。 安装在致动器输出件上的轴向分开的线轴沿着相反的方向将出线和回复的电缆部分卷绕在线轴的不同的两半上，以在一点上提供电缆在整个电缆电路中的预拉伸。 变速器的连杆和滑轮长而窄。 这种高纵横比提供了一种紧凑的结构，其对于整个臂的操作是导电的，其中链节的任何外表面可以接合物体。 在脉冲宽度调制控制器的控制下运行的低惯量，低摩擦无刷直流电动机响应于电动机所产生的电流，结合本发明的电缆传动装置提供优异的力控制。
-
公开(公告)号：US20130039732A1
公开(公告)日：2013-02-14
申请号：US13572452
申请日：2012-08-10
IPC分类号： B25J5/02
摘要： According to one exemplary embodiment, a manipulator device includes a base, first and second linear slides, a drive link, a drive member, a driven member and an end effector. The elements of the manipulator device cooperate to constrain the end effector to rotate about a remote center of motion that is displaced from a proximal center of motion as the drive link moves a carriage of the second linear slide along an arcuate path.
摘要翻译： 根据一个示例性实施例，操纵器装置包括基座，第一和第二线性滑块，驱动连杆，驱动构件，从动构件和端部执行器。 操纵器装置的元件协同作用以约束端部执行器围绕远离运动中心运动的旋转，随着驱动连杆沿着弧形路径移动第二线性滑块的滑架，该远程运动中心从近侧运动中心移位。
-
公开(公告)号：US08343141B2
公开(公告)日：2013-01-01
申请号：US12833766
申请日：2010-07-09
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/29 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/2927 , A61B2017/2929 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J3/04 , B25J9/104 , Y10T74/20329 , Y10T74/20335
摘要： An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
-
45.发明授权公开(公告)号：US08316861B2
公开(公告)日：2012-11-27
申请号：US12603387
申请日：2009-10-21
CPC分类号： A61B1/05 , A61B1/00158 , A61B34/73 , A61M25/0127
摘要： A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.
摘要翻译： 用于引导身体内的医疗器械的磁力控制系统包括：联接到医疗器械的受控磁体; 在受控磁体上施加磁力的控制器磁体; 放置在受控磁体和控制器磁体之间的磁导屏蔽，通过重新路由磁场线来选择性地调制磁力; 和控制系统。 一种利用磁力控制在身体内引导医疗器具的方法包括：提供耦合到医疗器械的受控磁体，将受控磁体和医疗器械插入体内，在身体外部提供控制器磁体，放置导磁屏蔽 在受控磁体和控制器磁体之间，施加磁力，并且用屏蔽件选择性地调制磁力以改变磁力的振幅和取向中的至少一个，从而将受控磁体引导到主体内。
-
公开(公告)号：US20120143212A1
公开(公告)日：2012-06-07
申请号：US13365086
申请日：2012-02-02
IPC分类号： A61B19/00
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 末端执行器沿y方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。
-
公开(公告)号：US20100256815A1
公开(公告)日：2010-10-07
申请号：US12722332
申请日：2010-03-11
CPC分类号： G05G9/04737 , A61B34/30 , A61B34/35 , A61B34/71 , B25J3/04 , B25J9/104 , B25J13/025 , G05G5/03 , Y10T74/20341
摘要： A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
摘要翻译： 用于远程外科手术的触觉装置，包括基部; 连接系统，其具有联接到所述基座的第一和第二连杆构件; 提供电机力的电机; 传动装置包括第一和第二驱动带轮，其布置成使得它们的面形成一个角度并且它们的轴线形成一个平面，第一和第二惰轮从该平面偏移并且布置在第一和第二驱动带轮之间，使得它们的轴线将 第一和第二驱动滑轮以及横穿第一和第二驱动滑轮和一组惰轮的电缆，并将马达力传递到联动系统; 耦合到所述第一和第二连杆构件的远端的端部执行器并且相对于所述基座可操纵; 以及控制器，其调节所述马达力以模拟所述末端执行器的点部分处的身体部位。
-
48.发明授权Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery 有权微创远程外科手术中主/从关系的重新定位和重新定位公开(公告)号：US07806891B2
公开(公告)日：2010-10-05
申请号：US11377225
申请日：2006-03-15
IPC分类号： A61B17/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译： 本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。 在一些实施例中，独立重新定位限于平移自由度。 在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。
-
公开(公告)号：US20100243344A1
公开(公告)日：2010-09-30
申请号：US12626187
申请日：2009-11-25
CPC分类号： B25J5/007 , B25J19/0016 , Y10S901/01 , Y10S901/48 , Y10T74/20305
摘要： Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
摘要翻译： 描述与人形机器人系统的构造，配置和利用有关的系统和方法及其方面。 系统可以包括移动基座，脊柱结构，身体结构以及至少一个机器人臂，每个机械手臂可移动地配置成在规定的环境中具有显着的人体能力。 一个或多个机器人臂可以可旋转地联接到主体结构，其可以与移动基部和脊部机械地相关联，使得其可以相对于基部同时且独立地可偏转地升高和卷绕。 一个或多个臂的方面可以与一个或多个弹簧式平衡机构相平衡，这些平衡机制有利于反向驱动性和有效载荷特征。
-
公开(公告)号：US20090030429A1
公开(公告)日：2009-01-29
申请号：US12186884
申请日：2008-08-06
IPC分类号： A61B19/00
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
-
-
-
-
-
-
-
-
-
搜索结果
68 条记录 (耗时 0.027 秒)
