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公开(公告)号：US6154201A
公开(公告)日：2000-11-28
申请号：US179382
申请日：1998-10-26
CPC分类号： G06F3/016 , G01C21/3664 , G05G9/047 , G06F3/0219 , G06F3/0354 , G06F3/03543 , G06F3/03548 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G05G2009/0477 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10T74/20262
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
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52.发明授权Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object 失效用于跟踪触针的位置和方向以及用于数字化3D对象的方法和装置
公开(公告)号：US6078876A
公开(公告)日：2000-06-20
申请号：US741190
申请日：1996-10-29
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.
摘要翻译： 一种用于测量三维（3-D）坐标的方法和装置。 3-D物体可以被数字化为可由计算机系统操纵的网格表示，通过在对象的表面上追踪探针装置的触针。 探针装置包括具有一系列连杆和接头的臂。 手臂可以通过将臂的关节放置在关节固定装置中，将所需的距离和角度分开并将关节粘合到连杆上来组装。 通过将探针的尖端放置在工作体积中的任意点并改变触针取向以找出误差值并确定校准参数来校准探针装置。 探针装置的传感器通过将探针装置置于唯一可能的原始位置并将假设的起始角度分配给传感器来归零。 旋转工作台可用于支撑被数字化的物体，其中感测数字化期间旋转台和物体的旋转并包括在坐标计算中。 该对象的网格表示由计算机系统通过从网格的轮廓线的数据点递增地创建和显示三角形来开发。 选择模板允许通过在探针的工作量中定义具有选择区域的模板并且将选择区域与特定命令相关联的方式通过触控笔来选择命令。
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公开(公告)号：US5999168A
公开(公告)日：1999-12-07
申请号：US804535
申请日：1997-02-21
CPC分类号： G06F3/016 , A63F13/06 , G05G9/047 , G06F3/0383 , A63F13/211 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.
摘要翻译： 一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。 力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。 触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。 力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。 在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督 力反馈接口设备的操作。
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公开(公告)号：US5907487A
公开(公告)日：1999-05-25
申请号：US825722
申请日：1997-04-02
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , G05G9/047 , G06F1/266 , G06F3/011 , G06F3/0383 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A force feedback interface device including a safety feature. The interface device includes a sensor that senses the position of a user object along a degree of freedom and provides a sensor signal indicating the position of the user object to a host computer. An actuator of the device applies a force to the user object in the degree of freedom. A safety switch connected to the user object disables the actuator when the user is not using the interface device and enables the actuator when more than a predetermined amount of weight is placed on the user object.
摘要翻译： 包括安全特征的力反馈界面装置。 接口装置包括传感器，其感测沿着自由度的用户对象的位置，并且提供指示用户对象到主计算机的位置的传感器信号。 该装置的致动器以自由度向使用者物体施加力。 连接到用户对象的安全开关在用户不使用接口设备时禁用执行器，并且当超过预定量的重量被放置在用户对象上时使致动器能够启动。
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公开(公告)号：US08823308B2
公开(公告)日：2014-09-02
申请号：US13175550
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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56.发明授权公开(公告)号：US08469945B2
公开(公告)日：2013-06-25
申请号：US11623311
申请日：2007-01-15
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B17/00
CPC分类号： A61B1/04 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J17/0258 , B25J18/007 , Y10T74/20305
摘要： A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.
摘要翻译： 机器手臂包括一个平行的球形五杆连杆机构与一个远程的球形旋转中心。 机器手臂可移动地支撑内窥镜照相机。 两个外侧连杆枢轴连接在一起。 两个外侧链路中的至少一个支持内窥镜相机。 两个内联链路分别枢转地联接到两个外侧链路，使得两个内联链路能够彼此交叉。 两个内部链接可移动地支撑两个外部链接。 地面连杆枢转地连接到两个内侧链节。 地面连接可移动地支撑两个内部链接。
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公开(公告)号：US20130038431A1
公开(公告)日：2013-02-14
申请号：US13647184
申请日：2012-10-08
申请人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
发明人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
CPC分类号： B62D1/04 , G06F3/016 , G06F3/0362 , Y10T74/20834
摘要： A control wheel for controlling at least one function of a system by a user includes a moveable engagement wheel for engagement by the user and an actuator coupled to the engagement wheel for providing force or haptic feedback to the engagement wheel in response to movement of the engagement wheel. A sensor for sensing movement of the engagement wheel is provided and a control system is coupled to the sensor for receiving information about positioning and movement of the engagement wheel, and is also coupled to the actuator for controlling force to the engagement wheel. The control system also provides control of the at least one function of the system.
摘要翻译： 用于由用户控制系统的至少一个功能的控制轮包括用于由用户接合的可移动接合轮和联接到接合轮的致动器，用于响应于接合的移动而向接合轮提供力或触觉反馈 轮。 提供了用于感测啮合轮运动的传感器，并且控制系统耦合到传感器，用于接收关于啮合轮的定位和运动的信息，并且还联接到致动器以控制对接合轮的力。 控制系统还提供对系统的至少一个功能的控制。
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公开(公告)号：US08216250B2
公开(公告)日：2012-07-10
申请号：US12650835
申请日：2009-12-31
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.
摘要翻译： 提供具有集成无菌适配器，远程外科手术系统和使用方法的无菌悬垂布，用于悬挂远程外科手术系统的部分以在无菌手术区域和非无菌机器人系统之间保持无菌屏障，同时还提供用于 传输机电能和信号。
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公开(公告)号：US08142420B2
公开(公告)日：2012-03-27
申请号：US11623292
申请日：2007-01-15
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B17/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B90/361 , Y10T74/2036
摘要： A robotic arm with a parallel spherical five-bar linkage having a ground link, two inboard links, and two outboard links. Each inboard link is coupled to the ground link at an axis of rotation and has an intermediate axis spaced apart from the axis of rotation. Each outboard link is pivotally coupled to one of the inboard links at the intermediate axis. The two outboard links are pivotally coupled together at an outboard axis. A constraint limits the rotation of a first one of the outboard links about the intermediate axis of the coupled inboard link such that a maximum angle between the links is substantially less than 180°. A second one of the outboard links and the coupled inboard link are constructed and assembled such that the two intermediate axes are on the same side of a plane including the outboard axis and one of the axes of rotation.
摘要翻译： 具有平行球形五杆连杆机器人手臂，具有地面连杆，两个内侧链接和两个外侧链接。 每个内侧链节在旋转轴线处联接到接地连杆，并且具有与旋转轴线间隔开的中间轴线。 每个外侧链节在中间轴线枢转地联接到内联链路中的一个。 两个外侧链节在外侧轴线枢转地联接在一起。 约束限制了外侧链路中的第一个链路围绕耦合的内联链路的中间轴线的旋转，使得链路之间的最大角度基本上小于180°。 外侧链路和联接的内联链路中的第二个被构造和组装，使得两个中间轴线在包括外侧轴线和一个旋转轴线的平面的同一侧上。
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公开(公告)号：US08062211B2
公开(公告)日：2011-11-22
申请号：US11762204
申请日：2007-06-13
IPC分类号： A61B1/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
摘要翻译： 微创手术器械包括绕U形转弯传递致动力的U形转动机构。 U形转动机构联接在仪器的部分之间，并且具有小于具有相似截面直径的柔性臂的弯曲半径。 由U形转动机构传递的致动力用于移动仪器的远端部件，例如端部执行器和手腕机构。
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