ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE
    81.
    发明申请
    ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE 审中-公开
    机械臂与五条球形连接

    公开(公告)号:US20130255425A1

    公开(公告)日:2013-10-03

    申请号:US13902734

    申请日:2013-05-24

    申请人: Bruce M. Schena

    发明人: Bruce M. Schena

    IPC分类号: A61B19/00

    摘要: A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.

    摘要翻译: 用于微创手术系统的机器人手臂包括平行的球形五杆联动装置,其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。 五杆球形连杆仅在一系列紧凑姿势中构成。 约束将平行的五杆球形连杆限制在紧凑姿态的范围内。

    Robotic arm with five-bar spherical linkage
    82.
    发明授权
    Robotic arm with five-bar spherical linkage 有权
    机械臂与五杆球形连杆

    公开(公告)号:US08506556B2

    公开(公告)日:2013-08-13

    申请号:US13431894

    申请日:2012-03-27

    申请人: Bruce M. Schena

    发明人: Bruce M. Schena

    IPC分类号: A61B17/00

    摘要: A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.

    摘要翻译: 用于微创手术系统的机器人手臂包括平行的球形五杆联动装置,其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。 五杆球形连杆仅在一系列紧凑姿势中构成。 紧凑姿态是其中平行五杆球形连杆中的第一对连杆和第二对连杆仅具有相同的手感。

    Steering system with parallelogram linkage for heavy mobile medical equipment
    83.
    发明授权
    Steering system with parallelogram linkage for heavy mobile medical equipment 有权
    用于重型移动医疗设备的平行四边形联动的转向系统

    公开(公告)号:US08448729B2

    公开(公告)日:2013-05-28

    申请号:US12420242

    申请日:2009-04-08

    IPC分类号: B62D3/00 B62D51/04

    摘要: In one embodiment of the invention, a steering system for mobile medical equipment includes left and right steerable wheel assemblies respectively with left and right steerable wheels. A left parallelogram linkage couples to the left steerable wheel assembly to transfer a left wheel angle to the left steerable wheel assembly. A right parallelogram linkage couples to the right steerable wheel assembly to transfer a right wheel angle to the right steerable wheel assembly. A steering function generator couples to the left parallelogram linkage and the right parallelogram linkage. The steering function generator generates the left wheel angle of the left steerable wheel and the right wheel angle of the right steerable wheel. A steering tiller couples to the steering function generator and receives an input steering angle from an operator to generate the left and right wheel angles to control the direction of the mobile medical equipment around flooring.

    摘要翻译: 在本发明的一个实施例中,用于移动医疗设备的转向系统包括分别具有左和右可转向轮的左右可转向轮组件。 左平行四边形连接件联接到左可转向轮组件以将左车轮角度传递到左可转向轮组件。 右平行四边形连接件联接到右侧可转向轮组件,以将右轮角度传递到右侧可转向轮组件。 转向功能发生器耦合到左平行四边形连杆和右平行四边形连杆。 转向功能发生器产生左转向轮的左车轮角和右转向轮的右车轮角。 转向助力器耦合到转向功能发生器并从操作者接收输入转向角以产生左右车轮角度,以控制地板周围移动医疗设备的方向。

    ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE
    84.
    发明申请
    ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE 有权
    机械臂与五条球形连接

    公开(公告)号:US20120184968A1

    公开(公告)日:2012-07-19

    申请号:US13431894

    申请日:2012-03-27

    申请人: Bruce M. Schena

    发明人: Bruce M. Schena

    IPC分类号: A61B19/00

    摘要: A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.

    摘要翻译: 用于微创手术系统的机器人手臂包括平行的球形五杆联动装置,其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。 五杆球形连杆仅在一系列紧凑姿势中构成。 紧凑姿态是其中平行五杆球形连杆中的第一对连杆和第二对连杆仅具有相同的手感。

    Force feedback device including actuator with moving magnet
    86.
    发明授权
    Force feedback device including actuator with moving magnet 失效
    强制反馈装置包括带移动磁铁的执行器

    公开(公告)号:US07944433B2

    公开(公告)日:2011-05-17

    申请号:US10794053

    申请日:2004-03-08

    IPC分类号: G09G5/00 G06F3/033

    摘要: A force feedback interface device is coupled to a host computer that displays a graphical environment, the device including a user manipulatable object physically contacted and moveable by a user. A sensor detects a position of the user object and provides a sensor signal to the host computer, where the sensor signal includes information representative of the position of the user object. An actuator is coupled to the device or user object and outputs a force on the user manipulatable object or a housing of the device. The actuator includes a magnet and a grounded coil, where the magnet moves approximately within a plane with respect to the coil, and wherein a current is provided in the coil to generate the force. Other embodiments provide a magnet that moves in a linear degree of freedom within a coil housing, or provide an at least partially spherical magnet providing rotary degrees of freedom to a user manipulatable object coupled to the magnet. One embodiment includes a planar frame support mechanism.

    摘要翻译: 力反馈接口设备耦合到显示图形环境的主计算机,该设备包括用户物理地接触和可移动的用户可操纵对象。 传感器检测用户对象的位置,并向主计算机提供传感器信号,其中传感器信号包括表示用户对象的位置的信息。 致动器联接到设备或用户对象,并且在用户可操纵物体或设备的壳体上输出力。 致动器包括磁体和接地线圈,其中磁体相对于线圈大致在平面内移动,并且其中在线圈中提供电流以产生力。 其它实施例提供一种在线圈壳体内以线性自由度移动的磁体,或者提供至少部分地具有球面的磁体,为耦合到磁体的用户可操纵物体提供旋转自由度。 一个实施例包括平面框架支撑机构。

    Control wheel with haptic feedback
    87.
    发明申请
    Control wheel with haptic feedback 有权
    控制轮与触觉反馈

    公开(公告)号:US20100288072A1

    公开(公告)日:2010-11-18

    申请号:US10208605

    申请日:2002-07-29

    IPC分类号: B62D1/04 G05G1/10

    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。

    Controlling vibrotactile sensations for haptic feedback devices
    88.
    发明授权
    Controlling vibrotactile sensations for haptic feedback devices 有权
    控制触觉反馈装置的振动触觉

    公开(公告)号:US07656388B2

    公开(公告)日:2010-02-02

    申请号:US10949467

    申请日:2004-09-27

    IPC分类号: G09G5/00 G09G5/08

    CPC分类号: G06F3/016

    摘要: Method and apparatus for controlling vibrotactile sensations for haptic feedback devices. An actuator in a haptic feedback device includes a rotatable eccentric mass, and information is received at the haptic feedback device causing a drive signal. The drive signal controls the actuator to oscillate the mass in two directions about an axis of rotation of the actuator such that the oscillation of the mass induces a vibration in the haptic feedback device. The magnitude and frequency of the vibration can be independently controlled by adjusting a magnitude and a frequency, respectively, of the drive signal. The vibrations can also be provided in a bi-directional mode or uni-directional mode to provide the most efficient magnitude of the vibrotactile sensations. The haptic feedback device can be, for example, a gamepad controller receiving commands from a host computer providing a graphical environment.

    摘要翻译: 用于控制触觉反馈装置的振动触觉的方法和装置。 触觉反馈装置中的致动器包括可旋转的偏心质量块,并且在触觉反馈装置处接收信息以产生驱动信号。 驱动信号控制致动器以围绕致动器的旋转轴线的两个方向振荡质量,使得质量的振荡在触觉反馈装置中引起振动。 可通过分别调节驱动信号的幅度和频率来独立地控制振动的幅度和频率。 也可以以双向模式或单向模式提供振动,以提供振动触觉感觉的最有效的量值。 触觉反馈装置可以是例如从提供图形环境的主计算机接收命令的游戏手柄控制器。

    Haptic input devices
    89.
    发明授权
    Haptic input devices 有权
    触觉输入设备

    公开(公告)号:US07450110B2

    公开(公告)日:2008-11-11

    申请号:US10919648

    申请日:2004-08-17

    IPC分类号: G09G5/00

    摘要: A haptic feedback touch control used to provide input to a computer. A touch input device includes a planar touch surface that provides position information to a computer based on a location of user contact. The computer can position a cursor in a displayed graphical environment based at least in part on the position information, or perform a different function. At least one actuator is also coupled to the touch input device and outputs a force to provide a haptic sensation to the user. The actuator can move the touchpad laterally, or a separate surface member can be actuated. A flat E-core actuator, piezoelectric actuator, or other types of actuators can be used to provide forces. The touch input device can include multiple different regions to control different computer functions.

    摘要翻译: 用于向计算机提供输入的触觉反馈触摸控制。 触摸输入设备包括平面触摸表面,其基于用户接触的位置向计算机提供位置信息。 计算机可以至少部分地基于位置信息将光标定位在所显示的图形环境中,或者执行不同的功能。 至少一个致动器还耦合到触摸输入设备并且输出力以向用户提供触觉感觉。 致动器可以横向移动触摸板,或者可以致动单独的表面构件。 可以使用扁平的E型芯致动器,压电致动器或其他类型的致动器来提供力。 触摸输入设备可以包括多个不同的区域来控制不同的计算机功能。

    Directional inertial tactile feedback using rotating masses
    90.
    发明授权
    Directional inertial tactile feedback using rotating masses 有权
    使用旋转质量的定向惯性反馈

    公开(公告)号:US07182691B1

    公开(公告)日:2007-02-27

    申请号:US09968725

    申请日:2001-09-28

    申请人: Bruce M. Schena

    发明人: Bruce M. Schena

    IPC分类号: A63F13/00

    摘要: Directional haptic feedback for a haptic feedback interface device. A haptic feedback interface device, in communication with a host computer, includes a housing physically contacted by a user operating the interface device, and a plurality of actuators producing inertial forces when the actuators are driven by control signals. Each of the actuators includes a rotatable eccentric mass positioned offset on a rotating shaft of the actuator, where the actuators are rotated simultaneously such that centrifugal forces from the rotation of masses combine to output the inertial forces substantially only along a single axis having a desired direction approximately in a plane of rotation of the masses.

    摘要翻译: 用于触觉反馈接口装置的定向触觉反馈。 与主计算机通信的触觉反馈接口装置包括由操作接口装置的用户实际接触的壳体,以及当致动器由控制信号驱动时产生惯性力的多个致动器。 每个致动器包括位于致动器的旋转轴上偏移的可旋转偏心质量块,其中致动器同时旋转,使得来自质量旋转的离心力组合以基本上仅沿着具有期望方向的单个轴输出惯性力 大致在群众的旋转平面内。