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    Robotic apparatus
    4.
    发明授权
    Robotic apparatus 有权
    机器人装置

    公开(公告)号：US08123740B2

    公开(公告)日：2012-02-28

    申请号：US10893613

    申请日：2004-07-15

    Applicant: Akhil J. Madhani ,  J. Kenneth Salisbury, Jr. ,  Gunter D. Niemeyer

    Inventor： Akhil J. Madhani ,  J. Kenneth Salisbury, Jr. ,  Gunter D. Niemeyer

    IPC: A61B19/00

    CPC classification number: B25J3/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2090/506 ,  B25J9/1615 ,  Y10S901/10 ,  Y10S901/29

    Abstract: 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 any 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.

    Abstract translation: 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。 端部执行器在任何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。

    Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
    6.
    发明授权
    Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity 失效
    强力反射手术器械和定位机制，用于进行灵敏度和灵敏度提高的微创手术

    公开(公告)号：US5807377A

    公开(公告)日：1998-09-15

    申请号：US858048

    申请日：1997-05-16

    Applicant: Akhil J. Madhani ,  J. Kenneth Salisbury

    Inventor： Akhil J. Madhani ,  J. Kenneth Salisbury

    IPC: A61B1/00 ,  A61B19/00 ,  A61B17/00 ,  B25J17/00

    CPC classification number: A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B34/77 ,  A61B2034/715 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335

    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures is coupled to a positioning mechanism for supporting and moving the surgical instrument. The positioning mechanism mounts to an operating room table. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection and the positioning mechanism provides a large range of motion to the instrument. The system is operated according to a macro-micro actuation scheme which allows for a large range of motion of the surgical end effector and also allows for sensitive force feedback to a master controller by reducing the measured inertia of the slave system. The macro-micro actuation scheme may be used in conjunction with impedance scaling and force scaling between the instrument and the master controller.

    Abstract translation: 用于增强微创外科手术的性能的关节式外科器械被耦合到用于支撑和移动外科器械的定位机构。 定位机构安装在手术台上。 仪器具有高灵敏度，低摩擦，低惯性和良好的反射力，定位机构为仪器提供了大范围的运动。 该系统根据宏观微动作方案进行操作，其允许手术末端执行器的大范围的运动，并且还允许通过减小所测量的从属系统的惯性而将敏感的力反馈到主控制器。 宏微动作方案可以与仪器和主控制器之间的阻抗缩放和力缩放结合使用。

    Three-axis robotic joint with human-based form factors
    9.
    发明授权
    Three-axis robotic joint with human-based form factors 有权
    以人为本的三轴机器人接头

    公开(公告)号：US07628093B2

    公开(公告)日：2009-12-08

    申请号：US11682977

    申请日：2007-03-07

    Applicant: Akhil J. Madhani ,  Bryan S. Tye

    Inventor： Akhil J. Madhani ,  Bryan S. Tye

    IPC: B25J17/00

    CPC classification number: B25J17/0283 ,  B25J9/104 ,  Y10T74/19 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.

    Abstract translation: 构造为具有肩部或其他人体关节形状因子的3轴关节的机器人关节。 接头包括由附接到躯干的块构成的第一连杆和安装到块的固定电致动器组件。 第二连杆连接到第一连杆以围绕第一轴线旋转并被致动器组件驱动。 当第三连杆由致动器组件驱动时，第三连杆附接到第二连杆以围绕与第一轴正交的第二轴旋转。 当第四连杆由致动器组件驱动时，第四连杆连接到第三连杆以绕与第二轴正交的第三轴旋转。 致动器组件包括三个具有螺旋驱动绞盘的电动机，其在连杆中驱动滑轮，同时与旋转连杆间隔开。

    THREE-AXIS ROBOTIC JOINT WITH HUMAN-BASED FORM FACTORS
    10.
    发明申请
    THREE-AXIS ROBOTIC JOINT WITH HUMAN-BASED FORM FACTORS 有权
    三轴人机界面与人类因素的关系

    公开(公告)号：US20080216596A1

    公开(公告)日：2008-09-11

    申请号：US11682977

    申请日：2007-03-07

    Applicant: Akhil J. Madhani ,  Bryan S. Tye

    Inventor： Akhil J. Madhani ,  Bryan S. Tye

    IPC: B25J18/04 ,  B25J17/00 ,  F16H37/00

    CPC classification number: B25J17/0283 ,  B25J9/104 ,  Y10T74/19 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.

    Abstract translation: 构造为具有肩部或其他人体关节形状因子的3轴关节的机器人关节。 接头包括由附接到躯干的块构成的第一连杆和安装到块的固定电致动器组件。 第二连杆连接到第一连杆以围绕第一轴线旋转并由致动器组件驱动。 当第三连杆由致动器组件驱动时，第三连杆附接到第二连杆以围绕与第一轴正交的第二轴旋转。 当第四连杆由致动器组件驱动时，第四连杆连接到第三连杆以绕与第二轴正交的第三轴旋转。 致动器组件包括三个具有螺旋驱动绞盘的电动机，其在连杆中驱动滑轮，同时与旋转连杆间隔开。

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