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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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2.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：US08188981B2
公开(公告)日：2012-05-29
申请号：US11981220
申请日：2007-10-30
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F1/1616 , G06F1/1626 , G06F1/169 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , H01H2003/008 , H01H2215/052
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。
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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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7.发明授权公开(公告)号：US08103472B2
公开(公告)日：2012-01-24
申请号：US12191983
申请日：2008-08-14
IPC分类号： G06F19/00
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
摘要翻译： 用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。 从接口设备的操作的感测位置确定设备位置增量。 通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。 如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。 调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。
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公开(公告)号：US08063892B2
公开(公告)日：2011-11-22
申请号：US11981221
申请日：2007-10-30
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G06F1/1616 , G06F1/1626 , G06F1/169 , G06F3/011 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , H01H2003/008 , H01H2215/052
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。
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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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公开(公告)号：US07909122B2
公开(公告)日：2011-03-22
申请号：US12420222
申请日：2009-04-08
摘要： Methods for steering mobile medical equipment are disclosed. In one embodiment, the method includes supporting medical equipment with a base above a floor over which a left steerable wheel, a right steerable wheel, and a pair of front wheels roll; receiving an input steering angle other than zero; linearly sweeping a long link in response to the input steering angle, pivoting a pair of short links in response to the linearly sweeping of the long link; pivoting a pair of cam plates in response to the pivoting of the pair of short links; transferring the pivoting of one of the pair of cam plates to a left wheel assembly to position the left steerable wheel at a left wheel angle; and transferring the pivoting of another one of the pair of cam plates to a right wheel assembly to position the right steerable wheel at a right wheel angle.
摘要翻译： 公开了用于转向移动医疗设备的方法。 在一个实施例中，该方法包括支撑具有在地板上方的基座的医疗设备，左转向轮，右转向轮和一对前轮滚动; 接收除零以外的输入转向角; 响应于输入转向角线性扫描长连杆，响应于长链节的线性扫掠枢转一对短链节; 响应于所述一对短链节的枢轴而枢转一对凸轮板; 将所述一对凸轮板中的一个的枢转转移到左轮组件以将所述左转向轮定位在左轮角度; 以及将所述一对凸轮板中的另一个的枢转转移到右轮组件以将右转向轮定位在右轮角度。
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