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公开(公告)号：US10483881B2
公开(公告)日：2019-11-19
申请号：US15118264
申请日：2015-02-17
IPC分类号： A61B34/30 , A61B34/37 , H02P6/10 , H02P6/08 , H02P23/04 , H02P23/00 , A61B34/35 , A61B90/00 , A61B17/00 , H02P6/14
摘要： A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
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公开(公告)号：US10524871B2
公开(公告)日：2020-01-07
申请号：US15564160
申请日：2016-06-10
发明人： Hsien-Hsin Liao
摘要： A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. The result of this processing is that the motion of the slave surgical instrument tip intuitively corresponds to the motion of the master tool grip despite an initial swooping orientation misalignment between the master tool grip and the slave surgical instrument tip.
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公开(公告)号：US20190015169A1
公开(公告)日：2019-01-17
申请号：US16069810
申请日：2017-01-12
发明人： Lawton N. Verner , Hsien-Hsin Liao
摘要： A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
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公开(公告)号：US12114954B2
公开(公告)日：2024-10-15
申请号：US17749799
申请日：2022-05-20
发明人： Lawton N. Verner , Hsien-Hsin Liao
CPC分类号： A61B34/76 , A61B34/30 , A61B34/77 , A61B2090/064
摘要： A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
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公开(公告)号：US11083532B2
公开(公告)日：2021-08-10
申请号：US16693119
申请日：2019-11-22
发明人： Hsien-Hsin Liao
IPC分类号： G05B19/418 , A61B34/37 , A61B90/00 , B25J9/16 , A61B34/35 , A61B17/00 , A61B34/00 , A61B34/30
摘要： A system includes a master manipulator and a controller. The controller determines, before the system enters a following mode, a relative orientation between an orientations of an axis of the master manipulator in an eye frame and a corresponding axis of a slave instrument tip in a camera frame. After the system enters the following mode, the controller determines whether an orientation misalignment between the orientations of the axis of the master manipulator and the corresponding axis of the slave instrument tip is less than or equal to a maximum permitted orientation error. When the orientation misalignment is less than or equal to the maximum permitted orientation error, the controller receives a command indicating a desired orientation of the slave instrument tip from the master manipulator and commands the system to orient the slave instrument tip based on the desired orientation of the slave instrument tip and the relative orientation.
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公开(公告)号：US12023205B2
公开(公告)日：2024-07-02
申请号：US17234655
申请日：2021-04-19
CPC分类号： A61B90/06 , A61B34/35 , A61B90/50 , G01D5/145 , A61B2034/715 , A61B2090/064 , A61B2090/5025
摘要： Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second configuration in the range of motion of the moveable detection element by a force generated by the actuator on the moveable detection element. The breakage detection mechanism includes a sensor of a change of the moveable detection element from the first configuration to the second configuration, the change being in response to breakage of the tension element.
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公开(公告)号：US11376087B2
公开(公告)日：2022-07-05
申请号：US16069810
申请日：2017-01-12
发明人： Lawton N. Verner , Hsien-Hsin Liao
摘要： A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.
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公开(公告)号：US11357587B2
公开(公告)日：2022-06-14
申请号：US16069800
申请日：2017-01-12
发明人： Lawton N. Verner , Hsien-Hsin Liao
摘要： A surgical system is provided comprising: an input device: and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.
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公开(公告)号：US20170179857A1
公开(公告)日：2017-06-22
申请号：US15118264
申请日：2015-02-17
CPC分类号： H02P6/10 , A61B17/00 , A61B34/35 , A61B90/03 , A61B2017/00464 , A61B2090/031 , A61B2090/066 , A61B2560/0223 , H02P6/08 , H02P6/14 , H02P23/0031 , H02P23/04
摘要： A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
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公开(公告)号：US11919153B2
公开(公告)日：2024-03-05
申请号：US17501060
申请日：2021-10-14
发明人： Hsien-Hsin Liao , Timothy P. Haines
CPC分类号： B25J19/002 , A61B34/71 , B25J9/1045 , B25J19/0016 , A61B2034/715
摘要： Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.
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