Uniform scaling of haptic actuators

    公开(公告)号:US12114954B2

    公开(公告)日:2024-10-15

    申请号:US17749799

    申请日:2022-05-20

    IPC分类号: A61B34/00 A61B34/30 A61B90/00

    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.

    CANNULA WITH SENSORS TO MEASURE PATIENT BODYWALL FORCES

    公开(公告)号:US20170265890A1

    公开(公告)日:2017-09-21

    申请号:US15329982

    申请日:2015-07-27

    摘要: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

    ACTUATED CANNULA SEAL
    5.
    发明申请
    ACTUATED CANNULA SEAL 有权
    致动肛门密封

    公开(公告)号:US20140236177A1

    公开(公告)日:2014-08-21

    申请号:US14181541

    申请日:2014-02-14

    IPC分类号: A61B19/00 A61B17/34

    摘要: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

    摘要翻译: 公开了致动套管密封件的实施例。在一些实施例中,插管密封件包括与插管接合的基部; 以及密封部,其与所述基部一体形成,所述密封部能够与器械轴接合,所述密封部能够由致动器致动,使得所述密封部相对于所述器械轴不断地运动。 密封部分的致动可以通过密封部分相对于仪器轴的旋转或振动来实现。

    AUTOMATIC MOTION DAMPING OF TELEOPERATED SURGICAL SYSTEM MANIPULATORS

    公开(公告)号:US20230138396A1

    公开(公告)日:2023-05-04

    申请号:US17976510

    申请日:2022-10-28

    IPC分类号: A61B34/35 H02P7/281

    摘要: A teleoperated surgical system includes a manipulator, an electric motor, and a power circuit. The motor is operatively connected to and configured to drive movement of at least a portion of the manipulator. The power circuit includes a plurality of wires and a switch. The wires connect a selectively activated power source to the motor. The switch is connected to the wires between the power source and the motor. On a first condition in which the power source changes from an activated state to a deactivated state, the switch short-circuits the motor to cause the unpowered motor to automatically dampen motion of the at least a portion of the manipulator. On a second condition in which the power source changes from the deactivated state to the activated state, the switch electrically connects the motor to the power source to supply operating power from the power source to the motor via the wires.

    Uniform scaling of haptic actuators

    公开(公告)号:US11376087B2

    公开(公告)日:2022-07-05

    申请号:US16069810

    申请日:2017-01-12

    IPC分类号: A61B34/00 A61B34/30 A61B90/00

    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.

    Integrated Fiber Bragg Grating accelerometer in a surgical instrument

    公开(公告)号:US11137414B2

    公开(公告)日:2021-10-05

    申请号:US16455611

    申请日:2019-06-27

    IPC分类号: G01P15/093 G02B6/34 G01L1/22

    摘要: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.