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    DEXTEROUS WRISTS
    4.
    发明申请
    DEXTEROUS WRISTS 审中-公开

    公开(公告)号：US20170265950A1

    公开(公告)日：2017-09-21

    申请号：US15617652

    申请日：2017-06-08

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Roger E. Goldman ,  Andrea Bajo

    IPC分类号： A61B34/30 ,  A61B34/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2034/305

    摘要： A rotatable wrist connecting a gripper tool to the distal end of a positioning shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to an actuatable device (e.g., a gripper). A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

    ROBOTIC DEVICE FOR ESTABLISHING ACCESS CHANNEL
    6.
    发明申请
    ROBOTIC DEVICE FOR ESTABLISHING ACCESS CHANNEL 有权
    用于建立通道的机器人设备

    公开(公告)号：US20150119900A1

    公开(公告)日：2015-04-30

    申请号：US14394245

    申请日：2013-04-19

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Andrea Bajo

    IPC分类号： A61B19/00 ,  A61B17/02 ,  A61M25/10 ,  A61M25/01

    CPC分类号： A61B17/0218 ,  A61B1/00006 ,  A61B1/00082 ,  A61B1/00147 ,  A61B1/00154 ,  A61B1/0055 ,  A61B34/30 ,  A61B2034/303 ,  A61B2034/306 ,  A61M25/0144 ,  A61M25/10

    摘要： A device for establishing an access channel to a target location is presented. The device includes a plurality of cylindrical segments. A plurality of backbones each extends through a backbone channel of each segment to join the plurality of segments together. When joined together, the central bore of each of the plurality of cylindrical segments align to form an access channel. A distal segment is fixedly attached to each of the plurality of backbones such that an orientation of the distal segment can be adjusted by linear movement of one or more of the plurality of backbones through the plurality of cylindrical segments. Furthermore, when linear movement of the plurality of backbones is restricted, the shape of the access channel can be adjusted by external forces while maintaining the orientation of the distal segment.

    摘要翻译： 提出了一种用于建立到目标位置的访问信道的设备。 该装置包括多个圆柱形段。 多个骨架各自延伸穿过每个段的主干通道，以将多个段连接在一起。 当连接在一起时，多个圆柱形段中的每一个的中心孔对准以形成通道。 远侧段固定地附接到多个骨架中的每一个，使得可以通过多个骨架中的一个或多个通过多个圆柱形段的线性运动来调节远端段的取向。 此外，当限制多个骨架的线性移动时，可以通过外力来调节进入通道的形状，同时保持远端段的取向。

    DEXTEROUS WRISTS FOR SURGICAL INTERVENTION
    8.
    发明申请
    DEXTEROUS WRISTS FOR SURGICAL INTERVENTION 有权
    手术用于手术干预

    公开(公告)号：US20150073434A1

    公开(公告)日：2015-03-12

    申请号：US14391659

    申请日：2013-04-19

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Roger E. Goldman ,  Andrea Bajo

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B34/71 ,  A61B2034/305

    摘要： A rotatable wrist connecting a gripper tool to the distal end of a continuum robot shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to the gripper. A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft of the continuum robot causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.

    摘要翻译： 将夹具工具连接到连续机器人轴的远端的可旋转手腕。 可旋转的腕部包括不可旋转地连接到轴的远端的手腕轮毂。 手腕主导轴可旋转地连接到心轴毂并且不能旋转地连接到夹持器。 柔性线环延伸穿过腕轮毂并部分地接触手腕绞盘。 柔性线环通过连续机器人的轴的线性运动导致由于柔性线环和手腕绞盘之间的摩擦而导致手腕主导轴旋转。 根据不同的实施例，手腕还支持选择性的可拆卸性和对辊，俯仰和滚动，俯仰偏转和滚动的控制。

    SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS
    9.
    发明申请
    SYSTEMS AND METHODS FOR SAFE COMPLIANT INSERTION AND HYBRID FORCE/MOTION TELEMANIPULATION OF CONTINUUM ROBOTS 有权
    安全合规插入和混合力/运动连续运动电机的系统和方法

    公开(公告)号：US20140330432A1

    公开(公告)日：2014-11-06

    申请号：US14271418

    申请日：2014-05-06

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Andrea Bajo ,  James L. Netterville ,  C. Gaelyn Garrett

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1625 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/06 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2090/064 ,  B25J9/1602 ,  B25J9/1633 ,  G05B2219/40184 ,  G05B2219/40299 ,  Y10S901/01 ,  Y10S901/30 ,  Y10S901/50

    摘要： Methods and systems are described for controlling movement of a continuum robot that includes a plurality of independently controlled segments along the length of the continuum robot. The continuum robot is inserted into a cavity of unknown dimensions or shape. A plurality of forces acting upon the continuum robot by the surrounding cavity are estimated. A positioning command indicating a desired movement of the distal end of the continuum robot is received from a manipulator control. The desired movement is augmented based, at least in part, on the estimated plurality of forces acting on the continuum robot such that movement is restricted to within safe boundaries of the surrounding cavity. The positioning of the continuum robot is then adjusted based on the augmented desired movement.

    摘要翻译： 描述了用于控制连续机器人的运动的方法和系统，其包括沿连续机器人的长度的多个独立控制的段。 将连续体机器人插入未知尺寸或形状的空腔中。 估计由周围空腔作用在连续机器人上的多个力。 从机械手控制器接收指示连续机器人的远端的期望运动的定位指令。 所期望的运动至少部分地基于作用在连续体机器人上的估计的多个力进行增强，使得运动被限制在周围空腔的安全边界内。 然后基于增加的期望运动来调整连续体机器人的定位。

    SYSTEMS AND METHODS FOR ROBOT-ASSISTED TRANSURETHRAL EXPLORATION AND INTERVENTION
    10.
    发明申请
    SYSTEMS AND METHODS FOR ROBOT-ASSISTED TRANSURETHRAL EXPLORATION AND INTERVENTION 有权
    机器人辅助探测和干预的系统和方法

    公开(公告)号：US20140316434A1

    公开(公告)日：2014-10-23

    申请号：US14271345

    申请日：2014-05-06

    申请人： Vanderbilt University

    发明人： Nabil Simaan ,  Andrea Bajo ,  Ryan B. Pickens ,  Stanely Duke Herrel

    IPC分类号： A61B19/00

    CPC分类号： A61B34/30 ,  A61B18/24 ,  A61B34/74 ,  A61B2018/00517 ,  A61B2018/00577 ,  A61B2034/302

    摘要： Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture.

    摘要翻译： 描述了使用机器人系统使用虚拟夹具在空腔内执行程序的系统和方法。 机器人系统包括刚性中心杆，其包括沿着刚性中心杆纵向定位的进入通道和至少部分地定位在中心杆的进入通道内的灵巧臂。 灵巧手臂包括多个可单独调节的部分。 控制系统从操纵器控制器接收指示灵巧臂的远端的期望运动的定位命令。 定义了虚拟夹具，其代表刚性中心杆的通道。 柔性臂的位置被调整为使得灵巧臂的远端执行期望的移动，而位于第一进入通道内的灵巧臂的部分不会移动超过限定的虚拟夹具。