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公开(公告)号：USD492248S1
公开(公告)日：2004-06-29
申请号：US29188789
申请日：2003-08-22
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公开(公告)号：US5412299A
公开(公告)日：1995-05-02
申请号：US171549
申请日：1993-12-21
CPC分类号： G05G5/03 , B64C13/04 , G05D1/0061 , Y10T74/20201
摘要： A state detector and loop compensation parameter controller for use with an active hand controller system having a single hand controller or having first and second hand controllers, processing and control means for the hand controllers and a flight control computer. The state detector and loop compensation parameter controller accepts a plurality of inputs and provides a plurality of adjustment signals to the processing and control means to improve the performance of the active hand controller system.
摘要翻译： 用于具有单手控制器或具有第一和第二手控制器的主动手控制器系统的状态检测器和回路补偿参数控制器，用于手动控制器和飞行控制计算机的处理和控制装置。 状态检测器和回路补偿参数控制器接受多个输入并且向处理和控制装置提供多个调整信号以提高主动手控制器系统的性能。
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公开(公告)号：US5347204A
公开(公告)日：1994-09-13
申请号：US957427
申请日：1992-10-06
CPC分类号： B64C13/04 , G05D1/0061 , Y10T74/20201
摘要： A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.
摘要翻译： 例如，用于主动手控制器的控制系统使用连接到电动机并由电动机控制的控制杆。 电子设备用于控制电机，以消除由于电机转矩引起的振荡，并且当控制棒处于其零位置时，由于控制棒上的突出而产生的高增益。 硬件以及软件实现都可以向控制棒提供与位置相关的阻尼，使得当控制棒位于零位置时，提供比当控制棒位于空位置之外时更高的阻尼速率，当 提供较低的阻尼率。 该系统提供稳定的主动手控制器控制棒，而不会降低系统的力和感觉特性。
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4.发明授权Method and adaptor for connecting a powered surgical instrument to a medical console 失效用于将动力手术器械连接到医疗控制台的方法和适配器
公开(公告)号：US5903117A
公开(公告)日：1999-05-11
申请号：US959027
申请日：1997-10-28
申请人： William W. Gregory
发明人： William W. Gregory
CPC分类号： H02K7/145 , H02P6/14 , H02P6/30 , A61B17/32002
摘要： A brush-to-brushless motor controller adapter for use with a two-wire output signal from a medical console consists of a small enclosure containing a circuit board and has a short cable terminating in a two-wire connector which plugs into the two-wire controller output of the medical console and a connector jack for an electrical connection to a surgical instrument having a brushless D.C. motor. The brush-to-brushless motor controller generates a stable voltage for the adapter internal electronics (i.e., 12 to 15 volts), from a varying input voltage (i.e., 2.5 to 30 volts D.C.). The surgical instrument brushless D.C. motor speed is controlled as a function of the console output signal drive voltage amplitude and the adapter accepts pulsed inputs from a high power two-wire motor controller (e.g., 10 watts and up). The adapter accepts bipolar drive signals and is adapted to reverse the surgical instrument brushless D.C. motor direction in response to a change in input voltage polarity from the two-wire medical console controller circuit. The adapter circuit of the present invention eliminates the need for a negative supply voltage by creating a positive bias in the control loop such that the control signal is nominally 2.5V above ground (i.e., zero volts) and the adapter internal positive voltage supply level. The adapter may be calibrated to provide a given top motor speed for different consoles by adjusting speed gain and speed offset voltages and so can work with consoles having different maximum speed voltage signals. The instrument including the brushless D.C. motor is preferably, but not necessarily, a surgical instrument such as a shaver or resector and may be used in conjunction with ancillary equipment such as a selectively switchable pump.
摘要翻译： 用于来自医疗控制台的两线输出信号的刷到无刷电机控制器适配器由包含电路板的小外壳组成，并且具有终端于两线连接器中的短电缆，其插入双线 医疗控制台的控制器输出和用于与具有无刷直流电动机的手术器械的电连接的连接器插座。 电刷到无刷电机控制器从变化的输入电压（即，2.5至30伏直流）产生用于适配器内部电子器件（即，12至15伏特）的稳定电压。 根据控制台输出信号驱动电压振幅控制外科器械无刷直流电动机速度，适配器接受来自高功率双线马达控制器的脉冲输入（例如，10瓦及以上）。 适配器接受双极驱动信号，并且适于响应于来自二线医疗控制台控制器电路的输入电压极性的变化而反转外科器械无刷直流电动机方向。 本发明的适配器电路通过在控制回路中产生正偏压来消除对负电源电压的需要，使得控制信号标称地高于地面2.5V（即零伏）和适配器内部正电压供应电平。 可以通过调整速度增益和速度偏移电压来校准适配器以为不同的控制台提供给定的顶部电动机速度，因此可以与具有不同最大速度电压信号的控制台一起工作。 包括无刷直流电动机的仪器优选但不一定是诸如剃须刀或切除器的外科器械，并且可以与辅助设备如可选择性切换的泵一起使用。
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公开(公告)号：US5559415A
公开(公告)日：1996-09-24
申请号：US269275
申请日：1994-06-30
CPC分类号： G05D1/0077 , G05D1/0061
摘要： A redundant active hand controller system has first and second motors connected to a common shaft. A compensator which differentiates a motor command signal from a first proportional and integral controller, differentiates a motor command signal from a second proportional and integral controller and subtracts the first differentiated motor command signal from the second differentiated motor command signal to provide a correction signal. The correction signal is summed with the error signal into the first proportional and integral controller to correct for slight differences in the integral control function of the first and second proportional and integral controllers.
摘要翻译： 冗余主动手控制器系统具有连接到公共轴的第一和第二马达。 一种补偿器，其将电动机命令信号与第一比例积分控制器区分开来，将电动机命令信号与第二比例积分控制器区分开，并从第二微分电动机命令信号中减去第一微分电动机命令信号以提供校正信号。 校正信号与误差信号相加到第一比例和积分控制器中，以校正第一和第二比例和积分控制器的积分控制功能的微小差异。
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公开(公告)号：US5264768A
公开(公告)日：1993-11-23
申请号：US957278
申请日：1992-10-06
IPC分类号： G05B19/409 , G05D1/00 , G05B11/01
CPC分类号： G05B19/409 , G05D1/0061 , G05B2219/35438 , G05B2219/37396 , H01H2003/008 , Y10T74/20201
摘要： An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.
摘要翻译： 提供一种主动手控制器系统，其中反馈回路检测控制棒的位置，以控制驱动控制棒的电动机，从而向控制棒提供一定的力感觉特性。 反馈回路包括检测器，用于检测施加给控制棒的力，以产生指示施加到控制棒的力或扭矩的信号。 在更具体的方面，本发明包括使用可变磁阻变压器，优选地在推/拉配置中来检测施加在控制棒上的力。
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