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公开(公告)号：US20180153632A1
公开(公告)日：2018-06-07
申请号：US15735164
申请日：2016-06-09
发明人： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C, Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman , Jonathan M. Sorger
CPC分类号： A61B34/35 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/37 , A61B34/76 , A61B34/77 , A61B90/00 , A61B90/361 , A61B90/37 , A61B2090/3612 , B25J9/1689 , G05B2219/40134 , G05B2219/40137 , G05B2219/40143 , G05B2219/40144 , G05B2219/40161 , G05B2219/40167 , G05B2219/40168 , G05B2219/40169 , G05B2219/40191 , G05B2219/45118 , G06F19/3418 , G16H50/50
摘要： A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
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公开(公告)号：US09763739B2
公开(公告)日：2017-09-19
申请号：US13660328
申请日：2012-10-25
申请人： TITAN MEDICAL INC.
发明人： Uwe Schaible , Drazena Brocilo , John Harmen
CPC分类号： A61B34/30 , B25J9/1633 , B25J9/1689 , G05B2219/35419 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117
摘要： A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.
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公开(公告)号：US09014856B2
公开(公告)日：2015-04-21
申请号：US13676083
申请日：2012-11-13
申请人： Scott Manzo , Nitish Swarup
发明人： Scott Manzo , Nitish Swarup
CPC分类号： A61B19/2203 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/361 , A61B90/98 , A61B2017/00203 , A61B2017/00477 , A61B2017/00482 , A61B2017/2825 , A61B2017/2829 , A61B2017/2929 , A61B2017/2932 , A61B2034/305 , A61B2034/715 , A61B2090/031 , A61B2090/064 , B25J9/1689 , G05B2219/40144 , G05B2219/42289 , G05B2219/45123 , G06F19/3418 , G06F19/3481 , G16H40/63 , Y10S901/02 , Y10S901/19 , Y10S901/21
摘要： In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
摘要翻译： 在本发明的一个实施例中，提供了一种用于机器人手术器械的控制系统，其包括转矩饱和限制器，耦合到转矩饱和限幅器的转矩 - 电流转换器和耦合到转矩 - 电流转换器的电动机。 扭矩饱和限制器接收一个或多个端部执行器的期望转矩信号，并将期望的转矩限制在产生有界转矩信号的上转矩极限和下转矩极限之间的范围内。 转矩电流转换器将转矩信号转换为电流信号。 响应于第一电流信号，马达驱动一个或多个端部执行器的末端执行器到有界转矩信号。
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公开(公告)号：US08930027B2
公开(公告)日：2015-01-06
申请号：US13660615
申请日：2012-10-25
申请人： Titan Medical Inc.
发明人： Uwe Schaible , Drazena Brocilo , John Harmen
CPC分类号： A61B34/30 , B25J9/1633 , B25J9/1689 , G05B2219/35419 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117
摘要： A force feedback system and method are provided. The force feedback system includes a communication module, a processor and a motor drive module. The processor is for receiving and processing mechanical arm signals corresponding to a movement of the plurality of mechanical arms and the motor drive module is for activating the plurality of actuators. The method involves providing an interface between a controller and a plurality of mechanical arms, receiving and processing mechanical arm signals corresponding to movement of the mechanical arms activating a plurality of actuators and generating a force feedback.
摘要翻译： 提供力反馈系统和方法。 力反馈系统包括通信模块，处理器和电动机驱动模块。 处理器用于接收和处理对应于多个机械臂的运动的机械臂信号，并且电动机驱动模块用于致动多个致动器。 该方法包括在控制器和多个机械臂之间提供接口，接收和处理对应于启动多个致动器的机械臂的运动并产生力反馈的机械臂信号。
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公开(公告)号：US20130197697A1
公开(公告)日：2013-08-01
申请号：US13660615
申请日：2012-10-25
申请人： TITAN MEDICAL INC.
发明人： Uwe SCHAIBLE , Drazena BROCILO , John HARMEN
IPC分类号： B25J13/08
CPC分类号： A61B34/30 , B25J9/1633 , B25J9/1689 , G05B2219/35419 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117
摘要： A force feedback system and method are provided. The force feedback system includes a communication module, a processor and a motor drive module. The processor is for receiving and processing mechanical arm signals corresponding to a movement of the plurality of mechanical arms and the motor drive module is for activating the plurality of actuators. The method involves providing an interface between a controller and aplurality of mechanical arms, receiving and processing mechanical arm signals corresponding to movement of the mechanical arms activating a plurality of actuators and generating a force feedback.
摘要翻译： 提供力反馈系统和方法。 力反馈系统包括通信模块，处理器和电动机驱动模块。 处理器用于接收和处理对应于多个机械臂的运动的机械臂信号，并且电动机驱动模块用于致动多个致动器。 该方法包括在控制器和多个机械臂之间提供接口，接收和处理对应于启动多个致动器的机械臂的运动并产生力反馈的机械臂信号。
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6.发明申请Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations 有权具有联合运动控制器的机器人手术系统适用于减少仪器尖端振动公开(公告)号：US20070142968A1
公开(公告)日：2007-06-21
申请号：US11509172
申请日：2006-08-24
申请人： Giuseppe Prisco , David J. Rosa
发明人： Giuseppe Prisco , David J. Rosa
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , A61B1/00193 , A61B1/313 , A61B34/70 , A61B34/75 , G05B2219/39241 , G05B2219/40144 , G05B2219/40406 , G05B2219/45117 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
摘要翻译： 机器人手术系统具有握持用于执行外科手术的器械的机器人手臂，以及用于根据主操纵器的用户操纵来控制手臂及其器械的移动的控制系统。 控制系统包括其前进路径中的滤波器，以衰减可能导致仪器尖端振动的主输入命令，以及在主机械手的反馈路径中的逆滤波器，其被配置为补偿由前向路径滤波器引入的延迟。 为了加强控制，主控指令和从属关节观测器也被插入到控制系统中，以使用接收到的从关节位置指令和扭矩反馈来估计从关节位置，速度和加速度指令，并使用感测到的从属关系来估计实际的从关节位置，速度和加速度 关节位置和指令的从动关节电机转矩。
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公开(公告)号：US20070052496A1
公开(公告)日：2007-03-08
申请号：US11512759
申请日：2006-08-29
申请人： Gunter Niemeyer , Neal Tanner
发明人： Gunter Niemeyer , Neal Tanner
IPC分类号： H03H7/30
CPC分类号： B25J9/1689 , G05B2219/40144 , G05B2219/40407
摘要： Telerobotic systems with integrated high frequency feedback to enhance users' telerobotic experience are provided. The controller of the telerobotic system is characterized by combining high frequency information with low frequency position or velocity information. The controller is useful for teleoperations with delay and no-delay between the communication channels of the master and slave device.
摘要翻译： 提供具有集成高频反馈的Telerobotic系统，以提高用户的远程运行经验。 远程操作系统的控制器的特征在于将高频信息与低频位置或速度信息相结合。 控制器对于主设备和从设备的通信通道之间的延迟和无延迟的远程操作是有用的。
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公开(公告)号：US09962835B2
公开(公告)日：2018-05-08
申请号：US15105650
申请日：2014-12-03
申请人： Syddansk Universitet
发明人： Thiusius Rajeeth Savarimuthu , Dorthe Soelvason , Kamil Kuklinski , Norbert Krüger , Kerstin Fischer , Maria Vanessa Aus Der Wieschen , Franziska Kirstein , Ilka Marhenke
CPC分类号： B25J9/1689 , B25J9/1687 , B25J13/084 , B25J13/085 , B25J19/023 , G05B2219/40144 , G05B2219/40154 , G05B2219/40155 , G05B2219/40193
摘要： The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom.
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公开(公告)号：US20170367777A1
公开(公告)日：2017-12-28
申请号：US15542398
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： Joseph KRALICKY , Peter CAMERON , Rene ROBERT
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.
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公开(公告)号：US20160318185A1
公开(公告)日：2016-11-03
申请号：US15105650
申请日：2014-12-03
申请人： SYDDANSK UNIVERSITET
发明人： Thiusius Rajeeth Savarimuthu , Dorthe Soelvason , Kamil Kuklinski , Norbert Krueger , Kerstin Fischer , Maria Vanessa Aus Der Wieschen , Franziska Kirstein , Ilka Marhenke
CPC分类号： B25J9/1689 , B25J9/1687 , B25J13/084 , B25J13/085 , B25J19/023 , G05B2219/40144 , G05B2219/40154 , G05B2219/40155 , G05B2219/40193
摘要： The invention comprises a system for switching between control points of a robotic system involving an industrial robot including a robot arm with a number of joints and provided with a tool interest point movable in a plurality of degrees of freedom.
摘要翻译： 本发明包括一种用于切换机器人系统的控制点的系统，该系统涉及包括具有多个关节的机器人手臂的工业机器人，并且具有可以多个自由度移动的工具兴趣点。
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