公开(公告)号：US09801686B2

公开(公告)日：2017-10-31

申请号：US14673521

申请日：2015-03-30

申请人： MAKO Surgical Corp.

发明人： Chris Alan Lightcap ,  Hyosig Kang ,  Arthur E. Quaid, III ,  Rony Abovitz

IPC分类号： G05B15/00 ,  G05B19/00 ,  A61B19/00 ,  A61B5/04 ,  A61B5/00 ,  A61B5/0488 ,  A61B17/17 ,  A61B17/16 ,  A61B17/86 ,  A61F2/30 ,  G06F3/01 ,  A61B17/00 ,  A61F2/38 ,  A61B5/11 ,  A61F2/46 ,  A61B17/70

CPC分类号： A61B34/10 ,  A61B5/04001 ,  A61B5/0488 ,  A61B5/1127 ,  A61B5/4836 ,  A61B5/745 ,  A61B17/1671 ,  A61B17/1757 ,  A61B17/7032 ,  A61B17/7092 ,  A61B17/86 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B90/03 ,  A61B90/14 ,  A61B90/36 ,  A61B2017/0003 ,  A61B2017/00119 ,  A61B2017/00725 ,  A61B2018/00339 ,  A61B2018/0044 ,  A61B2018/00839 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/108 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/08021 ,  A61B2090/365 ,  A61B2090/3983 ,  A61F2/30942 ,  A61F2/38 ,  A61F2002/4632 ,  A61F2002/4633 ,  B25J9/1689 ,  G05B2219/36432 ,  G05B2219/39196 ,  G05B2219/40478 ,  G05B2219/45117 ,  G05B2219/45171 ,  G06F3/016 ,  Y10S901/02 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/34 ,  Y10S901/35

摘要： A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

公开(公告)号：US09144908B2

公开(公告)日：2015-09-29

申请号：US14114208

申请日：2012-04-18

申请人： Makoto Saen ,  Kiyoto Ito ,  Yoshimitsu Yanagawa ,  Tomomi Takahashi

发明人： Makoto Saen ,  Kiyoto Ito ,  Yoshimitsu Yanagawa ,  Tomomi Takahashi

IPC分类号： B25J15/00 ,  B25J19/00 ,  B25J15/08 ,  B25J15/02 ,  B25J13/08 ,  G01L5/22 ,  B25J9/16 ,  G01L5/00

CPC分类号： B25J15/0253 ,  B25J9/1612 ,  B25J13/083 ,  B25J13/085 ,  G01L5/009 ,  G01L5/228 ,  Y10S901/32 ,  Y10S901/34 ,  Y10S901/47

摘要： A manipulator device has an arm portion and a hand portion The hand portion includes one or more finger portions that manipulate a target object. Each finger portion includes a slip sensor and multiple contact sensors, with at least one contact sensor at a position proximate to the slip sensor and at least another contact sensor at a position remote from the slip sensor. When the contact sensors at the positions remote from the slip sensor detect contact of the target object and the contact sensors arranged at the positions proximate to the slip sensors do not detect contact, a position of the finger portion is moved by a distance corresponding to the distance between the contact sensors detecting contact of the target object and the contact sensors arranged at the positions proximate to the slip such that a detecting position of the slip sensor is coincident with a position of the target object.

摘要翻译： 操纵器装置具有臂部和手部。手部包括操纵目标物体的一个或多个手指部。 每个手指部分包括滑动传感器和多个接触传感器，其中至少一个接触传感器位于靠近滑动传感器的位置处，并且至少另一个接触传感器位于远离滑移传感器的位置。 当远离滑动传感器的位置处的接触传感器检测到目标物体的接触点和布置在靠近滑动传感器的位置处的接触传感器没有检测到接触时，手指部分的位置移动相应于 接触传感器之间的距离检测目标物体的接触点和布置在接近滑动位置的接触传感器之间的距离，使得滑动传感器的检测位置与目标物体的位置一致。

公开(公告)号：US20150150639A1

公开(公告)日：2015-06-04

申请号：US14551283

申请日：2014-11-24

申请人： Intuitive Surgical Operations, Inc.

发明人： Nicola Diolaiti ,  Paul E. Lilagan

IPC分类号： A61B19/00 ,  B25J9/16

CPC分类号： B25J9/161 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/305 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/306 ,  B25J9/1633 ,  Y10S901/33 ,  Y10S901/34

摘要： A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.

摘要翻译： 医疗机器人系统包括具有从其远端延伸出的关节式器械的进入引导件。 控制器被配置为命令操纵其中一个铰接乐器朝向由操作者操纵输入装置所指示的状态，同时指示对操作者的感觉反馈，指示指示状态与铰接乐器的优选姿态之间的差异，使得 感官反馈用于鼓励操作者将关节器械返回到其优选姿势。

公开(公告)号：US20130289579A1

公开(公告)日：2013-10-31

申请号：US13835653

申请日：2013-03-15

申请人： BIO-MEDICAL ENGINEERING (HK) LIMITED

发明人： Chung Kwong YEUNG ,  Kai Leung YUNG

IPC分类号： A61B19/00

CPC分类号： B25J13/088 ,  A61B17/00 ,  A61B17/00234 ,  A61B17/3417 ,  A61B17/3423 ,  A61B34/30 ,  A61B34/73 ,  A61B34/76 ,  A61B2017/00283 ,  A61B2017/00876 ,  A61B2017/3484 ,  A61B2034/302 ,  A61B2090/371 ,  Y10S901/09 ,  Y10S901/34 ,  Y10S901/41 ,  Y10T428/13

摘要： A surgical system includes an external anchor, an internal anchor and an instrument. The external anchor is adapted to be positioned outside a body. The internal anchor is adapted to be inserted into the body via a single entrance port, positioned inside the body and magnetically coupled with the external anchor. The instrument is adapted to be inserted into the body via the single entrance port and secured to the internal anchor. The instrument includes an end-effector that has multiple degrees of movement via multiple axes.

公开(公告)号：US20130046438A1

公开(公告)日：2013-02-21

申请号：US13211739

申请日：2011-08-17

申请人： Matthew D. Summer ,  Paul M. Bosscher ,  Laurance H. Davis, III

发明人： Matthew D. Summer ,  Paul M. Bosscher ,  Laurance H. Davis, III

IPC分类号： G06F7/00

CPC分类号： B25J13/025 ,  A61G5/04 ,  A61G5/10 ,  A61G5/1051 ,  A61G5/1094 ,  A61G2203/14 ,  A61G2203/36 ,  Y10S901/02 ,  Y10S901/30 ,  Y10S901/31 ,  Y10S901/34 ,  Y10T74/20305

摘要： A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.

摘要翻译： 机器手臂安装在诸如轮椅，踏板车等的个人移动设备上，并且还被安装在个人移动设备上的用户输入接口控制。 用户输入接口具有可由使用者操作的抓握部，以在空间和角度上沿多个正交方向移动，具有支撑具有枢轴构件的壳体的铰接臂。

公开(公告)号：US20120324693A1

公开(公告)日：2012-12-27

申请号：US13528498

申请日：2012-06-20

申请人： Yuya Yamamoto

发明人： Yuya Yamamoto

IPC分类号： B23P19/04 ,  B23P11/00

CPC分类号： B23P19/105 ,  B25J9/1687 ,  G05B2219/40032 ,  Y10S901/34 ,  Y10T29/49776 ,  Y10T29/4978 ,  Y10T29/5303

摘要： While a second component is brought into contact with a first component, the first component and the second component are rotated with respect to each other around a specific rotation axis, and rotation of the first component and the second component is stopped when a moment created around the rotation axis exceeds a predetermined threshold.

摘要翻译： 当第二部件与第一部件接触时，第一部件和第二部件围绕特定旋转轴线相对于彼此旋转，并且当周围产生一瞬间时，第一部件和第二部件的旋转停止 旋转轴超过预定阈值。

公开(公告)号：US20170173788A1

公开(公告)日：2017-06-22

申请号：US15454085

申请日：2017-03-09

申请人： Intuitive Surgical Operations, Inc.

发明人： Nicola Diolaiti ,  Paul E. Lilagan

IPC分类号： B25J9/16 ,  A61B34/37 ,  A61B34/00

CPC分类号： B25J9/161 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/305 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/743 ,  A61B2034/744 ,  A61B2090/306 ,  B25J9/1633 ,  Y10S901/33 ,  Y10S901/34

摘要： A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.

公开(公告)号：US20160075031A1

公开(公告)日：2016-03-17

申请号：US14851476

申请日：2015-09-11

申请人： FANUC CORPORATION

发明人： Takefumi Gotou

IPC分类号： B25J9/16 ,  G01B11/00 ,  G01L5/00

CPC分类号： B25J9/1697 ,  B25J9/1633 ,  G01B11/00 ,  G05B2219/40053 ,  Y10S901/09 ,  Y10S901/34 ,  Y10S901/46 ,  Y10S901/47

摘要： An article pickup apparatus according to the present invention is configured to control a robot or a hand in accordance with profile control when the hand holds an article so that an external force acting on the hand detected by a force sensor installed between an arm and the hand is closer to a target value of the external force set by a force target value setting unit.

摘要翻译： 根据本发明的物品拾取装置被配置为当手握住物品时根据轮廓控制来控制机器人或手，使得通过安装在手臂和手之间的力传感器检测到的作用在手上的外力 更接近由力目标值设定单元设定的外力的目标值。

公开(公告)号：US09020640B2

公开(公告)日：2015-04-28

申请号：US13871926

申请日：2013-04-26

申请人： Bio-Medical Engineering (HK) Limited

发明人： Chung Kwong Yeung ,  Kai Leung Yung

IPC分类号： G05B15/00 ,  G05B19/00 ,  A61M5/32 ,  A61F11/00 ,  A61B19/00 ,  A61B17/00 ,  B25J13/08 ,  A61B17/34

CPC分类号： B25J13/088 ,  A61B17/00 ,  A61B17/00234 ,  A61B17/3417 ,  A61B17/3423 ,  A61B34/30 ,  A61B34/73 ,  A61B34/76 ,  A61B2017/00283 ,  A61B2017/00876 ,  A61B2017/3484 ,  A61B2034/302 ,  A61B2090/371 ,  Y10S901/09 ,  Y10S901/34 ,  Y10S901/41 ,  Y10T428/13

摘要： A surgical system includes a manipulator, an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality of joints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.

摘要翻译： 手术系统包括操纵器，可植入致动器和控制器。 操纵器包括多个集成传感器/致动器。 传感器/致动器的传感器适于检测关于多个运动轴的运动。 可植入致动器包括提供多个运动轴的多个关节。 所述控制器被配置为从所述多个传感器/致动器接收指示所述操纵器围绕所述多个轴线的运动的信息，并且使致动器的关节沿着相应的运动轴线移动。 操纵器的每个传感器/致动器检测关于与致动器的类似的一个接头相对应的运动轴的运动。

公开(公告)号：US08897918B2

公开(公告)日：2014-11-25

申请号：US13467547

申请日：2012-05-09

申请人： Yoshinobu Goto ,  Kenjiro Murakami ,  Kazuto Yoshimura

发明人： Yoshinobu Goto ,  Kenjiro Murakami ,  Kazuto Yoshimura

IPC分类号： B25J13/08 ,  B25J15/02 ,  B25J9/16 ,  B25J15/10

CPC分类号： B25J15/10 ,  B25J9/1612 ,  B25J15/0253 ,  Y10S901/31 ,  Y10S901/33 ,  Y10S901/34

摘要： A robot hand has a plurality of fingers including a contact sensing finger that senses contact with an object. A base provided with the fingers detects a resultant reaction force that is the combination of reaction forces from the fingers. When no resultant reaction force is detected, the plurality of fingers are moved toward the object, and when the contact sensing finger comes into contact with the object, a force that drives the fingers is switched to a force corresponding to a grasp force. When the contact sensing finger has not come into contact with the object but a resultant reaction force is detected, the driving of the fingers is terminated and the position of the base is corrected by moving the base in a direction in which the resultant reaction force having acted thereon is not detected any more.

摘要翻译： 机器人手具有包括感测与物体的接触的接触感测手指的多个手指。 设置有手指的基座检测作为来自手指的反作用力的组合的所得到的反作用力。 当没有检测到合成的反作用力时，多个指状物朝向物体移动，并且当接触感测手指与物体接触时，驱动手指的力被切换到与抓握力相对应的力。 当接触检测指状物没有与物体接触，但是检测到合成的反作用力时，手指的驱动终止，并且基底的位置通过使得基底沿着所产生的反作用力具有 未对其起作用。