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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 3506. Отображено 100.
07-07-2017 дата публикации

Манипулятор мр-48 для атомной промышленности

Номер: RU0000172431U1
Автор: Александр Михайлович Казанцев, Борис Александрович Морозов, Иван Филиппович Круглов, Игорь Вячеславович Войнов, Максим Владимирович Носиков
Принадлежит: Федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" (ФГАОУ ВО "ЮУрГУ (НИУ)")

Полезная модель относится к машиностроению, а именно к роботам-манипуляторам, предназначенным для работы с радиоактивными материалами на предприятиях атомной промышленности при проведении лабораторных исследований и в производственном цикле изготовления соответствующей продукции. Исполнительный орган манипулятора размещается в герметичной камере, где по команде оператора, расположенного перед камерой, выполняет технологические операции с радиоактивными материалами.Полезная модель содержит пульт управления оператора и исполнительный орган, соединенный с пультом управления посредством кабельной связи и имеющим шесть степеней подвижности и двупалым схватом. С целью повышения надежности, снижения эксплуатационных расходов и расширения функциональных возможностей манипулятора все звенья исполнительного органа выполнены герметично, на них установлены датчики углов и угловых скоростей, сигналы с которых подаются в вычислительное устройство пульта управления, где сравниваются с уставками по углам и скоростям, задаваемыми оператором с помощью двух джойстиков, расположенных на панели пульта управления. Все блоки системы управления манипулятора размещены в пульте управления и обеспечивают три режима работы:- «Ручной» режим (отдельно по каждой оси);- режим «Схват» (по перемещению полюса схвата);- режим «Траектория» (автоматически, по заданной траектории).В настоящее время спроектирован и изготовлен опытный образец робота-манипулятора МР-48.1 з.п. ф-лы, 6 ил. Ц 1 172431 ко РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) (11) зем заза а (13) (51) МПК В25/ 1/00 (2006.01) В25/ 9/18 (2006.01) В25/ 13/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (21)(22) Заявка: 2016117227, 29.04.2016 (24) Дата начала отсчета срока действия патента: 29.04.2016 Дата регистрации: 07.07.2017 Приоритет(ы): (22) Дата подачи заявки: 29.04.2016 (45) Опубликовано: 07.07.2017 Бюл. № 19 Адрес для переписки: 454080, г. Челябинск, пр. им. В.И. Ленина, 76, ФГАОУ ВО "ЮУрГУ ( ...

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Номер записи: 1
16-02-2012 дата публикации

Minimal access tool

Номер: US20120041450A1
Автор: Andrew Mansfield, James Geiger, Jens Nielsen, Patrick Quigley, Rosa Abani, Shorya Awtar, Tristan Trutna
Принадлежит: University of Michigan

A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

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Номер записи: 2
08-03-2012 дата публикации

Master-slave manipulator

Номер: US20120059519A1
Автор: Kosuke Kishi
Принадлежит: Olympus Corp

A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.

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Номер записи: 3
22-03-2012 дата публикации

Skewed-axis three degree-of-freedom remote-center gimbal

Номер: US20120067354A1
Автор: Pieter Lammertse
Принадлежит: MOOG BV

A remote-center three degree-of-freedom gimbal ( 20 ) includes: a support ( 21 ); a first link ( 24 ) mounted on the support for pivotal movement about a first axis (z-z); a second link ( 25 ) mounted on the first link for pivotal movement about a second axis (x-x); and a member ( 26 ) mounted on the second link for pivotal movement about a third axis (y-y); wherein said axes intersect at an imaginary point ( 28 ); and wherein said first and second links are configured as arcuate segments.

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Номер записи: 4
20-09-2012 дата публикации

Natural Human to Robot Remote Control

Номер: US20120239196A1
Автор: Charles F. Olivier, III, Jean Sebastien Fouillade
Принадлежит: Microsoft Corp

The subject disclosure is directed towards controlling a robot based upon sensing a user's natural and intuitive movements and expressions. User movements and/or facial expressions are captured by an image and depth camera, resulting in skeletal data and/or image data that is used to control a robot's operation, e.g., in a real time, remote (e.g., over the Internet) telepresence session. Robot components that may be controlled include robot “expressions” (e.g., audiovisual data output by the robot), robot head movements, robot mobility drive operations (e.g., to propel and/or turn the robot), and robot manipulator operations, e.g., an arm-like mechanism and/or hand-like mechanism.

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Номер записи: 5
13-12-2012 дата публикации

Surgical instrument

Номер: US20120316560A1
Автор: Basel Hassoun
Принадлежит: Basel Hassoun

A surgical apparatus for use in endoscopic surgery having a user interface operatively coupled to an articulating tool assembly via an elongate tubular member. Movement at the articulating tool mirrors movement at the user interface thereby providing intuitive operation of the surgical apparatus. The apparatus is configured such that the range of motion of the articulating tool assembly emulates the range of motion of the human wrist.

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Номер записи: 6
11-04-2013 дата публикации

DRIVING FORCE TRANSMISSION MECHANISM AND MANIPULATOR SYSTEM

Номер: US20130089392A1
Автор: IIDA Masatoshi
Принадлежит: OLYMPUS CORPORATION

A driving force transmission mechanism for transmitting a driving force from a driving source has the following arrangement. That is, the driving force transmission mechanism includes a linear or rod-shaped flexible manipulation wire, an inner pipe serving as a flexible guide member in which the manipulation wire is inserted, an outer pipe provided radially outside the inner pipe and configured to suppress deformation of the inner pipe. 1. A driving force transmission mechanism including a linear or rod-shaped flexible transmission member configured to transmit a driving force from a driving source , and a guide member that is a flexible tubular member in which the transmission member is inserted , comprising:a constraint member provided radially outside the guide member and configured to suppress deformation of the guide member.2. The driving force transmission mechanism according to claim 1 ,wherein an outer diameter of the guide member substantially equals an inner diameter of the constraint member, anda clearance that allows the guide member to axially move in the constraint member is provided between the constraint member and the guide member.3. The driving force transmission mechanism according to claim 2 ,wherein the constraint member includes a flexible or elastic tubular member.4. The driving force transmission mechanism according to claim 2 ,wherein the constraint member is formed by disposing a plurality of tubular members in series, and the whole constraint member is flexible.5. The driving force transmission mechanism according to claim 2 ,wherein the constraint member includes a member formed from a closely wound coil and having a tubular shape.6. A manipulator system comprising:a driving force transmission mechanism configured to transmit a driving force from a driving source;a bending tube having a plurality of joint portions to be operated by the driving force transmitted by the driving force transmission mechanism;a manipulation unit configured to ...

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Номер записи: 7
18-07-2013 дата публикации

Robot arm control apparatus, robot arm control method, robot, robot arm control program, and integrated electronic circuit

Номер: US20130184871A1
Автор: Masaki Yamamoto, Taichi Sato, Yudai FUDABA, Yuko Tsusaka
Принадлежит: Panasonic Corp

A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

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Номер записи: 8
25-07-2013 дата публикации

ROBOT SYSTEM

Номер: US20130190924A1
Автор: KIMURA Yoshiki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position. 1. A robot system comprising:a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand; anda robot control apparatus that controls the robot, whereinthe robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.2. The robot system according to claim 1 , wherein the robot control apparatus claim 1 , when causing the robot to perform an operation of gripping the work claim 1 , performs the presence/absence confirmation a plurality of times and determines that the work has dropped when it is confirmed that the work is not present on the hand in second and subsequent presence/absence confirmations.3. The robot system according to claim 2 , wherein the robot control apparatus determines that reception of the work is unsuccessful when it is confirmed that the work is not present on the hand in a first presence/absence confirmation.4. The robot system according to claim 1 , wherein the gripping mechanism includes a pressing unit capable of advancing and retracting with respect to the work placed on the hand and a locking unit provided on a side opposite to the pressing unit with the work therebetween claim 1 , and ...

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Номер записи: 9
29-08-2013 дата публикации

ROBOTIC DEVICE FOR USE IN IMAGE-GUIDED ROBOT ASSISTED SURGICAL TRAINING

Номер: US20130224710A1
Автор: Chang Kin Yong, Chui Chee Kong, HUANG Weimin, Lee Beng Hai, LIU Jiang, Su Yi, Tan Ngan Meng, Wong Wing Kee Damon, Yang Liangjing, Yang Tao, Yin Fengshou, Zhang Jing, Zhou Jiayin
Принадлежит:

A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism. 1. A robotic device for use in image-guided robot assisted surgical training , the robotic device comprising:a manual interface structure configured to simulate handling of a surgical tool;a translational mechanism for translational motion of the manual interface structure;a rotational mechanism for rotational motion of the manual interface structure; anda spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates,wherein a linkage and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism, wherein the linkage is a link between the rotational mechanism, the translational mechanism and the spherical mechanism.2. The robotic device according to claim 1 , wherein the spherical mechanism comprises first and second substantially orthogonal rotatable spherical arches claim 1 , wherein movement of the manual interface structure drives the first and second spherical arches.3. The robotic device according to claim 2 , wherein the spherical mechanism comprises first and second pairs of an actuator and a sensor for each of the first and second arches.4. The robotic device according to claim 1 , wherein the translational ...

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Номер записи: 10
24-10-2013 дата публикации

Method and system to sense relative partial-pose information using a shape sensor

Номер: US20130276557A1
Автор: Guiseppe Maria Prisco, John Ryan Steger, Theodore W. Rogers, Vincent Duindam
Принадлежит: Intuitive Surgical Operations Inc

A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

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Номер записи: 11
24-10-2013 дата публикации

CONTROL METHOD FOR A BALANCING LIFTING GEAR AND BALANCING LIFTING GEAR

Номер: US20130282178A1
Автор: Freitag Holger, Maccioni Giorgio, Persico Giuliano
Принадлежит: DEMAG CRANES & COMPONENTS GMBH

A control method for a balancing lifting gear which includes a lifting motor that can be actuated by a controller and uses a control handle with a force sensor to lift and lower a load-supporting device. In a “Balance” operating mode, the load-supporting device, with or without a picked-up load, is raised or lowered by the controller in response to a force applied by an operator. In order to ensure disturbance-free handling of a load when removing or attaching a load, a “Pick-up” operating mode or an “Assemble” operating mode is selected, in which the load-supporting device is moved independently without the influence of the force of the operator by the controller in the lifting or lowering direction in dependence upon the signals determined by the force sensor. A balancing lifting gear which operates in accordance with the aforementioned control method is also disclosed. 1. A control method for a balancing lifting gear having a lifting motor , a controller adapted to actuate said motor , a control handle with a force sensor that is adapted to lift and lower a load-supporting device in which , in a “Balance” operating mode , the load-supporting device with or without a supported load is raised or lowered by the controller in response to a force applied by an operator , said method comprising:selecting from a “Pick-up” operating mode or an “Assemble” operating mode;moving the load-supporting device with the controller independent of a force of an operator in a lifting or lowering direction in response to signals determined by the force sensor.2. The control method as claimed in wherein the controller does not respond to a force that would otherwise effect the independent movement in the “Balance” operating mode.3. The control method as claimed in including actuating the lifting motor by the controller in the “Pick-up” operating mode such that the load-supporting device is raised until the force sensor measures a force which exceeds a preselected limit value claim 1 , ...

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Номер записи: 12
12-12-2013 дата публикации

Surgical instrument

Номер: US20130331826A1
Автор: Adam T.C. Steege
Принадлежит: Agile EndoSurgery Inc

A surgical instrument for minimally invasive surgery. The surgical instrument includes a manipulator, a proximal universal joint mounted to the manipulator, a tube mounted to the proximal joint, a distal universal joint mounted to the tube, and an end effector including at least one movable jaw mounted to the distal joint. Cables operatively couple the manipulator, proximal joint, and distal joints and concurrently operatively couple the manipulator and the end effector. Four cables may control two degrees of freedom of the distal joint and one degree of freedom of the jaw. Pivoting of the manipulator and a proximal yoke of the proximal joint results in a corresponding motion in a distal yoke of the distal joint. Actuation of an anchor in the manipulator results in operation of any moveable jaws in the end effector. The distal universal joint and the end effector may be integrated into one end segment part.

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Номер записи: 13
20-03-2014 дата публикации

Electro/hydraulic interactive double feedback loop

Номер: US20140076440A1
Автор: Darin J. CHAIKA
Принадлежит: MARVEL TECH Inc

An electro/hydraulic circuit enabling two mechanical devices to shadow each other's movements without any direct mechanically-operative linkage between the devices. The two devices incorporate matching sets of hydraulic actuators for inducing movements of movable components of the devices. For each actuator in a given one of the devices, a system of electronic sensors and hydraulic valves, in conjunction with a central processing and control system, keeps track of the physical positions and configurations of the actuator and the corresponding actuator in the other device, and what the status of the actuators should be in relation to each other. If an actuator associated with one device is moved by an external force, a corresponding actuator in the other device moves in response to that external force, with proportionate direction, speed, and force.

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Номер записи: 14
02-01-2020 дата публикации

CONTROL SYSTEM, CONTROL METHOD, AND SURGICAL ARM SYSTEM

Номер: US20200000535A1
Автор: ARAI Jun, KASAI Takara, KOKUBO Wataru, KURODA Yohei, Matsuda Yasuhiro
Принадлежит: SONY CORPORATION

There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. 1. A control system that controls a surgical arm device , comprising:an inclination information acquisition unit configured to acquire inclination information of the surgical arm device;a setting unit configured to set a computational condition including gravity compensation according to the inclination information; anda computation unit configured to calculate a command value to the surgical arm device according to the computational condition.2. The control system according to claim 1 ,wherein the inclination information acquisition unit acquires inclination information resulting from inclination of an operating table to which the surgical arm device is attached.3. The control system according to claim 2 ,wherein the inclination information is angle information.4. The control system according to claim 2 ,wherein the inclination information acquisition unit acquires information regarding an inclination angle of a patient support surface of the operating table.5. The control system according to claim 1 ,wherein the surgical arm device includes a multi-link structural body in which a plurality of links is coupled together by a joint unit,the computational condition setting unit sets a motion purpose and a constraint condition of the multi-link structural body in an operation space describing inertia of force acting on the multi-link structural body and acceleration of the multi-link structural body in generalized inverse dynamics, andthe computation unit calculates a virtual force that acts on the operation space to implement the operation space acceleration indicating the motion purpose, on a basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to the gravity compensation according to the inclination ...

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Номер записи: 15
04-01-2018 дата публикации

Devices, Systems, and Methods for Anchoring Actuation Wires to a Steerable Instrument

Номер: US20180001058A1
Автор: Schlesinger Randall L.
Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the anchoring element. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element. 1. A pull wire attachment system for a minimally invasive medical instrument , comprising:an anchoring element fixedly attached to the medical instrument, the anchoring element having a first outer diameter; and an elongate pull wire having a proximal end and a distal end; and', 'a securing element coupled to the distal end of the pull wire, the securing element including a second outer diameter sized smaller than the first outer diameter of the anchoring element, the securing element being coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element., 'a pull wire assembly comprising2. The pull wire attachment system of claim 1 , wherein the securing element is affixed to an outer surface of the anchoring element.3. The pull wire attachment system of claim 2 , wherein the securing element is soldered to the anchoring element.4. The pull wire attachment system of claim 3 , wherein the securing element is soldered to the anchoring element using 80/20 Au/Sn solder.5. The pull wire attachment system of claim 3 , further comprising an active flux claim 3 , wherein the securing element is soldered to the anchoring element using solder and the active flux.6. ...

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Номер записи: 16
07-01-2021 дата публикации

DIRECT DRIVE BRUSHLESS MOTOR FOR ROBOTIC FINGER

Номер: US20210001495A1
Автор: Gladoch Andrew, Huang David D., Neff Edward A., OKADA Naoyuki, Vu Toan M.
Принадлежит:

A direct drive brushless motor including a plurality of rotational components and a plurality of non-rotational components. Ones of the pluralities of rotational and non-rotational components form a dual magnetic circuit. The plurality of rotational components includes a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils. The plurality of non-rotational components includes a plurality of outer magnets arranged around the plurality of coils in a Halbach configuration and a plurality of inner magnets arranged in a Halbach configuration between the coils and the shaft. A flex cable having one or more leads provides electrical current to the plurality of coils without the use of brushes. 1. A direct drive brushless motor , comprising:a plurality of rotational components including a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils wherein the center rotation shaft is configured to rotate about a longitudinal axis and wherein each of the plurality of coils are substantially rectangular and defined by a first dimension parallel to the longitudinal axis and a second dimension transverse to the first dimension wherein the first dimension is longer than the second dimension;a plurality of non-rotational components including a plurality of inner magnets and a plurality of outer magnets wherein the plurality of outer magnets are positioned around the plurality of coils;a flex cable having a first end and a second end, and including a plurality of electrically conductive wires for providing electrical current to one or more of the plurality of coils without the use of brushes;a dual magnetic circuit formed from ones of the plurality rotational components and ones of the plurality non-rotational components, the dual magnetic circuit including an outer circuit and an inner circuit wherein the outer circuit includes ...

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Номер записи: 17
05-01-2017 дата публикации

OPERATION SYSTEM OF ROBOT ARM

Номер: US20170001301A1
Автор: KAMIYA Koji
Принадлежит: DENSO WAVE INCORPORATED

An operation system of a robot arm includes the robot arm disposed in a work box which is sealed, an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm, a control apparatus moving the robot arm based on the operation command from the operation apparatus, and a reaction force controller. Based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches the limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region. 1. An operation system of a robot arm comprising:the robot arm disposed in a work box which is sealed and an inside of which is visible from outside;an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm;a control apparatus moving the robot arm based on the operation command from the operation apparatus; anda reaction force controller, whereinbased on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches a limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.2. The operation system of the robot arm according to claim 1 , whereinthe operation device of the operation apparatus has an axial structure same as the robot arm.3. The operation system of the robot arm according to claim 1 , whereinthe reaction force controller sets a reaction force generation boundary before reaching the limit of the movable region, andthe reaction force controller does not generate the reaction force when the ...

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Номер записи: 18
03-01-2019 дата публикации

ROBOT HAND, ROBOT APPARATUS, AND METHOD OF CONTROLLING ROBOT HAND

Номер: US20190001491A1
Автор: Umeyama Manabu
Принадлежит:

A robot hand according to the present invention controls finger units by a central processing unit (CPU) based on two or more types of gripping mode tables for different purposes when a gripping object is gripped by the finger units. 1. A robot apparatus comprising;A robot hand that includes three or more finger units and grips an object by the finger units; and 'control the robot hand to grip the object in the robot hand and move the gripped object in a direction and use one or more of the finger units as regulation units each regulating the gripped object so that the gripped object does not move in a direction opposite to a direction in which the gripped object is moved by the robot hand.', 'a control unit configured to'}2. The robot hand according to claim 1 , wherein claim 1 , when the object is gripped by the robot hand and is incorporated into another object claim 1 , the control unit uses one or more of the finger units as the regulation units each regulating the gripped object so that the gripped object does not move in a direction opposite to a direction in which the gripped object is being moved to incorporate the gripped object into the another object.3. The robot hand according to claim 2 , wherein the control unit pushes the gripped object into another object by one or more of the finger units used as the regulation units.4. The robot hand according to claim 1 , wherein claim 1 , when the object is gripped by the robot hand claim 1 , the control unit uses one or more of the finger units as the regulation units each regulating the object not to be affected by gravitational forces.5. The robot hand according to claim 1 ,wherein one or more of the finger units used as the regulation units include a force detection unit, andwherein a contact position of the finger units contacting the object is changed based on a detection value of the force detection unit.6. The robot hand according to claim I claim 1 , wherein the control unit includes a plurality of ...

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Номер записи: 19
04-01-2018 дата публикации

ROBOT, ROBOT CONTROL APPARATUS AND ROBOT SYSTEM

Номер: US20180004188A1
Автор: Harada Atsushi, ISHIGE Taro, YAMAGUCHI Yukihiro
Принадлежит:

A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit. 1. A robot comprising a movable part , wherein the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.2. The robot according to claim 1 , wherein distances between the imaging unit and the first marker are the same between the first position and attitude and the second position and attitude.3. The robot according to claim 1 , wherein distances between the imaging unit and a control point of the movable part are the same between the first position and attitude and the second position and attitude.4. The robot according to claim 1 , wherein the position and the attitude of the movable part change to the second position and attitude obtained using a third image captured by the imaging unit when changing from the first position and attitude to third position and attitude.5. The robot according to claim 1 , wherein a position of the first marker in the second image is a position corresponding to a position of the first marker in the first image.6. The robot according to claim 5 , wherein the position of the first marker in the first image is a center position in the first image claim 5 , andthe position of the first marker in the second image is a center position in the second image corresponding to that center position.7. The robot according to ...

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Номер записи: 20
20-01-2022 дата публикации

CABLE DRIVE LIMITED SLIP CAPSTAN AND SHAFT

Номер: US20220015847A1
Автор: Kadokura Grant M.
Принадлежит:

Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop shoulders, the second tooth including first and second circumferentially spaced second tooth slip-stop shoulders, the first and second capstans arranged such that abutting contact between the first and second slip-stop shoulders can halt capstan rotation about the drive shaft in one direction, and abutting contact between the second first and second slip-stop shoulders can halt capstan rotation about the drive shaft in an opposite direction. Halting capstan rotation prevents a cable wrapped around a capstan from paying out and causing misalignment with an end effector controlled by the cable. 1. (canceled)2. A medical apparatus comprising:a surgical instrument including a first capstan, a second capstan, a first tension member coupled to the first capstan, a second tension member coupled to the second capstan, and an end effector;wherein the first and second tension members are coupled to control a roll position of the end effector;wherein the first and second capstans are arranged with reference to each other in a preconfigured coaxial orientation of the first and second capstans;wherein the first and second capstans are coaxially coupled to rotate in unison;wherein the preconfigured coaxial orientation of the first and second capstans corresponds to a preconfigured alignment of the first and second capstans with the roll position of the end effector;wherein the first capstan includes one or more shoulders;wherein the second capstan includes one or more shoulders; andwherein the one or ...

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Номер записи: 21
12-01-2017 дата публикации

ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT

Номер: US20170007251A1
Автор: Giordano James R., IV Frederick E., Shelton, Yates David C.
Принадлежит:

A surgical cutting and fastening instrument comprises an end effector that has a shaft coupled thereto that is coupled to a robotic system. A tool mounting portion includes an electric, DC motor connected to a drive train in the shaft for powering the drive train. A power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor is provided. 1. A surgical cutting and fastening instrument comprising:an end effector;a shaft operably coupled to a robotic system and said end effector, the shaft comprising at least a portion of a drive train for powering the end effector;an electric, DC motor connected to the drive train for powering the drive train; anda power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor.2. The surgical cutting and fastening instrument of claim 1 , wherein the at least one charge-accumulating device comprises a plurality of series-connected charge-accumulating devices.3. The surgical cutting and fastening instrument of claim 2 , wherein the plurality of series-connected charge-accumulating devices comprises a plurality of series-connected supercapacitors.4. The surgical cutting and fastening instrument of claim 2 , wherein the power pack further comprises at least one battery for charging the charge-accumulating devices.5. The surgical cutting and fastening instrument of claim 4 , wherein the at least one battery is replaceable.6. The surgical cutting and fastening instrument of claim 1 , wherein the power pack comprises at least one removable battery for charging the charge-accumulating devices.7. The surgical cutting and fastening instrument of claim 6 , wherein the power pack comprises a charge management circuit connected to the charge-accumulating devices for determining a charge level of the charge-accumulating devices.8. The surgical cutting and fastening instrument of claim 7 , wherein the charge management circuit comprises:a ...

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Номер записи: 22
12-01-2017 дата публикации

STEERABLE LASER PROBE

Номер: US20170007454A1
Автор: Moore Craig, Scheller Gregg D., Zeid Matthew N.
Принадлежит: KATALYST SURGICAL, LLC

A steerable laser probe may include a handle, an actuation lever, an optic fiber, and a housing tube. The housing tube may have a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffness may be greater than the first stiffness. The optic fiber may be disposed within the housing tube and within an inner bore of the handle. An actuation of the actuation lever about a pivot pin of the handle may gradually curve the optic fiber. An actuation of the actuation lever about the pivot pin of the handle may gradually straighten the optic fiber. 1. A method for performing an ophthalmic photocoagulation procedure comprising:applying a force to an actuation lever of a handle wherein the actuation lever has an actuation lever distal end and an actuation lever proximal end and the handle has a handle distal end and a handle proximal end and wherein the actuation lever proximal end is disposed in an actuation channel of the handle and the actuation lever distal end extends out from the actuation channel;actuating the actuation lever distal end away from the handle proximal end;rotating the actuation lever about a pivot pin in a first direction wherein the pivot pin is disposed in a pivot pin housing of the handle and a pivot pin guide of the actuation lever;retracting a wire relative to a single housing tube wherein the wire wherein the wire has a wire distal end and a wire proximal end and the housing tube has a housing tube distal end and a housing tube proximal end and wherein the wire distal end is adjacent to the housing tube distal end and wherein a portion of the wire is fixed to the housing tube;curving the housing tube; andcurving an optic fiber wherein the optic fiber has an optic fiber distal end and an optic fiber proximal end and wherein the optic fiber is disposed in an inner bore of the handle, the actuation channel, and the housing tube and wherein the optic fiber distal end is adjacent to ...

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Номер записи: 23
14-01-2021 дата публикации

ADAPTER ASSEMBLY WITH PULLEY SYSTEM AND WORM GEAR DRIVE FOR INTERCONNECTING ELECTROMECHANICAL SURGICAL DEVICES AND SURGICAL END EFFECTORS

Номер: US20210007741A1
Автор: Nicholas David
Принадлежит:

An adapter assembly for selective connection to a surgical device is provided. The adapter assembly includes an outer tube having a distal end and a proximal end, a housing secured to the proximal end of the outer tube, and a cable drive assembly supported by the housing. The cable drive assembly includes a worm gear drive assembly, a cable gear assembly coupled to the worm gear drive assembly, and one or more cables coupled to the cable gear assembly and axially translatable within the outer tube. 1. An adapter assembly for selectively interconnecting an end effector to a handle assembly supporting a motor , the motor configured to impart drive force from the handle assembly to the end effector to operate the end effector , the adapter assembly comprising:an adapter housing configured to couple to the handle assembly;an outer tube extending distally from the adapter housing and configured to support the end effector; and a worm gear;', 'a capstan; and', 'a cable coupled to the capstan, the cable axially translatable in response to rotation of the capstan and the worm gear to operate the end effector., 'a cable drive assembly supported by the adapter housing and including2. The adapter assembly of claim 1 , further including a firing assembly that extends through the cable drive assembly and into the outer tube.3. The adapter assembly of claim 2 , wherein the firing assembly includes a firing shaft that rotates independent of the cable drive assembly to actuate a firing function of the end effector.4. The adapter assembly of claim 1 , wherein the cable drive assembly further includes a second capstan and a second cable coupled to the second capstan.5. The adapter assembly of claim 4 , wherein the second cable is axially translatable in response to rotation of a second worm gear.6. The adapter assembly of claim 1 , wherein the adapter housing includes an outer housing and an inner housing claim 1 , the inner and outer housings supporting the cable drive assembly ...

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Номер записи: 24
14-01-2021 дата публикации

SLAVE-SIDE PROPELLING DEVICE AND CONTROLLING METHOD FOR INTERVENTIONAL SURGICAL ROBOT

Номер: US20210007816A1
Автор: Huang Tao, Xie Jing
Принадлежит: BEIJING WEMED MEDICAL EQUIPMENT CO., LTD

A slave-side propelling device for an interventional surgical robot and a controlling method for the device are provided. The rubbing part, the clamping part, the catheter rotating part and the moving stepping motor part are installed and fixed on the housing. The transmission part is configured to transmit the torque of the moving stepping motor part to the sliding part and the pushing part. The sliding part is configured to drive the guide wire to reciprocate. The pushing part and the clamping part cooperate to clamp or loosen the guide wire. The rubbing part is configured to drive the guide wire to rotate. The catheter rotating part is configured to clamp the catheter and push the catheter into or withdraw the catheter out of the blood vessel. 1. A slave-side propelling device for an interventional surgical robot , comprising: a transmission part , a sliding part , a pushing part , a rubbing part , a clamping part , a catheter rotation part and a moving stepping motor section; wherein the rubbing part , the clamping part , the catheter rotating part and the moving stepping motor part are installed and fixed on a housing; the transmission part is configured to transmit the torque of the moving stepping motor part to the sliding part and the pushing part; the sliding part is configured to drive the guide wire to reciprocate; the guide wire is clamped and opened through the cooperation of the pushing part and the clamping part; the rubbing part is configured to drive the guide wire to rotate; the catheter rotating part is configured to clamp the catheter and push the catheter into or withdraw the catheter out of the blood vessel.2. The device of claim 1 , wherein the transmission part further includes a plurality of miniature bearings mounted on a connecting member; a long-handled bevel gear and a long-handled spur gear with a boss are assembled claim 1 , fixed claim 1 , and coaxially mounted on the connecting member; the long-handled bevel gear is meshed with a ...

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Номер записи: 25
14-01-2021 дата публикации

Fluid powered master-slave actuation for mri-guided interventions

Номер: US20210007817A1
Автор: Brian LEE Kit Hang, Ka Wai KWOK, Ziyan GUO, Ziyang DONG
Принадлежит: Versitech Ltd

Systems and methods for an effective solution to MR safe actuation in all MRI-guided (robot-assisted) procedures are provided. The present integrated hydraulic transmission method or system uses piston-based cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to provide continuous bi-lateral rotation with unlimited range in an MRI environment. Positional and torque control can also be achieved. The system includes a master unit and a slave unit each comprising: a plurality of cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a piston (105,301,302,303,401,502) inserted within the bottom surface of each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a seal positioned with each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) between the piston (105,301,302,303,401,502) and the top surface of the cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to inhibit a fluid from passing across the seal, and a plurality of tubes (103) connecting the master unit cylinders and slave unit cylinders (402).

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Номер записи: 26
10-01-2019 дата публикации

SYSTEMS, DEVICES, ARTICLES, AND METHODS FOR PREHENSION OF ITEMS

Номер: US20190009414A1
Автор: Cogar Richard Chad, Lipay Petr
Принадлежит:

Substantially as described and illustrated herein including devices, methods of operation for the systems or devices, articles of manufacture including processor-executable instructions, and a system including a robot. 1. A system comprising:a robot including an end-effector;at least one sensor;at least one processor communicatively coupled to the end-effector and the at least one sensor; and cause the end-effector to at least attempt to close on an item;', 'receive a plurality of position values for the end-effector from the at least one sensor;', 'receive a plurality of velocity values for the end-effector, wherein a respective velocity value included in the plurality of velocity values is associated with a respective position value included in the plurality of position values;', 'determine a grasp type when a first velocity value included in the plurality of velocity values is below a first threshold value; and', 'create at least one output signal that includes information that represents the determined grasp type., 'at least one nontransitory processor-readable storage device communicatively coupled to the at least one processor and which stores processor-executable instructions which, when executed by the at least one processor, cause the at least one processor to2. The system of wherein the velocity data for the end-effector is received from the at least one sensor.3. The system of further comprising a manipulator physically coupled to the end-effector.4. The system of further comprising:an operator interface communicatively coupled to the at least one processor; and 'receive, at the robot from the operator interface, operator generated processor-executable robot control instructions which, when executed, cause the robot to perform an action.', 'wherein, when executed, the processor-executable instructions further cause the at least one processor to5. The system of wherein claim 1 , when executed claim 1 , the processor-executable instructions further cause ...

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Номер записи: 27
03-02-2022 дата публикации

EXPANSION DEVICE FOR OPENING VALVE PERIMETER IN CARDIAC SURGERY

Номер: US20220031299A1
Автор: Tsubouchi Takeshi
Принадлежит:

A tissue expander/retractor tool works within a narrow cavity/tunnel to access a deeper structure (e.g., the mitral valve) without consuming a significant amount of space either within the small through-hole or in the vicinity of the entrance to the port. The tool provides the user with direct control of the expansion and separation of a target area. The moving parts of the tool have a closed configuration with a narrow profile for insertion/removal and an open configuration obtained using a remotely-controlled, compact pivot mechanism that provides a broad enlargement capability for the retraction jaws. A pantograph mechanism with input pivots and output pivots is coupled between the retraction jaws and a compound cable (e.g., Bowden cable). A handle is coupled to the other end of the compound cable for displacing the inner wire along the outer tube. 1. An expander/retractor device for minimally invasive cardiac surgery comprising:a pantograph mechanism with first and second input pivots and first and second output pivots;first and second retraction jaws extending from the first and second output pivots, respectively;a compound cable with an outer tube fixed to the first input pivot and an inner wire fixed to the second input pivot; anda handle for displacing the inner wire along the outer tube.2. The device of wherein the retraction jaws have adjustable shapes.3. The device of wherein the adjustable shapes of the retraction jaws includes pivoting from within a plane defined by the pantograph mechanism to an orientation transverse to the plane.4. The device of wherein the retraction jaws are comprised of malleable wires bent according to a desired retraction surface shape.5. The device of wherein the malleable wires forming the retraction jaws further form linkages between the input and output pivots of the pantograph mechanism.6. The device of wherein the pantograph mechanism is further comprised of linkages joining the first input pivot to the first and second ...

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Номер записи: 28
03-02-2022 дата публикации

MEDICAL SYSTEM, METHOD AND COMPUTER PROGRAM

Номер: US20220031414A1
Автор: Kamoda Akinori, WRIGHT Christopher
Принадлежит: SONY CORPORATION

A medical system is described in which, the system includes a control device having processing circuitry configured to: receive positional information relating to the position of at least a part of a surgical robot; determine a boundary around the surgical robot based on the positional information; and control the generation of a haptic sensation at the boundary. 1. A medical system , the system comprising a control device having processing circuitry configured to:receive positional information relating to the position of at least a part of a surgical robot;determine a boundary around the surgical robot based on the positional information; andcontrol the generation of a haptic sensation at the boundary.2. A medical system according to claim 1 , wherein positional information defines a predicted future position of the surgical robot.3. A medical system according to claim 2 , wherein the processing circuitry is configured to apply a first haptic sensation to the user at the boundary of the position of the surgical robot and a second claim 2 , different claim 2 , haptic sensation to the user at the boundary of the future position of the surgical robot.4. A medical system according to wherein the processing circuitry is configured to:determine the boundary in accordance with a surgical status.5. A medical system according to claim 4 , wherein the surgical status is at least one of the following: the stage of the surgical procedure being carried out; the allocation of surgical staff and the surgical devices being used.6. A medical system according to claim 4 , wherein the surgical status is the stage of the surgical procedure being carried out and the processing circuitry is configured to determine the stage of the surgical procedure based upon at least one of a captured image and the status of a surgical device.7. A medical system according to claim 1 , wherein the processing circuitry is configured to:apply a haptic sensation whose strength is based on a predetermined ...

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Номер записи: 29
21-01-2021 дата публикации

AUTONOMOUS CORRECTION OF ALIGNMENT ERROR IN A MASTER-SLAVE ROBOTIC SYSTEM

Номер: US20210015569A1
Автор: Cameron Peter, Kralicky Joseph
Принадлежит:

In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (R) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (R) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R) as a difference between the master actuator orientation signals (R) and the end effector orientation signals (R), and adjusting the master-slave misalignment signals (R) to reduce the alignment difference. 1. A method of reducing alignment difference between an instrument end effector and an input actuator in a robotic system , the method comprising , by a processor:receiving signals representing an orientation of the input actuator;receiving an enablement signal that, in an active state, permits a change in the orientation of the instrument end effector in response to a change in the orientation of the input actuator;in response to determining that the enablement signal has transitioned to the active state, determining an alignment error between a current orientation of the input actuator and a current orientation of the instrument end effector; andwhile the alignment error is greater than an alignment criterion and the enablement signal is in the active state, producing adjustment control signals that cause a reduction of the alignment error.2. The method of wherein determining the alignment error comprises computing an offset angle between a master reference frame in ...

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Номер записи: 30
21-01-2021 дата публикации

RAPID AND PRECISE TOOL EXCHANGE MECHANISM FOR INTRAOCULAR ROBOTIC SURGICAL SYSTEMS

Номер: US20210015573A1
Автор: Gerber Matthew, Tsao Tsu-Chin
Принадлежит: The Regents of the University of California

A system for intraocular robotic surgery includes: (1) a set of mounts to receive a tool collar to which a surgical tool is secured; (2) a rotational actuator connected to the set of mounts to drive rotation of the set of mounts; and (3) a translational actuator connected to the set of mounts to drive linear translation of the set of mounts. 1. A system for intraocular robotic surgery , comprising:a set of mounts to receive a tool collar to which a surgical tool is secured;a rotational actuator connected to the set of mounts to drive rotation of the set of mounts; anda translational actuator connected to the set of mounts to drive linear translation of the set of mounts.2. The system of claim 1 , wherein the set of mounts includes a set of mounting wheels.3. The system of claim 2 , wherein the set of mounting wheels includes a first pair of mounting wheels and a second pair of mounting wheels spaced from the first pair of mounting wheels to receive the tool collar in between.4. The system of claim 2 , further comprising a base and a sliding carriage movably mounted to the base claim 2 , wherein the set of mounting wheels are mounted to the base via the sliding carriage.5. The system of claim 1 , further comprising a coupling mechanism to secure the tool collar to the set of mounts.6. The system of claim 5 , wherein the coupling mechanism is configured to apply an electromagnetic force claim 5 , a magnetic force claim 5 , or a vacuum force.7. The system of claim 5 , wherein the coupling mechanism includes a detenting mechanism.8. The system of claim 1 , further comprising the tool collar claim 1 , wherein the tool collar includes a clamping mechanism to secure the surgical tool.9. The system of claim 1 , further comprising a positioning stage and a manipulator arm mounted to the positioning stage claim 1 , wherein the manipulator arm includes a tool carriage including the set of mounts claim 1 , the rotational actuator claim 1 , and the translational actuator.10. A ...

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Номер записи: 31
16-01-2020 дата публикации

OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY

Номер: US20200015919A1
Автор: Cooper Thomas G., Solomon Todd R.
Принадлежит:

Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system. 1. An apparatus comprising:a base link having a proximal end and a distal end;a first link having a proximal end and a distal end, the first link proximal end rotatably coupled to the base link distal end;a second link having a proximal end and a distal end, the second link proximal end rotatably coupled to the first link distal end, the second link constrained from rotating relative to the base link such that the second link and base link are parallel with each other; andan instrument holder link rotatably coupled to the second link distal end, the instrument holder link constrained from rotating relative to the first link such that the instrument holder link and the first link are parallel with each other;wherein the second link is bent at an angle so as to provide clearance for the first link to rest on the second link.2. The apparatus of claim 1 , further comprising at least one pulley and at least one flexible element coupled to the pulley that is configured to constrain shaft motion relative to the center of rotation.3. The apparatus of claim 1 , the instrument holder configured to slidably extend the surgical instrument along a longitudinal axis of the instrument holder.4. The apparatus of claim 1 , the first link housing at least one motor for driving the manipulator.5. The apparatus of claim 1 , further comprising a mounting base claim 1 , wherein the base further comprises a linkage axis coupling the proximal and distal ends claim 1 , the base link proximal end directly coupled to the mounting ...

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Номер записи: 32
21-01-2021 дата публикации

CONTROL MODES AND PROCESSES FOR POSITIONING OF A ROBOTIC MANIPULATOR

Номер: US20210016445A1
Автор: Kiturkes Alex, NIA KOSARI Sina, SIU Bernard Fai Kin, Vakharia Omar J., YU Haoran, ZHOU RENBIN
Принадлежит:

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane. 1. A method for controlling a robotic arm in a robotic surgical system , the method comprising:defining a reference plane for the robotic arm, wherein the robotic arm comprises a plurality of joints; anddriving at least one of the plurality of joints to guide the robotic arm while enforcing a virtual fixture defined at the reference plane.2. The method of claim 1 , wherein the robotic arm is guided through a series of predetermined poses comprises an ordered sequence of progressively unfolded predetermined poses.3. The method of claim 2 , wherein the series of predetermined poses comprises an ordered sequence of progressively folded predetermined poses.4. The method of claim 2 , further comprising driving at least one of the plurality of joints to guide the robotic arm through the series of predetermined poses to transition from a storage pose.5. The method of claim 4 , further comprising driving at least one of the plurality of joints to guide the robotic arm through the series of predetermined poses to transition to the storage pose.6. The method of claim 2 , wherein the series of predetermined poses comprises an ordered sequence claim 2 , and wherein driving at least one of the plurality of joints comprises driving at least one of the plurality of joints forward and backward through at least a portion of the ordered sequence.7. The method of claim 2 , wherein driving at least one of the plurality of joints comprises driving the at least one joint according to a predetermined trajectory through the series of predetermined poses which includes folded and unfolded predetermined poses.8. ...

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Номер записи: 33
21-01-2021 дата публикации

ARTICLE TRANSFER DEVICE

Номер: US20210016451A1
Автор: Maeda Shuichi
Принадлежит: ISHIDA CO., LTD.

An article transfer device includes: a robot hand transferring an article gripped by a gripping unit; and a control unit controlling operation of the robot hand so as to insert the gripping unit into an article region where the article is disposed, grip the article, and transfer the gripped article to a transfer destination. The control unit controls the operation of the robot hand such that the gripping unit is closed and a predetermined amount of the article is gripped after opening-closing operation for opening the gripping unit after temporarily closing the gripping unit is executed at least once. 1. An article transfer device comprising:a robot hand having a gripping unit gripping an article and transferring the article gripped by the gripping unit to a transfer destination; anda control unit controlling operation of the robot hand so as to insert the gripping unit into an article region where a plurality of the articles are disposed, grip a predetermined amount of the article, and transfer the gripped article to the transfer destination,wherein the control unit controls the operation of the robot hand such that the gripping unit is closed and the predetermined amount of the article is gripped after opening-closing operation for opening the gripping unit after temporarily closing the gripping unit is executed at least once at a position of the gripping unit at a time when the gripping unit is inserted in the article region.2. The article transfer device according to claim 1 , wherein the control unit controls the operation of the robot hand such that the gripping unit rotates by a predetermined first angle around an axis along a direction of insertion of the gripping unit during the temporary closing claim 1 , the subsequent opening claim 1 , and subsequent reclosing of the gripping unit at the position of the gripping unit at the time when the gripping unit is inserted in the article region.3. The article transfer device according to claim 1 , wherein the ...

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Номер записи: 34
10-02-2022 дата публикации

SURGICAL ROBOTIC SYSTEM AND METHOD FOR TRANSITIONING CONTROL TO A SECONDARY ROBOT CONTROLLER

Номер: US20220039889A1
Автор: Desai Jignesh
Принадлежит:

A robotic surgical system and method are disclosed for transitioning control to a secondary robotic arm controller. In one embodiment, a robotic surgical system comprises a user console comprising a display device and a user input device; a robotic arm configured to be coupled to an operating table; a primary robotic arm controller configured to move the robotic arm in response to a signal received from the user input device at the user console; and a secondary robotic arm controller configured to move the robotic arm in response to a signal received from a user input device remote from the user console. Control over movement of the robotic arm is transitioned from the primary robotic arm controller to the secondary robotic arm controller in response to a failure in the primary robotic arm controller. Other embodiments are provided. 1. A surgical robot , comprising:a user console;a primary controller configured to control the surgical robot responsive to a first input from the user console; anda secondary controller configured to control the surgical robot responsive to a second input remote from the user console;wherein the secondary controller is configured to receive communication from the primary controller, andwherein control of the surgical robot is transitioned to the secondary controller from the primary controller in response to a failure of communication from the primary controller.2. The surgical robot of claim 1 , wherein the primary controller comprises a first mediator claim 1 , and wherein the secondary controller comprises a second mediator.3. The surgical robot of claim 2 , wherein the communication from the primary controller comprises heartbeat messages sent by the first mediator at a predetermined rate.4. The surgical robot of claim 3 , wherein the failure of communication from the primary controller is detected when the second mediator fails to receive one or more heartbeat messages.5. The surgical robot of claim 3 , wherein the primary ...

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Номер записи: 35
25-01-2018 дата публикации

ROBOT CONTROL APPARATUS, ROBOT AND ROBOT SYSTEM

Номер: US20180021950A1
Автор: SHIMODAIRA Yasuhiro
Принадлежит:

A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different. 1. A robot control apparatus that controls a robot having a movable part in which a force detection unit is provided , comprising a robot control part that performs force control on the movable part based on output of the force detection unit ,wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, anda first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.2. The robot control apparatus according to claim 1 , further comprising a position setting part that sets the first position and the second position.3. The robot control apparatus according to claim 1 , further comprising a target force setting part that sets the first target force and the second target force.4. ...

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Номер записи: 36
28-01-2021 дата публикации

SURGICAL INSTRUMENT ACTUATION MECHANISMS

Номер: US20210022815A1
Автор: Abbott Ryan Charles
Принадлежит:

Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations. 1. A surgical instrument actuation mechanism comprising:a pinion gear axle;a pinion gear on the pinion gear axle;a worm gear coupled to the pinion gear;a first spline shaft;a first collar slidably mated with the first spline shaft and comprising a worm meshed with the worm gear;a second spline shaft; anda second collar slidably mated with the second spline shaft and comprising a screw threadedly coupled to the pinion gear axle.2. (canceled)3. The surgical instrument actuation mechanism of claim 1 , further comprising:a first rack meshed with the pinion gear; anda second rack meshed with the pinion gear,wherein the first rack and the second rack translate in opposing directions in response to rotations of the pinion gear, andwherein the first rack and the second rack each translate parallel to a longitudinal direction of the surgical instrument actuation mechanism.46.-. (canceled)7. The surgical instrument actuation mechanism of claim 1 , further comprising:a first carriage; anda first leadscrew threadedly coupled with the first carriage.8. (canceled)9. (canceled)10. The surgical instrument actuation mechanism of claim 7 , further comprising a second carriage claim 7 , wherein the pinion gear axel extends from the second carriage claim 7 , and wherein the second carriage is threadedly coupled to the screw of the second collar.11. The surgical instrument actuation mechanism of claim 10 , further comprising a first force sensor arranged to detect a force between ...

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Номер записи: 37
28-01-2021 дата публикации

COMPUTER-ASSISTED TELEOPERATED SURGERY SYSTEMS AND METHODS

Номер: US20210022818A1
Автор: Donlon Edward Paul, Tsuji Craig Keith
Принадлежит:

Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes computer-assisted teleoperated surgery instruments with cable-actuated joint mechanisms Some such joint mechanisms include linkages that maintain the joints in operable configurations without relying on cable tension to do so. 1. A joint mechanism , comprising:a first end joint member;a middle joint member;a second end joint member;a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member; anda second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member.2. The joint mechanism of claim 1 , wherein the first and second end joint members are constrained by the first and second linkage members to pivot in relation to middle joint member along respective paths that are orthogonal to each other.3. The joint mechanism of claim 1 , wherein the first and second linkage members are each unitary components.4. The joint mechanism of claim 1 , wherein the first linkage member further comprises:a first pair of bosses that protrude from the first annular band; anda second pair of bosses that protrude from the first annular band, and wherein the second linkage member further comprises:a third pair of bosses that protrude from the second annular band; anda fourth pair of bosses that protrude from the second annular band.5. The joint mechanism of claim 4 , wherein each boss of the first pair of bosses claim 4 , second pair of bosses claim 4 , third pair of bosses claim 4 , and fourth pair of bosses includes a feature to pivotably couple with a respective joint member of the first end joint member claim 4 , middle joint member claim 4 , and second end joint member.6. The joint mechanism of claim 5 , wherein the ...

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Номер записи: 38
28-01-2021 дата публикации

ARTICULABLE MEDICAL DEVICES HAVING FLEXIBLE WIRE ROUTING

Номер: US20210022819A1
Автор: Duque Grant, III Joseph P., Kerver Lawrence, MOREIRA RIDSDALE David I., Orban, RATIA Harsukhdeep Singh, Ye Zhou
Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation. 1. An apparatus , comprising:a tension member, a link comprising a distal portion, a transfer member, a tool member, and a non-drive wire;the transfer member being coupled to the distal portion of the link and coupled to the tension member such that the transfer member rotates relative to the link when the tension member is moved; the tool member comprising a contact portion configured to engage a target tissue, and', 'movement of the tension member urging the tool member to move relative to the link between a first orientation and a second orientation; and, 'a tool member comprising a base portion movably coupled to the transfer member,'} the first end portion being coupled to an energy source,', 'the second end portion being coupled to the contact portion of the tool member,', 'the central portion comprising a transition portion within a cavity defined within one of the base portion of the tool member, the distal portion of the link, or the transfer member, and', 'the transition portion having a compact first configuration when the tool member is in the first orientation and an expanded ...

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Номер записи: 39
28-01-2021 дата публикации

DEVICES AND METHODS OF TISSUE VISUALIZATION FOR USE IN LAPAROSCOPIC, ROBOT-ASSISTED LAPAROSCOPIC, AND OPEN PROCEDURES

Номер: US20210022827A1
Автор: Patel Sanjay, PIAO DAQING
Принадлежит:

Taught herein is a new contact-based optical imaging technology, en-face differential optical topography (en-face DOT), which performs real-time visualization of subsurface tissue heterogeneity within a depth up to 3 mm and over a 9.5 mm diameter FOV with a modest mm-level lateral resolution. An embodiment of the probe fits in a 12 mm port and houses at its maximum 128 cop-per-coated 750 μm fibers that form radially alternating illumination (70 fibers) and detection (58 fibers) channels. By simultaneously illuminating the 70 source channels of the laparoscopic probe that is in contact with a scattering medium and concurrently measuring the light diffusely propagated to the 58 detector channels, the presence of near-surface optical heterogeneities can be resolved in an en-face 9.5 mm field-of-view in real-time. Visualization of subsurface margin of strong attenuation contrast at a depth up to 3 mm is demonstrated at one wavelength at a frame rate of 1.3 Hz. 1. An imaging device for imaging a tissue , comprising:a. a light source;b. a plurality of source fibers, each of said plurality of source fibers having a source fiber first end positionable to be in optical communication with the light source and an emitting end;c. a plurality of detector fibers, each of said plurality of detector fibers having an imaging end positionable to be in optical communication with a light sensor and a detector end positioned to detect light from said plurality of source emitting ends that falls on the tissue; and,d. a probe having an open upper end and an open terminus, wherein said upper end receives said plurality of source fibers and said plurality of detector fibers therein and guides said source and receiver fibers to said open terminus where said source and detector fibers emerge intermixed in a two-dimensional array of source fiber emitting ends and detector fiber ends within said probe terminus.2. The imaging device according to claim 1 , further comprising:e. a display device; ...

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Номер записи: 40
28-01-2021 дата публикации

SYSTEMS AND METHODS FOR DETERMINING A TYPE OF GRASP FOR A ROBOTIC END-EFFECTOR

Номер: US20210023702A1
Автор: Cogar Richard Chad, Lipay Petr
Принадлежит:

Substantially as described and illustrated herein including devices, methods of operation for the systems or devices, articles of manufacture including processor-executable instructions, and a system including a robot. 1. A system comprising:a robot including an end-effector;at least one processor communicatively coupled to the end-effector; and cause the end-effector to perform an attempt to manipulate an item;', 'receive a position value for the end-effector from a position sensor;', 'receive a velocity value for the end-effector from a velocity sensor;', 'determine a grasp type of the item based at least in part on the received position value and the received velocity value; and', 'create a grasp type signal that includes information that represents the determined grasp type., 'at least one nontransitory processor-readable storage device communicatively coupled to the at least one processor and which stores processor-executable instructions which, when executed by the at least one processor, cause the at least one processor to2. The system of claim 1 , wherein claim 1 , when executed claim 1 , the instructions further cause the at least one processor to use deep learning techniques to extract features from the received position value and the received velocity value.3. The system of claim 1 , wherein claim 1 , when executed claim 1 , the instructions further cause the at least one processor to update at least one processor-readable storage device with at least one of the position value claim 1 , the velocity value claim 1 , or the grasp type.4. The system of claim 1 , wherein the received position value and the received velocity value represent positions of two or more parts of the end-effector relative to each other.5. The system of claim 1 , wherein claim 1 , when executed claim 1 , the instructions further cause the at least one processor to select a grasp type from at least one of: a failure to grasp the item claim 1 , a grasp of a bag containing the item ...

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Номер записи: 41
04-02-2016 дата публикации

Manipulator

Номер: US20160030121A1
Автор: Shintaro Inoue
Принадлежит: Olympus Corp

The invention provides an easy-to-manipulate manipulator comprising a manipulating part, a manual joint part that is driven directly by displacement of the manipulating part, a detection unit for detecting an amount of displacement of the manipulating part, a device that moves depending on the amount of displacement detected at the detection unit, an electric joint part that is driven by the device, and a selection portion for selectively determining whether the electric joint part is driven or not.

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Номер записи: 42
01-02-2018 дата публикации

METHOD AND DEVICE TO ASSIST WITH THE OPERATION OF AN INSTRUMENT

Номер: US20180028269A1
Автор: BARDOU Bérengère, DONG Lin, Morel Guillaume, Perrin Nicolas, RICHER Florian, Vidal Clément
Принадлежит:

The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations. 1120. Method to assist with the manipulation of an instrument by means of an assistance device () in manipulating the instrument () ,{'b': '1', 'claim-text': [{'b': 10', '20', '10', '10', '20', '1', '2', '20, 'a hinged arm () designed to be attached to a frame (B) and manipulable by an operator, to which an instrument () can be attached at an attachment point (P) of said hinged arm () forming a passive ball joint between the hinged arm () and the instrument (), the hinged arm comprising motors (M, M, . . . ) for displacing the attachment point (P) in a reference frame (R) bound to the frame (B), the instrument () being manipulable around a fulcrum (F) having a known and fixed position in the reference frame (R),'}, {'b': 1', '1', '2, 'a processing unit (U) comprising a processor (U) configured to control the motors (M, M, . . . );'}], 'the device () comprising'} [{'b': '1', 'determining (E) data relating to a position and/or a velocity of the attachment point (P) in the reference frame (R);'}, {'b': 2', '3', '4, 'sub': 'P', 'o': {'@ostyle': 'single', 'PQ'}, 'determining (E, E, E) a force ({right arrow over ({right arrow over (F)} )}) to be applied to the attachment point (P) as a function of said data relating to the attachment point, the position of the fulcrum, the known distance () from the attachment point (P) to an arbitrary point of an instrument axis connecting the attachment point (P) to the fulcrum (F), and a given impedance to be conferred to the arbitrary point (Q),'}, {'b': 5', '1', '2', '20, 'sub': 'P', 'controlling ...

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Номер записи: 43
04-02-2016 дата публикации

METHOD AND SYSTEM FOR ROBOTIC POSITIONING

Номер: US20160031087A1
Автор: Altman Nathan, Eliashiv Oded
Принадлежит:

A robotic system including at least two acoustic sensors, spaced apart, for receiving respective versions of a respective continuous ultrasonic waveform emitted by each of one or more positional elements, each of the respective continuous ultrasonic waveforms comprising a respective modulated carrier and an electromagnetic sensor for receiving a respective electromagnetic signal emitted by a respective electromagnetic emitter of a same respective one of the positional elements, and a computing device. The respective electromagnetic signal is emitted in coordination with the respective ultrasonic waveform emitted by the same positional element. The computing device decodes the versions of the ultrasonic waveform and the electromagnetic signal to measure time delays between the versions of the respective ultrasonic waveform and the respective electromagnetic signal, converts the time delays to distances, and triangulates the distances to determine positions of the positional elements. A robot maneuvers based on the determined positions. 1. A robot comprising:at least two acoustic sensors, spaced apart, for receiving respective versions of a respective continuous ultrasonic waveform emitted by each of one or more positional elements, each of the respective continuous ultrasonic waveforms comprising a respective modulated carrier; andan electromagnetic sensor for receiving a respective electromagnetic signal emitted by a respective electromagnetic emitter of a same respective one of the positional elements, the respective electromagnetic signal being emitted in coordination with the respective continuous ultrasonic waveform emitted by the same respective one of the positional elements; and decoding the versions of the respective continuous ultrasonic waveform and the respective electromagnetic signal to measure respective time delays between the versions of the respective continuous ultrasonic waveform and the respective electromagnetic signal;', 'converting the ...

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Номер записи: 44
01-02-2018 дата публикации

Method and System for Assisted Object Handling in Dangerous Environments

Номер: US20180029219A1
Автор: Matthew B. Talpis, Robert L. Piccioni
Принадлежит: SAFE-T-ARM LLC

A system for remote object handling including a vehicle having a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera, and a video interface is coupled to the video camera which is operable to display output from the video camera.

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Номер записи: 45
17-02-2022 дата публикации

ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM

Номер: US20220047340A1
Автор: Cameron Peter, Kralicky Joseph, Robert Rene
Принадлежит:

A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further 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 first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion. 1. (canceled)2. A robotic surgery control system comprising:an input configured to be moved in a first direction, wherein movement of the input in the first direction controls corresponding movement of an end effector of a surgical tool in the first direction; and{'claim-text': ['determine an alignment difference between the input and the end effector;', 'in response to a determination that the alignment difference does not satisfy an alignment threshold, disable control of movement of the end effector in the first direction by the input; and', 'in response to a determination that the alignment difference satisfies the alignment threshold, enable control of movement of the end effector in the first direction in response to corresponding movement of the input in the first direction.'], '#text': 'a processor configured to:'}3. The system of claim 2 , wherein the input comprises a handle coupled to a control arm.4. The system of claim 3 , wherein the control arm is configured to provide movement of the input in the first ...

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Номер записи: 46
29-01-2015 дата публикации

Minimally invasive surgical instrument

Номер: US20150032125A1
Автор: Chang Wook Jeong, Hyung Tae Kim
Принадлежит: Individual

A minimally invasive surgical instrument is provided, comprising a shaft and an end effector connected to the shaft, wherein the end effector operates in the pitch or yaw direction against the shaft when a first wire and a second wire conveyed through the shaft operate cooperatively according to a first aspect; and the end effector operates in the roll direction against the shaft when the first wire and the second wire operate cooperatively according to a second aspect, wherein the first wire and the second wire operate in the same direction when the cooperative operation is according to one aspect of the first aspect and the second aspect; and the first wire and the second wire operate in the opposite directions when the cooperative operation is according to the other aspect of the first aspect and the second aspect.

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Номер записи: 47
17-02-2022 дата публикации

SURGICAL INSTRUMENT APPARATUS, ACTUATOR, AND DRIVE

Номер: US20220047348A1
Автор: Genova Perry A., Laakso Aki Hannu Einari
Принадлежит:

A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link. 120-. (canceled)21. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient , the apparatus comprising:an elongate manipulator having a distal end configured to support an end effector and including a plurality of control links extending through the manipulator and operatively engaged with the end effector, the manipulator defining a longitudinal axis; andan actuator chassis disposed at a proximal end of the manipulator, wherein the actuator chassis defines a substantially cylindrical profile, the actuator chassis including a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis, each actuator being coupled to a respective one of the control links, the actuators being adjacently radially disposed about the periphery of the actuator chassis, each actuator including an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the control link.22. The apparatus of claim 21 , wherein the plurality of actuators are mounted within slots extending longitudinally along the periphery ...

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Номер записи: 48
31-01-2019 дата публикации

FLEXIBLE MANIPULATOR

Номер: US20190029767A1
Автор: HASEGAWA Mitsuaki, Hyodo Ryoji
Принадлежит: OLYMPUS CORPORATION

A medical manipulator includes: an elongated flexible portion configured to be inserted into a body; an end effector disposed on a distal end of the elongated flexible portion; a proximal portion coupled to a proximal end of the elongated flexible portion, the proximal portion being configured to generate power for actuating the end effector; at least two wires configured to transmit the power to the end effector; at least two sheaths configured to form a path of each of the wires within the elongated flexible portion; and a rotating mechanism configured such that either a distal end or a proximal end of each of the sheaths rotates relative to the elongated flexible portion about a longitudinal axis of the elongated flexible portion. 1. A medical manipulator comprising:an elongated flexible portion configured to be inserted into a body;an end effector disposed on a distal end of the elongated flexible portion;a proximal portion coupled to a proximal end of the elongated flexible portion, the proximal portion being configured to generate power for actuating the end effector;at least two wires configured to transmit the power to the end effector;at least two sheaths configured to form a path of each of the wires within the elongated flexible portion; anda rotating mechanism configured such that either a distal end or a proximal end of each of the sheaths rotates relative to the elongated flexible portion about a longitudinal axis of the elongated flexible portion.2. The medical manipulator according to claim 1 , wherein the rotating mechanism comprises:a distal end portion coupled to the distal end of each of the sheaths, the distal end portion being configured to be fixed to the elongated flexible portion;a rotating portion coupled to the proximal end of each of the sheaths and the proximal portion, the rotating portion being configured to rotate relative to the elongated flexible portion about the longitudinal axis of the elongated flexible portion.3. The medical ...

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Номер записи: 49
31-01-2019 дата публикации

MEDICAL-MANIPULATOR ROTATION MECHANISM

Номер: US20190029768A1
Автор: Fujii Masahiro
Принадлежит: OLYMPUS CORPORATION

A medical-manipulator rotation mechanism includes: a cylindrical rotator that is fixed to a treatment part at the distal end and that is supported so as to be rotatable about the longitudinal axis; a long power-transmitting member wound around the rotator; and a folding part that bends the power-transmitting member led out in a tangential direction from the rotator and guides the power-transmitting member toward the proximal-end side, wherein the power-transmitting member is led out in tangential directions at different positions between which a wound part of the rotator around which the power-transmitting member is wound exists.

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Номер записи: 50
04-02-2021 дата публикации

ACTIVE AND SEMI-ACTIVE DAMPING

Номер: US20210030500A1
Автор: Devengenzo Roman L., Robinson David W., Schena Bruce M.
Принадлежит:

Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link. 1. A system comprising:a first link supported by a base;a second link;a damper coupling the first link to the second link, the damper having a variable damping coefficient; and predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link; and', 'adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link., 'a processor configured to2. The system of claim 1 , wherein the processor is further configured to control a tool supported by the second link based on the commanded movement.3. The system of claim 1 , wherein the damper comprises a spring element and a variable damping element.4. The system of claim 1 , wherein a variable portion of the damper comprises a variable damping element.5. The system of claim 1 , wherein the damper comprises an axial flexure.6. The system of claim 1 , wherein:the damper comprises a top plate and a bottom plate connected by an axial flexure; anda variable portion of the damper comprises a plurality of variable damping elements radially positioned around the axial flexure.7. The system of claim 6 , further comprising a radial flexure coupled to the top plate of the damper.8. The system of claim 7 , further comprising a decoupling flexure positioned between the axial flexure and the radial flexure.9. The system of claim 1 , wherein the damper comprises a top ...

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Номер записи: 51
30-01-2020 дата публикации

ROBOTIC MANIPULATION METHODS AND SYSTEMS FOR EXECUTING A DOMAIN-SPECIFIC APPLICATION IN AN INSTRUMENTED ENVIORNMENT WITH ELECTRONIC MINIMANIPULATION LIBRARIES

Номер: US20200030971A1
Автор: Oleynik Mark
Принадлежит:

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result. 1. A robotic end effector interface handle , comprising:a housing having a first end and a second end, the first end being on the opposite side of the second end, the housing having a shaped exterior surface between the first end and the second end, the first end having a physical portion that extends outward to serve as a first stopping reference point, the second end having a physical portion that extends outward to serve as a second stopping reference point,wherein a robotic hand grasps the exterior surface of the housing within the first and second ends in a predefined, pretested position and orientation, andwherein the robotic effector operates the housing that is attachable to a kitchen tool in the predefined, pretested position and orientation, the robotic end effector including a robotic hand.2. The robotic end effector interface handle of claim 1 , wherein the shaped external surface of the end effector grasp and operate the shaped external ...

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Номер записи: 52
18-02-2021 дата публикации

Robotic arm and robotic surgical system

Номер: US20210045817A1
Автор: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Sina Nia Kosari, Thomas D. Egan
Принадлежит: SRI International Inc

A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

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Номер записи: 53
18-02-2021 дата публикации

JOINT CALIBRATION FOR SURGICAL TOOL

Номер: US20210045820A1
Автор: Asadian Ali, Dahdouh Andrew, Hariri Alireza
Принадлежит:

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector. 1. A surgical robotic system , comprising:an end effector of a surgical tool coupled to a tool driver;an actuator of the tool driver, the actuator configured to drive the end effector; and receive a position command describing a desired position for the end effector;', 'translate the desired position to a command for a joint associated with the end effector;', 'calculate a compensation term to compensate for a source of hysteresis for backlash or compliance; and', 'send an instruction for the actuator based on the compensation term and the command for the end effector., 'one or more processors configured to2. The surgical robotic system of claim 1 , wherein the joint is a closure joint and the desired position includes a closure angle.3. The surgical robotic system of claim 2 , the one or more processors configured to:determine whether the desired position corresponds to opening the end effector or closing the closure joint.4. The surgical robotic system of claim 3 , the one or more processors configured to:access a first polynomial for translating the desired position to the command for the closure joint when the desired position corresponds to opening the closure joint; andaccess a second polynomial for translating the desired position to the ...

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Номер записи: 54
18-02-2021 дата публикации

AXIAL MOTION DRIVE DEVICES, SYSTEMS, AND METHODS FOR A ROBOTIC MEDICAL SYSTEM

Номер: US20210045823A1
Автор: Graetzel Chauncey F., Hsu Jason J., Landey Casey Teal, LIN Jiayi, Morrison Zachary Stahl, Yu Alan Lau
Принадлежит:

Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. Axial motion can include insertion and/or retraction of the instrument. For example, a robotic medical system can include a medical instrument comprising an instrument base and a flexible shaft configured for insertion into a patient, and a first robotic arm attachable to the instrument base of the medical instrument. The system also includes a drive device configured to engage the flexible shaft, and a second robotic arm attachable to the drive device. The second robotic arm is configured to operate the drive device to drive axial motion of the flexible shaft, and the first robotic arm is configured to move in coordination with operation of the drive device. 1. A robotic medical system , comprising:a medical instrument comprising an instrument base and an elongated shaft configured for insertion into a patient;a first robotic arm, wherein the instrument base of the medical instrument is attached to the first robotic arm and the first robotic arm is articulable to move the instrument base;a second robotic arm;a drive device attached to the second robotic arm and distal relative to the instrument base, wherein the drive device is engaged with and configured to drive axial motion of the elongated shaft of the medical instrument; and 'drive axial motion of the elongated shaft of the medical instrument with the drive device at a first axial motion rate that is greater than a movement rate of the first robotic arm.', 'a processor configured to, during a first period of axial motion2. The system of claim 1 , wherein claim 1 , during the first period of axial motion claim 1 , a portion of the elongated shaft of the medical instrument between the instrument base and the drive device has a length greater than a distance between the instrument base and the drive device such that the portion of the elongated shaft forms a service loop.3. The system ...

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Номер записи: 55
18-02-2021 дата публикации

INSTRUMENT FOR SURGERY

Номер: US20210045825A1
Автор: KIM Hee Jin, LEE Jung Joo
Принадлежит:

Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery. 1. A surgical instrument comprising:a handle for receiving a user input for manipulating the instrument, wherein the handle includes a first handle member configured to rotate along a first input axis and a second handle member configured to rotate along a second input axis, wherein the first handle member includes a first elongated portion and the second handle member includes a second elongated portion, and the handle has an input angle defined by an angular relationship of the two elongated portions;an end-effector for performing a surgical operation, wherein the end-effector includes a first jaw member and a second jaw member, each configured to rotate along an output axis,wherein the first jaw member includes a first contact surface and the second jaw member includes a second contact surface, the first contact surface and the second contact surface are configured to face each other, and the end-effector has a closed configuration when the two surfaces are contacted to each other or an open configuration when the two surfaces are separated to each other; anda pulley-wire mechanism for coupling, operatively, the handle and the end-effector, wherein the mechanism includes a first input pulley operatively connected to the first handle member, a first output pulley operatively connected to the first jaw member and operatively coupled to the first input pulley via a first wire, a second input pulley operatively connected to the second handle member, and a second output pulley operatively connected to the second jaw member and operatively coupled to the second input pulley via a second wire; andwherein when the handle has the input angle being greater than a first predetermined angle, the end-effector has the open configuration and the user input inducing a rotation of at ...

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Номер записи: 56
15-02-2018 дата публикации

Cable Tensioning In A Robotic Surgical System

Номер: US20180042688A1
Автор: Cooper Thomas G., Devengenzo Roman L., Solomon Todd R.
Принадлежит:

A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed. 140-. (canceled)41. A termination assembly of a cabling system in a robotic surgical manipulator , the termination assembly comprising:a block including first and second cable pathways sized for receipt of a first cable, the first cable pathway including a first retainer sized to prevent passage of a first fitting coupled to the first cable anda first support coupled to the block and around which the first cable is routed.42. The termination assembly of claim 41 , wherein the first and second cable pathways are parallel to a lengthwise axis through the first support.43. The termination assembly of claim 41 , wherein the first and second cable pathways are perpendicular to a lengthwise axis of the first support.44. The termination assembly of claim 41 , wherein the first support includes a post stationary relative to the block.45. The termination assembly of claim 41 , wherein the first support includes a post rotatable relative to the block.46. The termination assembly of claim 41 , wherein the first support includes a pulley.47. The termination assembly of claim 41 , wherein the first and second cable pathways are slots formed in the block.48. The termination assembly of claim 41 , wherein the second cable pathway includes a second retainer sized to prevent passage of a second fitting coupled to the first cable.49. The termination assembly of further comprising a second support coupled to the block claim 41 , wherein the block further includes third and fourth cable pathways sized for receipt of a second cable and wherein the second cable is routed around ...

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Номер записи: 57
03-03-2022 дата публикации

TISSUE RESECTING INSTRUMENT

Номер: US20220061875A1
Автор: LEIBOWITZ DALIA, Marshall Peter, Wood Timothy J.
Принадлежит:

A tissue-resecting end effector includes an outer shaft having a hub housing, an inner shaft including a sun gear, and a drive assembly disposed within the hub housing. The drive assembly includes a first and second drivers disposed about the inner shaft distally and proximally of the sun gear, respectively. The drive assembly further includes a plurality of planetary gears radially disposed about and in meshed engagement with the sun gear between the drivers, and a locking clip proximal of the planetary gears and the sun gear, rotationally keyed to the second driver, and engaged with the first driver via at least one snap-fit engagement. The locking clip retains the drivers and the planetary gears in operable engagement with one another and the sun gear such that a rotational input provided to the second driver drives rotation of the inner shaft. 110-. (canceled)11. A method of assembling an end effector assembly of a tissue resecting instrument , the method comprising:obtaining an inner shaft including a sun gear disposed about a proximal end portion thereof;inserting a first driver about the inner shaft in a distal-to-proximal direction to a position distally of the sun gear;coupling a plurality of planetary gears to the sun gear such that the plurality of planetary gears is radially disposed about and in meshed engagement with the sun gear proximally of the first driver;inserting a second driver about the inner shaft in a proximal-to-distal direction to a position proximally of the sun gear and the plurality of planetary gears; andpositioning a locking clip proximally adjacent the sun gear and the plurality of planetary gears and engaging the locking clip with the first driver such that a portion of the second driver is disposed therebetween, thereby retaining the first and second drivers and the plurality of planetary gears in operable engagement with one another and the sun gear.12. The method according to claim 11 , further including:obtaining an outer shaft ...

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Номер записи: 58
03-03-2022 дата публикации

Robot control device, robot system and robot control method

Номер: US20220063091A1
Автор: Hitoshi Hasunuma, Kazuki KURASHIMA, Takeshi Yamamoto
Принадлежит: Kawasaki Jukogyo KK

A robot control device includes a modification work trained model building section. The modification work trained model building section builds a modification work trained model by training on modification work data when a user's modification operation is performed to intervene in a provisional operation of a robot arm to perform a series of operations. In the modification work data, input data is a state of the robot arm and its surroundings when the robot arm is operating and output data is data of the operation by a user for modifying the provisional operation or the modification operation of the robot arm by the user's operation for modifying the provisional operation.

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Номер записи: 59
25-02-2021 дата публикации

Manual Knife Bailout Monitoring Using Inductive Coupling

Номер: US20210052343A1
Автор: Overmyer Mark D.
Принадлежит: Ethicon LLC

A robotic surgical tool includes a tool driver, a drive housing mountable to the tool driver and including one or more component parts made of or including a magnetically responsive material, a first inductor coil included on the tool driver and configured to generate a magnetic field, and a second inductor coil included on the drive housing and configured to measure an intensity of the magnetic field and a field distortion caused by the one or more component parts. A change in the field distortion provides an indication of movement of the one or more component parts. 1. A robotic surgical tool , comprising:a tool driver in communication with a computer system;a drive housing mountable to the tool driver and including one or more component parts made of or including a magnetically responsive material;a first inductor coil included on the tool driver and configured to generate a magnetic field;a second inductor coil included on the drive housing and configured to measure an intensity of the magnetic field and a field distortion caused by the one or more component parts,wherein a change in the field distortion provides an indication of movement of the one or more component parts.2. The robotic surgical system of claim 1 , wherein the magnetically responsive material comprises a magnetically responsive material selected from the group consisting of conductive metal claim 1 , a conductive polymer claim 1 , graphite claim 1 , carbon fibers claim 1 , and any combination thereof.3. The robotic surgical system of claim 1 , wherein the drive housing further includes an internal computer in communication with the second inductor coil and programmed to process the intensity of the magnetic field and the change in the field distortion.4. The robotic surgical system of claim 1 , wherein the computer system is programmed to provide a notification when the change in the field distortion is detected.5. The robotic surgical system of claim 4 , wherein the notification comprises a ...

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Номер записи: 60
14-02-2019 дата публикации

CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM

Номер: US20190047155A1
Автор: IIYAMA Masayuki, OKUYAMA Masayuki
Принадлежит:

A control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: control a robot with force control on the basis of a force detected by a force detecting device, determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit, control the robot with the force control in the fitting work, and determine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work. 1. A control device comprising:a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to:control a robot with force control on the basis of a force detected by a force detecting device,determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit,control the robot with the force control in the fitting work, anddetermine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work.2. The control device according to claim 1 , wherein the force control in the fitting work includes first force control in which a target force is a first force and second force control in which a target force is a second force larger than the first force claim 1 , andthe processor is configured to determine the pass/fail on the basis of whether the portion is present while the second force control is performed.3. The control device according to claim 2 , wherein claim 2 , when the result of the fitting work is the “pass” claim 2 , a minimum of the force detected by the force detecting device in the portion is smaller than the first force.4. The control device according to claim 2 , wherein the processor is ...

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Номер записи: 61
23-02-2017 дата публикации

SURGICAL ASSEMBLIES FOR HOUSING FORCE TRANSMITTING MEMBERS

Номер: US20170049522A1
Автор: KAPADIA Jaimeen
Принадлежит:

An endoscopic surgical assembly houses at least one force transmitting member that is connected to a surgical attachment supported on the endoscopic surgical assembly. The endoscopic surgical assembly includes an elongate shaft having a proximal end and a distal end configured for connection to a surgical attachment. At least one longitudinal cavity is formed in an outer surface of the elongate shaft and extends between the proximal and distal ends of the elongate shaft. The at least one longitudinal cavity is configured for disposal of the at least one force transmitting member therein such that the at least one force transmitting member is translatable relative to the elongate shaft. 1. An endoscopic surgical assembly housing at least one force transmitting member that is connected to a surgical attachment supported on the endoscopic surgical assembly , the endoscopic surgical assembly comprising:an elongate shaft having a proximal end and a distal end configured for connection to a surgical attachment, at least one longitudinal cavity being formed in an outer surface of the elongate shaft and extending between the proximal and distal ends of the elongate shaft,wherein the at least one longitudinal cavity is configured for disposal of the at least one force transmitting member therein such that the at least one force transmitting member is translatable relative to the elongate shaft.2. An endoscopic surgical assembly as recited in claim 1 , wherein the at least one longitudinal cavity has a key-hole shaped transverse cross-sectional profile and the elongate shaft is non-cannulated.3. An endoscopic surgical assembly as recited in claim 1 , wherein the at least one longitudinal cavity has a diameter substantially equal to a diameter of the at least one force transmitting member.4. An endoscopic surgical assembly as recited in claim 1 , further comprising a sleeve disposable about the elongate shaft to sheath the at least one force transmitting member within the at ...

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Номер записи: 62
23-02-2017 дата публикации

TREATMENT INSTRUMENT ADAPTOR AND SURGICAL MANIPULATOR SYSTEM

Номер: US20170049523A1
Автор: YOSHII Toshihiro
Принадлежит: OLYMPUS CORPORATION

This treatment instrument adaptor allows a treatment instrument to be rotated about the longitudinal axis while an insertion portion is placed in the body. This treatment instrument adaptor has a cap member attached to a distal end of an insertion portion having a channel and that has a through hole aligned with an opening of the channel; a tubular fitting member attached to the through hole of the cap member so as to be rotatable about an axis of the through hole and so as not to be movable along the axis and that has an inner hole into which a treatment instrument is fitted and with which the treatment instrument is engaged in a circumferential direction; and a rotating mechanism including a driving-force transmitting member that is wound around the fitting member and that rotates the fitting member about the axis using tension. 1. A treatment instrument adaptor comprising:a cap member that is attached to a distal end of a flexible insertion portion having a channel and that has a through hole located at a position which is aligned with an opening of the channel;a substantially tubular fitting member that is attached to the through hole of the cap member so as to be rotatable about an axis of the through hole and so as not to be movable along the axis and that has an inner hole into which a treatment instrument guided through the channel is fitted and with which the treatment instrument is engaged in a circumferential direction; anda rotating mechanism including a driving-force transmitting member that is wound around the fitting member and that rotates the fitting member about the axis using tension.2. The treatment instrument adaptor according to claim 1 , wherein the fitting member is made of an elastic material that allows an inner diameter of the inner hole to be changed claim 1 , and the inner diameter of the inner hole is configured to be decreased to engage the inner hole with the treatment instrument in a state in which the treatment instrument is placed ...

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Номер записи: 63
22-02-2018 дата публикации

Robotic Visualization and Collision Avoidance

Номер: US20180049830A1
Автор: Harris Jason L., IV Frederick E., Shelton, Yates David C.
Принадлежит:

Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool. 1. A surgical robot system , comprising:a robotic arm having a proximal end configured to couple to a support and having a distal end with a driver including at least one motor;a tool housing configured to releasably couple to the driver;an elongate shaft extending distally from the housing;an end effector on a distal end of the elongate shaft; andat least one position sensor configured to detect at least one of a position and a velocity of the end effector within a three-dimensional space, and the system being configured to reduce a velocity of the end effector when the at least one of the position and the velocity of the end effector exceeds a threshold boundary.2. The system of claim 1 , further comprising at least one actuator configured to actuate the end effector claim 1 , wherein the actuator is configured to retard motion of the end effector in response to an output received from the position sensor indicating that the end effector is at a predetermined location within a three dimensional space.3. The surgical system of claim 1 , wherein the at least one position sensor is configured to detect a proximity of a second tool within a three dimensional space and to output a signal indicating the proximity of the second tool relative to the end effector.4. The surgical system of claim 3 , wherein the at least one position sensor comprises an electromagnetic sensor that is configured to detect a position of a magnetic material on the second tool.5. The surgical system of claim 4 , wherein the ...

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Номер записи: 64
22-02-2018 дата публикации

MEDICAL MANIPULATOR SYSTEM

Номер: US20180049831A1
Автор: Hatakeyama Naoya, IIDA Masatoshi
Принадлежит: OLYMPUS CORPORATION

A medical manipulator system including: a manipulator with a flexible insertion portion, a movable part at a distal end of the insertion portion, a detachable drive unit at a proximal end of the insertion portion, and a pair of tension transmission members transmitting a driving force generated in the drive unit to move the movable part; an input unit inputting an operation command for the manipulator; and a control unit controlling the drive unit based on the input operation command, the drive unit having a displacement sensor detecting displacement direction and amount of the tension transmission members and a tension-difference sensor detecting a tension difference between the tension transmission members, the control unit has a storage unit storing characteristics of the tension transmission members and a setting unit setting a control parameter for controlling the drive unit based on the characteristics and the detected tension difference, displacement amount and direction. 1. A medical manipulator system comprising:a manipulator that is provided with a flexible insertion portion, a movable part that is provided at a distal end of the insertion portion, a drive unit that is detachably provided at a proximal end of the insertion portion and that generates a driving force, and a pair of tension transmission members that transmits the driving force generated in the drive unit by means of tensions to move the movable part in forward and reverse directions;an operation-information input unit for inputting an operation command for the manipulator; anda control unit that controls the drive unit on the basis of the operation command input by the operation-information input unit,wherein the drive unit is provided with a displacement sensor that detects a displacement direction and a displacement amount of the tension transmission members, and a tension-difference sensor that detects a tension difference between the pair of tension transmission members, andthe control ...

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Номер записи: 65
22-02-2018 дата публикации

ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS

Номер: US20180049842A1
Автор: Awtar Shorya, BOWLES Gregory Brian, Geiger James Duncan, Licht James Michael, Sharma Deepak, Zimmerman Zachary
Принадлежит:

Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom. 1. A forearm attachment device for a minimal access tool , the device comprising:a frame comprising an elongate tool shaft having a tool axis;an outer gimbal rotationally coupled to the frame, andan inner gimbal rotationally coupled or coupleable to the outer gimbal,wherein the inner gimbal, when coupled to the outer gimbal, is configured to rotate about a first rotational axis containing the at least one releasable attachment coupling the inner gimbal to the outer gimbal, and wherein the outer gimbal is configured to rotate about a second rotational axis, and wherein the first rotational axis and the second rotational axis intersect at a point of intersection;a cuff within the inner gimbal configured to hold a user's arm therein so that the point of intersection is within the user's arm; anda securement configured to secure the user's arm in the cuff so that the cuff moves with the user's arm.2. The device of claim 1 , wherein the inner gimbal is configured to releasably snap into the outer gimbal.3. The device of claim 1 , wherein the inner gimbal comprises at least one projection extending from the inner gimbal and configured to releasably mate with the outer gimbal.4. The device of claim 1 , wherein the inner gimbal comprising at least one projection receiver on an outer surface of the inner gimbal configured to receive and releasably mate with a projection from the outer gimbal.5. The device of ...

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Номер записи: 66
10-03-2022 дата публикации

SURGICAL INSTRUMENT

Номер: US20220071655A1
Автор: Houser Kevin L., Messerly Jeffrey D., Price Daniel W., Stulen Foster B.
Принадлежит:

In one embodiment, a surgical instrument comprises an articulable waveguide. The articulable waveguide may be configured to transmit ultrasonic energy therealong. The articulable waveguide comprises a proximal drive section, an end effector and a first flexible. The proximal drive section is configured to couple to an ultrasonic transducer. The end effector is located at a distal portion of the articulable waveguide. The first flexible section comprises a flex bias and be positioned between the proximal drive section and the end effector. The surgical instrument further comprises a first tine extending longitudinally relative to the articulable waveguide. 120-. (canceled)21. A system , comprising:a robotic surgical system; a tool mounting portion configured to removably couple to the robotic surgical system;', a drive section operably coupled to an ultrasonic transducer, wherein the drive section comprises a first cross-sectional shape, and wherein the drive section defines a longitudinal drive axis; and', a first portion comprising a first thickness defined relative to the longitudinal drive axis; and', 'a second section comprising a second thickness defined relative to the longitudinal drive axis, wherein the first thickness is different than the second thickness; and, 'a flexible section extending the drive section, wherein the flexible section comprises a second cross-sectional shape that is different than the first cross-sectional shape, wherein the second cross-sectional shape comprises a substantially rectangular cross-sectional shape, and wherein the flexible section comprises], 'an articulatable waveguide, comprising, 'an articulation actuator, wherein pivotable movement of the articulation actuator is configured to articulate a distal end of the flexible section away from the longitudinal drive axis., 'a surgical instrument, comprising22. The system of claim 21 , wherein the surgical instrument further comprises an outer sheath claim 21 , wherein the ...

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Номер записи: 67
10-03-2022 дата публикации

AUTONOMOUS CORRECTION OF ALIGNMENT ERROR IN A MASTER-SLAVE ROBOTIC SYSTEM

Номер: US20220071722A1
Автор: Cameron Peter, Kralicky Joseph
Принадлежит:

In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (R) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (R) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R) as a difference between the master actuator orientation signals (R) and the end effector orientation signals (R), and adjusting the master-slave misalignment signals (R) to reduce the alignment difference. 1. A robotic surgery system comprising:an input device configured to control a surgical instrument that includes an end effector; and receive an enablement signal that, in an active state, permits a change in an orientation of the end effector in response to a change in an orientation of the input device;', 'in response to a determination that the enablement signal has transitioned to the active state, determine an alignment error between a current orientation of the input device and a current orientation of the end effector; and', determine a rotational speed associated with a change in orientation of the input device;', 'in response to a determination that the rotational speed satisfies a threshold rotational speed associated with reducing the alignment error, produce an adjustment control signal; and', 'adjust the orientation of the end effector based on the adjustment control signal to reduce the alignment error., 'in response to a determination that the alignment ...

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Номер записи: 68
21-02-2019 дата публикации

SUPPORT ARM DEVICE

Номер: US20190053863A1
Автор: HONGO KAZUO, NAGASAKA Kenichiro
Принадлежит:

[Object] To reduce output of a motor of a support arm device. [Solution] A support arm device includes: a first drive part configured to be fixed to a base part and cause a first drive shaft to perform shaft rotation; a second drive part configured to be fixed to the base part and cause a second drive shaft to perform shaft rotation; and an arm part including at least one parallel link and configured to support a predetermined tool. The arm part is caused to change an attitude to cause the predetermined tool to perform a predetermined rotational motion by the first drive part and the second drive part being driven. 1. A support arm device comprising:a first drive part configured to be fixed to a base part and cause a first drive shaft to perform shaft rotation;a second drive part configured to be fixed to the base part and cause a second drive shaft to perform shaft rotation; andan arm part including at least one parallel link and configured to support a predetermined tool,wherein the arm part is caused to change an attitude to cause the predetermined tool to perform a rotational motion by the first drive part and the second drive part being driven.2. The support arm device according to claim 1 , further comprising:a third drive part configured to be fixed to the base part and cause a third drive shaft to perform shaft rotation,wherein the arm part is caused to change an attitude to cause the predetermined tool to perform a pivotal motion with respect to a remote center of motion as the predetermined rotational motion and to perform a translational motion along a straight line passing through the remote center of motion by the first drive part, the second drive part, and the third drive part being driven.3. The support arm device according to claim 1 , wherein the arm part includes a plurality of parallel links claim 1 , and the plurality of parallel links are present within a link configuration plane.4. The support arm device according to claim 2 , wherein claim 2 ...

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Номер записи: 69
04-03-2021 дата публикации

Robotic surgical assembly

Номер: US20210059776A1
Автор: Giuseppe Maria Prisco, Massimiliano Simi
Принадлежит: Medical Microinstruments SpA

A robotic surgical assembly ( 100 ) includes a support ( 104 ), one macro-positioning arm ( 30 ), connected to the support ( 104 ) and having a plurality of degrees of freedom. The macro-positioning arm ( 30 ) includes a support member ( 38 ), at least two micro-positioning devices ( 41, 141, 241, 341 ), each having a plurality of motorized degrees of freedom, connected in cascade to the support member ( 38 ) of the macro-positioning arm ( 30 ), and at least two medical instruments ( 60, 160, 260, 360 ). Each instrument is connected in cascade to each of the micro-positioning device and includes a jointed device ( 70, 170, 270 ) having a plurality of motorized degrees of freedom including a plurality of rotational joints. Each of the at least two medical instruments ( 60, 160, 260, 360 ) has a shaft ( 65 ), suitable for distancing the jointed device from the micro-positioning devices by a predetermined distance in a shaft direction (X-X).

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Номер записи: 70
04-03-2021 дата публикации

SURGICAL INSTRUMENT STEERING INPUT DEVICE

Номер: US20210059778A1
Автор: Ragosta Nicholas H., Wixey Matthew Aaron
Принадлежит:

A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan. 120-. (canceled)21. A surgical instrument comprising:a drive shaft;a capstan;a splined snap-fit connection between the drive shaft and the capstan;a distal end effector;a first cable portion wrapped around the drive shaft and operably coupled to the distal end effector; anda second cable portion wrapped around the capstan and operably coupled to the distal end effector.22. The surgical instrument of claim 21 , wherein:the splined snap-fit connection comprises a snap-fit element.23. The surgical instrument of claim 22 , wherein:the splined snap-fit connection further comprises a bore in the capstan; andthe snap-fit element projects from the drive shaft and is received in the bore.24. The surgical instrument of claim 22 , wherein:the snap-fit element comprises an elastic portion and a lip projecting radially outward from the elastic portion.25. The surgical instrument of claim 24 , wherein:the elastic portion comprises an elongate stem.26. The surgical instrument of claim 24 , wherein:the elastic portion is biased radially outward.27. The surgical instrument of claim 24 , wherein:the lip comprises an upper beveled edge and a lower beveled edge.28. The surgical instrument of claim 21 , wherein:the splined snap-fit connection comprises a plurality of snap fingers.29. The surgical instrument of claim 28 , wherein:the surgical instrument further comprises a steering input;the drive shaft comprises a rod ...

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Номер записи: 71
04-03-2021 дата публикации

MAGNETICALLY STEERABLE CONTINUUM ROBOTIC GUIDEWIRES FOR NEUROVASCULAR APPLICATIONS

Номер: US20210059779A1
Автор: Kim Yoonho, Zhao Xuanhe
Принадлежит:

Robotic devices and methods for performing minimally invasive procedures on the vascular system, particularly cerebrovascular and endovascular neurosurgical procedures, where a submillimeter-scale continuum robotic device is configured and adapted for active steering and navigation based on external magnetic actuation. The submillimeter-scale continuum robotic device includes an elongate body having an inner core and an outer shell, where the outer shell is fabricated of an elastomeric material having a plurality of ferromagnetic particles dispersed therein. 1. A continuum robotic device for use in minimally invasive procedures comprising:an elongate body having a proximal end, a distal end, an inner core and an outer shell;the outer shell fabricated of an elastomeric material;a plurality of ferromagnetic particles dispersed within the outer shell;the elongate body having an initial shape;wherein the elongate body has an outer diameter of less than about 1000 μm, and wherein exposure of the device to an external magnetic field magnetically activates the plurality of ferromagnetic particles to provide the elongate body in an activated shape different than the initial shape.2. The device of claim 1 , wherein exposure of the device to an external magnetic field magnetically activates the plurality of ferromagnetic particles to provide omnidirectional steering of the device.3. The device of claim 1 , wherein the plurality of ferromagnetic particles are uniformly magnetized along an axial direction of the elongate body.4. The device of claim 1 , wherein the plurality of ferromagnetic particles are magnetized in nonuniform patterns of magnetic polarity along an axial direction of the elongate body.5. The device of claim 1 , wherein the plurality of ferromagnetic particles are magnetized in patterns of magnetic polarity comprising alternating patterns of different magnetic polarities.6. The device of claim 5 , wherein alternating patterns of different magnetic polarities ...

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Номер записи: 72
04-03-2021 дата публикации

Microsurgery-specific haptic hand controller

Номер: US20210059780A1
Автор: Garnette Roy Sutherland, Hamidreza HOSHYARMANESH, Kourosh Zareinia, Sanju Lama
Принадлежит: Orbsurgical Ltd

A local haptic hand controller is provided for enabling an operator to remotely perform fine manipulation, such as microsurgery, in conjunction with a remotely located robotic manipulator, for example at which the microsurgery is to be performed. The local haptic hand controller includes a base, a kinematic structure in communication with the base and comprises a gimbal as an end effector. A local surgical tool is provided at the gimbal and has a shape and construction substantially similar to a remote surgical tool provided at the remote robotic manipulator. A control system is in communication with the local surgical tool and with the remote surgical tool, and configured to enable operation of the local haptic hand controller when a local surgical tool identifier matches a remote surgical tool identifier.

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Номер записи: 73
04-03-2021 дата публикации

BOUNDARY SCALING OF SURGICAL ROBOTS

Номер: US20210059781A1
Автор: Livianu Mathew, Peine William, Yilmaz Burak
Принадлежит:

A method of scaling a desired velocity of a tool of a surgical robot with a processing unit includes receiving an input signal, determining a position of the tool relative to a boundary of a surgical site, and scaling a desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site. The input signal includes the desired velocity of movement of the tool. 1. A method of scaling a desired velocity of a tool of a surgical robot with a processing unit , the method comprising:receiving an input signal including a desired velocity of movement of a tool;determining a position of the tool relative to a boundary of a surgical site; andscaling the desired velocity of movement of the tool when the tool is within a predetermined distance of the boundary of the surgical site.2. The method according to claim 1 , wherein scaling the desired velocity of movement includes reducing the desired velocity of movement of the tool.3. The method according to claim 1 , wherein the boundary is a virtual boundary of the surgical site.4. The method according to claim 1 , further comprising determining a direction of movement of the tool relative to the boundary.5. The method according to claim 4 , wherein scaling the desired velocity of movement of the tool only occurs when the direction of movement of the tool is towards the boundary.6. The method according to claim 1 , wherein scaling the desired velocity of movement of the tool includes applying a velocity scaling factor to the desired velocity of movement.7. The method according to claim 6 , further comprising determining the velocity scaling factor as a function of the determined position of the tool relative to the boundary.8. The method according to claim 7 , wherein determining the velocity scaling factor includes the velocity scaling factor being one when the determined position of the tool relative to the boundary is beyond a predetermined distance.9. The method according ...

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Номер записи: 74
20-02-2020 дата публикации

MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS

Номер: US20200054318A1
Автор: Hensel Adam D., IV Frederick E., Shelton, Weaner Lauren S., Wise Austin E.
Принадлежит:

A surgical stapling instrument comprising an elongate shaft assembly that defines a shaft axis and includes a surgical end effector that is operably coupled thereto by an articulation joint. The surgical instrument includes a longitudinally movable flexible firing beam that is configured to flexibly traverse the articulation joint and be selectively axially movable from a starting position to an ending position. A middle support member is movably coupled to the elongate shaft assembly and a portion of the surgical end effector. A proximal support link is located proximal to the middle support member and is configured to provide lateral support to a proximal portion of the flexible firing beam traversing the articulation joint. A distal support link is located distal to the middle support member and is configured to provide lateral support to a distal portion of the flexible support beam traversing the articulation joint. 120-. (canceled)21. A surgical instrument , comprising:a shaft spine defining a shaft axis;a surgical end effector comprising a channel pivotally coupled to said shaft spine about a fixed articulation axis that is transverse to said shaft axis to facilitate articulation of said channel about said articulation axis upon application of articulation motions to said channel;a firing member configured to axially move between a starting position and an ending position within said channel;a longitudinally movable flexible firing beam interfacing with said firing member and configured to flexibly traverse between said shaft spine and said channel to move said firing member between said starting position and said ending position;a first link spanning between said channel and said shaft spine, wherein a first distal end of said first link is pivotally coupled to said channel for pivotal travel relative thereto about a first fixed pivot axis, wherein a first proximal end of said first link is supported relative to a distal end of said shaft spine for pivotal ...

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Номер записи: 75
04-03-2021 дата публикации

MASTER-SLAVE SYSTEM, OPERATION APPARATUS, AND ROBOT APPARATUS

Номер: US20210060762A1
Автор: HONGO KAZUO
Принадлежит:

Provided is a master-slave system that causes no unintended operation. A master-slave system includes: a master device having a first link structure; a slave device having a second link structure similar to the first link structure; and a connecting portion that mechanically connects corresponding links of the first link structure and the second link structure so that the corresponding links have the same angle. The first link structure and the second link structure include respective similar parallel links. In addition, the connecting portion connects corresponding links provided at proximal ends of the first link structure and the second link structure to form a four-bar linkage. 1. A master-slave system comprising:a master device having a first link structure;a slave device having a second link structure similar to the first link structure; anda connecting portion that mechanically connects corresponding links of the first link structure and the second link structure so that the corresponding links have the same angle.2. The master-slave system according to claim 1 , whereinthe connecting portion uses one of a link, wire, air pressure, or water pressure.3. The master-slave system according to claim 1 , whereinthe first link structure and the second link structure include respective similar parallel links.4. The master-slave system according to claim 1 , whereinthe first link structure and the second link structure include respective similar parallel links, andthe connecting portion connects the corresponding links provided at proximal ends of the first link structure and the second link structure so as to form a four-bar linkage.5. The master-slave system according to claim 1 , whereinthe first link structure and the second link structure include similar delta-type parallel links, respectively.6. The master-slave system according to claim 5 , whereina rotational axis of each link provided at a proximal end of the delta-type parallel link passes through the same ...

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Номер записи: 76
28-02-2019 дата публикации

FLEXIBLE MANIPULATOR

Номер: US20190060016A1
Автор: HASEGAWA Mitsuaki
Принадлежит: OLYMPUS CORPORATION

The technology disclosed herein is directed to a flexible manipulator used to prevent a loss of control of a movable part by reducing the friction applied to the power transmission member and to be able to suppress the occurrence of a path length difference of a plurality of power transmission members with regard to various curvature length of an insertion part. The flexible manipulator includes an elongated member formed in the shape of a long flexible tube and having two or more paths that pass through in a longitudinal direction on the outside in the radial direction with regard to a center axis. Respective movable and driving parts is disposed on respective tip and base ends of the elongated member. Power transmission members are arranged to pass through the path of the elongated member and that transfer the power of the driving part to the movable part. 1. A flexible manipulator , comprising:an elongated portion having two or more paths configured to pass through in the longitudinal direction thereof;a movable portion located on a distal end of the elongated portion;a driving portion located on a proximal end of the elongated portion, the driving portion is configured to generate a power for moving the movable portion;two or more wires configured to transmit a power from the driving portion to the movable portion, the two or more wires are configured to pass through into each of the two or more paths;a measuring portion configured to measure a curvature length of the elongated portion; andan adjusting portion configured to cause bending in the vicinity of the base end of the elongated portion so as to adjust the curvature length of the elongated portion as a predetermined length.2. The flexible manipulator according to claim 1 , wherein the two or more paths are formed in a spiral shape around the center axis; andthe predetermined length is an integer multiple of the path pitch.3. The flexible manipulator according to claim 1 , wherein the predetermined length ...

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Номер записи: 77
17-03-2022 дата публикации

Imaging system for surgical robot, and surgical robot

Номер: US20220079706A1
Автор: Chao He, Jiayin Wang, Shuai Yuan, Yunlei SHI
Принадлежит: Shanghai Microport Medbot Group Co Ltd

An imaging system for a surgical robot and a surgical robot. The imaging system includes: a fixed display device for acquiring and displaying image information about a surgical environment; a movable display device, which is coupled, so as to be movable relative, to the fixed display device, the movable display device configured to acquire and display the same image information as is displayed by the fixed display device; and a console having a support on which the fixed display device is mounted. The combined use of the movable display device with the fixed display device in the imaging system and the surgical robot provide more options of operation to an operator. The movable display device can be adjusted according to the desired comfort and personal preferences of the operator to provide the operator with an experience of increased operational comfort and reduce the fatigue of the operator.

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Номер записи: 78
17-03-2022 дата публикации

SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC MANIPULATOR OR ASSOCIATED TOOL

Номер: US20220080589A1
Автор: DiMaio Simon P., RABINDRAN DINESH, TIERLING Kollin M.
Принадлежит:

A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate. 1. A system comprising:a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link, wherein the second link is between the first joint and the first link in the serial chain; receive first link data from a first sensor system located at the first link;', 'control the first joint based on the first link data; and', 'control a second joint in the serial chain based on the first link data., 'a processing unit including one or more processors, the processing unit configured to2. The system of claim 1 , wherein to control the first joint claim 1 , the processing unit is configured to:generate a first joint state estimate of the first joint based on the first link data; andcontrol the first joint based on the first joint state estimate of the first joint.3. The system of claim 2 , wherein the first joint state estimate of the first joint includes a joint acceleration estimate.4. The system of claim 1 , wherein the first link data includes angular velocity data and translational acceleration data of the first sensor system.5. The system of wherein the serial chain further includes a third link claim 2 , wherein the processing unit is further configured to:receive second link data from a second sensor system located at the third link; andgenerate a second joint state estimate of the first joint based on the second link data, and ' ...

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Номер записи: 79
17-03-2022 дата публикации

SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC MANIPULATOR OR ASSOCIATED TOOLS

Номер: US20220080591A1
Автор: DiMaio Simon P., RABINDRAN DINESH, TIERLING Kollin M.
Принадлежит:

A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate. 1. A system comprising:a robotic manipulator including a first joint and a second joint; and{'claim-text': ['provide a first joint state estimate of the first joint;', 'provide a second joint state estimate of the second joint;', 'determine a first weight and a second weight for the first joint state estimate and the second joint state estimate respectively based on one or more weighting scheme parameters associated with the robotic manipulator;', 'apply the first weight to the first joint state estimate to generate a first weighted joint state estimate;', 'apply the second weight to the second joint state estimate to generate a second weighted joint state estimate; and', 'control the first joint and the second joint based on the first weighted joint state estimate and the second weighted joint state estimate.'], '#text': 'a processing unit including one or more processors, the processing unit configured to:'}26.-. (canceled)7. The system of claim 1 , wherein the processing unit is further configured to:in response to a change in a configuration of the robotic manipulator, update the first and second weights based on the ...

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Номер записи: 80
27-02-2020 дата публикации

DRIVE UNIT, MEDICAL TREATMENT TOOL, AND SURGICAL SYSTEM

Номер: US20200060779A1
Автор: ISHIHARA Kazuki, NAKANISHI Tetsuya
Принадлежит: MEDICAROID CORPORATION

A drive unit according to an embodiment may include: a first gear that rotates about a first axis; a second gear that rotates about a second axis extending in a direction perpendicular to the first axis; and a third gear that rotates about a third axis extending in a direction perpendicular to the first axis. Elongated elements in a shaft to operate a distal end part attached to the shaft include: a rigid first elongated element meshing with the second gear; and a rigid second elongated element meshing with the third gear. The second and third gears mesh with the first gear. The distal end part is operated in such a manner that as the first gear rotates, the first elongated element moves in a longitudinal direction of the shaft while the second elongated element moves in a direction opposite to the direction in which the first elongated element moves. 1. A medical treatment tool detachably attached to a manipulator of a surgical system , comprising:a shaft;a distal end part attached to a distal side of the shaft;elongated elements accommodated therein the shaft to operate the distal end part; anda drive unit provided to a proximal side of the shaft to drive the elongated elements, wherein a first gear that rotates about a first axis;', 'a second gear that rotates about a second axis extending in a direction perpendicular to the first axis; and', 'a third gear that rotates about a third axis extending in a direction perpendicular to the first axis, wherein, 'the drive unit comprises a first elongated element that is rigid and meshes with the second gear; and', 'a second elongated element that is rigid and meshes with the third gear, the second and third gears mesh with the first gear, and, 'the elongated elements includethe distal end part is operated in such a manner that as the first gear rotates, the first elongated element moves in a longitudinal direction of the shaft while the second elongated element moves in a direction opposite to the direction in which the ...

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Номер записи: 81
08-03-2018 дата публикации

MEASURING HEALTH OF A CONNECTOR MEMBER OF A ROBOTIC SURGICAL SYSTEM

Номер: US20180064498A1
Автор: KAPADIA Jaimeen, Rockrohr Brian
Принадлежит:

A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs. 1. A robotic surgical system , comprising:a controller;a surgical instrument supporting an end effector;at least one connector member coupled to the end effector and movable to operate the end effector;memory operably coupled to the controller and configured to maintain reference data of the at least one connector member; anda sensor operably coupled to the at least one connector member and disposed in electrical communication with the controller, the sensor configured to register real-time data of the at least one connector member and communicate the real-time data to the controller;wherein the controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data.2. The robotic surgical system of claim 1 , wherein the sensor includes a force sensor claim 1 , a position sensor claim 1 , or combinations thereof3. The robotic surgical system of claim 1 , wherein the sensor includes a plurality of sensors claim 1 , and the at least one connector member includes a plurality of connector members claim 1 , each of ...

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Номер записи: 82
08-03-2018 дата публикации

SYSTEMS AND METHODS FOR PREVENTION OF SURGICAL MISTAKES

Номер: US20180065248A1
Автор: Barral Joëlle, Habbecke Martin, Piponi Daniele, Teisseyre Thomas
Принадлежит:

An apparatus, system and process for guiding a surgeon during a medical procedure to prevent surgical mistakes are described. The system may include a machine learning medical procedure server that generates one or more machine learning medical procedure models using, at least, medical procedure data captured during medical procedures performed at a plurality of different medical procedure systems. The system may also include a medical procedure system communicably coupled with the machine learning medical procedure server that receives a selected machine learning medical procedure model from the machine learning medical procedure server, and utilizes the selected machine learning medical procedure model during a corresponding medical procedure to control one or more operations of the medical procedure system. 1. A system for preventing medical mistakes , the system comprising:a machine learning medical procedure server that generates one or more machine learning medical procedure models using, at least, medical procedure data captured during medical procedures performed at a plurality of different medical procedure systems; anda medical procedure system communicably coupled with the machine learning medical procedure server that receives a selected machine learning medical procedure model from the machine learning medical procedure server, and utilizes the selected machine learning medical procedure model during a corresponding medical procedure to control one or more operations of the medical procedure system.2. The system of claim 1 , wherein each machine learning medical procedure model is associated with a medical procedure and comprises a first classifier trained by the machine learning medical procedure server to identify steps within the medical procedure claim 1 , a second classifier trained by the machine learning medical procedure server to identify anatomical structures visible during corresponding steps of the medical procedure claim 1 , and a third ...

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Номер записи: 83
11-03-2021 дата публикации

Teleoperated Robotic System

Номер: US20210069889A1
Автор: Colvin, Jacobsen Stephen C., JR. Glenn, McCullough John, Olivier Marc X., Scroggin Wayco, Smith Fraser M.
Принадлежит:

A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate. 1a master control arm having at least two support members coupled together about a joint to form a degree of freedom corresponding to a degree of freedom of at least one of a shoulder, an elbow, or a wrist of a human arm;a slave arm having at least two support members coupled together about a joint to form a degree of freedom corresponding to the degree of freedom of the master control arm; anda mobile platform maneuverable about a ground surface and within an operating environment, the mobile platform being adapted to provide onboard support of a user within an operating area that facilitates selective operation of at least one of the master control arm and the mobile platform.. A teleoperated robotic system, comprising: This is a continuation application of U.S. application Ser. No. 15/786,472 filed Oct. 17, 2017, entitled “Teleoperated Robotic System” which is a continuation application of U.S. application Ser. No. 13/332,165, filed Dec. 20, 2011, entitled “Teleoperated Robotic System” which claims the benefit of U.S. Provisional Application Ser. Nos. 61/481,110, filed Apr. 29, 2011; 61/481,103, filed Apr. 29, 2011; 61/481,089, filed Apr. 29, 2011; 61/481,099, filed Apr. 29, 2011; 61/481,095, filed Apr. ...

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Номер записи: 84
24-03-2022 дата публикации

NEEDLE GUIDE ASSEMBLY AND METHOD OF OPERATING THE SAME

Номер: US20220087710A1
Автор: CHEN Hong Jun, HEE Jia Yun, POH Lan Eng, QIAN Guoyu, TAN Yew Tong
Принадлежит: Biobot Surgical Pte Ltd

A needle guide assembly and an automated method of operating a needle guide assembly are provided. The assembly includes a needle guide body and a controller communicatively coupled to the needle guide body. The needle guide body includes at least two separable portions. The needle guide body is operable by the controller to actuate between a closed configuration and an open configuration. In the closed configuration, the at least two portions combine to define a channel therethrough for receiving a needle. In the open configuration, the at least two portions separate to release the received needle from the channel. 115.-. (canceled)16. A needle guide assembly comprising:a needle guide body comprising at least two separable portions; anda controller communicatively coupled to the needle guide body;wherein the needle guide body is operable by the controller to actuate between a closed configuration and an open configuration, wherein in the closed configuration, the at least two portions combine to define a channel therethrough for receiving a needle, and wherein in the open configuration, the at least two portions separate to release the received needle from the channel.17. The assembly as claimed in claim 16 , wherein the channel comprises a proximal end and a distal end claim 16 , and wherein the needle is configured to be received at the proximal end and inserted through the channel toward the distal end.18. The assembly as claimed in claim 17 , wherein an axis of the channel is aligned in use with a needle insertion site adjacent the distal end claim 17 , and wherein the needle guide body is pivotable about distal end.19. The assembly as claimed in claim 18 , wherein the needle guide body is movable to a next needle insertion site based on at least one parameter determined by the controller.20. The assembly as claimed in claim 19 , wherein the at least one parameter comprises at least one of relative positions between consecutive needle insertion sites and needle ...

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Номер записи: 85
24-03-2022 дата публикации

COMPUTER-ASSISTED TELE-OPERATED SURGERY SYSTEMS AND METHODS

Номер: US20220087758A1
Автор: Abbott Ryan Charles, Gomez Daniel H., Kerdok Amy, McDowall Ian E., Steger John Ryan
Принадлежит:

Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator. 1. A telesurgical instrument drive system comprising:a proximal end member;a distal end member, wherein a central longitudinal axis of the telesurgical instrument drive system is defined between the proximal and distal end members; and a plurality of motors mounted to the distal end member; and', 'a plurality of leadscrews, wherein each motor of the plurality of motors is coupled to drive a corresponding leadscrew of the plurality of leadscrews, and', 'wherein the plurality of leadscrews extend proximally of the plurality of motors., 'a plurality of linear actuators arranged around and extending along the central longitudinal axis, the plurality of linear actuators comprising2. The telesurgical instrument drive system of claim 1 , wherein the plurality of leadscrews are rotatably mounted to the distal end member.3. The telesurgical instrument drive system of claim 2 , wherein the plurality of leadscrews are rotatably mounted to the proximal end member.4. The telesurgical instrument drive system of claim 1 , wherein the plurality of motors are equidistant from the central longitudinal axis.5. The telesurgical instrument drive system of claim 4 , wherein the plurality of motors are radially outward of the plurality of leadscrews.6. The telesurgical instrument drive system of claim 5 , wherein the plurality of lead screws are equidistant from the ...

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Номер записи: 86
24-03-2022 дата публикации

ARTICULATING MEDICAL INSTRUMENTS

Номер: US20220087760A1
Автор: Eyre Nicholas J., Niswander Alex J., Schuh Travis Michael
Принадлежит:

Articulating medical instruments and corresponding techniques can be utilized using a robotically enabled medical system. In a surgical method, a clinician can insert a distal end of a medical instrument into a treatment area of a patient. Once inserted, a first bending section of the medical instrument can be articulated by driving one or more motors of an articulation handle that is positioned at a proximal end of the elongated shaft. 1. A method , comprising:inserting a distal end of a medical instrument comprising an elongate shaft into a treatment area of a patient; andarticulating a first bending section of the medical instrument by driving one or more motors positioned within an articulation handle positioned at a proximal end of the elongated shaft.2. The method of claim 1 , wherein the articulation handle comprises a pitch motor claim 1 , and the method further comprises driving the one or more motors positioned within the articulation handles comprises using the pitch motor to drive (i) a proximal pitch pulley connected to a proximal pitch joint of the first bending section by a first pull wire claim 1 , and (ii) a distal pitch pulley connected to a distal pitch joint of the first bending section by a second pull wire claim 1 , and wherein a distal pitch pulley radius of the distal pitch pulley is different than a proximal pitch pulley radius of the proximal pitch pulley.3. The method of claim 2 , wherein the pitch motor is configured to drive the proximal pitch pulley and the distal pitch pulley such that rotation of the proximal pitch pulley is of substantially equal rotation to the distal pitch pulley.4. The method of claim 3 , wherein a ratio between the distal pitch pulley radius and the proximal pitch pulley radius is such that an articulation of the proximal pitch joint is substantially equal to an articulation of the distal pitch joint.5. The method of claim 2 , wherein driving the one or more motors positioned within the articulation handles ...

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Номер записи: 87
15-03-2018 дата публикации

Surgical system and related methods

Номер: US20180071039A1
Автор: Corbin E. Barnett
Принадлежит: Individual

A surgical system can include a surgical probe having a deflectable tip, and a plurality of guide arms that are movable so as to cause the tip to deflect. Thus, the surgical probe can be steered toward a target anatomical location. The surgical system can further include a control system that includes a free floating user interface, and a motion sensor that detects motion of the user interface. The control system is configured to cause the probe tip to deflect in response to the detected motion of the user interface.

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Номер записи: 88
15-03-2018 дата публикации

MEDICAL MANIPULATOR

Номер: US20180071041A1
Автор: Hyodo Ryoji, TAKEMOTO Shotaro
Принадлежит: OLYMPUS CORPORATION

A medical manipulator including: a flexible elongated section composed of an electrically conductive material and capable of transmitting torsional torque; a joint section disposed at a distal end of the elongated section, having a joint, and composed of an electrically conductive material; a treatment section attached to a distal end of the joint section; a cylindrical connection member composed of an insulating material, disposed between the elongated section and the joint section, and connecting the elongated section and the joint section; an electric cable that extends internally through the elongated section, the connection member, and the joint section in a state where the electric cable is electrically insulated from the elongated section and the joint section; and a cover composed of an insulating material and covers outer surfaces of the joint section and the elongated section. 1. A medical manipulator comprising:a elongated section that includes a component composed of an electrically conductive material;a joint section that is disposed at a distal end of the elongated section and that has at least one joint and includes a component composed of an electrically conductive material;a treatment section that is attached to a distal end of the joint section and that medically treats tissue;a cylindrical connection member that is composed of an insulating material and that is disposed between the elongated section and the joint section to connect the elongated section and the joint section;an electric cable that extends internally through the elongated section, the connection member, and the joint section in a state where the electric cable is electrically insulated from the elongated section and the joint section and that supplies electric power to the treatment section; anda cover that is composed of an insulating material and that covers outer surfaces of the joint section and the elongated section.2. The medical manipulator according to claim 1 ,wherein the ...

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Номер записи: 89
07-03-2019 дата публикации

INSTRUMENT FORCE SENSOR USING STRAIN GAUGES IN A FARADAY CAGE

Номер: US20190069966A1
Автор: LABONVILLE Gerard J., Petersen Alan W., Steger John Ryan
Принадлежит:

A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing. 1. A surgical instrument comprising: a sensor capsule, the sensor capsule being part of a Faraday cage; and', 'a strain gauge mounted within the sensor capsule., 'a force sensor apparatus comprising2. The surgical instrument of further comprising:a tube having a first end and a second end, the first end being connected to the sensor capsule, the tube being part of the Faraday cage.3. The surgical instrument of claim 2 , further comprising:an electronics enclosure connected to the second end of the tube, the electronics enclosure being part of the Faraday cage.4. The surgical instrument of claim 1 , the sensor capsule comprising a cantilever beam.5. The surgical instrument of claim 4 , the strain gauge being mounted on an interior wall of the cantilever beam.6. The surgical instrument of claim 1 , the sensor capsule comprising a cylindrical tube claim 1 , the cylindrical tube being mounted in the force sensor apparatus as a cantilever beam.7. The surgical instrument of claim 6 , the force sensor apparatus further comprising a first plurality of strain gauges and a second plurality of strain gauges claim 6 , wherein the strain gauge is a strain gauge within one of the first plurality of strain gauges and the second plurality of ...

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Номер записи: 90
07-03-2019 дата публикации

Control unit for a medical device

Номер: US20190069968A1
Автор: Mordehai Sholev
Принадлежит: Human Xtensions Ltd

A control unit for a medical device is provided. The control unit includes a palm interface engageable by a palm of a hand, a restraint capable of elastically deforming to apply a restraining force to the dorsum of the hand and a finger interface engageable by one or more fingers of said hand.

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Номер записи: 91
15-03-2018 дата публикации

Direct drive brushless motor for robotic finger

Номер: US20180071921A1
Автор: Andrew Gladoch, David D. Huang, Edward A. Neff, Naoyuki Okada, Toan M. Vu
Принадлежит: Systems Machines Automation Components Corp

A direct drive brushless motor including a plurality of rotational components and a plurality of non-rotational components. Ones of the pluralities of rotational and non-rotational components form a dual magnetic circuit. The plurality of rotational components includes a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils. The plurality of non-rotational components includes a plurality of outer magnets arranged around the plurality of coils in a Halbach configuration and a plurality of inner magnets arranged in a Halbach configuration between the coils and the shaft. A flex cable having one or more leads provides electrical current to the plurality of coils without the use of brushes.

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Номер записи: 92
05-03-2020 дата публикации

ENDOSCOPE ADAPTOR, SURGICAL SYSTEM INCLUDING THE SAME, AND METHOD OF ATTACHING ENDOSCOPE TO ROBOT ARM THROUGH THE SAME

Номер: US20200069386A1
Автор: AGO Kenji, BETSUGI Shota, USUKI Yu
Принадлежит: MEDICAROID CORPORATION

An endoscope adaptor to be connected to a robot arm of a robotic surgical system through a drape adaptor according to an embodiment may include a base section, a holding section, a driven member, and a transmission mechanism. The base is to be detachably connected to the drape adaptor. The driven member is rotatably provided on the base section and configured to be rotated by a rotation drive section of the robot arm through the drape adaptor. The holding section holds an endoscope rotatably about a rotation axis, the endoscope including an insertion section including an image capturing section provided at a distal end of the insertion section and a body section connected to the insertion section, wherein the rotation axis extends in a direction in which the insertion section extends. The transmission mechanism is configured to transmit rotation of the driven member to the holding section holding the endoscope. 1. An endoscope adaptor to be connected to a robot arm of a robotic surgical system through a drape adaptor , comprising:a base section that is to be detachably connected to the drape adaptor;a driven member that is rotatably provided on the base section and is configured to be rotated by a rotation drive section of the robot arm through the drape adaptor;a holding section that holds an endoscope rotatably about a rotation axis, the endoscope including an insertion section including an image capturing section provided at a distal end of the insertion section and a body section connected to the insertion section, wherein the rotation axis extends in a direction in which the insertion section extends; anda transmission mechanism configured to transmit rotation of the driven member to the holding section holding the endoscope.2. The endoscope adaptor according to claim 1 , whereinthe holding section includes: a first holding member that holds the endoscope and includes a first gear formed on an outer circumference of the first holding member; and a second ...

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Номер записи: 93
05-03-2020 дата публикации

ROBOT HAND

Номер: US20200070353A1
Автор: MATSUMOTO Ryou
Принадлежит: FANUC Corporation

Provided is a robot hand including: gripping portions disposed with spacings between each other in a circumferential direction about an axis, and that grip a workpiece; driving portions, each of which is provided so as to correspond to one of the gripping portions, cause the corresponding gripping portions to be linearly moved in closing directions in which the gripping portions are brought close to the axis and opening directions in which the gripping portions are moved away from the axis; and a center-of-gravity detecting unit detects a center-of-gravity position of the workpiece being gripped by the gripping portions. Each of the driving portions adjust, based on the center-of-gravity position of the workpiece, the position of the corresponding gripping portion in a direction in which the center-of-gravity position is brought closer to the axis. 1. A robot hand comprising:a plurality of gripping portions that are disposed, with spacings between each other, in a circumferential direction about a predetermined axis, and that grip a workpiece;a plurality of driving portions, each of which is provided so as to correspond to one of the plurality of gripping portions, that cause the corresponding gripping portions to be linearly moved in closing directions in which the gripping portions are brought close to the predetermined axis and opening directions in which the gripping portions are moved away from the predetermined axis;a center-of-gravity detecting unit that detects a center-of-gravity position of the workpiece being gripped by the plurality of gripping portions; andwherein each of the plurality of driving portions adjusts, on the basis of the center-of-gravity position of the workpiece detected by the center-of-gravity detecting unit, the position of the corresponding gripping portion in a direction in which the center-of-gravity position is brought closer to the predetermined axis.2. The robot hand according to claim 1 , wherein each of the plurality of driving ...

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Номер записи: 94
18-03-2021 дата публикации

SURGICAL SYSTEM AND RELATED METHODS

Номер: US20210077212A1
Автор: Barnett Corbin
Принадлежит:

A surgical system can include a surgical probe having a deflectable tip, and a plurality of guide arms that are movable so as to cause the tip to deflect. Thus, the surgical probe can be steered toward a target anatomical location. The surgical system can further include a control system that includes a free floating user interface, and a motion sensor that detects motion of the user interface. The control system is configured to cause the probe tip to deflect in response to the detected motion of the user interface. 1. A surgical system comprising:a surgical probe configured to carry a surgical device, the surgical probe having a probe body and a probe tip that extends from the probe body in a distal direction, wherein the surgical probe is elongate along a central axis, and the surgical probe includes an outer annulus and a plurality of guide arms that are attached to the probe tip and disposed about the central axis; anda control system that includes a free floating user interface, a motion sensor that detects motion of the user interface and generates motion signals in response to the detected motion, a processor that receives the motion signals from the motion sensor, and a plurality of actuators each in communication with the processor and coupled to at least one of the guide arms,wherein the processor, in response to the motion signals, applies deflection signals to at least one of the actuators that causes the at least one of the actuators to urge at least a portion of at least one of the guide arms to move in a proximal direction opposite the distal direction, which in turn applies a biasing force to the probe tip to deflect in a respective direction in which the at least one of the guide arms is spaced from the central axis.2. The surgical system as recited in claim 1 , wherein the probe tip is more flexible than the probe body.3. The surgical system as recited in claim 1 , wherein the actuators are configured to apply a mechanical force to at least one of ...

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Номер записи: 95
18-03-2021 дата публикации

TELEOPERATED SURGICAL INSTRUMENTS

Номер: US20210077213A1
Автор: Gomez Daniel H., Sadaka Alain, Steger John Ryan, Waterbury Andrew Cullen
Принадлежит:

Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations. 120-. (canceled)21. A surgical instrument for a telesurgical system , the surgical instrument comprising:a proximal end portion;an instrument shaft extending distally from the proximal end portion of the surgical instrument and comprising a distal end portion;a distal end effector coupled to the distal end portion of the instrument shaft and movable in at least first and second degrees of freedom relative to the instrument shaft;a first instrument drive structure movably coupled to the proximal end portion of the surgical instrument, the first instrument drive structure comprising a first bevel gear drive input;a second instrument drive structure movably coupled to the proximal end portion of the surgical instrument, the second instrument drive structure comprising a second bevel gear drive input;a first tensioning member coupled to the end effector, extending along the instrument shaft, and terminating at the first instrument drive structure; anda second tensioning member coupled to the end effector, extending along the instrument shaft, and terminating at the second instrument drive structure.22. The surgical instrument of claim 21 , wherein:the first bevel gear is at a first distance away from the end effector; andthe second bevel gear is at a second distance away from the end effector different than the first distance.23. The surgical instrument of claim 21 , wherein:the instrument shaft extends along a longitudinal axis;the first bevel gear drive input ...

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Номер записи: 96
15-03-2018 дата публикации

SYSTEMS AND METHODS FOR SYNCHRONIZING NODES OF A ROBOTIC SYSTEM

Номер: US20180075120A1
Автор: Hoffman Brian D., Radel Joshua
Принадлежит:

A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node. 1. A system comprising:a first node comprising one or more first processors and a first synchronization database; anda second node comprising one or more second processors and a second synchronization database; [ a subscriber list of a plurality of first subscribers;', 'a plurality of first attributes, each individual attribute of the plurality of first attributes including data and a tag, the tag identifying the individual attribute; and', 'a plurality of first flags, each individual flag of the plurality of first flags being associated with a corresponding one of the plurality of first attributes and a corresponding one of the plurality of first subscribers;, 'the first synchronization database comprises, receive a first subscription message from the second node, the first subscription message identifying a second one of the plurality of first attributes;', 'in response to receiving the first subscription message, add the second node to the subscriber list if the second node is not already in the subscriber list and set the individual flag of the plurality of first flags associated with both the second node and the second attribute;', 'on a condition that the data included in a third attribute of the plurality of first attributes is modified and the third attribute is associated ...

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Номер записи: 97
05-06-2014 дата публикации

REMOTE VEHICLE CONTROL SYSTEM

Номер: US20140156151A1
Автор: Berkley Jeffrey Joseph, Jurmain Jacob Curtis, Powers Aaron John, VOLLENWEIDER Marc
Принадлежит: iRobot Corporation

A method for controlling one or more remote vehicles may comprise manipulating remote dexterous manipulators, translating movement of the remote dexterous manipulators into movement of the one or more remote vehicles, and providing a sliding work window allowing control of the one or more remote vehicles' entire range of motion without sacrificing control resolution. 120-. (canceled)21. A remote vehicle system , comprising:a remote vehicle, comprising a manipulator arm having end effector; and a computer in communication with the remote vehicle and configured to display a view of an environment of the remote vehicle on a display; and', 'a remote dexterous control device in communication with the computer and comprising a hand held controller and a workspace in which the hand held controller is manipulated;', 'wherein the computer is configured to translate movement of the hand held controller within the control device workspace into corresponding movement of a portion of the remote vehicle in a portion of the remote vehicle environment and is configured to translate the view of the remote vehicle environment on the display in a direction corresponding to movement of the hand held controller within the control device workspace, when the hand held controller is moved to a perimeter of the control device workspace., 'a portable remote control system, comprising22. The remote vehicle system of claim 21 , wherein the remote vehicle comprises a manipulator arm having end effector claim 21 , and wherein the remote dexterous control device is configured to remotely navigate the remote vehicle and to control the manipulator arm and end effector.23. The remote vehicle system of claim 21 , wherein the remote dexterous control device provides haptic feedback claim 21 ,24. The remote vehicle system of claim 22 , wherein force on the end effector is communicated to the remote dexterous control device claim 22 , which displays proportional force to a user.25. The remote vehicle ...

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Номер записи: 98
22-03-2018 дата публикации

MASTER-TO-SLAVE ORIENTATION MAPPING WHEN MISALIGNED

Номер: US20180078321A1
Автор: Liao Hsien-Hsin
Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. The result of this processing is that the motion of the slave surgical instrument tip intuitively corresponds to the motion of the master tool grip despite an initial swooping orientation misalignment between the master tool grip and the slave surgical instrument tip. 120-. (canceled)21. A system comprising:a master tool grip; anda controller configured to receive a first command from the master tool grip and to send a second command to control movement of a slave instrument tip when there is a swooping orientation misalignment between the master tool grip and the slave instrument tip, the first command including an orientation of the master tool grip, and the second command including a desired orientation of the slave instrument tip; andthe controller being further configured to generate the desired orientation of the slave instrument tip by using the orientation of the master tool grip, the desired orientation of the slave instrument tip causing the slave instrument tip to rotate in a same manner about an axis defined with respect to a slave instrument as the master tool grip rotates about a corresponding axis defined with respect to the master tool grip, the slave instrument comprising the slave instrument tip.22. The system of claim 21 , further comprising a master tool manipulator including the master tool grip claim 21 , wherein the master tool manipulator comprises a series of links and joints.23. The system of claim 21 , wherein:the slave instrument tip has an orientation in a camera frame; and the memory being configured to ...

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Номер записи: 99
22-03-2018 дата публикации

BENDING TREATMENT INSTRUMENT OPERATING PORTION

Номер: US20180078323A1
Автор: FUJITA Hiroyasu, Hashizume Makoto, Kato Jiro, Kenmotsu Hajime, NAGAI Shunsuke, NAKADATE Ryu
Принадлежит:

An operating portion which allows a bending treatment instrument to be inserted into an endoscope channel and bendably operated smoothly through intuition. The operating portion is connected with a device wire and bending wires and used to operate the treatment instrument and bend a freely bendable, bending treatment instrument, where the device wire is connected to a treatment instrument provided at a distal end of the bending treatment instrument and is used to operate the treatment instrument and the plurality of bending wires is used to bend the bending treatment instrument, the operating portion including: an operating portion body; a guide unit penetrated by the device wire; a bending wire pulling unit connected with the bending wires and swingably assembled onto the guide unit; and a grip portion connected with the device wire and configured to be reciprocable in an axial direction of the bending wire pulling unit. 1. An operating portion connected with a device wire and a plurality of bending wires and used to operate a treatment instrument and bend a freely bendable , bending treatment instrument , the device wire being connected to the treatment instrument provided at a distal end of the bending treatment instrument and used to operate the treatment instrument and the plurality of bending wires being used to bend the bending treatment instrument , the operating portion comprising:an operating portion body;a guide unit penetrated by the device wire;a bending wire pulling unit connected with the bending wires and swingably assembled onto the guide unit; anda grip portion connected with the device wire and configured to be reciprocable in an axial direction of the bending wire pulling unit.2. The operating portion according to claim 1 , wherein the bending wire pulling unit and the guide unit include an axis alignment mechanism made up of a spherical recess and a spherical projection fitted one inside another claim 1 , the spherical recess being formed in one ...

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Номер записи: 100