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91. 发明授权

US07209028B2 Position sensor with resistive element 有权
标题翻译：带电阻元件的位置传感器
公开(公告)号：US07209028B2
公开(公告)日：2007-04-24
申请号：US11080795
申请日：2005-03-14
申请人： Allen R. Boronkay , Bruce M. Schena , Christopher J. Hasser
发明人： Allen R. Boronkay , Bruce M. Schena , Christopher J. Hasser
IPC分类号： H01C7/18
CPC分类号： G01D5/1655 , G01D5/165
摘要： A position sensor comprises a resistive element positionable on a first surface. A pair of leads are on the resistive element, the pair of leads adapted to supply a first voltage, such as by being grounded. An intermediate lead is positioned on the resistive element between the pair of leads, the intermediate lead being adapted to provide a second voltage. A contact element is positionable on a second surface, the contact element adapted to contact at least a portion of the resistive element to detect a voltage at a contact position, the detected voltage being related to the position or movement of the second surface relative to the first surface. In another version, a position sensor comprises a resistive element comprising first and second resistive strips. A plurality of leads are positioned on each resistive strip to provide a voltage to each resistive strip.
摘要翻译：位置传感器包括可定位在第一表面上的电阻元件。一对引线位于电阻元件上，该对引线适于提供第一电压，例如通过接地。中间引线位于一对引线之间的电阻元件上，中间引线适于提供第二电压。接触元件可定位在第二表面上，接触元件适于接触电阻元件的至少一部分以检测接触位置处的电压，检测到的电压与第二表面相对于第二表面的位置或移动有关第一表面。在另一个版本中，位置传感器包括包括第一和第二电阻条的电阻元件。多个引线位于每个电阻带上以向每个电阻带提供电压。

92. 发明授权

US06762745B1 Actuator control providing linear and continuous force output 有权
标题翻译：执行器控制提供线性和连续的力输出
公开(公告)号：US06762745B1
公开(公告)日：2004-07-13
申请号：US09565788
申请日：2000-05-05
申请人： Adam C. Braun , Kollin M. Tierling , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Bruce M. Schena
IPC分类号： G09G500
CPC分类号： G06F3/016 , G06F3/038 , G06F3/0383
摘要： Methods and apparatus for controlling an actuator to provide linear and continuous force output to a user of a force feedback device. To provide continuous and smooth force output in a zero crossover region of operation, two drive signals are used, each causing current to flow in a different direction in the actuator. When a desired output force is in the crossover region, the two drive signals are alternated to cause the output force to quickly switch directions. When the desired force is outside the crossover region, only one drive signal is used to cause output force in one direction. To compensate for a nonlinear output of the actuator, a desired command current is correlated with an approximated point of a characterization curve of the actuator, where the curve includes points determined in a previously performed actuator characterization. The approximated point is determined between two successive points using a linear approximation, and a drive signal duty cycle is determined from the approximated point. Other features can be implemented to compensate for power supply voltage variation, back EMF effect, and temperature.
摘要翻译：用于控制致动器以向力反馈装置的使用者提供线性和连续的力输出的方法和装置。为了在零交叉操作区域中提供连续且平稳的力输出，使用两个驱动信号，每个驱动信号使得电流在致动器中以不同的方向流动。当期望的输出力在交叉区域中时，两个驱动信号交替以使输出力快速切换方向。当所需的力在交叉区域之外时，仅使用一个驱动信号来在一个方向上产生输出力。为了补偿致动器的非线性输出，期望的指令电流与致动器的表征曲线的近似点相关，其中曲线包括在先前执行的致动器特性中确定的点。使用线性近似在两个连续点之间确定近似点，并且从近似点确定驱动信号占空比。可以实现其他功能来补偿电源电压变化，反电动势效应和温度。

93. 发明授权

US06304091B1 Absolute position sensing by phase shift detection using a variable capacitor 有权
标题翻译：通过使用可变电容器进行相移检测的绝对位置检测
公开(公告)号：US06304091B1
公开(公告)日：2001-10-16
申请号：US09248177
申请日：1999-02-09
申请人： Erik J. Shahoian , Christopher J. Hasser , Bruce M. Schena
发明人： Erik J. Shahoian , Christopher J. Hasser , Bruce M. Schena
IPC分类号： G01R2726
CPC分类号： G01D5/2412
摘要： A low-cost, high-resolution capacitive position sensor is provided using a variable capacitor. A vane moves parallel to a stator, where a dielectric is interposed between vane and stator, such that the vane overlaps at least a portion of the stator, creating a capacitance that varies as the vane moves relative to the fixed stator. The capacitor circuit outputs a signal having a phase shift relative to an input driver signal based on the relative positions of the vane and stator. The phase-shifted signal is used to derive the absolute position of the vane with respect to the stator. Two or more stator can be provided to provide two phase-shifted signals and a difference signal free of common mode effects. Enhanced embodiments include interdigitated stator portions for greater sensing resolution, and/or a two or three-pole filter to double or triple the dynamic range of the sensor.
摘要翻译：使用可变电容器提供了低成本，高分辨率的电容式位置传感器。叶片平行于定子移动，其中电介质插入在叶片和定子之间，使得叶片与定子的至少一部分重叠，产生随着叶片相对于固定定子移动而变化的电容。电容器电路基于叶片和定子的相对位置输出相对于输入驱动器信号的相移的信号。相移信号用于导出叶片相对于定子的绝对位置。可以提供两个或更多个定子以提供两个相移信号和不具有共模效应的差分信号。增强的实施例包括用于更大的感测分辨率的交叉指定的定子部分和/或将传感器的动态范围加倍或三倍的两极或三极滤波器。

94. 发明授权

US08998799B2 Sterile surgical adaptor 有权
标题翻译：无菌手术适配器
公开(公告)号：US08998799B2
公开(公告)日：2015-04-07
申请号：US13524438
申请日：2012-06-15
申请人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
发明人： Joseph P. Orban, III , S. Christopher Anderson , Roman Devengenzo , Bruce M. Schena , Michael Prindiville , Thomas G. Cooper , William A. Burbank
IPC分类号： A61B19/00 , A61B19/08 , B25J19/00 , A61B19/02 , A61B17/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B46/10 , A61B50/10 , A61B90/50 , A61B2017/00477 , A61B2034/305 , A61B2034/741 , B25J19/0075
摘要： A robotic surgical system comprises a manipulator arm including a spring loaded input and a spring loaded plunger. The system also comprises a sterile adaptor. The sterile adaptor includes a housing, an electrical contact coupled to the housing, and a retractor plate assembly including a top retractor plate and a bottom retractor plate. The retractor plate assembly is movably disposed relative to the housing and adapted to engage the spring loaded plunger. The sterile adaptor also includes a disc captured between and rotatable relative to the top retractor plate and the bottom retractor plate. The disc has a first surface adapted to engage the spring loaded input and a second rotatable surface adapted to engage a surgical instrument in a sterile field.
摘要翻译：机器人手术系统包括操纵臂，所述操纵臂包括弹簧加载的输入和弹簧加载柱塞。该系统还包括无菌适配器。无菌适配器包括壳体，联接到壳体的电触点以及包括顶部牵开器板和底部牵开器板的牵开器板组件。收缩器板组件相对于壳体可移动地设置并且适于接合弹簧加载柱塞。无菌适配器还包括捕获在顶部牵开器板和底部牵缩器板之间并可旋转的盘。盘具有适于接合弹簧加载输入的第一表面和适于在无菌区中接合手术器械的第二可旋转表面。

95. 发明授权

US08749190B2 Software center and highly configurable robotic systems for surgery and other uses 有权
标题翻译：软件中心和高度可配置的机器人系统用于手术和其他用途
公开(公告)号：US08749190B2
公开(公告)日：2014-06-10
申请号：US13175590
申请日：2011-07-01
申请人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
发明人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
摘要翻译：远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的手术机器人连接。处理器可以计算包括围绕孔径位置枢转工具的工具运动。可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。还提供了精制机器人连接及其使用方法。

96. 发明申请

US20130255425A1 ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE 审中-公开
标题翻译：机械臂与五条球形连接
公开(公告)号：US20130255425A1
公开(公告)日：2013-10-03
申请号：US13902734
申请日：2013-05-24
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B19/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B90/361 , Y10T74/20305 , Y10T74/2036
摘要： A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.
摘要翻译：用于微创手术系统的机器人手臂包括平行的球形五杆联动装置，其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。五杆球形连杆仅在一系列紧凑姿势中构成。约束将平行的五杆球形连杆限制在紧凑姿态的范围内。

97. 发明授权

US08506556B2 Robotic arm with five-bar spherical linkage 有权
标题翻译：机械臂与五杆球形连杆
公开(公告)号：US08506556B2
公开(公告)日：2013-08-13
申请号：US13431894
申请日：2012-03-27
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , Y10T74/20305 , Y10T74/2036
摘要： A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.
摘要翻译：用于微创手术系统的机器人手臂包括平行的球形五杆联动装置，其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。五杆球形连杆仅在一系列紧凑姿势中构成。紧凑姿态是其中平行五杆球形连杆中的第一对连杆和第二对连杆仅具有相同的手感。

98. 发明授权

US08448729B2 Steering system with parallelogram linkage for heavy mobile medical equipment 有权
标题翻译：用于重型移动医疗设备的平行四边形联动的转向系统
公开(公告)号：US08448729B2
公开(公告)日：2013-05-28
申请号：US12420242
申请日：2009-04-08
申请人： Bruce M. Schena , Henry B. Hazebrouck
发明人： Bruce M. Schena , Henry B. Hazebrouck
IPC分类号： B62D3/00 , B62D51/04
CPC分类号： B62D1/14 , A61B34/30 , A61B50/13 , B62D7/09
摘要： In one embodiment of the invention, a steering system for mobile medical equipment includes left and right steerable wheel assemblies respectively with left and right steerable wheels. A left parallelogram linkage couples to the left steerable wheel assembly to transfer a left wheel angle to the left steerable wheel assembly. A right parallelogram linkage couples to the right steerable wheel assembly to transfer a right wheel angle to the right steerable wheel assembly. A steering function generator couples to the left parallelogram linkage and the right parallelogram linkage. The steering function generator generates the left wheel angle of the left steerable wheel and the right wheel angle of the right steerable wheel. A steering tiller couples to the steering function generator and receives an input steering angle from an operator to generate the left and right wheel angles to control the direction of the mobile medical equipment around flooring.
摘要翻译：在本发明的一个实施例中，用于移动医疗设备的转向系统包括分别具有左和右可转向轮的左右可转向轮组件。左平行四边形连接件联接到左可转向轮组件以将左车轮角度传递到左可转向轮组件。右平行四边形连接件联接到右侧可转向轮组件，以将右轮角度传递到右侧可转向轮组件。转向功能发生器耦合到左平行四边形连杆和右平行四边形连杆。转向功能发生器产生左转向轮的左车轮角和右转向轮的右车轮角。转向助力器耦合到转向功能发生器并从操作者接收输入转向角以产生左右车轮角度，以控制地板周围移动医疗设备的方向。

99. 发明申请

US20120184968A1 ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE 有权
标题翻译：机械臂与五条球形连接
公开(公告)号：US20120184968A1
公开(公告)日：2012-07-19
申请号：US13431894
申请日：2012-03-27
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , Y10T74/20305 , Y10T74/2036
摘要： A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.
摘要翻译：用于微创手术系统的机器人手臂包括平行的球形五杆联动装置，其适于使球形旋转移动地联接到平行的五杆球形连杆机构手术工具上。五杆球形连杆仅在一系列紧凑姿势中构成。紧凑姿态是其中平行五杆球形连杆中的第一对连杆和第二对连杆仅具有相同的手感。

100. 发明申请

US20110264111A1 Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses 有权
标题翻译：软件中心和高度可配置的机器人系统用于手术和其他用途
公开(公告)号：US20110264111A1
公开(公告)日：2011-10-27
申请号：US13175572
申请日：2011-07-01
申请人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
发明人： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
IPC分类号： A61B19/00 , B25J3/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
摘要翻译：远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。处理器可以计算包括围绕孔径位置枢转工具的工具运动。可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。还提供了精制机器人连接及其使用方法。

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