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121. 发明申请

US20080303789A1 Method and Apparatus for Compensating for Position Slip in Interface Devices 有权
标题翻译：用于补偿接口设备中位置滑移的方法和装置
公开(公告)号：US20080303789A1
公开(公告)日：2008-12-11
申请号：US12191983
申请日：2008-08-14
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F3/00
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
摘要翻译：用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。从接口设备的操作的感测位置确定设备位置增量。通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。

122. 发明申请

US20080087871A1 Compact Cable Tension Tender Device 有权
标题翻译：紧凑型电缆张力调节装置
公开(公告)号：US20080087871A1
公开(公告)日：2008-04-17
申请号：US11549087
申请日：2006-10-12
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： B25B25/00
CPC分类号： F16H19/06 , A61B34/30 , A61B34/71 , A61B2034/715 , B25J9/1045 , F16H19/0672
摘要： A compact cable tension tender device includes a movable member having a first stop and a second stop spaced apart from the first stop. A first attachment may be provided on the moveable member for cable that extends in a first direction. The first attachment may engage the first stop to limit the movement of the cable in the first direction relative to the movable member. A second attachment may be provided on the moveable member for cable that extends in a second direction. The second attachment may engage the second stop to limit the movement of the cable in the second direction relative to the movable member. A resilient coupler coupled to the first attachment and to the second attachment may urge the first attachment to move in the second direction and the second attachment to move in the first direction relative to each other to maintain cable tension.
摘要翻译：一种紧凑的电缆拉伸装置包括具有第一止动件和与第一止动件间隔开的第二止动件的可动构件。第一附件可以设置在沿第一方向延伸的电缆的可移动部件上。第一附件可以接合第一止挡件以限制电缆相对于可动构件在第一方向上的移动。第二附件可以设置在沿第二方向延伸的电缆的可移动部件上。第二附件可以接合第二挡块以限制电缆相对于可动构件在第二方向上的移动。联接到第一附件和第二附件的弹性联接器可以推动第一连接件沿第二方向移动，并且第二连接件相对于彼此在第一方向上移动以保持缆索张力。

123. 发明授权

US07339572B2 Haptic devices using electroactive polymers 有权
标题翻译：使用电活性聚合物的触觉装置
公开(公告)号：US07339572B2
公开(公告)日：2008-03-04
申请号：US11711400
申请日：2007-02-26
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G01D7/007 , G05G9/047 , G05G2009/04766 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , G06F2203/013 , G06F2203/015
摘要： Haptic feedback device and method for using an electroactive polymer (EAP) actuator to provide haptic feedback force sensation to a user. The device includes a sensor that detects the a user's touch on a touch surface and an electroactive polymer actuator responsive to input signals from the sensor outputs a haptic feedback force to the user caused by motion of the actuator.
摘要翻译：触觉反馈装置和使用电活性聚合物（EAP）致动器以向用户提供触觉反馈力感觉的方法。该装置包括检测用户在触摸表面上的触摸的感测器，并且响应于来自传感器的输入信号的电活性聚合物致动器向致动器运动引起的触觉反馈力输出。

124. 发明申请

US20080001559A1 MECHANICALLY DECOUPLED CAPSTAN DRIVE 有权
标题翻译：机械式拆卸CAPSTAN驱动
公开(公告)号：US20080001559A1
公开(公告)日：2008-01-03
申请号：US11428326
申请日：2006-06-30
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： H02P5/46
CPC分类号： G11B15/605 , G11B15/60
摘要： A capstan drive includes a first capstan that moves a device on a carriage and a second capstan that receives a second rotary motion to move the carriage. A first power transmission has a driven shaft coupled to the first capstan, a first drive shaft coaxial with the driven shaft to receive a first rotary motion for driving the device, and a second drive shaft coaxial with the driven shaft. A second power transmission couples the second rotary motion to the second drive shaft. The second power transmission has a drive ratio such that if there is no first rotary motion, a first cable is drawn in by the first capstan at a same rate as a second cable is drawn in by the second capstan in response to the second rotary motion.
摘要翻译：主导轴驱动器包括将装置移动到滑架上的第一绞盘和接收第二旋转运动以移动滑架的第二主导轴。第一动力传动装置具有联接到第一主导轴的从动轴，与从动轴同轴的第一驱动轴，以接收用于驱动装置的第一旋转运动，以及与从动轴同轴的第二驱动轴。第二动力传递将第二旋转运动耦合到第二驱动轴。第二动力传动装置具有这样的驱动比，使得如果不存在第一旋转运动，第一缆绳以与第二缆绳相应的速率以相同的速率被拉动，响应于第二旋转运动。

125. 发明申请

US20070173789A1 ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE 有权
公开(公告)号：US20070173789A1
公开(公告)日：2007-07-26
申请号：US11623292
申请日：2007-01-15
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： A61B17/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B90/361 , Y10T74/2036
摘要： A robotic arm with a parallel spherical five-bar linkage having a ground link, two inboard links, and two outboard links. Each inboard link is coupled to the ground link at an axis of rotation and has an intermediate axis spaced apart from the axis of rotation. Each outboard link is pivotally coupled to one of the inboard links at the intermediate axis. The two outboard links are pivotally coupled together at an outboard axis. A constraint limits the rotation of a first one of the outboard links about the intermediate axis of the coupled inboard link such that a maximum angle between the links is substantially less than 180°. A second one of the outboard links and the coupled inboard link are constructed and assembled such that the two intermediate axes are on the same side of a plane including the outboard axis and one of the axes of rotation.

126. 发明授权

US07061466B1 Force feedback device including single-phase, fixed-coil actuators 有权
标题翻译：力反馈装置包括单相，固定线圈执行机构
公开(公告)号：US07061466B1
公开(公告)日：2006-06-13
申请号：US09565207
申请日：2000-05-04
申请人： David F. Moore , Bruce M. Schena , Erik J. Shahoian
发明人： David F. Moore , Bruce M. Schena , Erik J. Shahoian
IPC分类号： G09G5/00
CPC分类号： F16F15/03 , F16F6/00 , G05G9/047 , G05G2009/0474 , G05G2009/04755 , G05G2009/04759 , G05G2009/04766 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface device that provides force feedback to a joystick handle manipulated by a user. A force feedback device inputs control signals to a computer and outputs forces to a user of the force feedback device. The device includes a housing gripped by the user of the force feedback device and a joystick handle manipulable in at least two rotary degrees of freedom by the user, such as a gamepad. Sensors detect a position of the joystick handle and two direct drive actuators each provide torque in a rotary degree of freedom. Each of the actuators is a brushless, single phase actuator having a grounded excitation coil and a moving magnetic material. The joystick is mechanically constrained to not move past either of two limits where the torque output by the actuator in an unenergized state changes direction. The joystick handle can be oriented such that a center position is substantially at a local minimum reluctance position of the actuator, where the joystick is mechanically constrained to not move substantially past either local maximum reluctance position adjacent to the local minimum reluctance position. The local minimum reluctance position can in some embodiments provide a centering spring force on the joystick handle.
摘要翻译：力反馈接口装置，其向使用者操纵的操纵杆手柄提供力反馈。力反馈装置将控制信号输入到计算机并向力反馈装置的使用者输出力。该装置包括由力反馈装置的使用者握持的壳体和由用户可操作的至少两个旋转自由度的操纵杆，例如游戏手柄。传感器检测操纵杆手柄的位置，两个直接驱动执行器以旋转自由度提供扭矩。每个致动器是具有接地励磁线圈和移动磁性材料的无刷单相致动器。操纵杆被机械地限制为不能超过两个极限，其中致动器在未通电状态下输出的扭矩改变方向。操纵杆手柄可以被定向成使得中心位置基本上处于致动器的局部最小磁阻位置，其中操纵杆被机械地限制为基本上不超过邻近局部最小磁阻位置的局部最大磁阻位置。在一些实施例中，局部最小磁阻位置可以在操纵杆手柄上提供定心弹簧力。

127. 发明授权

US5817119A Surgical instrument for endoscopic and general surgery 失效
标题翻译：内窥镜和普通外科手术器械
公开(公告)号：US5817119A
公开(公告)日：1998-10-06
申请号：US671820
申请日：1996-06-25
申请人： Charles H. Klieman , John M. Stiggelbout , Bruce M. Schena
发明人： Charles H. Klieman , John M. Stiggelbout , Bruce M. Schena
IPC分类号： A61B17/00 , A61B17/28 , A61B17/32 , A61B19/00
CPC分类号： A61B17/29 , A61B17/2909 , A61B17/320016 , A61B34/71 , A61B17/3201 , A61B2017/00398 , A61B2017/0046 , A61B2017/2923 , A61B2017/2927 , A61B2017/2929 , A61B2017/2931 , A61B2017/2932 , A61B2017/2937 , A61B2017/2938 , A61B2017/2939 , A61B2017/2943 , A61B2034/742
摘要： A surgical instrument having a handle, barrel and working end effector tip is provided. The barrel is generally tubular, with one end being releasably connected to the handle. The end effector is moveably attached to the other end of the barrel, and may be positioned and operated independently through multiple linkage members connected to a motive power source housed in or attached to the handle. The instrument is operated and controlled by a microprocessor and multidimensional controller or electrical contacts included in the handle. In the preferred embodiment, the end effector is scissor-like, but other end effectors such as graspers, clamps, dissectors or needle drivers, with appropriate operating and linkage members, may be attached to the handle.
摘要翻译：提供具有手柄，镜筒和工作端部执行器尖端的手术器械。桶通常是管状的，其一端可释放地连接到手柄。端部执行器可移动地附接到筒的另一端，并且可以通过连接到容纳在手柄中或附接到手柄的动力源的多个连杆构件来独立地定位和操作。仪器由微处理器和手柄中包含的多维控制器或电气触点操作和控制。在优选实施例中，端部执行器是剪刀状的，但是具有适当的操作和连接构件的其他终端执行器（例如抓紧器，夹具，解剖器或针驱动器）可以附接到手柄。

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