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11. 发明申请

US20120283876A1 ADJUSTABLE ERGONOMIC CONTROL CONSOLE WITH USER LOGIN 有权
标题翻译：用户登录可调整的人机对话控制台
公开(公告)号：US20120283876A1
公开(公告)日：2012-11-08
申请号：US13356952
申请日：2012-01-24
申请人： Randal P. Goldberg , Michael Hanuschik , Paul Millman , John W. Zabinski , David Robinson , David W. Weir , Paul W. Mohr , Thomas R. Nixon , David W. Bailey
发明人： Randal P. Goldberg , Michael Hanuschik , Paul Millman , John W. Zabinski , David Robinson , David W. Weir , Paul W. Mohr , Thomas R. Nixon , David W. Bailey
IPC分类号： G05B15/00 , G06F3/041
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2017/00973 , Y10T74/20
摘要： A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.
摘要翻译：公开了一种用于遥控医疗设备的控制台，具有具有人体工程学可调节踏板系统的基座。基座还具有接收踏板系统的开口。踏板系统包括具有踏板底座的可动踏板盘。托盘包括第一左踏板组件和第一右踏板组件，以及上层，其具有分别与第一左踏板组件和第一右踏板组件对准并升高的第二左踏板组件和第二右踏板组件。辊可旋转地联接到可移动的踏板盘，以允许其在地板上滚动。驱动组件联接在可动踏板盘和基座之间。驱动组件向基座的开口内的地板上施加力以将可动踏板托盘滚动。

12. 发明申请

US20120283745A1 SELECTIVE ADDITIONAL CONTROL IN A CONTROL CONSOLE FOR SURGICAL INSTRUMENTS 有权
标题翻译：外科手术控制系统中的选择性附加控制
公开(公告)号：US20120283745A1
公开(公告)日：2012-11-08
申请号：US13356989
申请日：2012-01-24
申请人： Randal P. Goldberg , Mike Hanuschik , Paul Millman , John W. Zabinski , David Robinson , Paul W. Mohr , Thomas R. Nixon , David W. Bailey
发明人： Randal P. Goldberg , Mike Hanuschik , Paul Millman , John W. Zabinski , David Robinson , Paul W. Mohr , Thomas R. Nixon , David W. Bailey
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2017/00973 , Y10T74/20
摘要： A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.
摘要翻译：公开了一种用于遥控医疗设备的控制台，具有具有人体工程学可调节踏板系统的基座。基座还具有接收踏板系统的开口。踏板系统包括具有踏板底座的可动踏板盘。托盘包括第一左踏板组件和第一右踏板组件，以及上层，其具有分别与第一左踏板组件和第一右踏板组件对准并升高的第二左踏板组件和第二右踏板组件。辊可旋转地联接到可移动的踏板盘，以允许其在地板上滚动。驱动组件联接在可动踏板盘和基座之间。驱动组件向基座的开口内的地板上施加力以将可动踏板托盘滚动。

13. 发明授权

US08335590B2 System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device 有权
标题翻译：使用主控设备的未使用自由度来调整图像捕获设备属性的系统和方法
公开(公告)号：US08335590B2
公开(公告)日：2012-12-18
申请号：US12342230
申请日：2008-12-23
申请人： Michael Costa , David Robinson , Michael L. Hanuschik , Randal P. Goldberg , Paul Millman
发明人： Michael Costa , David Robinson , Michael L. Hanuschik , Randal P. Goldberg , Paul Millman
IPC分类号： G05B21/00
CPC分类号： B25J9/1697 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/361
摘要： An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.
摘要翻译：响应于主控制装置的操作者操纵，图像捕获装置被机器人定位和定向。使用主控制装置的未使用的自由度来调整诸如图像捕获装置相对于不断更新的设定点的聚焦的属性。提供死区以避免图像捕获设备属性的无意的调整，并且将触觉反馈提供给主控设备，使得在启动属性的调整时通知操作者。

14. 发明申请

US20100161129A1 SYSTEM AND METHOD FOR ADJUSTING AN IMAGE CAPTURING DEVICE ATTRIBUTE USING AN UNUSED DEGREE-OF-FREEDOM OF A MASTER CONTROL DEVICE 有权
标题翻译：使用主控制器件的未被使用的自由度来调整映像捕获器件的系统和方法
公开(公告)号：US20100161129A1
公开(公告)日：2010-06-24
申请号：US12342230
申请日：2008-12-23
申请人： MICHAEL COSTA , David Robinson , Michael L. Hanuschik , Randal P. Goldberg , Paul Millman
发明人： MICHAEL COSTA , David Robinson , Michael L. Hanuschik , Randal P. Goldberg , Paul Millman
IPC分类号： G05B19/00 , B25J19/04
CPC分类号： B25J9/1697 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/361
摘要： An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.
摘要翻译：响应于主控制装置的操作者操纵，图像捕获装置被机器人定位和定向。使用主控制装置的未使用的自由度来调整诸如图像捕获装置相对于不断更新的设定点的聚焦的属性。提供死区以避免图像捕获设备属性的无意的调整，并且将触觉反馈提供给主控设备，使得在启动属性的调整时通知操作者。

15. 发明授权

US06589190B2 Quantification of muscle tone 有权
标题翻译：定量肌张力
公开(公告)号：US06589190B2
公开(公告)日：2003-07-08
申请号：US09949411
申请日：2001-09-06
申请人： Sami S. Kanderian, Jr. , Randal P. Goldberg , Katrina Rieflin Ubell , Barbara J. De Lateur , Louis L. Whitcomb , Fred A. Lenz
发明人： Sami S. Kanderian, Jr. , Randal P. Goldberg , Katrina Rieflin Ubell , Barbara J. De Lateur , Louis L. Whitcomb , Fred A. Lenz
IPC分类号： A61B5103
CPC分类号： A61B5/224 , A61B5/0488 , A61B5/4528 , A61B5/6824
摘要： A method and device for the quantification of muscle tone, particularly the wrist, wherein non-sinusoidal and non ramp trajectories are used to drive the wrist. Equation 1 is utilized determine the stiffness, viscosity and inertial parameters. &tgr;s(t)=KH&thgr;(t)+BH&thgr;(t)+JT&thgr;(t)+&tgr;off [Eq. 1] wherein where &tgr;s is the total torque, &tgr;off is the offset torque, KH and BH are the angular stiffness and viscosity of the combined flexor and extensor muscle groups that act on the joint, JT is the combined inertia of the oscillating appendage, &thgr; is the angular displacement of the system, and θ . ⁢ ⁢ and ⁢ ⁢ θ ¨ are the velocity and acceleration. In accordance with the method, the trajectory &thgr;(t) is controlled, the torque response &tgr;(t) is measured and the stiffness, viscosity, and inertial parameters are determined using Equation 1. The method and device are particularly suitable for use on patients with spacisity.
摘要翻译：一种用于定量肌肉紧张度，特别是手腕的方法和装置，其中使用非正弦和非斜坡轨迹来驱动腕部。公式1用于确定刚度，粘度和惯性参数。其中taus是总扭矩，tauoff是偏移扭矩，KH和BH是作用于关节的组合的屈肌和伸肌组的角刚度和粘度， JT是摆动附件的组合惯性，θ是系统的角位移，是速度和加速度。根据该方法，控制轨迹θ（t），测量转矩响应tau（t），并使用公式1确定刚度，粘度和惯性参数。该方法和装置特别适用于患者具有空间。

16. 发明授权

US08808278B2 Patient side systems with a counterbalance subsystem 有权
标题翻译：患者侧系统具有平衡子系统
公开(公告)号：US08808278B2
公开(公告)日：2014-08-19
申请号：US13181271
申请日：2011-07-12
申请人： Randal P. Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
发明人： Randal P. Goldberg , Henry Hazebrouck , Dean Hoornaert , David Lidgey
IPC分类号： A61B17/00
CPC分类号： B25J19/0016 , A61B1/00149 , A61B1/313 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2090/504 , Y10T16/84
摘要： In one embodiment of the invention, a patient side-system is provided that includes a column with a rail and a counterbalance subsystem. The patient side-system may further include a braking subsystem. The counterbalance subsystem includes a spring assembly coupled at one end to the column with a spring member, and a housing movably coupled to the rail. The housing includes a drum to receive the spring member and a plurality of roller elements to guide a movement of the spring member winding or unwinding on the drum. If present, the braking subsystem includes a first pulley rotatably coupled to the column, a second pulley with a locking mechanism spaced apart from the first pulley and rotatably coupled to the column, and at least one brake cable wrapped around the first pulley and the second pulley with ends coupled to the housing. The locking mechanism can set a position of the housing along the column.
摘要翻译：在本发明的一个实施例中，提供了一种患者侧系统，其包括具有轨道的列和平衡子系统。患者侧系统还可以包括制动子系统。平衡子系统包括弹簧组件，弹簧组件在一端处连接到具有弹簧构件的柱体，以及可移动地联接到轨道的壳体。壳体包括用于容纳弹簧构件的鼓和多个滚子元件，以引导弹簧构件卷绕或放卷在滚筒上的运动。如果存在，制动子系统包括可旋转地联接到该列的第一滑轮，具有与第一滑轮间隔开并可旋转地联接到该列的锁定机构的第二滑轮，以及包围第一滑轮和第二滑轮的至少一个制动电缆滑轮，其端部联接到壳体。锁定机构可以沿着柱设置壳体的位置。

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