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41. 发明授权

US06411276B1 Hybrid control of haptic feedback for host computer and interface device 有权
标题翻译：主机和接口设备的触觉反馈的混合控制
公开(公告)号：US06411276B1
公开(公告)日：2002-06-25
申请号：US09687744
申请日：2000-10-13
申请人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
发明人： Adam C. Braun , Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/04766 , G06F3/011 , G06F2203/015 , G09B9/28
摘要： A hybrid haptic feedback system in which a host computer and haptic feedback device share processing loads to various degrees in the output of haptic sensations, and features for efficient output of haptic sensations in such a system. A haptic feedback interface device in communication with a host computer includes a device microcontroller outputting force values to the actuator to control output forces. In various embodiments, the microcontroller can determine force values for one type of force effect while receiving force values computed by the host computer for a different type of force effect. For example, the microcontroller can determine closed loop effect values and receive computed open loop effect values from the host; or the microcontroller can determine high frequency open loop effect values and receive low frequency open loop effect values from the host. Various features allow the host to efficiently stream computed force values to the device.
摘要翻译：一种混合触觉反馈系统，其中主计算机和触觉反馈装置在触觉感觉的输出中共享处理各种程度的加载，以及用于在这种系统中有效输出触觉感觉的特征。与主计算机通信的触觉反馈接口装置包括向致动器输出力值以控制输出力的装置微控制器。在各种实施例中，微控制器可以在接收由主计算机为不同类型的力效应计算的力值时确定一种类型的力效应的力值。例如，微控制器可以确定闭环效应值并从主机接收计算的开环效应值; 或者微控制器可以确定高频开环效应值并从主机接收低频开环效应值。各种功能允许主机有效地将计算的力值流传输到设备。

42. 发明授权

US6104382A Force feedback transmission mechanisms 失效
标题翻译：力反馈传递机制
公开(公告)号：US6104382A
公开(公告)日：2000-08-15
申请号：US058259
申请日：1998-04-10
申请人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
发明人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
IPC分类号： A63F9/14 , A63F9/24 , A63F13/02 , A63F13/06 , F16H20060101 , G06F3/01 , G06F3/033 , G09G3/02
CPC分类号： A63F13/24 , A63F13/02 , A63F13/06 , A63F13/285 , G06F3/016 , A63F2300/1018 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017
摘要： A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.
摘要翻译：一种用于在力反馈接口装置中提供弹性构件到用户可操纵物体的选择性接合的机构。包括在力反馈机构中的可移动构件可在自由度上移动以将力传递到用户可操纵的对象，诸如操纵杆手柄。可以在接地构件和可移动构件之间选择性地联接和分离弹簧构件。弹簧构件在可移动构件上提供弹簧力，其将操纵杆手柄偏压到期望的位置，例如自由度的中心。当致动器不在该极限方向上输出力时，动态校准程序通过仅读取新的范围限制来感测用户操纵的位置来减少不准确度。绞盘驱动机构优选地联接在致动器和联动机构之间，其中主导轮鼓包括弯曲端，电缆在该弯曲端上被路由，弯曲端包括凸缘，以基本上防止电缆滑动端部的侧面。绞盘鼓包括联接到电缆的一端或两端的张紧弹簧构件，用于张紧电缆。

43. 发明授权

US09465438B2 System and method for outputting haptic effects in a mouse device 有权
标题翻译：用于在鼠标装置中输出触觉效果的系统和方法
公开(公告)号：US09465438B2
公开(公告)日：2016-10-11
申请号：US11499425
申请日：2006-08-04
申请人： Louis B. Rosenberg , Kenneth M. Martin
发明人： Louis B. Rosenberg , Kenneth M. Martin
IPC分类号： G09G5/08 , G06F3/01 , A63F13/211 , A63F13/285 , A63F13/24 , A63F13/20 , G06F3/0338 , G06F3/0354 , G06F3/0362 , H04L29/08
CPC分类号： G06F3/016 , A63F13/06 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A low-cost tactile feedback mouse device for providing haptic feedback to a user for enhancing interactions and manipulations in a graphical environment provided by a computer. The mouse device includes a sensor device able to detect the movement of the mouse in the planar workspace. An actuator is coupled to the housing of the mouse and applies an inertial force in a particular degree of freedom, preferably along an axis perpendicular to the planar workspace, where the inertial force is transmitted through the housing to the user. The actuator outputs the inertial force preferably by linearly moving an inertial mass along the Z-axis. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in a graphical environment displayed by the host computer. The inertial force can be a pulse, vibration, texture force, or other type of force.
摘要翻译：一种低成本触觉反馈鼠标装置，用于向用户提供触觉反馈以增强由计算机提供的图形环境中的交互和操纵。鼠标装置包括能够检测鼠标在平面工作空间中移动的传感器装置。致动器联接到鼠标的壳体，并且以特定的自由度，优选地沿垂直于平面工作空间的轴施加惯性力，其中惯性力通过壳体传递给使用者。致动器优选地通过沿Z轴线性移动惯性质量来输出惯性力。输出力与诸如光标的受控图形对象与主计算机显示的图形环境中的其他图形对象的交互相关。惯性力可以是脉冲，振动，纹理力或其他类型的力。

44. 发明授权

US08211170B2 Medical devices and delivery systems for delivering medical devices 有权
公开(公告)号：US08211170B2
公开(公告)日：2012-07-03
申请号：US12578463
申请日：2009-10-13
申请人： David Paul , Benjamin Sutton , Brian McCollum , Brian D. Brandt , Emma Leung , Kenneth M. Martin , Amr Salahieh , Daniel Hildebrand
发明人： David Paul , Benjamin Sutton , Brian McCollum , Brian D. Brandt , Emma Leung , Kenneth M. Martin , Amr Salahieh , Daniel Hildebrand
IPC分类号： A61F2/24
摘要： Medical devices and delivery systems for delivering medical devices to a target location within a subject. In some embodiments the medical devices can be locked in a fully deployed and locked configuration. In some embodiments the delivery systems are configured with a single actuator to control the movement of multiple components of the delivery system. In some embodiments the actuator controls the independent and dependent movement of multiple components of the delivery system.

45. 发明申请

US20120004668A1 ROBOTIC CATHETER SYSTEM 有权
标题翻译：机器人导管系统
公开(公告)号：US20120004668A1
公开(公告)日：2012-01-05
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
摘要翻译：机器人导管系统包括具有主输入装置的控制器。仪器驱动器与控制器通信，并且具有引导仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个引导仪器驱动元件。细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

46. 发明授权

US08951299B2 Medical devices and delivery systems for delivering medical devices 有权
标题翻译：提供医疗设备的医疗设备和送货系统
公开(公告)号：US08951299B2
公开(公告)日：2015-02-10
申请号：US12578447
申请日：2009-10-13
申请人： David Paul , Benjamin Sutton , Brian McCollum , Brian D. Brandt , Emma Leung , Kenneth M. Martin , Amr Salahieh , Daniel Hildebrand
发明人： David Paul , Benjamin Sutton , Brian McCollum , Brian D. Brandt , Emma Leung , Kenneth M. Martin , Amr Salahieh , Daniel Hildebrand
IPC分类号： A61F2/24 , A61F2/90 , A61F2/95
CPC分类号： A61F2/2427 , A61F2/24 , A61F2/2412 , A61F2/2418 , A61F2/243 , A61F2/2433 , A61F2/2436 , A61F2/2439 , A61F2/90 , A61F2/95 , A61F2/954 , A61F2/962 , A61F2/966 , A61F2/97 , A61F2002/9517 , A61F2002/9528 , A61F2002/9534 , A61F2220/0041 , A61F2220/0075 , A61F2230/0067 , A61F2250/006
摘要： Medical devices and delivery systems for delivering medical devices to a target location within a subject. In some embodiments the medical devices can be locked in a fully deployed and locked configuration. In some embodiments the delivery systems are configured with a single actuator to control the movement of multiple components of the delivery system. In some embodiments the actuator controls the independent and dependent movement of multiple components of the delivery system.
摘要翻译：用于将医疗设备递送到受试者内的目标位置的医疗设备和递送系统。在一些实施例中，医疗设备可以被锁定在完全展开和锁定的配置中。在一些实施例中，输送系统配置有单个致动器以控制输送系统的多个部件的移动。在一些实施例中，致动器控制输送系统的多个部件的独立和依赖的运动。

47. 发明申请

US20140005706A1 Carotid Body Ablation Via Directed Energy 有权
标题翻译：颈动脉身体通过定向能量消融
公开(公告)号：US20140005706A1
公开(公告)日：2014-01-02
申请号：US13933023
申请日：2013-07-01
申请人： Mark Gelfand , Charles Lennox , Ary Chernomorsky , Howard Levin , Veijo T. Suorsa , Kenneth M. Martin , Yegor D. Sinelnikov
发明人： Mark Gelfand , Charles Lennox , Ary Chernomorsky , Howard Levin , Veijo T. Suorsa , Kenneth M. Martin , Yegor D. Sinelnikov
IPC分类号： A61B17/32
CPC分类号： A61B18/1492 , A61B17/2202 , A61B17/320092 , A61B18/24 , A61B2017/00256 , A61B2017/003 , A61B2017/22024 , A61B2017/22028 , A61B2017/22058 , A61B2017/22062 , A61B2017/22069 , A61B2017/320044 , A61B2018/00404 , A61B2018/1425 , A61B2018/1475 , A61B2090/3784 , A61N7/022
摘要： Methods and devices for assessing, and treating patients having sympathetically mediated disease, involving augmented peripheral chemoreflex and heightened sympathetic tone by reducing chemosensor input to the nervous system via carotid body ablation.
摘要翻译：用于评估和治疗患有交感神经介导的疾病的患者的方法和装置，通过减少化学传感器通过颈动脉体消融对输入神经系统的输入，涉及增加的外周化学反应和增强的交感神经紧张。

48. 发明授权

US08409136B2 Robotic catheter system 有权
公开(公告)号：US08409136B2
公开(公告)日：2013-04-02
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

49. 发明授权

US07972298B2 Robotic catheter system 有权
公开(公告)号：US07972298B2
公开(公告)日：2011-07-05
申请号：US11073363
申请日：2005-03-04
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

50. 发明授权

US07850642B2 Methods using a robotic catheter system 有权
标题翻译：使用机器人导管系统的方法
公开(公告)号：US07850642B2
公开(公告)日：2010-12-14
申请号：US11179007
申请日：2005-07-06
申请人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , David F. Moore , Michael R. Zinn , Kenneth M. Martin , Gunter D. Niemeyer
发明人： Frederic H. Moll , Daniel T. Wallace , Robert G. Younge , David F. Moore , Michael R. Zinn , Kenneth M. Martin , Gunter D. Niemeyer
IPC分类号： A61M31/00
CPC分类号： A61B34/30 , A61B5/7285 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B17/00234 , A61B18/00 , A61B34/20 , A61B34/25 , A61B34/37 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00199 , A61B2017/00247 , A61B2017/003 , A61B2017/00477 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2034/742 , A61B2090/035 , A61B2090/065 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , B33Y80/00
摘要： A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively coupled to a corresponding plurality of control elements of an elongate guide instrument, the control elements secured to a distal end of the guide instrument and moveable axially relative to the guide instrument such that movement of the drive elements causes a corresponding movement of the guide instrument distal end.
摘要翻译：使用机器人导管系统对患者执行程序的方法包括产生对应于主输入装置的运动的控制信号，以及响应于控制信号移动仪器驱动器的多个驱动元件，操作地驱动驱动元件耦合到细长引导器具的对应的多个控制元件，所述控制元件固定到所述引导器械的远端并且相对于所述引导器具可轴向移动，使得所述驱动元件的运动导致所述引导器械远端的相应运动结束。

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