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81. 发明授权

US08786241B2 Software center and highly configurable robotic systems for surgery and other uses 有权
公开(公告)号：US08786241B2
公开(公告)日：2014-07-22
申请号：US13175458
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.

82. 发明授权

US08749189B2 Software center and highly configurable robotic systems for surgery and other uses 有权
公开(公告)号：US08749189B2
公开(公告)日：2014-06-10
申请号：US13175477
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.

83. 发明授权

US08624537B2 Software center and highly configurable robotic systems for surgery and other uses 有权
公开(公告)号：US08624537B2
公开(公告)日：2014-01-07
申请号：US13175498
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.

84. 发明申请

US20110270271A1 Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses 有权
公开(公告)号：US20110270271A1
公开(公告)日：2011-11-03
申请号：US13175550
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 , B25J13/06
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.

85. 发明授权

US07561142B2 Vibrotactile haptic feedback devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US07561142B2
公开(公告)日：2009-07-14
申请号：US10838332
申请日：2004-05-05
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.
摘要翻译：用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括壳体，联接到壳体的致动器和质量块。在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可变的顺应性。改变合规性允许输出给定的驱动信号具有不同幅度的振动触觉。在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。改变偏心度使给定驱动信号具有不同幅度的振动触觉。

86. 发明授权

US07511706B2 Haptic stylus utilizing an electroactive polymer 有权
标题翻译：触觉笔用电活性聚合物
公开(公告)号：US07511706B2
公开(公告)日：2009-03-31
申请号：US12011349
申请日：2008-01-25
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G06F3/033
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 interface devices using electroactive polymer (EAP) actuators to provide haptic sensations. A haptic feedback interface device is in communication with a host computer and includes a sensor device that detects the manipulation of the interface device by the user and an electroactive polymer actuator responsive to input signals and operative to output a force to the user caused by motion of the actuator. The output force provides a haptic sensation to the user. In an embodiment, a stylus including a body having a first end and a second end opposite from the first end, a moveable member coupled to the body and capable of being in contact with a user's hand; and an electro active polymer actuator coupled to the moveable member, wherein the electroactive polymer moves the moveable member from a first position to a second position with respect to the body upon being activated.
摘要翻译：触觉反馈界面设备使用电活性聚合物（EAP）致动器来提供触感。触觉反馈接口设备与主计算机通信，并且包括传感器设备，其检测用户对接口设备的操纵和响应于输入信号的电活性聚合物致动器，并且可操作地向用户输出由运动引起的运动的力执行器。输出力为用户提供触觉感觉。在一个实施例中，一种触针，包括具有第一端和与第一端相对的第二端的本体，可移动构件，其联接到主体并且能够与使用者的手接触; 以及耦合到所述可移动构件的电活性聚合物致动器，其中所述电活性聚合物在被激活时相对于所述主体将所述可移动构件从第一位置移动到第二位置。

87. 发明授权

US07447604B2 Method and apparatus for compensating for position slip in interface devices 有权
标题翻译：用于补偿接口装置中位置滑移的方法和装置
公开(公告)号：US07447604B2
公开(公告)日：2008-11-04
申请号：US10995586
申请日：2004-11-23
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： G06F19/00
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。

88. 发明申请

US20080143693A1 Haptic stylus utilizing an electroactive polymer 有权
标题翻译：触觉笔用电活性聚合物
公开(公告)号：US20080143693A1
公开(公告)日：2008-06-19
申请号：US12011349
申请日：2008-01-25
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G06F3/033
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 interface devices using electroactive polymer (EAP) actuators to provide haptic sensations. A haptic feedback interface device is in communication with a host computer and includes a sensor device that detects the manipulation of the interface device by the user and an electroactive polymer actuator responsive to input signals and operative to output a force to the user caused by motion of the actuator. The output force provides a haptic sensation to the user. In an embodiment, a stylus including a body having a first end and a second end opposite from the first end, a moveable member coupled to the body and capable of being in contact with a user's hand; and an electro active polymer actuator coupled to the moveable member, wherein the electroactive polymer moves the moveable member from a first position to a second position with respect to the body upon being activated.
摘要翻译：触觉反馈界面设备使用电活性聚合物（EAP）致动器来提供触觉感觉。触觉反馈接口设备与主计算机通信，并且包括传感器设备，其检测用户对接口设备的操纵和响应于输入信号的电活性聚合物致动器，并且可操作地向用户输出由运动引起的运动的力执行器。输出力为用户提供触觉感觉。在一个实施例中，一种触针，包括具有第一端和与第一端相对的第二端的本体，可移动构件，其联接到主体并且能够与使用者的手接触; 以及耦合到所述可移动构件的电活性聚合物致动器，其中所述电活性聚合物在被激活时相对于所述主体将所述可移动构件从第一位置移动到第二位置。

89. 发明申请

US20070173977A1 CENTER ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE FOR ENDOSCOPIC CAMERA 有权
公开(公告)号：US20070173977A1
公开(公告)日：2007-07-26
申请号：US11623311
申请日：2007-01-15
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G06F19/00
CPC分类号： A61B1/04 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J17/0258 , B25J18/007 , Y10T74/20305
摘要： A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

90. 发明申请

US20070173975A1 CENTER ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE FOR ENDOSCOPIC CAMERA 有权
标题翻译：用于内窥镜照相机的五杆式球形球机
公开(公告)号：US20070173975A1
公开(公告)日：2007-07-26
申请号：US11623305
申请日：2007-01-15
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G06F19/00
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B90/361 , Y10T74/2036
摘要： A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.
摘要翻译：机器手臂包括一个平行的球形五杆连杆机构与一个远程的球形旋转中心。机器手臂可移动地支撑内窥镜照相机。两个外侧连杆枢轴连接在一起。两个外侧链路中的至少一个支持内窥镜相机。两个内联链路分别枢转地联接到两个外侧链路，使得两个内联链路能够彼此交叉。两个内部链接可移动地支撑两个外部链接。地面连杆枢转地连接到两个内侧链节。地面连接可移动地支撑两个内部链接。

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