专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US5299288A Image-directed robotic system for precise robotic surgery including redundant consistency checking 失效
标题翻译：用于精确机器人手术的图像定向机器人系统，包括冗余一致性检查
公开(公告)号：US5299288A
公开(公告)日：1994-03-29
申请号：US761720
申请日：1991-09-18
申请人： Edward Glassman , William A. Hanson , Peter Kazanides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
发明人： Edward Glassman , William A. Hanson , Peter Kazanides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
IPC分类号： A61B17/00 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/46 , B25J9/16 , B25J11/00 , B25J13/00 , G05B19/4099 , B23Q15/14 , A61B6/00
CPC分类号： A61F2/46 , A61B34/20 , A61B34/30 , A61B34/70 , B25J9/1679 , G05B19/4099 , A61B17/175 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/065 , A61B2090/3762 , A61B34/10 , A61B34/25 , A61F2002/4633 , G05B2219/35217 , G05B2219/39008 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166 , G05B2219/45168 , G05B2219/49137 , Y10S128/92 , Y10S623/908 , Y10S706/924
摘要： A robotic surgical system includes a multiple degree of freedom manipulator arm having a surgical tool. The arm is coupled to a controller for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point. The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.
摘要翻译：机器人手术系统包括具有手术工具的多自由度操纵臂。臂连接到控制器，用于将外科手术工具可控地定位在三维坐标系统内。所述系统还包括安全监视处理器，用于确定所述外科手术工具在三维坐标系中相对于体积模型的位置。体积模型可以表示为建构实体几何（CSG）树数据结构。该系统还包括光学跟踪照相机系统，其设置成对包括至少一部分操纵臂的空间区域成像。相机系统的输出耦合到处理器，处理器用于确定外科手术工具是否位于体积模型外部。该系统还包括用于在固定的组织（例如骨骼）和参考点之间检测三维中的滑动的应变计。该系统还包括用于悬挂外科手术工具的运动以防止工具在预定体积的空间外部操作的多个和冗余的安全特征。

2. 发明授权

US5408409A Image-directed robotic system for precise robotic surgery including redundant consistency checking 失效
标题翻译：用于精确机器人手术的图像定向机器人系统，包括冗余一致性检查
公开(公告)号：US5408409A
公开(公告)日：1995-04-18
申请号：US170540
申请日：1993-12-20
申请人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
发明人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
IPC分类号： A61B17/00 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/46 , B25J9/16 , B25J11/00 , B25J13/00 , G05B19/4099 , B23Q15/14 , A61B6/00
CPC分类号： A61F2/46 , A61B34/20 , A61B34/30 , A61B34/70 , B25J9/1679 , G05B19/4099 , A61B17/175 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/065 , A61B2090/3762 , A61B34/10 , A61B34/25 , A61F2002/4633 , G05B2219/35217 , G05B2219/39008 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166 , G05B2219/45168 , G05B2219/49137 , Y10S128/92 , Y10S623/908 , Y10S706/924
摘要： A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28,32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.
摘要翻译：机器人手术系统（10）包括具有手术工具（22）的多自由度操纵臂（14）。臂连接到控制器（24），用于将外科手术工具可控地定位在三维坐标系统内。所述系统还包括用于确定所述外科手术工具在三维坐标系中相对于体积模型的位置的安全监控处理器（38）。体积模型可以表示为建构实体几何（CSG）树数据结构。该系统还包括光学跟踪照相机系统（28,32），其设置成对包括至少一部分操纵臂的空间区域成像。相机系统的输出耦合到处理器（38），处理器（38）处理体积模型以确定手术工具是否位于容积模型的外部。所述系统还包括用于检测固定的组织（例如骨头）与参考点（44）之间三维的滑动的应变计（40）。该系统还包括用于悬挂外科手术工具的运动以防止工具在预定体积的空间外部操作的多个和冗余的安全特征。

3. 发明授权

US5086401A Image-directed robotic system for precise robotic surgery including redundant consistency checking 失效
标题翻译：用于精确机器人手术的图像方向机器人系统，包括冗余一致性检查
公开(公告)号：US5086401A
公开(公告)日：1992-02-04
申请号：US523611
申请日：1990-05-11
申请人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
发明人： Edward Glassman , William A. Hanson , Peter Kazanzides , Brent D. Mittelstadt , Bela L. Musits , Howard A. Paul , Russell H. Taylor
IPC分类号： A61B17/00 , A61B17/17 , A61B19/00 , A61F2/00 , A61F2/30 , A61F2/46 , B25J9/16 , B25J11/00 , B25J13/00 , G05B19/4099
CPC分类号： A61F2/46 , A61B34/20 , A61B34/30 , A61B34/70 , B25J9/1679 , G05B19/4099 , A61B17/175 , A61B2034/102 , A61B2034/105 , A61B2034/2055 , A61B2034/2072 , A61B2034/256 , A61B2090/065 , A61B2090/3762 , A61B34/10 , A61B34/25 , A61F2002/4633 , G05B2219/35217 , G05B2219/39008 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166 , G05B2219/45168 , G05B2219/49137 , Y10S128/92 , Y10S623/908 , Y10S706/924
摘要： A robotic surgical system (10) includes a multiple degree of freedom manipulator arm (14) having a surgical tool (22). The arm is coupled to a controller (24) for controllably positioning the surgical tool within a three dimensional coordinate system. The system further includes a safety monitoring processor (38) for determining the position of the surgical tool in the three dimensional coordinate system relative to a volumetric model. The volumetric model may be represented as a constructive solid geometry (CSG) tree data structure. The system further includes an optical tracking camera system (28, 32) disposed for imaging a region of space that includes at least a portion of the manipulator arm. An output of the camera system is coupled to the processor (38) that processes the volumetric model for determining if the surgical tool is positioned outside of the volumetric model. The system further includes a strain gage (40) for detecting slippage in three dimensions between an immobilized tissue, such as bone, and a reference point (44). The system also includes multiple and redundant safety features for suspending a motion of the surgical tool to prevent the tool from operating outside of the predetermined volume of space.

4. 发明授权

US4514674A Electromagnetic X-Y-Theta precision positioner 失效
标题翻译：电磁X-Y-Theta精密定位器
公开(公告)号：US4514674A
公开(公告)日：1985-04-30
申请号：US564630
申请日：1983-12-22
申请人： Ralph L. Hollis, Jr. , Bela L. Musits
发明人： Ralph L. Hollis, Jr. , Bela L. Musits
IPC分类号： G05D3/00 , B23Q1/36 , B25J9/16 , B25J13/00 , G05B19/35 , G05B19/40
CPC分类号： G05B19/351 , B23Q1/36 , G05B2219/49276 , H02K2201/18
摘要： Mounting a position sensor equipped planar armature, in operative juxtaposition to a stator, by a spring colonnade basket of flexure columns, provides a low-friction precision X-Y-Theta positioner which has computer control of operations with feedback of actual position for closed loop servo operation.The spring colonnade basket provides freedom of motion in the X, Y and Theta (rotation about an axis mutually perpendicular to X and Y) dimensions without static friction present in sliding or rolling motions. The armature, which carries a gripper or other end effector and is free to move only within its own plane, is positioned by a motor made up of the armature and a stator mounted on a support platform. The stator is made up of a pair of U-shaped permanent magnets, each having U-shaped pole pieces mounted orthogonally to each other, at 45 degree angles to the axis of the magnet, so that each electromagnet controls motive power in both X and Y dimensions. Imbalances in the vector sums of the motive power of the electromagnets produces torque which provides Theta motion.Position sensors are mounted on the armature and stator. Position sensing signals are fed back to a computer for use in operations including repositioning The computer can vary the compliance of the flexure columns by adjusting the motor control currents as a function of a compliance variable.
摘要翻译：安装位置传感器配备的平面电枢，通过弹簧柱柱的弯曲柱与定子并联，提供了一种低摩擦精度XY-Theta定位器，具有计算机控制操作，具有闭环伺服操作的实际位置反馈。弹簧柱廊篮提供了X，Y和Theta的运动自由度（围绕与X和Y相互垂直的轴线）的旋转，无滑动或滚动运动中存在静摩擦。承载夹具或其他端部执行器并且仅在其自身平面内自由移动的电枢通过由电枢构成的电动机和安装在支撑平台上的定子来定位。定子由一对U形永磁体组成，每个U形永磁体具有彼此垂直安装的U形极片，与磁体的轴线成45度角，使得每个电磁体控制X和 Y尺寸。电磁铁的动力矢量和的不平衡产生提供Theta运动的转矩。位置传感器安装在电枢和定子上。位置检测信号被反馈到计算机以用于包括重新定位的操作。计算机可以通过根据合规变量调节电机控制电流来改变挠曲柱的顺应性。

5. 发明授权

US4455044A Tool for picking up and inserting different length bolts 失效
标题翻译：用于拾取和插入不同长度螺栓的工具
公开(公告)号：US4455044A
公开(公告)日：1984-06-19
申请号：US264914
申请日：1981-05-18
申请人： Bela L. Musits , Frank A. DeSantis
发明人： Bela L. Musits , Frank A. DeSantis
IPC分类号： B25B23/02 , B23P19/02 , B23P19/06 , B25B27/00
CPC分类号： B23P19/02
摘要： The pickup and insert tool is used during the automated assembly of small motors and other products that require tie bolts, screws, and similar fasteners. Different length tie bolts are handled without adjusting the tool. The fastener is picked up from a holder and held between a pair of spring loaded jaws. The motion to insert the tie bolt is provided by a movable rod which also accommodates the different lengths of the bolts.
摘要翻译：拾取和插入工具在小型电机和其他需要固定螺栓，螺钉和类似紧固件的产品的自动组装过程中使用。不同长度的连接螺栓在不调整工具的情况下进行处理。紧固件从保持器拾取并保持在一对弹簧加载的夹爪之间。插入连接螺栓的运动由可容纳不同长度的螺栓的可动杆提供。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式