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1. 发明授权

US6000297A Master-slave micromanipulator method 有权
标题翻译：主从显微操纵器方法
公开(公告)号：US6000297A
公开(公告)日：1999-12-14
申请号：US301063
申请日：1999-04-28
申请人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
发明人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
IPC分类号： B25J3/00 , B25J7/00 , G05G11/00 , G09B23/32
CPC分类号： A61B34/30 , A61B34/37 , A61B34/72 , A61B34/76 , A61B2017/00539 , Y10T74/20207 , Y10T74/20213
摘要： A method based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be remotized by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.
摘要翻译：一种基于精密X-Y级堆叠的方法。从每个X-Y舞台伸出的手臂是一组两轴万向架。连接到万向节是一根杆，其提供沿杆的轴线的运动并绕其轴线旋转。一种双平面装置，其运动精度达到微米范围内的六个运动自由度。精密线性阶段以及精密线性电机，编码器和控制器提供了一个机器人系统。电动机可以通过在电机上并入一组波纹管而被远程控制，并且可以通过一台计算机控制器进行连接，该控制器允许一个是主机，而另一个是从机。可以使用来自主机的位置信息来控制从站。奴隶与其环境的相互作用力可以反映到主人的电机控制中，以提供从属感测的力感。由操作员将力导入主机可以反馈到从站的控制中，以减少移动所需的力。

2. 发明授权

US5943914A Master-slave micromanipulator apparatus 失效
标题翻译：主从显微操纵器装置
公开(公告)号：US5943914A
公开(公告)日：1999-08-31
申请号：US827144
申请日：1997-03-27
申请人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
发明人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
IPC分类号： B25J3/00 , B25J7/00 , G05G11/00 , G09B23/32
CPC分类号： A61B34/30 , A61B34/37 , A61B34/72 , A61B34/76 , A61B2017/00539 , Y10T74/20207 , Y10T74/20213
摘要： An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.
摘要翻译：一种基于X-Y级精度的装置。从每个X-Y舞台伸出的手臂是一组两轴万向架。连接到万向节是一根杆，其提供沿杆的轴线的运动并绕其轴线旋转。一种双平面装置，其运动精度达到微米范围内的六个运动自由度。精密线性阶段以及精密线性电机，编码器和控制器提供了一个机器人系统。电机可以通过在电机上并入一组波纹管来定位在远程位置，并且可以通过计算机控制器进行连接，计算机控制器将允许一个是主机，另一个是从机。可以使用来自主机的位置信息来控制从站。奴隶与其环境的相互作用力可以反映到主人的电机控制中，以提供从属感测的力感。由操作员将力导入主机可以反馈到从站的控制中，以减少移动所需的力。

3. 发明授权

US5806521A Composite ultrasound imaging apparatus and method 失效
标题翻译：复合超声成像设备及方法
公开(公告)号：US5806521A
公开(公告)日：1998-09-15
申请号：US622129
申请日：1996-03-26
申请人： Alan K. Morimoto , Wallace J. Bow, Jr. , David Scott Strong , Fred M. Dickey
发明人： Alan K. Morimoto , Wallace J. Bow, Jr. , David Scott Strong , Fred M. Dickey
IPC分类号： A61B8/08 , A61B8/14 , A61B8/00
CPC分类号： A61B8/5238 , A61B8/0858 , A61B8/14 , A61B8/4209 , A61B8/463 , A61B8/5276
摘要： An imaging apparatus and method for use in presenting composite two dimensional and three dimensional images from individual ultrasonic frames. A cross-sectional reconstruction is applied by using digital ultrasound frames, transducer orientation and a known center. Motion compensation, rank value filtering, noise suppression and tissue classification are utilized to optimize the composite image.
摘要翻译：一种用于从各个超声波框架呈现复合二维和三维图像的成像设备和方法。通过使用数字超声波框架，换能器取向和已知的中心来应用横截面重建。利用运动补偿，秩值滤波，噪声抑制和组织分类优化复合图像。

4. 发明授权

US06016607A Coordinated X-Y stage apparatus 有权
标题翻译：协调X-Y舞台装置
公开(公告)号：US06016607A
公开(公告)日：2000-01-25
申请号：US301500
申请日：1999-04-28
申请人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
发明人： Alan K. Morimoto , David M. Kozlowski , Steven T. Charles , James A. Spalding
IPC分类号： B25J3/00 , B25J7/00 , G05G11/00 , G09B23/32
CPC分类号： A61B34/30 , A61B34/37 , A61B34/72 , A61B34/76 , A61B2017/00539 , Y10T74/20207 , Y10T74/20213
摘要： An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion.
摘要翻译：一种基于X-Y级精度的装置。从每个X-Y舞台伸出的手臂是一组两轴万向架。连接到万向节是一根杆，其提供沿杆的轴线的运动并绕其轴线旋转。一种双平面装置，其运动精度达到微米范围内的六个运动自由度。

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