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公开(公告)号：US5327790A
公开(公告)日：1994-07-12
申请号：US900663
申请日：1992-06-19
CPC分类号： H02K26/00 , B25J13/085 , B25J9/12 , B25J9/1633 , G05B2219/37344 , G05B2219/37473 , H02K29/06
摘要： A reaction torque actuator has a sensor operatively coupled between a motor housing and an outer housing. A pair of bearings support the motor within the outer housing in a spaced, concentric relationship. The bearings allow a mutual angular displacement of the housing about the axis of rotation of the output shaft of the motor, but they isolate the sensor from the axial and radial moments. A resolver surrounds the shaft at its output end to produce a signal that accurately measures the angular position of the shaft. A controller regulates power to the motor windings as a function of signals from the resolver and the sensor and torque commands. In a preferred form for use in robotics where very accurate force control is desired, the motor: is a brushless D.C. motor, the sensor is of the strain gauge type, and the controller uses high quality amplifiers, sine wave commutation, cable shielding, and filtering to limit the noise generated by electronic switching.
摘要翻译： 反作用力矩致动器具有可操作地联接在马达壳体和外壳之间的传感器。 一对轴承以外部的同心关系支撑外壳内的马达。 轴承允许壳体围绕马达的输出轴的旋转轴线相互角位移，但是它们将传感器与轴向和径向力矩隔离开。 旋转变压器在其输出端围绕轴，以产生精确测量轴的角位置的信号。 控制器根据来自旋转变压器和传感器和转矩指令的信号调节电动机绕组的功率。 在用于需要非常精确的力控制的机器人技术的优选形式中，电动机：是无刷直流电动机，传感器是应变计类型，并且控制器使用高质量放大器，正弦波换向，电缆屏蔽和 过滤以限制电子切换产生的噪声。
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公开(公告)号：US08924009B2
公开(公告)日：2014-12-30
申请号：US12722332
申请日：2010-03-11
IPC分类号： B25J13/00
CPC分类号： G05G9/04737 , A61B34/30 , A61B34/35 , A61B34/71 , B25J3/04 , B25J9/104 , B25J13/025 , G05G5/03 , Y10T74/20341
摘要： A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
摘要翻译： 用于远程外科手术的触觉装置，包括基部; 连接系统，其具有联接到所述基座的第一和第二连杆构件; 提供电机力的电机; 传动装置包括第一和第二驱动带轮，其布置成使得它们的面形成一个角度并且它们的轴线形成一个平面，第一和第二惰轮从该平面偏移并且布置在第一和第二驱动带轮之间，使得它们的轴线将 第一和第二驱动滑轮以及横穿第一和第二驱动滑轮和一组惰轮的电缆，并将马达力传递到联动系统; 耦合到所述第一和第二连杆构件的远端的端部执行器并且相对于所述基座可操纵; 以及控制器，其调节所述马达力以模拟所述末端执行器的点部分处的身体部位。
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3.发明授权Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery 有权微创远程外科手术中主/从关系的重新定位和重新定位公开(公告)号：US06459926B1
公开(公告)日：2002-10-01
申请号：US09398960
申请日：1999-09-17
IPC分类号： A61B1900
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2034/742
摘要： The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
摘要翻译： 本发明提供了一种机器人手术系统，其允许主控制器和/或手术末端执行器的输入手柄的可选择的独立重新定位而不需要另一个的相应移动。 在一些实施例中，独立重新定位限于平移自由度。 在其他实施例中，系统提供邻近支撑手术器械的操纵器的输入装置，使得助手可以在患者侧重新定位器械。
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公开(公告)号：US5898599A
公开(公告)日：1999-04-27
申请号：US771484
申请日：1996-12-23
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G06F3/014 , B25J13/02 , B25J9/1689 , G05B17/02 , G05G1/52 , G05G9/047 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G05B2219/23021 , G05G2009/04766 , G06F2203/0331
摘要： An apparatus and method for physically exchanging a force with a user in a user-local environment. The apparatus includes a user connection element and a linkage physically linking the user connection element to a reference. The linkage provides at least six independent degrees of freedom to the user connection element. The linkage has an actuator system which powers at least three degrees of freedom of the user connection element, while at least three degrees of freedom remain unpowered. The method includes providing an apparatus which includes a user connection element and a linkage physically linking the user connection element to a reference, the linkage providing at least six independent degrees of freedom to the user connection element. The linkage of the apparatus provided has an actuator system which powers at least three of the six independent degrees of freedom relative to the reference. The method further includes connecting the user connection element to a body member of a user and powering at least three of the six independent degrees of freedom.
摘要翻译： 一种在用户本地环境中与用户物理交换力的装置和方法。 该装置包括用户连接元件和将用户连接元件物理地链接到引用的链接。 该连接为用户连接元件提供至少六个独立的自由度。 连杆具有致动器系统，该致动器系统为用户连接元件的至少三个自由度供电，而至少三个自由度保持不起动作。 该方法包括提供一种装置，其包括用户连接元件和物理地将用户连接元件与参考连接的连杆，所述连接为用户连接元件提供至少六个独立的自由度。 所提供的装置的连接具有致动器系统，该致动器系统相对于基准来提供六个独立的自由度中的至少三个。 该方法还包括将用户连接元件连接到用户的身体成员并为六个独立自由度中的至少三个提供动力。
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公开(公告)号：US5625576A
公开(公告)日：1997-04-29
申请号：US130639
申请日：1993-10-01
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G06F3/014 , B25J13/02 , B25J9/1689 , G05B17/02 , G05G1/52 , G05G9/047 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G05B2219/23021 , G05G2009/04766 , G06F2203/0331
摘要： A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译： 诸如套管的连接元件连接到使用者的身体部件，并通过连杆机构连接到地面参考。 设备在用户本地的环境中与用户物理交换力。 连接能够使连接元件相对于参考的至少三个独立的自由。 它还保持连接元件相对于无功率的参考的至少一个独立的自由度。 连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。 万向节连接万向节与连杆。 零，一个或两个万向轴可以通电。 五杆连接将连接元件连接到还包括两个执行器的平衡。 第三个执行器将五个杆连杆与参考连接。 平衡的两个致动器可以通过单个电缆连接到链中的下一个链路到参考。 信号处理设备为执行器供电，以在连接元件处传递代表由编程的计算机产生的虚拟情况或远程环境中的物理条件的信号。 虚拟开关向用户呈现弹簧开关的力和位移关系。 一个虚拟的刷毛显示了这样的刷子的力和位移关系，同时也改变了虚拟环境，以反映用户的位置变化。
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公开(公告)号：US5046375A
公开(公告)日：1991-09-10
申请号：US438524
申请日：1989-11-17
CPC分类号： B25J9/046 , B25J17/02 , B25J9/1045 , F16H19/005 , F16H2019/0695 , Y10T74/18832 , Y10T74/18848
摘要： A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conductive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C. motor operating under the control of a pulse width modulated controller responsive to the current drawn by the motor, in combination with the cable transmission of this invention, provide excellent force control.
摘要翻译： 预拉伸的电缆沿着第一支撑构件（连接）将动力从旋转致动器传递到旋转的输出接头，通常是固定到第二连杆臂但可在第一和第二连杆之间的联接中旋转的输出滑轮。 典型地，两组不同直径的联接惰轮的减速器安装在从致动器移除的点处，并且优选地尽可能靠近输出接头。 安装在致动器输出件上的轴向分开的线轴沿着相反的方向将出线和回复的电缆部分卷绕在线轴的不同的两半上，以在一点上提供电缆在整个电缆电路中的预拉伸。 变速器的连杆和滑轮长而窄。 这种高纵横比提供了一种紧凑的结构，其对于整个臂的操作是导电的，其中链节的任何外表面可以接合物体。 在脉冲宽度调制控制器的控制下运行的低惯量，低摩擦无刷直流电动机响应于电动机所产生的电流，结合本发明的电缆传动装置提供优异的力控制。
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公开(公告)号：US09227326B2
公开(公告)日：2016-01-05
申请号：US13572452
申请日：2012-08-10
摘要： According to one exemplary embodiment, a manipulator device includes a base, first and second linear slides, a drive link, a drive member, a driven member and an end effector. The elements of the manipulator device cooperate to constrain the end effector to rotate about a remote center of motion that is displaced from a proximal center of motion as the drive link moves a carriage of the second linear slide along an arcuate path.
摘要翻译： 根据一个示例性实施例，操纵器装置包括基座，第一和第二线性滑块，驱动连杆，驱动构件，从动构件和端部执行器。 操纵器装置的元件协同作用以约束端部执行器围绕远离运动中心运动的旋转，随着驱动连杆沿着弧形路径移动第二线性滑块的滑架，该远程运动中心从近侧运动中心移位。
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公开(公告)号：US08504201B2
公开(公告)日：2013-08-06
申请号：US13299548
申请日：2011-11-18
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
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公开(公告)号：US08489235B2
公开(公告)日：2013-07-16
申请号：US12959704
申请日：2010-12-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
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公开(公告)号：US08123740B2
公开(公告)日：2012-02-28
申请号：US10893613
申请日：2004-07-15
IPC分类号： A61B19/00
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/00477 , A61B2017/00703 , A61B2034/305 , A61B2034/715 , A61B2090/506 , B25J9/1615 , Y10S901/10 , Y10S901/29
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 端部执行器在任何方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。
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