| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 181 | ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS | US13049028 | 2011-03-16 | US20110224687A1 | 2011-09-15 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 182 | ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS | US13049023 | 2011-03-16 | US20110224686A1 | 2011-09-15 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 183 | ROBOTIC ARM | US12978979 | 2010-12-27 | US20110174108A1 | 2011-07-21 | Andrew Crispin Graham; Robert Oliver Buckingham |
| An elongate robotic arm comprising articulated segments and a channel that extends along the longitudinal axis of the arm and contains a stiffening member which includes a sensor for measuring the shape of the arm. Using the central channel for this purpose improves the ease and accuracy of shape measurement. | ||||||
| 184 | ARTICULATED DEVICE WITH VISUALIZATION SYSTEM | US12937947 | 2009-04-14 | US20110152613A1 | 2011-06-23 | Brett Zubiate; Howard Choset; Amir Degani; Sarjoun Skaff |
| An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links A first one of the intermediate links may be movably coupled to the first link The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link The protective shield may surround at least a portion of the camera. | ||||||
| 185 | Release Mechanism For Robotic Arms | US12983664 | 2011-01-03 | US20110146441A1 | 2011-06-23 | Andrew Crispin Graham; Robert Oliver Buckingham |
| A robotic arm arrangement including an arm having control cables extending from the base of the arm, and coupling members for coupling the cables to actuators for linear actuation of the cables. The coupling members extend radially outwardly around the arm to enable quick release and replacement of the arm. | ||||||
| 186 | STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY | US12943669 | 2010-11-10 | US20110056320A1 | 2011-03-10 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 187 | ARM WITH A COMBINED SHAPE AND FORCE SENSOR | US12490487 | 2009-06-24 | US20100332030A1 | 2010-12-30 | DAVID Q. LARKIN; Vincent Duindam |
| A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated. | ||||||
| 188 | Steerable multi-linked device having a modular link assembly | US11923246 | 2007-10-24 | US07854109B2 | 2010-12-21 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 189 | STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY | US12851136 | 2010-08-05 | US20100294071A1 | 2010-11-25 | Brett Zubiate; Howard M. Choset; Amir Degani; Michael Schwerin |
| A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base. | ||||||
| 190 | ARTICULATING MECHANISMS WITH BIFURCATING CONTROL | US12766820 | 2010-04-23 | US20100262180A1 | 2010-10-14 | David J. Danitz; Adam Gold |
| The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. | ||||||
| 191 | ARTICULATING CATHETERS | US12766822 | 2010-04-23 | US20100262075A1 | 2010-10-14 | David J. Danitz; Adam Gold |
| The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. | ||||||
| 192 | MANIPULATOR MECHANISM | US12438458 | 2007-08-22 | US20100242659A1 | 2010-09-30 | Takashi Saito |
| A manipulator mechanism according to the present invention comprises an arm 1 having a tip mechanism 3 attached to its tip part, and an arm paying out device 2 to which the base end part of the arm 1 is coupled for winding and paying out the arm 1. The arm 1 comprises a tape aggregate 4 formed by bundling a plurality of elastic tapes 41, and a plurality of bundling members 5 attached to the tape aggregate 4 with spaces therebetween in a longitudinal direction of the tape aggregate 4. The bundling member 5 is provided with a guiding groove 51, through which the plurality of tapes 41 pass, to keep the relative position of the plurality of tapes 41 constant. | ||||||
| 193 | WORM-LIKE MECHANISM | US12445426 | 2007-10-12 | US20090314119A1 | 2009-12-24 | Alois Knoll |
| The invention relates to a worm-like mechanism comprising a support structure (10), which extends in the longitudinal direction of the mechanism, and at least two actuating units (14), which are arranged one behind the other in the longitudinal direction of the support structure (10) and each of which has two supporting elements (11), which while extending transversely in relation to the longitudinal direction of the support structure (10) are attached to the latter at a distance from one another in the longitudinal direction, and at least one actuating element, which is arranged between the supporting elements (11) and by which the supporting elements (11) can be moved in relation to one another. In order to provide a further worm-like mechanism, which provides precise open-loop or closed-loop control of its movements while in particular being of a simplified, slender construction, it is provided that the actuating elements (12) can be activated individually or in groups by way of a central line (31, 35). | ||||||
| 194 | Articulated arm | US11258028 | 2005-10-26 | US07536931B2 | 2009-05-26 | Tamotsu Saito |
| An articulated arm having a first arm member and a second arm member flexibly coupled mutually by a ball joint. From a plurality of through-holes provided in the first arm member 2 to a plurality of holding holes provided in the second arm member, compression coil springs 8 are inserted. Support shafts are inserted, movably back and forth freely, in the through-holes behind the rear end portion of the compression coil springs. A certain support shaft is moved forward by actuator or the like to push the compression coil spring while other support shaft are moved backward. As a result, the second arm member can be moved to a specified position by the ball joint. Stopping state of the second arm member at the specified position is maintained by the balance of position of support shaft and repulsive force of compression coil spring. | ||||||
| 195 | SYSTEM FOR MANAGING BOWDEN CABLES IN ARTICULATING INSTRUMENTS | US11871104 | 2007-10-11 | US20090099420A1 | 2009-04-16 | Bruce Robert Woodley; Joshua Oen; Aaron Brown; Chris Julian; Keith P. Laby; Wade Keller; Lawrence Kerver; Marc Kreidler; Scott Reiner; Katherine Whitin |
| The present invention relates, generally, to the reduction or elimination of permanent and catastrophic herniations in Bowden cables or coil pipes in articulating devices or snake-like robots. More particularly, the present invention relates managing the coil pipes in a spiral pattern along the articulating device or snake-like robot to reduce or eliminate the necessity of the Bowden cables or coil pipes to slide along the length of the articulating device or snake-like robot. Reduction or elimination of the necessity for the Bowden cables or coil pipes to slide reduces or eliminates catastrophic herniations in articulating devices or snake-like robots undergoing one or more articulations. | ||||||
| 196 | Module for the Manufacturing of Automated Moving Structures and Automated Moving Modular Structure | US11988551 | 2006-07-19 | US20090044654A1 | 2009-02-19 | Lucio Vaccani |
| A module for the manufacturing of automated moving structures, comprising a first substantially plate-like element and a second substantially plate-like element, which face each other and are mutually articulated so that they can oscillate by way of the interposition of hinge elements and elements for actuating the relative oscillation of the first and second substantially plate-like elements, the automated moving modular structure comprising two or more modules arranged in series to each other, the second substantially plate-like element of each module coinciding with the first substantially plate-like element of the module that follows it. | ||||||
| 197 | SELECTIVELY RIGIDIZABLE AND ACTIVELY STEERABLE ARTICULATABLE DEVICE | US12180438 | 2008-07-25 | US20090028670A1 | 2009-01-29 | Pablo GARCIA; Thomas LOW; Bryan CHAVEZ; Harsha PRAHLAD |
| A selectively rigidizable and actively steerable device is described. In one aspect, an articulatable device is described that includes a flexible inner tube having a first lumen, a flexible outer tube that receives the inner tube, and a multiplicity of overlapping, rigidizable scale-like strips. Each scale-like strip is coupled with the inner tube and positioned between the inner and outer tubes. Of particular note, the overlapping strips are actuatable between a non-rigidized state in which overlapping strips are slideable relative to one another and a rigidized state in which overlapping strips are not slideable relative to one another. | ||||||
| 198 | Robotic Arms With Coaxially Mounted Helical Spring Means | US12168624 | 2008-07-07 | US20090012648A1 | 2009-01-08 | Robert Oliver Buckingham; Andrew Crispin Graham |
| A robotic arm comprising a plurality of segments, each comprising articulated links, and means for causing each segment to bend so the arm can follow a serpentine path. A helical spring is provided coaxially with the arm to urge the links to an initial datum position, and to distribute the bending over the links of each segment. | ||||||
| 199 | MODULAR HYBRID SNAKE ARM | US12134936 | 2008-06-06 | US20080302200A1 | 2008-12-11 | Wayland E. Tobey |
| An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope. | ||||||
| 200 | SYSTEM FOR CONTROLLING THE MOVEMENT OF A MULTI-LINKED DEVICE | US12038729 | 2008-02-27 | US20080245173A1 | 2008-10-09 | Mike Schwerin; Cornell Wright; Brett Zubiate; Howie Choset |
| A system for controlling the movement of a steerable multi-linked device may include a steerable multi-linked device a feeder mechanism releaseably connected to the steerable multi-linked device and a controller device. The steerable multi-linked device may include a first link, a plurality of intermediate links, and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The controller device may be configured to control movement of the multi-linked device via the feeder mechanism. | ||||||
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