| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 241 | Software center and highly configurable robotic systems for surgery and other uses | US13175458 | 2011-07-01 | US08786241B2 | 2014-07-22 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| 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. | ||||||
| 242 | Software center and highly configurable robotic systems for surgery and other uses | US13175590 | 2011-07-01 | US08749190B2 | 2014-06-10 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| 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. | ||||||
| 243 | Software center and highly configurable robotic systems for surgery and other uses | US13175477 | 2011-07-01 | US08749189B2 | 2014-06-10 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| 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. | ||||||
| 244 | Software center and highly configurable robotic systems for surgery and other uses | US13175572 | 2011-07-01 | US08541970B2 | 2013-09-24 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| 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. | ||||||
| 245 | Robotic apparatus | US10893613 | 2004-07-15 | US08123740B2 | 2012-02-28 | Akhil J. Madhani; J. Kenneth Salisbury, Jr.; Gunter D. Niemeyer |
| 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. | ||||||
| 246 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175477 | 2011-07-01 | US20110264109A1 | 2011-10-27 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| 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. | ||||||
| 247 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175458 | 2011-07-01 | US20110264108A1 | 2011-10-27 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; Larkin David Q.; Gary S. Guthart |
| 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. | ||||||
| 248 | Software center and highly configurable robotic systems for surgery and other uses | US11133423 | 2005-05-19 | US08004229B2 | 2011-08-23 | William C. Nowlin; Paul W Mohr; Bruce M. Schena; David Q. Larkin; Gary Guthart |
| 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. | ||||||
| 249 | Teleoperable Electromechanical Device | US11749716 | 2007-05-16 | US20080282831A1 | 2008-11-20 | Daniel Steven Sanchez |
| A manually powered teleoperable electromechanical device is disclosed. The user's movement of the joints on a master mechanism is converted to electrical energy to control a kinematically similar arrangement of joints on a slave mechanism. Bi-directional, dynamic, force reflecting control of the slave mechanism is provided without a need for sensors, software, computers, or external power sources. | ||||||
| 250 | Remote handling device | US09631836 | 2000-08-03 | US06564669B1 | 2003-05-20 | Andre Garnier |
| A remote handling device includes a master arm and a slave arm adapted to reproduce the movements of the master arm. The slave arm is located within a confinement chamber. The master arm is located outside the confinement chamber. The master and slave arms are interconnected by a mechanism passing through a wall of the confinement chamber. The master arm is connected by a connection tube to the mechanism. The master arm and the connection tube are connected to coupling and uncoupling means adapted to permit their modular connection or disconnection. | ||||||
| 251 | Surgical manipulator | US963084 | 1997-11-03 | US5813813A | 1998-09-29 | Wolfgang Rudolf Daum; Jorg Schmiedeke |
| The present invention relates to a surgical manipulator for remotely grasping and manipulating things in response to movements of a human hand controlling the device. Movements of human fingers can be transmitted to mechanical finger-like devices through mechanical cables and linkages. In one embodiment the linkages include a mechanical movement reduction device to translate large hand movements to smaller distal movements. Various structures are provided at the proximal and distal ends for sensing and replicating the movements of a human hand. | ||||||
| 252 | Apparatus and method for performing surgical tasks during laparoscopic procedures | US428046 | 1995-04-25 | US5807376A | 1998-09-15 | Frank J. Viola; Dominick L. Mastri; Ghaleb A. Sater; Wayne P. Young; Frank M. Rende, III |
| An apparatus is provided for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the elongated body and including a plurality of articulated fingers, and an actuation assembly operatively associated with the proximal portion of the elongated body for controlling the operation of the mechanical hand. | ||||||
| 253 | Apparatus and method for performing surgical tasks during laparoscopic procedures | US639412 | 1996-04-29 | US5716352A | 1998-02-10 | Frank J. Viola; Dominick L. Mastri; Ghaleb A. Sater; Wayne P. Young; Frank M. Rende, III |
| An apparatus is provided for performing surgical tasks during laparoscopic procedures which includes an elongated body, a mechanical hand operatively associated with a distal portion of the elongated body and including a plurality of articulated fingers, and an actuation assembly operatively associated with the proximal portion of the elongated body for controlling the operation of the mechanical hand. | ||||||
| 254 | Surgical manipulator | US206450 | 1994-03-04 | US5599151A | 1997-02-04 | Wolfgang R. Daum; Jorg Schmiedeke |
| The present invention relates to a surgical manipulator for remotely grasping and manipulating things in response to movements of a human hand controlling the device. Movements of human fingers can be transmitted to mechanical finger-like devices through mechanical cables and linkages. In one embodiment the linkages include a mechanical movement reduction device to translate large hand movements to smaller distal movements. Various structures are provided at the proximal and distal ends for sensing and replicating the movements of a human hand. | ||||||
| 255 | Device for the disconnectable coupling of a toggle joint to a telemanipulator slave arm | US192198 | 1988-05-10 | US4873885A | 1989-10-17 | Eric Teillauchet; Angelo Bandiera |
| The open end of the shaft (10) of the slave arm of a telemanipulator carries two fixed hooks (50) able to encircle two spindles (52) projecting on either side of a toggle joint (16) supporting a gripper (18). Hooks (50) and spindles (52) form a pivot axis, which is displaced from the side of the pivot pin (34) of the gripper with respect to a plane parallel to the pivot axix and containing the longitudinal axis of shaft (10a). On the side of the plane opposite to the hooks (50) and the spindles (52), a latch (54) locks the case (16a) to the end of the shaft, thus, formed coupling device (15). | ||||||
| 256 | Shielded cells having manipulators comprising a master arm and a slave arm | US378803 | 1982-05-17 | US4474518A | 1984-10-02 | Richard J. Critchley; Samuel R. Oldham |
| The slave arm (15) in a sealed containment (12 or 210) is arranged to be replaceable by forward displacement by a new arm (115 or 215). The new arm is preceded by an intermediate sealing body (101 or 201) sealed on the new arm by a flexible bag (103 or 203) which is removable into the sealed containment once the new arm is located in the sealed containment. Preferably the sealed containment (12) is spaced from a shield wall (10) to provide an interspace (13) accessible to a protected operator and the linking part (16) of the manipulator has a demountable coupling (24) in the interspace so that the new arm can be inserted from the interspace. | ||||||
| 257 | True motion miniature manipulator | US3650410D | 1969-11-25 | US3650410A | 1972-03-21 | WIESENER ROBERT W |
| A compact or miniature master-slave manipulator which is made primarily for light duty work, and which is inexpensive to manufacture. Structure is employed which permits the true motion of the arms of the manipulator, so that when the master side is raised, the slave side will also be raised, for example.
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| 258 | Rotary tong squeeze system | US3572807D | 1969-06-06 | US3572807A | 1971-03-30 | HAAKER LESTER W; JELATIS DEMETRIUS G |
| A wrist joint for a remote control manipulator having a direct two-way drive rotary tong squeeze system. The rotary tong squeeze system replaces that utilizing a single linear motion tape or cable to close the tong and springs to return to open position. The present wrist joint allows the tong to be driven in both the opening and closing directions using a pair of opposing linear elements to transmit motions from the master arm to tape drums and then through differential gears to the operating members of the tong assembly.
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| 259 | Sealed wrist joint | US3543592D | 1969-04-08 | US3543592A | 1970-12-01 | HAAKER LESTER W; JELATIS DEMETRIUS G |
| 260 | Manipulator for working in non-accessible spaces | US3510011D | 1967-08-09 | US3510011A | 1970-05-05 | WALISCHMILLER HANS |
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