Patent application number | Description | Published |
20090107281 | Spring-based vectoring system for robotic aplications - An actuation system for a multi-segmented robot linkage is provided. The system includes (i) a gravity counter balancing mechanism for the multi-segmented robot linkage and a payload in contact with the multi-segmented robot linkage and (ii) a plurality of actuators acting on the joints of the multi-segmented robot linkage, whereby the actuators are high-bandwidth back-drivable actuators. | 04-30-2009 |
20100105984 | System and Method for Guiding a Medical Instrument with Magnetic Force Control - A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body. | 04-29-2010 |
20100149183 | IMAGE MOSAICING SYSTEMS AND METHODS - Mosaicing methods and devices are implementing in a variety of manners. One such method is implemented for generation of a continuous image representation of an area from multiple images consecutively received from an image sensor. A location of a currently received image is indicated relative to the image sensor. A position of a currently received image relative to a set of previously received images is indicated with reference to the indicated location. The currently received image is compared to the set of previously received images as a function of the indicated position. Responsive to the comparison, adjustment information is indicated relative to the indicated position. The currently received image is merged with the set of previously received images to generate data representing a new set of images. | 06-17-2010 |
20100243344 | ELECTROMECHANICALLY COUNTERBALANCED HUMANOID ROBOTIC SYSTEM - Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features. | 09-30-2010 |
20110015647 | POSITIONING APPARATUS WITH LOCKABLE JOINTS AND METHOD OF USE - A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. | 01-20-2011 |
20130039732 | REMOTE CENTER OF MOTION MECHANISM AND METHOD OF USE - 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. | 02-14-2013 |
20130184680 | ASSISTIVE METHOD AND VISUAL-AID DEVICE FOR VASCULAR NEEDLE INSERTION - A vascular access device is provided with a needle assembly, a catheter assembly configured to slidably receive the needle assembly, and a light emitting assembly configured to couple to the needle assembly. The light emitting assembly and the needle assembly cooperate to shine a beam of light down the bore of the needle to assist with aligning the needle with a penetration site on target tissue. Systems and methods associated with these devices are also disclosed. | 07-18-2013 |
20130304256 | COOPERATIVE MINIMALLY INVASIVE TELESURGICAL SYSTEM - 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. | 11-14-2013 |
20130331859 | MULTI-USER MEDICAL ROBOTIC SYSTEM FOR COLLABORATION OR TRAINING IN MINIMALLY INVASIVE SURGICAL PROCEDURES - A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users. | 12-12-2013 |
20140051922 | REAL-TIME GENERATION OF THREE- DIMENSIONAL ULTRASOUND IMAGE USING A TWO-DIMENSIONAL ULTRASOUND TRANSDUCER IN A ROBOTIC SYSTEM - Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure. | 02-20-2014 |
20140135797 | POSITIONING APPARATUS AND METHOD OF USE - A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. | 05-15-2014 |
20140195048 | COOPERATIVE MINIMALLY INVASIVE TELESURGICAL SYSTEM - 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. | 07-10-2014 |
Patent application number | Description | Published |
20090012534 | ROBOTIC APPARATUS - A robotic apparatus has eight actuators (M | 01-08-2009 |
20110137322 | Cooperative Minimally Invasive Telesurgical System - 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. | 06-09-2011 |
20120130399 | Cooperative Minimally Invasive Telesurgical System - 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. | 05-24-2012 |