| Patent application number | Description | Published |
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| 20080221732 | TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY - Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading. | 09-11-2008 |
| 20090088774 | APPARATUS AND METHOD OF USER INTERFACE WITH ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument. | 04-02-2009 |
| 20090088775 | METHODS OF USER INTERFACE WITH ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument. | 04-02-2009 |
| 20110278909 | SMART ELECTRICAL WHEEL FOR ELECTRICAL BIKES - A wheel assembly having a motor attached to a hub within the wheel assembly such that the motor powers the wheel assembly to rotate about an axle once the motor receives a predetermined amount of power. A battery system is configured to deliver power to said motor, the battery system is arranged to rotate with the wheel assembly. A sensor system within the wheel assembly provides data related to velocity and angle of orientation of the assembly. A control system within the wheel assembly receives data related to velocity and angle of orientation of the wheel assembly from the sensor system, with the control system having at least one output to from the battery system indicative of an amount of power that is delivered to the motor. | 11-17-2011 |
| 20110301754 | Tool Memory-Based Software Upgrades for Robotic Surgery - Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading. | 12-08-2011 |
| 20120179169 | USER INTERFACE WITH STATE MACHINE FOR ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument. | 07-12-2012 |
| 20120190920 | ARTICULATE AND SWAPABLE ENDOSCOPE FOR A SURGICAL ROBOT - The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist. | 07-26-2012 |
| 20120197182 | Robotic Surgical Systems With Fluid Flow Control For Irrigation, Aspiration, and Blowing - In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids. | 08-02-2012 |
| 20130006268 | USER INTERFACE METHODS FOR ALTERNATE TOOL MODES FOR ROBOTIC SURGICAL TOOLS - In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument. | 01-03-2013 |
| 20130110130 | METHODS FOR MAXIMUM TORQUE DRIVING OF ROBOTIC SURGICAL TOOLS | 05-02-2013 |
| 20140039745 | Smart Electrical Wheel for Electrical Bikes - A wheel assembly having a motor attached to a hub within the wheel assembly such that the motor powers the wheel assembly to rotate about an axle once the motor receives a predetermined amount of power. A battery system is configured to deliver power to said motor, the battery system is arranged to rotate with the wheel assembly. A sensor system within the wheel assembly provides data related to velocity and angle of orientation of the assembly. A control system within the wheel assembly receives data related to velocity and angle of orientation of the wheel assembly from the sensor system, with the control system having at least one output to from the battery system indicative of an amount of power that is delivered to the motor. | 02-06-2014 |
| 20140052153 | MOVABLE SURGICAL MOUNTING PLATFORM CONTROLLED BY MANUAL MOTION OF ROBOTIC ARMS - Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform. | 02-20-2014 |
| 20140052154 | USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM - Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices. | 02-20-2014 |
| 20140188131 | TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY - Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading. | 07-03-2014 |
| 20140276950 | Inter-Operative Switching of Tools in a Robotic Surgical System - Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled. | 09-18-2014 |
| 20140276951 | Software Configurable Manipulator Degrees of Freedom - Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly. | 09-18-2014 |
| 20140276952 | SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT - Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein. | 09-18-2014 |
| 20140276953 | SYSTEMS AND METHODS FOR TRACKING A PATH USING THE NULL-SPACE - Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein. | 09-18-2014 |
| 20140297130 | SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART - A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel. | 10-02-2014 |
| 20140316431 | SYSTEMS AND METHODS FOR USING THE NULL SPACE TO EMPHASIZE MANIPULATOR JOINT MOTION ANISOTROPICALLY - Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein. | 10-23-2014 |
| 20140316654 | SURGICAL PATIENT SIDE CART WITH STEERING INTERFACE - A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart. | 10-23-2014 |
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| 20080225400 | PHOTOCHROMIC MATERIALS AND PHOTOCHROMIC COMPOSITIONS AND ARTICLES INCLUDING THE SAME - Photochromic materials and photochromic compositions and articles including the photochromic materials are disclosed. The photochromic materials may be the reaction product of a hyperbranched polyester polyol having, on average, at least two reactive hydroxyl groups, and at least one photochromic indeno-fused naphthopyran. | 09-18-2008 |
| 20080306241 | METHOD OF STABILIZING METAL PIGMENTS AGAINST GASSING - The present invention is directed to a passivating material suitable for passivating a metal surface. The passivating material comprises a polymer which comprises (a) at least one nitro group, and/or pyridine group, and/or phenolic hydroxyl group; and (b) at least one group selected from a phosphorous-containing group and/or a carboxylic acid group, wherein the at least one phosphorous-containing group is selected from a phosphate, a phosphite, or a non-nitrogen substituted phosphonate. | 12-11-2008 |
| 20100087598 | POLYMER AND COATING COMPOSITION COMPRISING THE SAME - The present invention is directed to a polymer comprising the reaction product of (i) a monomer comprising at least two ethylenically unsaturated double bonds; (ii) a monomer comprising a carbon atom that is connected to four moieties wherein one of said moieties comprises a hydrogen atom and the remainder of said moieties comprises an alkyl group, wherein one of the alkyl group containing moieties comprises an ethylenically unsaturated double bond, and wherein none of the alkyl group containing moieties form a cycloaliphatic ring; (iii) at least one monomer that is reactive with (i) and/or (ii); wherein the reaction product is not further reacted with any other monomer comprising an ethylenically unsaturated double bond; and wherein said reaction product comprises a reactive functional group. | 04-08-2010 |
| 20100119834 | COLOR-PLUS-CLEAR COMPOSITE COATINGS - A multi-component composite coating composition comprising an aqueous-based film-forming composition serving as a color coat or a basecoat and a polyepoxide-polyacid clearcoat is disclosed. The polyacid is made from ring opening a polybasic anhydride with a polyester polyol formed from reacting a polyol with a polycarboxylic acid having at least 20 contiguous carbon atoms between the carboxylic acid groups. | 05-13-2010 |
| 20100190911 | METHOD FOR PRODUCING A DISPERSION COMPRISING A TWO STAGE REACTION PRODUCT AND AN ASSOCIATED COATING - The present invention is directed to a method for producing a dispersion comprising: (a) forming a first reaction product by reacting: (a1) at least one monomer comprising an ethylenically unsaturated double bond; (a2) at least one carboxylic acid group-containing monomer; and (a3) at least one glycidyl ester compound; wherein the molar ratio of (a2) to (a3) is substantially 1:1; (b) forming a second reaction product in the presence of the first reaction product by reacting: (b1) at least one monomer comprising an ethylenically unsaturated double bond; and (b2) at least one carboxylic acid group-containing monomer; and (c) reacting an amine compound with the second reaction product; and wherein steps (a), (b), and (c) are conducted in a substantially solvent free environment. | 07-29-2010 |
| 20100190923 | METHOD FOR PRODUCING A DISPERSION COMPRISING A ONE STAGE REACTION PRODUCT AND AN ASSOCIATED COATING - The present invention is directed to a method for producing a dispersion comprising: (a) reacting (i) a monomer comprising an ethylenically unsaturated double bond; (ii) a carboxylic acid group-containing monomer; and (iii) a glycidyl ester compound to form a reaction product comprising a carboxylic acid group; and (b) reacting the reaction product of (a) with an amine compound; and wherein there is a molar excess of (ii) to (iii); wherein steps (a) and (b) are conducted in a substantially solvent free environment and wherein the reaction product of (b) is not further reacted with a polyester polyol. | 07-29-2010 |
| 20110151128 | ONE-COMPONENT, AMBIENT CURABLE WATERBORNE COATING COMPOSITIONS, RELATED METHODS AND COATED SUBSTRATES - Disclosed are coating compositions that can be one-component, ambient curable, and waterborne. The coating compositions include a polymer that is the reaction product of a polycarbodiimide and a ketocarboxylic acid. Also disclosed are substrates coated with a coating deposited from such compositions, as well as methods for depositing a coating on a substrate, and coated substrates. | 06-23-2011 |
| 20110165418 | MULTI-LAYER COMPOSITES FORMED FROM COMPOSITIONS HAVING IMPROVED ADHESION - Thermosetting compositions comprising an adhesion-promoting agent are disclosed. The adhesion-promoting agent is derived from boric acid or an equivalent and an ester having two or more functional groups that are derived at least in part from a 1,3-polyol. | 07-07-2011 |
| 20110217471 | ONE-COMPONENT, AMBIENT CURABLE WATERBORNE COATING COMPOSITIONS, RELATED METHODS AND COATED SUBSTRATES - Disclosed are coating compositions that can be one-component, ambient curable, and waterborne. The coating compositions include a polycarbodiimide, a carboxylic acid functional polymer, and a base. The polycarbodiimide is modified for hydrophilicity and is derived from a tetramethylxylylene diisocyanate. The base is present in the composition in an amount sufficient to provide the composition with a pH of at least 9.0. | 09-08-2011 |
| 20110245415 | PROCESS FOR FORMING A WATERBORNE COMPOSITE POLYURETHANE/ACRYLIC POLYMER DISPERSION - The present invention provides a process for forming a waterborne composite polyurethane/acrylic polymer dispersion without the use of N-methyl pyrrolidone. The process includes polymerizing a reaction mixture of polyisocyanate, polyol, and a hydroxyl and carboxylic acid functional reactant in an organic solvent medium of alkyl carbonate, then adding ethylenically unsaturated monomers and inverting the mixture into an aqueous medium. Addition polymerization is performed to yield a waterborne composite polyurethane/acrylic polymer dispersion, and any remaining alkyl carbonate is hydrolyzed. The resulting aqueous polymer dispersions are environmentally friendly and are suitable for use in coating compositions that conventionally contained similar dispersions prepared in the presence of N-methyl pyrrolidone. Comparable physical properties are observed. | 10-06-2011 |
| 20110281978 | SUBSTANTIALLY DEFECT-FREE SOUND AND VIBRATION DAMPNING COATING - The present invention is directed to a coating composition comprising: (i) an aqueous dispersion of polymeric particles; (ii) a polyether carbamate compound; (iii) a filler material; and (iv) an inorganic microparticle; and wherein after application to a substrate and after curing, the cured coating composition demonstrates a composite damping Loss Factor of 0.05 or greater at a frequency ranging from 100 to 6,300 Hz and comprises a surface that is substantially free of defects. | 11-17-2011 |
| 20130034741 | BRANCHED POLYESTER POLYMERS COMPRISING ISOPHTHALIC ACID AND COATINGS COMPRISING THE SAME - A branched polyester prepared as the reaction product of a polyacid comprising at least 90 mole % isophthalic acid, including its ester and/or anhydride, and a polyol comprising a tri- or higher-functional polyol is disclosed. Coatings comprising the same are also disclosed, as are substrates coated at least in part with such coatings. | 02-07-2013 |
| 20140242270 | METHODS FOR REPAIRING DEFECTS IN AUTOMOTIVE COATINGS - A method of repairing defects in automotive coatings is disclosed. More particularly, the invention relates to a method of repairing defects in color-clear composite coatings. | 08-28-2014 |
| 20140242280 | METHODS AND COMPOSITIONS FOR COATING SUBSTRATES - A method for applying a multilayer coating comprising a basecoat and a clearcoat is disclosed. The basecoat is a curable aqueous composition comprising (1) polymeric particles prepared from ethylenically unsaturated compounds including a multi-ethylenically unsaturated monomer and a keto or aldo-functional monomer, and (2) a polyhydrazide. | 08-28-2014 |
| 20140242281 | METHODS AND COMPOSITIONS FOR COATING SUBSTRATES - A method for applying a multilayer coating comprising a basecoat and a clearcoat is disclosed. The basecoat is a curable aqueous composition comprising (1) polymeric particles containing carboxylic acid functionality and prepared from ethylenically unsaturated compounds including a multi-ethylenically unsaturated monomer, and (2) a polycarbodiimide. | 08-28-2014 |
| 20140249241 | OPACIFYING PARTICLES WITH INTERNAL VOID AND METHODS FOR MAKING THE SAME - The invention includes a method of preparing an aqueous dispersion of particles at least partially encapsulated by a polymer, the method comprising dispersing inorganic particles in an aqueous phase; functionalizing at least a portion of the surfaces of the inorganic particles with a coupling agent, the coupling agent having pendent reactive groups; polymerizing the reactive groups on the functionalized particles with a first polymerizable component to produce inner polymer shells surrounding the inorganic particles; polymerizing a second polymerizable component to form outer polymer shells at least partially encapsulating the inner polymer shells; and producing voids within the outer polymer shells, such that the inorganic particles are received within the voids. | 09-04-2014 |
| 20140272419 | HEAT SENSITIVE SUBSTRATES COATED WITH WATERBORNE COATING COMPOSITIONS - The present invention is directed to a coated substrate comprising:
| 09-18-2014 |
| 20140377468 | METHODS AND COMPOSITIONS FOR COATING SUBSTRATES - A method for applying a multilayer coating comprising a basecoat and a clearcoat is disclosed. The basecoat is a curable aqueous composition comprising (1) polymeric particles prepared from ethylenically unsaturated compounds including a multi-ethylenically unsaturated monomer and a keto or aldo-functional monomer, and (2) a polyhydrazide. A hydrophobic polymer is present in the aqueous composition to improve its humidity resistance. | 12-25-2014 |
