Patents by Inventor Akhil J. Madhani

Akhil J. Madhani has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 9999473
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: June 19, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Patent number: 9510915
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: March 11, 2014
    Date of Patent: December 6, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Publication number: 20160157945
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Application
    Filed: February 9, 2016
    Publication date: June 9, 2016
    Inventors: AKHIL J. MADHANI, J. Kenneth Salisbury
  • Publication number: 20160100900
    Abstract: 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 an y 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.
    Type: Application
    Filed: December 21, 2015
    Publication date: April 14, 2016
    Inventors: AKHIL J. MADHANI, KENNETH J. SALISBURY
  • Publication number: 20140194899
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Application
    Filed: March 11, 2014
    Publication date: July 10, 2014
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. MADHANI, J. Kenneth SALISBURY
  • Patent number: 8709000
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: December 20, 2012
    Date of Patent: April 29, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Publication number: 20140107666
    Abstract: 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 master 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.
    Type: Application
    Filed: September 4, 2013
    Publication date: April 17, 2014
    Applicant: Massachusetts Institute of Technology
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury, Gunter G. Niemeyer
  • Patent number: 8368700
    Abstract: A method for specifying an animatronics unit includes receiving a force-based software model for the animatronics unit, receiving a kinematics-based software model for the animatronics unit, receiving animation data for animating the kinematics-based software model, wherein the animation data comprises artistically determined motions for the kinematics-based software model by a user, determining a plurality of driving signals in response to the animation data, animating the force-based software model of the animatronics unit in response to the plurality of driving signals, displaying animation of the force-based software model determined in response to the plurality of driving signals, and determining a specification for construction of the animatronics unit in response to animation of the force-based software model.
    Type: Grant
    Filed: December 17, 2007
    Date of Patent: February 5, 2013
    Assignee: Pixar
    Inventors: David DiFrancesco, Loren Carpenter, Oren Jacob, Warren Trezevant, Akhil J. Madhani, Alexis P. Wieland
  • Patent number: 8343141
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: July 9, 2010
    Date of Patent: January 1, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Patent number: 8336420
    Abstract: A robotic joint configured as a 3-axis joint. The joint includes an input roll assembly and a pitch-output roll assembly. The pitch-output roll assembly includes: a housing; a differential mechanism including left and right input gears, an output gear, a cross element interconnecting the gears, and a clevis supporting the gears and the cross element; a left four-bar linkage coupled to the left input gear; a right four-bar linkage coupled to the right input gear; and first and second linear actuators connected to the left and right four-bar linkages. The first and second linear actuators selectively drive the left and right input gears to rotate the output gear about an output roll axis and to rotate the cross element about a pitch axis passing through the cross element and input gears. A linear actuator in the input roll assembly rotates the pitch-output roll housing about an input roll axis.
    Type: Grant
    Filed: June 2, 2010
    Date of Patent: December 25, 2012
    Assignee: Disney Enterprises, Inc.
    Inventors: Troy Alexander Carter, Akhil J. Madhani, Arthur Stanley Brigham
  • Patent number: 8123740
    Abstract: 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.
    Type: Grant
    Filed: July 15, 2004
    Date of Patent: February 28, 2012
    Assignee: Massachusetts Institute of Technology
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
  • Publication number: 20110296944
    Abstract: A robotic joint configured as a 3-axis joint. The joint includes an input roll assembly and a pitch-output roll assembly. The pitch-output roll assembly includes: a housing; a differential mechanism including left and right input gears, an output gear, a cross element interconnecting the gears, and a clevis supporting the gears and the cross element; a left four-bar linkage coupled to the left input gear; a right four-bar linkage coupled to the right input gear; and first and second linear actuators connected to the left and right four-bar linkages. The first and second linear actuators selectively drive the left and right input gears to rotate the output gear about an output roll axis and to rotate the cross element about a pitch axis passing through the cross element and input gears. A linear actuator in the input roll assembly rotates the pitch-output roll housing about an input roll axis.
    Type: Application
    Filed: June 2, 2010
    Publication date: December 8, 2011
    Applicant: DISNEY ENTERPRISES, INC.
    Inventors: TROY ALEXANDER CARTER, AKHIL J. MADHANI, ARTHUR STANLEY BRIGHAM
  • Patent number: 8052185
    Abstract: A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.
    Type: Grant
    Filed: April 9, 2009
    Date of Patent: November 8, 2011
    Assignee: Disney Enterprises, Inc.
    Inventor: Akhil J. Madhani
  • Publication number: 20100292708
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Application
    Filed: July 9, 2010
    Publication date: November 18, 2010
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Publication number: 20100259057
    Abstract: A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.
    Type: Application
    Filed: April 9, 2009
    Publication date: October 14, 2010
    Applicant: DISNEY ENTERPRISES, INC.
    Inventor: Akhil J. Madhani
  • Patent number: 7780651
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: November 27, 2007
    Date of Patent: August 24, 2010
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Patent number: 7628093
    Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.
    Type: Grant
    Filed: March 7, 2007
    Date of Patent: December 8, 2009
    Assignee: Disney Enterprises, Inc.
    Inventors: Akhil J. Madhani, Bryan S. Tye
  • Publication number: 20090030429
    Abstract: 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 an y 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.
    Type: Application
    Filed: August 6, 2008
    Publication date: January 29, 2009
    Applicant: Massachusetts Institute of Technology
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury, Gunter G. Niemeyer
  • Publication number: 20080216596
    Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.
    Type: Application
    Filed: March 7, 2007
    Publication date: September 11, 2008
    Applicant: DISNEY ENTERPRISES, INC.
    Inventors: Akhil J. Madhani, Bryan S. Tye
  • Patent number: 7316681
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: October 4, 2005
    Date of Patent: January 8, 2008
    Assignee: Intuitive Surgical, Inc
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury