Patents by Inventor Hari Das

Hari Das 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).

  • Tool actuation and force feedback on robot-assisted microsurgery system
    Patent number: 6385509
    Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
    Type: Grant
    Filed: May 15, 2001
    Date of Patent: May 7, 2002
    Assignee: California Institute of Technology
    Inventors: Hari Das, Tim R. Ohm, Curtis D. Boswell, Robert D. Steele
  • Tool actuation and force feedback on robot-assisted microsurgery system
    Publication number: 20010020200
    Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
    Type: Application
    Filed: May 15, 2001
    Publication date: September 6, 2001
    Applicant: California Institute of Technology, a California nonprofit organization
    Inventors: Hari Das, Tim R. Ohm, Curtis D. Boswell, Robert D. Steele
  • Tool actuation and force feedback on robot-assisted microsurgery system
    Patent number: 6233504
    Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
    Type: Grant
    Filed: April 14, 1999
    Date of Patent: May 15, 2001
    Assignee: California Institute of Technology
    Inventors: Hari Das, Tim R. Ohm, Curtis D. Boswell, Robert D. Steele
  • Decoupled six degree-of-freedom teleoperated robot system
    Patent number: 5784542
    Abstract: The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot.
    Type: Grant
    Filed: October 23, 1996
    Date of Patent: July 21, 1998
    Assignee: California Institute of Technology
    Inventors: Timothy Ohm, Hari Das, Rodriguez Guillermo, Curtis Boswell, Eric Paljug, Paul Schenker, Ed Barlow, Charles Steve
  • Decoupled six degree-of-freedom robot manipulator
    Patent number: 5710870
    Abstract: The present invention is a double-jointed, tendon-driven revolute joint, a decoupled tendon-driven wrist, an antibacklash mechanism, a robot control system, and a robot manipulator incorporating the double-jointed, tendon-driven revolute joint, decoupled tendon-driven wrist, and antibacklash mechanism. The robot manipulator is a microsurgical teleoperated robot with actuators located at an actuator base. The overall system architecture includes a slave robot manipulator coupled to an amplifier chassis which is coupled to a control chassis. The control chassis is coupled to a workstation with a graphical user interface. Components of the robot manipulator are categorized into a mechanical sub-system, an electronics sub-system, a servo-control sub-system, and a high-level software control sub-system.
    Type: Grant
    Filed: September 7, 1995
    Date of Patent: January 20, 1998
    Assignee: California Institute of Technology
    Inventors: Timothy Ohm, Curtis Boswell, Hari Das, Eric Paljug, Guillermo Rodriguez, Paul Schenker, Sukhan Lee, Ed Barlow, Steve Charles