Abstract: The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder.

Abstract: The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon.

Abstract: The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder.

Abstract: A motor vehicle ball joint assembly includes a ball stud having a ball stud axis with a shank portion and a ball end centered thereon. A bearing liner has an open end disposed over the ball end with the open directed toward the shank portion. The bearing liner has a bearing surface engaging the ball end. A plurality of slits extend from the open end of the liner, defining a plurality of flex members. The flex members operably deflect to receive the ball end. When the ball end is completely inserted in the liner, the flex members return to a locked position, axially retaining the ball end in the liner. A stem engaging element has a stem axis and extends radially from the bearing liner. The stem engaging element has metal engaging threads. A rigid plastic case envelopes the bearing liner. The rigid plastic case and bearing liner and the rigid plastic case cooperatively positively lock the ball end within the bearing liner.

Abstract: A robotic arm and control system comprising a multi-axis, open-loop system of coupled structural members, wherein each structural member is pivotably coupled to one another to form a number of joints, wherein position calibration is provided by way of position sensors disposed at each joint, and controls for manipulating each joint in a predetermined manner and for monitoring the output of each position sensor, the controls first causing all structural members to move with respect to one another so that each position sensor outputs a home signal, the controls then manipulating each structural member in a predetermined sequence until each structural member is caused to be within a predetermined distance from its home position.

Abstract: A method and apparatus for controlling a stepper motor and for force sensing and force control. Stepper motor drive waveforms are provided which are constructed of a sequence of stairsteps, the size and duration thereof being determined as a function of the desired rotational velocity of the stepper motor. Means and a method for accelerating the stepper motor by varying the step size and step duration of the stairsteps in the drive waveform are discussed. Additionally, means and a method are discussed for sensing and controlling the force applied by the stepper motor to a load by way of evaluating the displacement of the actual position of the stepper motor shaft from the commanded or desired position of the shaft. Means and a method for implementing a compliant function in a similar manner are described.

Abstract: A magnetic mine sweep has at least one block of permanent magnet material connected on each side in flux conducting relationship to respective distributor elements, typically of mild steel, which are secured to respective steel pipes which are closed to form cavities for providing buoyancy and for distributing the flux for mine sweeping purposes. Rigid plastic foam can be provided in the cavities for reserve buoyancy and stiffening purposes. A non-magnetic shroud extends around the block of permanent magnet material.

Abstract: A method and apparatus for controlling a stepper motor and for force sensing and force control. Stepper motor drive waveforms are provided which are constructed of a sequence of stairsteps, the size and duration thereof being determined as a function of the desired rotational velocity of the stepper motor. Means and a method for accelerating the stepper motor by varying the step size and step duration of the stairsteps in the drive waveform are discussed. Additionally, means and a method are discussed for sensing and controlling the force applied by the stepper motor to a load by way of evaluating the displacement of the actual position of the stepper motor shaft from the commanded or desired position of the shaft. Means and a method for implementing a compliant function in a similar manner are described.

Abstract: A power train infinitely variable from substantially 1:1 ratio to a very high ratio, employing a pair of planetary gear assemblies, each including a sun gear, a ring gear and a planetary carrier having at least one planetary gear operatively connecting the associated ring and sun gears, the planetary gear assemblies having different gear ratios, both planetary assemblies having their sun gears rotatable by a driving member, a driven member operatively connected to the planetary carrier of the assembly of higher ratio, the ring gears being constructed for rotation as a unit, and the planetary carrier of the assembly of lower ratio being variably connectible with the driving member, whereby the overall ratio between driving and driven members is variable in dependence upon the relative speed of the driving member and the planetary carrier of the lower ratio assembly.

Abstract: A long horizontal tubular housing for a garage door operating screw is provided in its bottom with a slot extending lengthwise of the housing. Inside the housing there is a metal tube that is several feet long and that can be rotated by reversible means at one end of the housing. Wound helically around the tube and welded to it is a wire that forms a screw thread that is spaced from the surrounding tube and is encircled by a traveling nut for movement lengthwise of the housing when the tube is rotated. The nut is connected to means extending down through the slot for connection to a garage door to open or close the door. Since the space between the screw thread and the surrounding housing is empty except for the nut, the wire-wound portion of the tube is unsupported between the nut and the bearings for the tube. However, due to the light weight of the screw, it can be driven at least as fast as conventional door-opening screws without bending.

Abstract: A manipulator is shown of the type which includes an effector, such as a hand, comprising a pair of jaws relatively pivotally movable between open and closed positions under operation of power means such as an electric motor. Sensing means, for sensing both magnitude and direction of forces along three mutually orthogonal axes intersecting at the wrist and for sensing magnitude and direction of torques about said axes, are provided at the wrist intermediate to the manipulator hand and hand supporting means. The sensing means includes a plurality of sensing units radially spaced from the longitudinal axis of the manipulator at equal distances therefrom. In an exemplary arrangement, four such orthogonally located sensing units are employed, each of which includes a radially extending opaque pin carried by the manipulator arm or hand. Each pin extends into a clearance hole formed in an energy source and detector housing carried by the other of the arm and hand.