Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: Some embodiments of the present invention provide a method of cryptographically identifying and authenticating embedded devices through interaction with a distributed ledger. The device begins with a manufacturer root key and a globally unique identifier. It registers by signing a registration transaction that includes its identifier using its private root key with a digital signature algorithm and sending the resultant transaction to the distributed ledger. The ledger generates a registration root key and responds by sending this second root key back to the device. The device then uses the manufacturer root key and the registration root key to generate a child key that it uses to sign its response to the challenge proving that it possesses both the manufacturer key and the registration key. Thereafter, the device can non-interactively identify and authenticate itself to the distributed ledger by signing transactions with the derivative key.

Abstract: Identity management in the present invention can include several operational steps such as identity verification by a third party, identity inquiries, and inquiry approval by the identity holder.

Abstract: Embodiments of the present invention provide methods of implementing a private but traceable primary transaction implementing a transfer of an asset from an originator to a recipient using a third party, using a distributed network of computers implementing a distributed ledger. The methods use a third party to accept a transaction request from an originator. The third party then separates the transaction into a plurality of secondary transactions, characterized by various steps to make reconstruction of the original transaction difficult. The secondary transactions are recorded on the distributed ledger, accomplishing the original transaction without having any single transaction on the publicly accessible distributed ledger that directly corresponds to the original transaction. ary transactions.

Abstract: Methods for creating a haptic effect script for an application and producing haptic effects in response to an event occurring in an application are described Creating the haptic script includes launching an application, launching a scripting engine, monitoring a dynamic memory footprint for the application, receiving an indication of an event occurrence in the application, and determining changes to one or more values stored within the dynamic memory footprint that indicate the event occurrence. To produce the haptic effects, during execution and running of the application the dynamic memory footprint is monitored for value changes associated with an event occurrence as defined by the haptic event script and, if it is determined an event has occurred, the haptic script is executed to product a haptic effect signal.

Abstract: Embodiments of the present invention provide methods of implementing a private but traceable primary transaction implementing a transfer of an asset from an originator to a recipient using a third party, using a distributed network of computers implementing a distributed ledger. The methods use a third party to accept a transaction request from an originator. The third party then separates the transaction into a plurality of secondary transactions, characterized by various steps to make reconstruction of the original transaction difficult. The secondary transactions are recorded on the distributed ledger, accomplishing the original transaction without having any single transaction on the publicly accessible distributed ledger that directly corresponds to the original transaction, ary transactions.

Abstract: Some embodiments of the present invention provide a method of recording transactions using a T1 distributed ledger in a distributed database over a first distributed network of computers, and a plurality of T2 distributed ledgers each in a distributed database over a corresponding distributed network of computers, wherein each T2 distributed ledger has associated with it a corresponding plurality of wallets that are not also associated with any other T2 distributed ledger, comprising: (a) recording transactions identifying an originating wallet in the T2 distributed ledger associated with the originating wallet; (b) for any transactions that identify a recipient wallet that is not associated with the same T2 distributed ledger as the originating wallet, after recording the transaction in the associated T2 distributed ledger then recording the transaction in the T1 distributed ledger, and then recording the transaction in the T2 distributed ledger associated with the recipient wallet.

Abstract: Methods of and apparatuses for providing human interaction with a computer, including human control of three dimensional input devices, force feedback, and force input.

Abstract: Methods for creating a haptic effect script for an application and producing haptic effects in response to an event occurring in an application are described Creating the haptic script includes launching an application, launching a scripting engine, monitoring a dynamic memory footprint for the application, receiving an indication of an event occurrence in the application, and determining changes to one or more values stored within the dynamic memory footprint that indicate the event occurrence. To produce the haptic effects, during execution and running of the application the dynamic memory footprint is monitored for value changes associated with an event occurrence as defined by the haptic event script and, if it is determined an event has occurred, the haptic script is executed to product a haptic effect signal.

Abstract: A system for creating and distributing apps on computing devices. The present invention includes methods for allowing users access to apps and content by entering access information and methods to effectively create apps and content.

Abstract: A system that can accept inputs from one or more users and that can give haptic feedback to one or more users. The system can utilize network communication of data, various complimentary types of end effectors, various complimentary methods for force generation, and various attachments and accessories.

Abstract: A system for creating customizable books or other applications is described, along with techniques and methods for implementing customizable features in the books or applications.

Abstract: The present invention comprises methods and apparatuses that can provide reliable communications between a computer and a haptic interface device. The methods and apparatuses can provide communication that is more secure against errors, failures, or tampering than previous approaches. Haptic devices allow a user to communicate with computer applications using the user's sense of touch, for example by applying and sensing forces with the haptic device. The host computer must be able to communicate with the haptic device in a robust and safe manner. The present invention includes a novel method of accomplishing such communication; a computer-readable medium that, when applied to a computer, causes the computer to communicate according to such a method; and a computer system having a host computer and a haptic device communicating according to such a method.

Abstract: The present invention provides a human-computer interface. The interface includes provision of an application domain, for example corresponding to a three-dimensional application. The user is allowed to navigate and interact with the application domain. The interface also includes a personal domain, offering the user controls and interaction distinct from the application domain. The separation into two domains allows the most suitable interface methods in each: for example, three-dimensional navigation in the application domain, and two- or three-dimensional controls in the personal domain. Transitions between the application domain and the personal domain are under control of the user, and the transition method is substantially independent of the navigation in the application domain. For example, the user can fly through a three-dimensional application domain, and always move to the personal domain by moving a cursor near one extreme of the display.

Abstract: Methods of and apparatuses for providing human interaction with a computer, including human control of three dimensional input devices, force feedback, and force input.

Abstract: The present invention comprises methods and apparatuses that can provide reliable communications between a computer and a haptic interface device. The methods and apparatuses can provide communication that is more secure against errors, failures, or tampering than previous approaches. Haptic devices allow a user to communicate with computer applications using the user's sense of touch, for example by applying and sensing forces with the haptic device. The host computer must be able to communicate with the haptic device in a robust and safe manner. The present invention includes a novel method of accomplishing such communication; a computer-readable medium that, when applied to a computer, causes the computer to communicate according to such a method; and a computer system having a host computer and a haptic device communicating according to such a method.

Abstract: The present invention comprises methods and apparatuses that can provide reliable communications between a computer and a haptic interface device. The methods and apparatuses can provide communication that is more secure against errors, failures, or tampering than previous approaches. Haptic devices allow a user to communicate with computer applications using the user's sense of touch, for example by applying and sensing forces with the haptic device. The host computer must be able to communicate with the haptic device in a robust and safe manner. The present invention includes a novel method of accomplishing such communication; a computer-readable medium that, when applied to a computer, causes the computer to communicate according to such a method; and a computer system having a host computer and a haptic device communicating according to such a method.

Abstract: The present invention provides a method of human-computer interfacing that provides efficient implementation of intuitive controls in a three-dimensional space. The method comprises providing a three-dimensional space, characterized by x and y dimensions, together defining a plane approximately orthogonal to the user's direction of view into the space. A z dimension, approximately parallel to the direction of view, further characterizes the three-dimensional space. Objects in the space can be defined by x, y, and z coordinate sets. A control is provided having x and y coordinate sets as any other object. The z coordinate set of the control, however, spans a range of values, giving the control an increased depth. The control's range of z can be infinite, making the control accessible at all depths, or can be a finite range, making the control accessible only from that range of depths. Movement of a cursor into the region corresponding to the control initiates interaction with the user according to the control.