Having Flexible Motion Transmission Means Patents (Class 414/7)
  • Patent number: 11339856
    Abstract: A power transmission drive includes a force amplifier configured to increase power output of at least one motor. The force amplifier includes a first pulley set and a second pulley set, each pulley set including at least one floating pulley and at least one fixed pulley. The first pulley set and the second pulley set are coupled to one or more motors by a corresponding force amplification fiber in tension. Actuation of the one or more motors actuate the first pulley set and the second pulley set. The first pulley set and the second pulley set transmit the force applied by the one or more motors to an output component.
    Type: Grant
    Filed: October 21, 2020
    Date of Patent: May 24, 2022
    Assignee: ELEV8.design Inc.
    Inventors: Attila Aurel Kabai, George Babu, Samuel Zlibut
  • Patent number: 11331814
    Abstract: An assembly of links and motorized joint unit comprises two or more links. The links have a tubular body, one or both ends of the tubular body being an open end. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links so as to be secured relative to the first of the links. A second portion is rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured relative to the second of the links. A protective sleeve has a tubular body mounted over part of the motorized joint unit to cover a gap between the first and the second of the links, the protective sleeve having a rigid annular member and a flexible annular member, the flexible annular member foldable onto the rigid annular member.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: May 17, 2022
    Assignee: KINOVA INC.
    Inventor: Louis-Pierre Fortin
  • Patent number: 11286144
    Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.
    Type: Grant
    Filed: February 20, 2020
    Date of Patent: March 29, 2022
    Assignee: SOFT ROBOTICS, INC.
    Inventors: Joshua Lessing, Daniel Vincent Harburg, Sarv Parteek Singh, Jeffrey Curhan
  • Patent number: 11200980
    Abstract: A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.
    Type: Grant
    Filed: December 2, 2019
    Date of Patent: December 14, 2021
    Assignee: Ecole Polytechnique Federale de Lausanne (EPFL)
    Inventors: Ricardo Daniel Rita Beira, Lionel Flaction
  • Patent number: 11110597
    Abstract: The present disclosure provides a soft poly-limb system, comprising a first actuator segment, a second actuator segment, and a third actuator segment forming the soft poly-limb. Each of the first actuator segment, the second actuator segment, and the third actuator segment may comprise a plurality of ring reinforced actuators. The soft poly-limb system may further comprise a control system whereby a user may control the soft poly-limb.
    Type: Grant
    Filed: April 11, 2019
    Date of Patent: September 7, 2021
    Assignee: Arizona Board of Regents on behalf of Arizona State University
    Inventors: Panagiotis Polygerinos, Pham Huy Nguyen
  • Patent number: 11076922
    Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: August 3, 2021
    Assignee: Ecole Polytechnique Federale de Lausanne (EPFL)
    Inventors: Ricardo Daniel Rita Beira, Reymond Clavel, Hannes Bleuler
  • Patent number: 11000958
    Abstract: A deflection element (10) for robot arms has two arm braces that are pivotally mounted on a joint mechanism. In order to create a universally useable deflection element, the two arm braces (12) are each mounted on a support structure (20) of the joint mechanism by means of an arm joint (18), and the two arms braces (12) are coupled to a connecting element (22) between the two arm joints (18), said connecting element (22) being movable relative to the support structure (20); furthermore, at least one actuating element (50; 51), which moves the connecting element (22) and thus pivots the arm braces (12) between the end positions thereof, is arranged between the support structure (20) and the connecting element (22).
    Type: Grant
    Filed: January 27, 2017
    Date of Patent: May 11, 2021
    Assignee: Festo AG & Co. KG
    Inventor: Dieter Mankau
  • Patent number: 10974382
    Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.
    Type: Grant
    Filed: June 9, 2015
    Date of Patent: April 13, 2021
    Assignee: Soft Robotics Inc.
    Inventors: Joshua Aaron Lessing, Ryan Richard Knopf, Noel McLellan
  • Patent number: 10722315
    Abstract: The present invention relates to an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.
    Type: Grant
    Filed: February 17, 2016
    Date of Patent: July 28, 2020
    Assignee: LIVSMED INC.
    Inventors: Jung Joo Lee, Hee Jin Kim
  • Patent number: 10639801
    Abstract: An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.
    Type: Grant
    Filed: August 20, 2014
    Date of Patent: May 5, 2020
    Assignee: PRESIDENT AND FELLOWS OF HARVARD COLLEGE
    Inventors: Bobak Mosadegh, Robert F. Shepherd, George M. Whitesides
  • Patent number: 10634243
    Abstract: The invention relates to a method for monitoring a functional state of a pressure-driven actuator which comprises an actuator compartment defined at least in portions by a flexibly deformable wall, the actuator being actuated by applying pressure to the actuator compartment by means of an operating pressure supply, a work process being carried out to actuate the actuator, which process is accompanied by the actuator transitioning from a starting configuration to an end configuration. The pressure the pressure applied to the actuator compartment is measured depending on time by means of a sensor apparatus during the transition from the starting configuration to the end configuration. The invention also relates to a pressure-driven actuator.
    Type: Grant
    Filed: May 8, 2017
    Date of Patent: April 28, 2020
    Assignee: J. Schmalz GmbH
    Inventors: Aline Defranceski, Walter Dunkmann
  • Patent number: 10597275
    Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.
    Type: Grant
    Filed: April 7, 2017
    Date of Patent: March 24, 2020
    Assignee: Soft Robotics, Inc.
    Inventors: Joshua Lessing, Daniel Vincent Harburg, Sarv Parteek Singh, Jeffrey Curhan
  • Patent number: 10595948
    Abstract: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.
    Type: Grant
    Filed: May 26, 2015
    Date of Patent: March 24, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Todd R. Solomon, Thomas G. Cooper
  • Patent number: 10562180
    Abstract: A fluidic robotic actuator configured to assume at least a neutral position, the fluidic robotic actuator includes a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position. The fluidic robotic actuator also includes a plurality of elongated bellows extending between the first and second plates, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plates in the neutral position, the bellows being coupled to the first and second plates at respective first and second ends of the bellows.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: February 18, 2020
    Assignee: OTHER LAB, LLC
    Inventors: Maria J. Telleria, Jonathan B. Pompa, Peter S. Lynn, Kevin B. Albert, Gabriel F. Hein, Thomas F. Allen, Kevin C. Kemper, Saul Thomas Griffith
  • Patent number: 10413708
    Abstract: An elongate flexible steerable guidewire for facilitating placement of a medical implement is described having a proximal section, an intermediate section, and a distal steerable section. In embodiments the distal steerable section comprises a plurality of rotatable swivel members, and an elongate directional tip extending distally from the distalmost swivel member. At least one manipulation wire is secured to the swivel members and extends proximally to the proximal section. Axial movement of manipulation wires rotates the swivel members, thereby curving the guidewire and deflecting the directional tip. An actuator or handle may be incorporated with the guidewire. Methods include placing medical implements in target regions. Exemplary applications include guiding and placement of electrical leads in the spine, and placement of angioplasty devices in the vasculature.
    Type: Grant
    Filed: January 10, 2017
    Date of Patent: September 17, 2019
    Inventor: Jeffrey Thomas Loh
  • Patent number: 10384354
    Abstract: A solar actuator comprises a top coupler, a bottom coupler, and a plurality of fluidic bellows actuators, wherein a fluidic bellows actuator of the plurality of fluidic bellows actuators moves the top coupler relative to the bottom coupler.
    Type: Grant
    Filed: March 10, 2017
    Date of Patent: August 20, 2019
    Assignee: SUNFOLDING, INC.
    Inventors: Saul Griffith, Leila Madrone, Peter S. Lynn, Kevin Simon, James McBride
  • Patent number: 10330182
    Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: June 25, 2019
    Assignee: X DEVELOPMENT LLC
    Inventors: Aaron Edsinger, Philip Mullins
  • Patent number: 10265866
    Abstract: In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation.
    Type: Grant
    Filed: December 2, 2016
    Date of Patent: April 23, 2019
    Assignee: HIWIN TECHNOLOGIES CORP.
    Inventor: Ren-Jeng Wang
  • Patent number: 10144464
    Abstract: A locomotion subassembly for a biped robot is disclosed. The locomotion subassembly includes several unique energy transfer mechanisms and arrangements for efficiently powering the motion of the robot.
    Type: Grant
    Filed: July 8, 2015
    Date of Patent: December 4, 2018
    Assignee: National Technology & Engineering Solutions of Sandia, LLC
    Inventors: Stephen Buerger, Clinton G. Hobart, Curt M. Salisbury, Steven J. Spencer, Anirban Mazumdar, Michael Kuehl, Kevin J. Dullea
  • Patent number: 10118289
    Abstract: A motor-driven articulated haptic interface arm includes a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor including a rotor, which delivers at least one maximum resistant torque about the axis opposing at least part of forces applied to the arm by its environment. A main transmission transmits to the arm the resistant torque about the axis and includes a capstan-type cable reducer. The arm includes elements for evaluating the resistant torque transmitted to the arm by the motor; braking rotation of the arm about the axis; activating the brake when the maximum resistant torque is reached by the motor; evaluating, after activation of the brake, the forces transmitted to the arm by the environment, including determining a deformation of the transmission under the forces; and deactivating the brake when the deformation goes below a predetermined threshold value.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: November 6, 2018
    Assignee: HAPTION
    Inventor: Francois Louveau
  • Patent number: 10092359
    Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).
    Type: Grant
    Filed: October 11, 2011
    Date of Patent: October 9, 2018
    Assignee: Ecole Polytechnique Federale De Lausanne
    Inventors: Ricardo Beira, Reymond Clavel, Hannes Bleuler
  • Patent number: 10022877
    Abstract: A bendable, telescopic, and flexible mechanical structure comprises: a distal-end structure body, a proximal-end structure body, and a middle connecting body. The distal-end structure body comprises a distal-end spacing disc, a distal-end locking disc and a structure bone. The proximal-end structure body comprises a proximal-end spacing disc, a proximal-end locking disc and the structure bone. The middle connecting body comprises pipe fixing plates and a pipe. The distal-end structure body is connected to the proximal-end structure body through the middle connecting body. One end of the structure bone is fixed on the proximal-end locking disc. Then, the structure bone passes through the proximal-end spacing disc, the middle connecting body and the distal-end spacing disc sequentially, and is fixed on the distal-end locking disc.
    Type: Grant
    Filed: December 31, 2013
    Date of Patent: July 17, 2018
    Assignee: Beijing Surgerii Technology Co., Ltd.
    Inventor: Wen Wang
  • Patent number: 10004524
    Abstract: An instrument for carrying out medical interventions, including a tubular shaft running lengthwise along a shaft longitudinal axis, an instrument head, wherein the instrument head is supported on the tubular shaft in such a way as to be pivotable about an instrument head pivot axis, and at least part of the instrument head is rotatable about an instrument head longitudinal axis, and a wheel gear arrangement for moving the instrument head, wherein at least part of the instrument head can be driven by the wheel gear arrangement for the rotation about the instrument head longitudinal axis, and wherein the instrument head can be driven by the wheel gear arrangement for the pivoting about the instrument head pivot axis.
    Type: Grant
    Filed: February 20, 2015
    Date of Patent: June 26, 2018
    Assignee: Karl Storz SE & Co. KG
    Inventors: Daniel Kärcher, Jochen Stefan
  • Patent number: 9907545
    Abstract: A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.
    Type: Grant
    Filed: June 17, 2015
    Date of Patent: March 6, 2018
    Assignee: President and Fellows of Harvard College
    Inventors: Kevin C. Galloway, Joshua Aaron Lessing
  • Patent number: 9873528
    Abstract: A rotation suppressing device 1 includes: a body 10; a shaft 20 extending outward from the body 10 and configured to rotate about a first rotation axis A1; a rotation part 30 configured to rotate about a second rotation axis A2 together with the shaft 20; a capture part 40 fixed to the rotation part 30 and configured to capture space debris D; a braking part 50 configured to suppress rotation of the shaft 20; and a body rotation suppressing part 60 configured to suppress rotation of the body 10 occurring when the braking part 50 operates.
    Type: Grant
    Filed: September 19, 2014
    Date of Patent: January 23, 2018
    Assignee: ASTROSCALE JAPAN INC.
    Inventors: Mitsunobu Okada, Masato Otsubo
  • Patent number: 9770299
    Abstract: A treatment tool of which a treatment unit operates with a driving force generated from a driving source includes a driving force transmission member that is connected to the driving source, a connecting portion that is formed in the treatment unit, that is connected to the driving wire, that is supplied with the driving force from the driving source via the driving force transmission member, and that converts the driving force into movement of the treatment unit, and a member for detecting amount of movement that is moved by the connecting portion.
    Type: Grant
    Filed: December 23, 2013
    Date of Patent: September 26, 2017
    Assignee: OLYMPUS CORPORATION
    Inventors: Takahiro Komuro, Masatoshi Iida, Hirotaka Namiki
  • Patent number: 9730757
    Abstract: A surgical instrument according to the invention, particularly a robot-guided surgical instrument, has a shaft end (1), a tool holder (2), which is mounted on the shaft end so as to be able to rotate about a yaw axis (G), and a tool (3) with a main lever (3A), in particular a blade and/or jaw, which is mounted on the tool holder so as to rotate about a pitch axis (N), and a gear transmission with a drive wheel (31), which is mounted on the tool holder so as to be rotatable about an input gear axis (G) by a driving means (200), and, in force-fit and/or form-fit connection therewith, an output wheel (30), which is mounted on the tool holder so as to rotate about an output gear axis (N) and by means of which the tool is rotatable about the pitch axis, or a wraparound transmission with a drive wheel, which is mounted on the tool holder so as to be rotatable about an input gear axis by a driving means, an output wheel, which is mounted on the tool holder so as to be able to rotate about an output gear axis and by
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: August 15, 2017
    Assignee: KUKA Roboter GmbH
    Inventor: Sven Brudniok
  • Patent number: 9713874
    Abstract: Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.
    Type: Grant
    Filed: November 4, 2014
    Date of Patent: July 25, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Youn Baek Lee, Yong Jae Kim, Jeong Hun Kim, Kyung Shik Roh, Se Gon Roh, Jong Won Lee, Byung June Choi
  • Patent number: 9701029
    Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and at least one bellows container. The arm includes a plurality of joints and links. The plurality of the servo motors are disposed in a first space in the arm and capable of driving each of the plurality of the joints. The plurality of the servo amplifiers are disposed in the first space and each of the plurality of the servo amplifiers controls each of the plurality of the servo motors. The at least one bellows container with one closed end which is positioned away from the arm and another open end includes a second space which is connected to the first space at the open end. In the manipulator, each of the first space and the second space is filled with oil, and each of the plurality of the servo amplifiers is connected with a cable for serial communication or power-line carrier communication.
    Type: Grant
    Filed: July 28, 2014
    Date of Patent: July 11, 2017
    Assignee: MITSUBISHI HEAVY INDUSTRIES, LTD.
    Inventors: Naoto Kawauchi, Kiyoshi Hirokawa
  • Patent number: 9669541
    Abstract: Disclosed herein is a robot arm including a first joint portion connected to an end portion of a wire and operable to rotate when the wire is pulled, a second joint portion connected to the first joint portion through a link, and a wire guide composed of a rotational plate rotatably installed at the second joint portion and a pair of idle rollers provided to continuously contact the rotational plate, in which the wire passes between the idle rollers.
    Type: Grant
    Filed: October 14, 2014
    Date of Patent: June 6, 2017
    Assignee: Hyundai Motor Company
    Inventors: Joo Young Chun, Hun Keon Ko
  • Patent number: 9662131
    Abstract: A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.
    Type: Grant
    Filed: November 13, 2007
    Date of Patent: May 30, 2017
    Assignee: Karl Storz GmbH & Co. KG
    Inventors: Shigeru Omori, Shuichi Uenohara, Makoto Jinno
  • Patent number: 9579013
    Abstract: A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8?), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9?, 10, 10?), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effector
    Type: Grant
    Filed: March 6, 2013
    Date of Patent: February 28, 2017
    Assignee: Steerable Instruments nv
    Inventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert
  • Patent number: 9512912
    Abstract: As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.
    Type: Grant
    Filed: February 27, 2014
    Date of Patent: December 6, 2016
    Assignee: Redwood Robotics, Inc.
    Inventors: Aaron Edsinger, Philip Mullins
  • Patent number: 9186220
    Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.
    Type: Grant
    Filed: December 17, 2010
    Date of Patent: November 17, 2015
    Assignee: Ethicon Endo-Surgery, Inc.
    Inventors: David Stefanchik, Michael J. Stokes
  • Patent number: 9186219
    Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.
    Type: Grant
    Filed: December 17, 2010
    Date of Patent: November 17, 2015
    Assignee: Ethicon Endo-Surgery, Inc.
    Inventors: David Stefanchik, Michael J. Stokes
  • Patent number: 8958916
    Abstract: A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.
    Type: Grant
    Filed: May 31, 2013
    Date of Patent: February 17, 2015
    Assignee: Northrop Grumman Systems Corporation
    Inventors: Mark Setrakian, Peter Abrahamson, Randall Adam Yates, Shi-Ping Hsu
  • Publication number: 20140330431
    Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.
    Type: Application
    Filed: May 6, 2014
    Publication date: November 6, 2014
    Inventors: Kevin Hollander, Nathan Cahill, Darren Kinney, Preston Clouse, Robert Holgate, Raymond Churchwell
  • Patent number: 8770905
    Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
    Type: Grant
    Filed: May 2, 2011
    Date of Patent: July 8, 2014
    Assignees: King Fahd University of Petroleum and Minerals, King Abdulazia City for Science and Technology
    Inventors: Mayez Al-Mouhamed, Nesar Merah
  • Patent number: 8644986
    Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
    Type: Grant
    Filed: September 11, 2008
    Date of Patent: February 4, 2014
    Assignee: Sony Corporation
    Inventors: Toshimitsu Tsuboi, Takeo Kishida, Tetsuharu Fukushima
  • Patent number: 8543240
    Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
    Type: Grant
    Filed: September 21, 2010
    Date of Patent: September 24, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Karlin Y. Bark
  • Publication number: 20130089392
    Abstract: A driving force transmission mechanism for transmitting a driving force from a driving source has the following arrangement. That is, the driving force transmission mechanism includes a linear or rod-shaped flexible manipulation wire, an inner pipe serving as a flexible guide member in which the manipulation wire is inserted, an outer pipe provided radially outside the inner pipe and configured to suppress deformation of the inner pipe.
    Type: Application
    Filed: November 30, 2012
    Publication date: April 11, 2013
    Applicant: OLYMPUS CORPORATION
    Inventor: Olympus Corporation
  • Patent number: 8281683
    Abstract: A remote manipulation arm comprising a master arm (5) mechanically separated from a slave arm (1) with the slave arm comprising a tubular segment and a manipulation tool 12 at one end thereof and further comprising an interface system including a control portion (7) and a mechanical power portion (8) for driving the slave arm (1) through a mechanical transmission (26,27) of the slave arm wherein the mechanical power portion (8) comprises a stationary motor, a stationary casing, a drum attached to the tubular segment and a transmission capable of rotating the tubular segment (3) and wherein the remote manipulation arm further comprises a winder (32) of electrical cables leading to control motors and a circular arc shaped part between the drum and a cylindrical portion of the stationary casing.
    Type: Grant
    Filed: February 25, 2005
    Date of Patent: October 9, 2012
    Assignee: Commissatiat a l'Energie Atomique
    Inventors: Philippe Garrec, Gérard Piolain
  • Patent number: 8271130
    Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
    Type: Grant
    Filed: March 17, 2009
    Date of Patent: September 18, 2012
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Arjang Hourtash
  • Patent number: 8251628
    Abstract: A joint tong apparatus for a radiation shielding facility. A spherical ball has a through-hole. An inner spherical socket and an outer spherical socket are installed in a hole formed in a partition between a radiation-shielded room and a control room so as to enclose the spherical ball on inner and outer sides. A bar is inserted and coupled into and to the through-hole of the spherical ball. An inner joint assembly has a first housing coupled to a shielded room-side end of the bar and a first pivot member pivotably mounted on a free end of the first housing. An outer joint assembly having a second housing coupled to a control room-side end of the bar and a second pivot member pivotably mounted on a free end of the second housing. The apparatus further includes a tong assembly, a handle assembly, a tong manipulation cable, and a pair of pivot manipulation cables.
    Type: Grant
    Filed: October 28, 2008
    Date of Patent: August 28, 2012
    Assignees: Korea Atomic Energy Research Institute, Korea Hydro & Nuclear Power Co., Ltd.
    Inventors: Eun Pyo Lee, Won Myung Choung, Dong Hee Hong, Jeong Hoe Ku, Won Kyung Lee, Il Je Cho, Dong Hak Kook, Kie Chan Kwon, Gil Sung You, Ji Sup Yoon
  • Patent number: 8066088
    Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.
    Type: Grant
    Filed: December 9, 2005
    Date of Patent: November 29, 2011
    Assignee: The Board of Trustees of the Leland Stanford Junior University
    Inventors: Alan T. Asbeck, Sangbae Kim, Mark R. Cutkosky
  • 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
  • Patent number: 7862522
    Abstract: A Sensor glove is an instrument, in the same way that a piano is an instrument. The Sensor glove is purchased and the owner then learns to use it and the sensors therein to develop the performance of a sound, character or model, or to “conduct” or “play” the sensor movements and experience the response of the model in real time. Several performers with a number of the Sensor glove can control over 200 motors or hundreds of control points on a character at one time, manipulate audio data, or computer images etc. The characteristics of the sensors on the gloves can be adjusted to the needs and demands of the wearer or the many performer and wearers in those venues where multiple performers are used with many gloves to control or produce the motions and sounds of many distinct characters in a screen play.
    Type: Grant
    Filed: August 8, 2006
    Date of Patent: January 4, 2011
    Inventors: David Barclay, Glenn Silver, Johan Versteegh, Bruce Lanoil
  • Publication number: 20100092267
    Abstract: The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.
    Type: Application
    Filed: December 19, 2007
    Publication date: April 15, 2010
    Applicant: Deakin University
    Inventors: Zoran Najdovski, Ben Horan, Asim Bhatti, Saeid Nahavandi
  • Patent number: 7558647
    Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.
    Type: Grant
    Filed: December 12, 2006
    Date of Patent: July 7, 2009
    Assignee: Panasonic Corporation
    Inventor: Yasunao Okazaki
  • Patent number: 7540867
    Abstract: A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.
    Type: Grant
    Filed: March 28, 2006
    Date of Patent: June 2, 2009
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Makoto Jinno, Takamitsu Sunaoshi