Intuitive Surgical Operations, Inc.

The Stanley Works

Hdt Robotics, Inc.

Alexander Makhlin

Julio J Santos-Munne

Thomas Moyer

Eric L Faulring

Paul W Mohr

Nitish Swarup

Paul G Griffiths

David W Robinson

Alan W Petersen

J Edward Colgate

Mark W Zimmer

Michael A Peshkin

David Meer

Stephen H Klostermeyer

Paul F Decker

Michael Robie

David Robinson

Edward J Colgate

A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.

Surgical patient side cart with steering interface

A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.

A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.

Continuously variable transmission with multiple outputs

An intelligent assist method and apparatus are disclosed. The intelligent assist method includes imparting a manual force to a suspended object, determining an angle at which the suspended object is manually forced, generating motorized power to move the object in accordance with the angle at which the suspended object is forced, and inputting a signal to continue the motorized power and enable the object to continue moving on accordance with the angle at which the suspended object is manually forced.

Methods and apparatus for manipulation of heavy payloads with intelligent assist devices

Methods and apparatus for eliminating instability in intelligent assist devices are disclosed. The intelligent assist device includes an overhead motorized moveable trolley, a support that extends downwardly from the trolley to a payload, and a sensor operatively coupled to the support to sense a characteristic of motion imparted by a human operator to the device. A controller is operatively coupled with the sensor and the trolley to control movements of the trolley. The controller estimates an amount of oscillation in the support that does not correspond to the motion imparted by the human operator and adjusts movements of the trolley based thereon.

Methods and apparatus for eliminating instability in intelligent assist devices

Growing community of inventors

Chicago, IL, United States of America

Alexander Makhlin