Covidien LP

Wyko, Inc.

Reuben Hale

William J Peine

Stefan Joerg

Paul M Loschak

James V Semrad

Campbell M Dixon

Input shapers for control inputs to the robotic surgical system and their method of controlling a linkage of a robot with a controller includes receiving a desired joint angle of a joint of the robot; and transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint.

Input shaper for robotic surgical system

A pair of rigid connectors is disposed in frictional arrangement between an optical flat and its supporting cell joined by resilient connectors. The first, axial connector consists of a block anchored to the cell's inner surface and tilted by a spring so that a line contact is established between the block and the flat's peripheral surface. The second, radial connector consists of a flat clip overlapping the gap between the optical flat and the cell, so that surface contacts are established between the clip and the side surfaces of both structures. Another, retaining spring coupling the first and second connectors ensures that such surface contacts are maintained. The frictional forces resulting from these connections prevent the axial and radial movement of the flat with respect to the cell when either component is subjected to vibrations under normal operating conditions. At the same time, this arrangement allows relative shifts between the flat and the cell caused by thermal effects to occur without producing mechanical stresses on the optical flat.

Friction connector for optical flats in interferometers

Growing community of inventors

Oakland, CA, United States of America

Reuben Hale