公开(公告)号：US20240358459A1

公开(公告)日：2024-10-31

申请号：US18770103

申请日：2024-07-11

Applicant: SRI International

Inventor： Karen Shakespear KOENIG ,  Pablo Eduardo GARCIA KILROY ,  Sina NIA KOSARI ,  Thomas D. EGAN

IPC: A61B34/30 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J3/04 ,  B25J9/00 ,  B25J9/06 ,  B25J9/10 ,  B25J9/12 ,  B25J13/02 ,  B25J13/08 ,  B25J17/02

CPC classification number: A61B34/30 ,  A61B17/34 ,  A61B34/37 ,  A61B34/72 ,  A61B2017/00327 ,  A61B2017/00477 ,  A61B2017/2919 ,  A61B2017/2923 ,  A61B2017/2927 ,  A61B2017/2932 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/742 ,  A61B46/10 ,  B25J3/04 ,  B25J9/0027 ,  B25J9/0039 ,  B25J9/06 ,  B25J9/104 ,  B25J9/12 ,  B25J13/02 ,  B25J13/085 ,  B25J17/0283 ,  G05B2219/45117

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

公开(公告)号：US20180036088A1

公开(公告)日：2018-02-08

申请号：US15553543

申请日：2015-07-30

Applicant: SRI International

Inventor： Pablo Eduardo Garcia KILROY ,  Seungkook YUN ,  Karen Shakespear KOENIG ,  Joan SAVALL

IPC: A61B34/37 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/741 ,  G05B19/00

Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.

公开(公告)号：US20170020615A1

公开(公告)日：2017-01-26

申请号：US15217446

申请日：2016-07-22

Applicant: SRI INTERNATIONAL

Inventor： Karen Shakespear KOENIG ,  Pablo Eduardo GARCIA KILROY ,  Sina NIA KOSARI ,  Thomas D. EGAN

IPC: A61B34/30 ,  B25J13/02 ,  B25J9/00 ,  B25J13/08 ,  B25J17/02 ,  B25J9/12

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

Abstract translation: 根据各种实现的机器人手臂包括：配置成保持外科手术工具的工具驱动器; 第一部分，包括联接到基部的第一端，远离第一端的第二端; 第一连杆，其包括构造成围绕俯仰轴旋转所述第一部分的至少一部分的马达; 耦合到所述第一连杆的第二连杆，所述第二连杆包括构造成使所述第一部分的至少一部分围绕辊轴线旋转的马达; 以及第二部分，包括：联接到所述第一部分的第二端的第一端，远离所述第一端的第二端，包括马达的第一连杆，所述第一连杆构造成使所述第二部分的至少一部分围绕辊轴线 ，耦合到第一链路的第二链路。

公开(公告)号：US20210045817A1

公开(公告)日：2021-02-18

申请号：US17085578

申请日：2020-10-30

Applicant: SRI International

Inventor： Karen Shakespear KOENIG ,  Pablo Eduardo GARCIA KILROY ,  Sina NIA KOSARI ,  Thomas D. EGAN

IPC: A61B34/30 ,  A61B46/10 ,  B25J3/04 ,  A61B34/00 ,  A61B34/37 ,  B25J9/10 ,  B25J9/06 ,  B25J9/00 ,  B25J9/12 ,  B25J13/02 ,  B25J13/08 ,  B25J17/02

Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

公开(公告)号：US20180168759A1

公开(公告)日：2018-06-21

申请号：US15790901

申请日：2017-10-23

Applicant: SRI International

Inventor： Pablo Eduardo Garcia KILROY ,  Karen Shakespear KOENIG ,  Jose Luis Cordoba MATILLA ,  Joan SAVALL

IPC: A61B34/00 ,  A61B34/37 ,  B25J3/00 ,  B25J13/02 ,  B25J13/08

CPC classification number: A61B34/74 ,  A61B34/37 ,  A61B34/76 ,  A61B2017/00207 ,  A61B2017/00212 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/067 ,  A61B2090/0818 ,  A61B2562/168 ,  B25J3/00 ,  B25J13/025 ,  B25J13/086 ,  Y10S901/02 ,  Y10S901/46

Abstract: User interface devices are disclosed. The device can include a body that can be held in a user's hand. The body has an outer surface that can be gripped by fingers of the user's hand to facilitate translation and rotation of the body by the user's hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the user's fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the user's fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.

公开(公告)号：US20180078440A1

公开(公告)日：2018-03-22

申请号：US15706112

申请日：2017-09-15

Applicant: Verb Surgical Inc. ,  SRI International

Inventor： Karen Shakespear KOENIG ,  Joan SAVALL ,  Pablo E. GARCIA KILROY ,  Bernard Fai Kin SIU ,  Thomas D. EGAN

IPC: A61G13/10 ,  A61G13/12 ,  A61B90/50

CPC classification number: A61G13/101 ,  A61B34/30 ,  A61B90/50 ,  A61B2034/302 ,  A61B2090/571 ,  A61G13/105 ,  A61G13/1285 ,  A61G13/129 ,  A61G2210/50

Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.