1658 results about "Multiple degrees of freedom" patented technology

A surgical instrument can include a shaft having a proximal end and a distal end, and a wrist coupled to the distal end of the shaft and configured to articulate in multiple degrees of freedom coupled to the distal end of the shaft. The surgical instrument can further include an end effector supported by the wrist, wherein the end effector includes a cutting element and jaws configured to grip tissue and fuse tissue via electrosurgical energy. The surgical instrument can be configured for use with a teleoperated robotic surgical system that can include a patient side console configured to interface to actuate the surgical instrument and a surgeon side console configured to receive inputs from a surgeon to control the actuation of the surgical instrument.

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and / or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

A video gesture-based three-dimensional computer interface system that uses images of hand gestures to control a computer and that tracks motion of the user's hand or a portion thereof in a three-dimensional coordinate system with ten degrees of freedom. The system includes a computer with image processing capabilities and at least two cameras connected to the computer. During operation of the system, hand images from the cameras are continually converted to a digital format and input to the computer for processing. The results of the processing and attempted recognition of each image are then sent to an application or the like executed by the computer for performing various functions or operations. When the computer recognizes a hand gesture as a "point" gesture with one or two extended fingers, the computer uses information derived from the images to track three-dimensional coordinates of each extended finger of the user's hand with five degrees of freedom. The computer utilizes two-dimensional images obtained by each camera to derive three-dimensional position (in an x, y, z coordinate system) and orientation (azimuth and elevation angles) coordinates of each extended finger.

A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

A parallel mechanism is capable of positioning and orienting an end platform with up to six or more degrees of freedom. In preferred embodiments, the mechanism includes six links having a first and second ends. The first end is connected to an end platform for supporting a tool, while the second end is connected to an actuator capable of translating the second end. A rotational drive mechanism may be provided for rotating an object mounted on the end platform at varying orientations of the end platform independently of movement of the end platform as a whole. The links may be curved in order to avoid interference between adjoining links, thereby permitting an increased range of motion and improved dexterity of the mechanism.

A bending forceps 1 has at least three degrees of freedom including relative opening / closing of a pair of gripping members 11a, 11b, rotation of both the gripping members around a first axis 15 and rotation of both the gripping members around a second axis 42 existing on an imaginary plane substantially perpendicular to the first axis 15. A drive power from an actuator is converted to each motion of the opening / closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanisms 5, 6 and 7. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment / detachment to / from a driving means.

A manipulator for use in medical procedures can manipulate a medical tool with one or more degrees of freedom with respect to a patient. The manipulator is particularly useful for positioning a medical tool with respect to a patient disposed inside an imaging device such as a computer tomography machine.

An expandable interbody fusion device includes superior and inferior endplates that are configured to receive a sequentially inserted stack of interlocking expansion members or wafers. The like-configured wafers include features on their top and bottom surfaces that interlock the wafers in multiple degrees of freedom so that the wafer stack is not disrupted when the fusion device is fully expanded. One of the interlocking features includes a plurality of prongs projecting from an upper surface of the wafers and into a recess defined in the lower surface of an adjacent previously inserted like-configured wafer. The prongs and recesses are configured to prevent retrograde movement of each new wafer in a direction opposite the direction of insertion. Other interlocking features prevent movement in the direction of insertion, transverse to the insertion direction and vertically within the stack.

An expandable interbody fusion device includes superior and inferior plates that are configured to receive a sequentially inserted stack of expansion members or wafers. The superior and inferior plates include features that at least initially interlock the two plates until the superior plate is dislodged by pressure from the growing wafer stack. The wafers include features on their top and bottom surfaces that interlock the wafers in multiple degrees of freedom so that the wafer stack is not disrupted when the fusion device is fully expanded. Each wafer also includes features that interlock with the inferior plate until the wafer id dislodged by sequential introduction of another wafer.

A surgical instrument can include a shaft having a proximal end and a distal end, and a wrist coupled to the distal end of the shaft and configured to articulate in multiple degrees of freedom coupled to the distal end of the shaft. The surgical instrument can further include an end effector supported by the wrist, wherein the end effector includes a cutting element and jaws configured to grip tissue and fuse tissue via electrosurgical energy. The surgical instrument can be configured for use with a teleoperated robotic surgical system that can include a patient side console configured to interface to actuate the surgical instrument and a surgeon side console configured to receive inputs from a surgeon to control the actuation of the surgical instrument.

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and / or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

Disclosed is a multiple coordinate controller device having a three-dimensional body with a first surface portion and a second surface portion where the second surface portion is not coplanar with the first surface. A first transducer with a first sensing surface is coupled to the first surface portion of the body and capable of detecting both positions and a range of pressure forces at positions on the first sensing surface. The first transducer is further capable of providing a first range of z coordinates at a detected x,y coordinate in response to the range of pressure forces on said first sensing surface. A second transducer having a second sensing surface is coupled to the second surface portion of the body and capable of detecting both positions and a range of pressure forces at the positions on the second sensing surface. The second transducer is further capable of providing a second range of z coordinates of opposite polarity to the first range of z coordinates in response to the range of forces on second sensing surface.

The invention relates to a workbench with multiple degrees of freedom, which can move and rotate in multiple directions and is beneficial to overcoming of the disadvantage that the workbench in the prior art is of a fixed structure and can not move. The workbench comprises an elevator mechanism, a moving mechanism on a horizontal plane and a multi-angle rotating mechanism, wherein the elevator mechanism and the moving mechanism are of a lead screw moving mechanism, and the multi-angle rotating mechanism comprises a universal connection device and a locking mechanism. The moving mechanism can drive the workbench to move on the horizontal plane and ensure that the workbench can reach any positions on the horizontal plane within an effective range, and an X-directional moving mechanism and a Y-directional moving mechanism can operate independently or in a combined manner; the multi-angle rotating mechanism drives the surface of the workbench to incline; and the mechanisms are mutually combined to complete position change of the workbench surface.

An expandable interbody fusion device includes superior and inferior endplates that are configured to receive a sequentially inserted stack of interlocking expansion members or wafers. The like-configured wafers include features on their top and bottom surfaces that interlock the wafers in multiple degrees of freedom so that the wafer stack is not disrupted when the fusion device is fully expanded. One of the interlocking features includes a plurality of prongs projecting from an upper surface of the wafers and into a recess defined in the lower surface of an adjacent previously inserted like-configured wafer. The prongs and recesses are configured to prevent retrograde movement of each new wafer in a direction opposite the direction of insertion. Other interlocking features prevent movement in the direction of insertion, transverse to the insertion direction and vertically within the stack.

An interface apparatus includes a base element, an interface element, and an attachment mechanism for attaching the interface element to the base element. The attachment mechanism is pivotable within a plurality of degrees of freedom. The interface element is an extensible member which is, in two of its embodiments, pivotally mounted so as to be rotatably adjustable about a pivot point with respect to a primary member. The primary member may be a base member or another display member. These members may be computer keyboards or displays, such as liquid crystal displays (LCDs), audio speakers, or the like such as are used in desk top or lap top computers and terminals.

A spinal alignment system is disclosed and includes vertebral connectors, elongated elements that link the vertebral connectors, and fasteners that lock the elongated elements in position. An elongated element has at least one shaped end that is received by a coupling member of the connector. The shaped end permits the elongated element to be angularly moveable with respect to the coupling member until locked in place with a fastener received in the coupling member. The elongated element also preferably includes a length adjustment mechanism, such as a telescoping or threaded section to provide a desired length in conjunction with a desired degree of alignment. Various coupling mechanisms are disclosed to provide multiple degrees of freedom prior to fixation.

An apparatus for rigid fixation of individual vertebra to the stabilizing rod. It consists of an anchor secured to the vertebra and a connector with multiple degrees of freedom linking each anchor to a rod. Pressure from the rod against a connector engages internal constricting mechanism and eliminates movement within the connection. This results in rigid fixation between individual anchors and the rod.

A master input device operates a slave manipulator which includes joints corresponding to a plurality of degrees of freedom. The device includes an operating unit and detection units of two or more systems. The operating unit is capable of being changed in position and orientation by an operator's operation. The operating unit is provided command values of a position and orientation of the slave manipulator as the position and orientation thereof change. The detection units individually detect different physical quantities related to the operating unit in order to detect the position and orientation of the operating unit.

A control device for a vehicle or mechanism includes a portable displacement controller which permits a non-technical user to achieve effective control of the vehicle or mechanism, by moving the portable displacement controller intuitively with little learning effort. A first sensing device, attached to the displacement controller, detects the user's controlling motion. A second sensing device, attached to the object being controlled, detects motion thereof. An interface device receives signals from the sensing devices, processes those signals to determine relative motion of the controlling motion and the object's motion and outputs a control signal in accordance with the processed signals. The sensing devices each detect motion in six degrees of freedom; the sensing devices each include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. In specific embodiments, the accelerometers, gyroscopes, and magnetometers include micro-electromechanical system (MEMS) devices.

Catheter orientation control system mechanisms which facilitate the operation of multiple degrees of freedom of a steerable catheter system can be used for any procedure where catheter orientation relative to the body is desirable. Such systems may comprise a handle having a distal portion which is rotatable independently of the remainder of the handle to enable the handle to maintain a stationary configuration relative to the operator while the catheter distal end is torqued in any configuration by utilizing a single hand and / or single finger to effect complex configurations. Orientation indicators may be incorporated to track the deflectable distal end by visualizing the indicators through an imaging hood on the distal end corresponding to orientation markers on the control handle. Articulation of a steering mechanism in a direction relative to the orientation markers deflects the catheter distal end in a corresponding direction relative to the visualized orientation markers.

The invention discloses a robot which comprises a robot body and a remote interactive platform. The remote interactive platform is communicated with the robot body through a wireless communication network platform, the robot body comprises a moving device and a function module which is arranged above the moving device, the moving device comprises mechanical legs, a base plate, direct current brushless motors, direct current brushless motor drivers, driving wheels and universal wheels, the base plate is arranged at lower ends of the mechanical legs, the direct current brushless motors are arranged in the base plate, the driving wheels are connected with the direct current brushless motors, and the function module comprises a multiple-degree-of-freedom mechanical waist, a mechanical neck, a mechanical head, mechanical arms and mechanical hands. The robot is exquisite in structure, flexible in movement and high in simulation degree, portions of the robot can perform multiple-degree-of-degree movement, and the robot supports wireless remote control and information transmission and is capable of well achieving various functions of route planning, autonomous navigation, face recognition, man-machine conversation, guests receiving and the like.

A micromanipulator comprising a tubular structure and a structural compliance mechanism that are formed from a tube made of an elastic and / or superelastic material. Fabricated with laser machining and has no mechanical joints, the micromanipulator can be manipulated in various motions and degree-of-freedoms without permanent deformation. Shape Memory Alloys (SMAs) in one embodiment are implemented as main actuators of the micromanipulator. The micromanipulator can be implemented with multiple SMAs to manipulate the mechanism with multiple degree-of-freedom. In another implementation, multiple segments of the mechanisms are formed and arranged in various configurations, including a “double-helix”-like configuration, for enabling intricate motions of the micromanipulator. The micromanipulator is useful for intravascular interventional applications and particularly ultrasonic imaging when coupled with an ultrasound transducer.

A positioning system for locating at least one interactive projection unit, and methods for operation thereof is disclosed. The positioning system includes equipment for providing multiple degrees of freedom for locating the at least one projection unit. The at least one projection unit is equipped with various components and capabilities to provide for projection onto surfaces within a variety of settings, and thus provide for display, information, interaction and computing in the variety of settings.

A powered orthosis, adapted to be secured to a corresponding body portion of the user for guiding motion of a user, the orthosis comprising a plurality of structural members and one or more joints adjoining adjacent structural members, each joint having one or more degrees of freedom and a range of joint angles. One or more of the joints each comprise at least one back-drivable actuator governed by a controller for controlling the joint angle. The plurality of joint controllers are synchronized to cause the corresponding actuators to generate forces for assisting the user to move the orthosis at least in part under the user's power along a desired trajectory within an allowed tolerance. One embodiment comprises force-field controllers that define a virtual tunnel for movement of the orthosis, in which the forces applied to the orthosis for assisting the user may be proportional to deviation from the desired trajectory.

A mounting assembly for a vision enhancement device and associated vision enhancement display, the assembly comprising a display mounted to an arm positionable in front of the user's eye, a base member for receiving a cradle for the vision enhancement device and for attaching to a head-mounting platform, and one or more intermediate members for connecting the arm to the cradle. In one embodiment, the mounting system comprises one or more mechanisms for aligning the display optical axis with the vision enhancement device optical axis and with the user's line of sight, one or more mechanisms for orienting the vision enhancement device within multiple degrees of freedom without changing the alignment of the display optical axis with the device optical axis, and one or more mechanisms for toggling the display between an in-use position to at least one storage position, and, optionally, between right eye and left eye positions.

The present invention relates to photovoltaic power systems., photovoltaic concentrator modules, and related methods. In particular, the present invention features concentrator modules having interior points of attachment for an articulating mechanism and / or an articulating mechanism that has a unique arrangement of chassis members so as to isolate bending, etc. from being transferred among the chassis members. The present invention also features adjustable solar panel mounting features and / or mounting features with two or more degrees of freedom. The present invention also features a mechanical fastener for secondary optics in a concentrator module.

An improvement is set forth in a robotic arm structure which includes at least two links. theta motion is provided about a primary axis at the proximal end portion of the proximalmost of the links. R motion proceeds radially from the primary axis whereby the distal end portion of the distalmost of the links can be moved in a radially extending straight line. An end effector is pivotally mounted for rotation relative to the distal end portion of the distalmost link about an end effector axis which is parallel to the primary axis. The structure is improved by adding one or more a yaw motor, a roll motor and a pitch motor for rotating the wrist of the arm about the respective axes. A sensor array senses the R, theta , Z and yaw, roll and / or pitch motions and creates and transmits electronic signals representative thereof to a computer controller which monitors and controls the R, theta , Z and yaw, roll and / or pitch motions. Non-radial straight line motion and indeed, in certain embodiments any desired three-dimensional motion, is thereby enabled as is picking up of workpieces such as semiconductor wafers, flat panel displays and data storage disks, which are misaligned in cassettes or at workstations and / or are in cassettes which are misaligned and / or aligned and set up at an angle relative to the usual plane of operation of the arm.