| Patent Number |
Title Of Patent |
Date Issued |
| 7370896 |
Robotic hand with extendable palm |
May 13, 2008 |
| A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm |
| 7363198 |
Long elements method for simulation of deformable objects |
April 22, 2008 |
| Long Elements Method (LEM) for real time physically based dynamic simulation of deformable objects. The LEM is based on a new meshing strategy using long elements whose forms can be straight or arbitrary. The LEM implements a static solution for elastic global deformations of objects |
| 7225404 |
Method and apparatus for determining forces to be applied to a user through a haptic interface |
May 29, 2007 |
| A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in |
| 7107090 |
Devices and methods for presenting and regulating auxiliary information on an image display of a |
September 12, 2006 |
| Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and |
| 7087049 |
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
August 8, 2006 |
| The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translat |
| 6853965 |
Force reflecting haptic interface |
February 8, 2005 |
| The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independe |
| 6837883 |
Arm cart for telerobotic surgical system |
January 4, 2005 |
| Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, inde |
| 6714839 |
Master having redundant degrees of freedom |
March 30, 2004 |
| The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At |
| 6684129 |
Master having redundant degrees of freedom |
January 27, 2004 |
| An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to preven |
| 6522906 |
Devices and methods for presenting and regulating auxiliary information on an image display of a |
February 18, 2003 |
| Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and meth |
| 6459926 |
Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
October 1, 2002 |
| The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translationa |
| 6369834 |
Method and apparatus for determining forces to be applied to a user through a haptic interface |
April 9, 2002 |
| A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in |
| 6111577 |
Method and apparatus for determining forces to be applied to a user through a haptic interface |
August 29, 2000 |
| A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in |
| 6084587 |
Method and apparatus for generating and interfacing with a haptic virtual reality environment |
July 4, 2000 |
| A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes |
| 5898599 |
Force reflecting haptic interface |
April 27, 1999 |
| An apparatus and method for physically exchanging a force with a user in a user-local environment. The apparatus includes a user connection element and a linkage physically linking the user connection element to a reference. The linkage provides at least six independent degrees of fr |
| 5625576 |
Force reflecting haptic interface |
April 29, 1997 |
| A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection |
| 5587937 |
Force reflecting haptic interface |
December 24, 1996 |
| A connection element such as a thimble connects to a user's body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection elem |
| 5327790 |
Reaction sensing torque actuator |
July 12, 1994 |
| A reaction torque actuator has a sensor operatively coupled between a motor housing and an outer housing. A pair of bearings support the motor within the outer housing in a spaced, concentric relationship. The bearings allow a mutual angular displacement of the housing about the axis of |
| 5207114 |
Compact cable transmission with cable differential |
May 4, 1993 |
| A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler |
| 5046375 |
Compact cable transmission with cable differential |
September 10, 1991 |
| A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler |
| 4921293 |
Multi-fingered robotic hand |
May 1, 1990 |
| A robotic hand having a plurality of fingers, each having a plurality of joints pivotally connected one to the other, with actuators connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulatin |
| 4903536 |
Compact cable transmission with cable differential |
February 27, 1990 |
| A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler |
