Patent US3007404A successfully refreshed from Google Patents.
US6385509B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Tool actuation and force feedback on robot-assisted microsurgery system
Assignee: California Institute of Technology
•
Filing: 2001-05-15
•
Granted: 2002-05-07
•
Expires: 2021-05-15
Abstract
Abstract An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
Inventors
- 👤 Hari Das
- 👤 Tim R. Ohm
- 👤 Curtis D. Boswell
- 👤 Robert D. Steele
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 02:29
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; A; A61; A61B; A61B34/00; A61B34/30; A61B34/37; A61B34/70; A61B34/71; A61B34/76; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1689; G06F3/011; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/40; G05B2219/40144; G05B2219/40193; G05B2219/45; G05B2219/45123
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
60 words
A microsurgery system, comprising: a robot manipulator having a plurality of mechanically decoupled joints, said plurality of mechanically decoupled joints allowing actuation of a joint without affecting motion of any other joints; an effector coupled to said robot manipulator to apply a force to an object; and a force feedback element adapted to amplify a return force from said effector.
Claim 2
Dependent Claim
60 words
A microsurgery system, comprising: a robot manipulator having a plurality of mechanically decoupled joints, said plurality of mechanically decoupled joints allowing actuation of a joint without affecting motion of any other joints; an effector coupled to said robot manipulator to apply a force to an object; and a force feedback element adapted to amplify a return force from said effector.
Claim 3
Dependent Claim
41 words
The system of claim 1 , further comprising: master control system coupled to said robot manipulator, said master control system allowing an operator to input hand movement, where said hand movement is converted into amount of force applied at the effector.
Claim 4
Dependent Claim
42 words
The system of claim 1 , wherein the return force of said force feedback element provides an exaggerated sense of feel, such that said sense of feel allows an operator to feel smaller force feedback than that without said force feedback element.
Claim 5
Independent Claim
55 words
A method of performing a microsurgery, comprising: converting operator hand movements into a series of forces to be applied by a manipulator; determining a series of manipulator movements, said movements performed by a combination of manipulator joint movements; actuating the manipulator joint movements; providing an amplified feedback of a return force felt by said manipulator.
Claim 6
Independent Claim
55 words
A method of performing a microsurgery, comprising: converting operator hand movements into a series of forces to be applied by a manipulator; determining a series of manipulator movements, said movements performed by a combination of manipulator joint movements; actuating the manipulator joint movements; providing an amplified feedback of a return force felt by said manipulator.
Claim 7
Dependent Claim
34 words
The method of claim 4 , wherein said actuating includes providing movement of each joints in a mechanically decoupled orientation such that a joint movement is made without affecting movement of any other joints.
References Cited (Backward Citations)
US3923166A
Cited
EP0018925A1
Cited
US4905001A
Cited
US5184319A
Cited
US5945978A
Cited
US5397323A
Cited
US6057828A
Cited
US5898599A
Cited
US5625576A
Cited
US5709219A
Cited
US5731804A
Cited
US5710870A
Cited
US5784542A
Cited
US20010018591A1
Cited
US6184868B1
Cited
WO2001018617A1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-05-06 | 2005-11-05 | 2006-05-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-05-06 | 2009-11-05 | 2010-05-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-05-06 | 2013-11-05 | 2014-05-07 | $7700.00 | Window Closed / Lapsed |