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3177 results about "Three degrees of freedom" patented technology

Robotic surgical system for performing minimally invasive medical procedures

A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force / torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.
Owner:EURO ATOMIC ENERGY COMMUNITY (EURATOM)

Lithographic apparatus and device manufacturing method

A lithographic apparatus includes a displacement measuring system configured to measure the position of a substrate table in at least three degrees of freedom. The displacement measuring system includes a first x-sensor configured to measure the position of the substrate table in a first direction and a first and a second y-sensor configured to measure the position of the substrate table in a second direction. Said displacement measuring system further comprises a second x-sensor. The first and second x-sensor and first and second y-sensors are encoder type sensors configured to measure the position of each of the sensors with respect to at least one grid plate. The displacement measuring system is configured to selectively use, depending on the position of the substrate table, three of the first and second x-sensors and the first and second y-sensors to determine the position of the substrate table in three degrees of freedom.
Owner:ASML NETHERLANDS BV

Interactive user interfaces for robotic minimally invasive surgical systems

In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
Owner:THE JOHN HOPKINS UNIV SCHOOL OF MEDICINE +1

Manipulator with multiple degrees of freedom

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.
Owner:MITSUISHI MAMORU +1

Tablet computing device with three-dimensional docking support

InactiveUS6856506B2Improved expansion baseImproved docking stationInput/output for user-computer interactionCoupling device connectionsTablet computerData connection
The present invention provides a tablet computer and a docking station assembly. This docking station comprises a docking assembly for positioning with three degrees of freedom and having a data connector for mechanically supporting and interfacing with the tablet computer. A support member couples the docking assembly to an expansion base. The base includes a number of ports for interfacing with a variety of peripheral devices or power supplies. These varieties of ports mount to a printed circuit board contained within the expansion base. A flexible printed circuit (FPC) combines the signal pathways for the variety of ports, allowing the signal pathways to travel from the printed circuit board and to the data connector. The tablet computing device has a plurality of contact or touch points positioned on the right and left edges of the tablet to facilitate aligning the tablet to the docking assembly in either a landscape or portrait mode.
Owner:ZEBRA TECH CORP

Interactive user interfaces for robotic minimally invasive surgical systems

In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
Owner:THE JOHN HOPKINS UNIV SCHOOL OF MEDICINE +1

Computer input device enabling three degrees of freedom and related input and feedback methods

Disclosed herein are a system and method for simultaneously reporting changes in location and orientation of an object moving over a planar surface and forming part of a computer input device, interoperably with a conventional mouse where reporting only location is in question. Further the present invention provides improved ways of user interaction with computer displays of two and three dimensional data and structures.
Owner:POSTON TIMOTHY +1

Methods and apparatuses for rehabilitation and training

A rehabilitation apparatus with at least three degrees of freedom of motion, comprising: a plurality of brakes; a motor, wherein the motor is operationally connected to the brakes; a plurality of surfaces, wherein each of a plurality of the surfaces correlates to a brake; and, wherein when the motor is activated, the brakes are selectively advanced to make contact with the surfaces causing friction between the brakes and the surfaces and thus causing variable resistance in the three degrees of freedom to the apparatus based on the extent of advancement of the brakes.
Owner:MOTORIKA

Physically realistic computer simulation of medical procedures

An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis. The method includes the steps of defining an origin in 3-dimensional space, physically constraining a shaft in the 3-dimensional space such that a portion of the shaft always intersects the origin and such that a portion of the shaft extending beyond the origin defines a radius in a spherical coordinate system, transducing a first electrical signal related to a first angular coordinate of the radius with a first transducer, transducing a second electrical signal related to a second angular coordinate with a second transducer, transducing a third electrical signal related to the length of the radius with a third transducer, and coupling the transducers to a computer.
Owner:IMMERSION CORPORATION

5 degrees of freedom mobile robot

A robotic system that includes a remote controlled robot with at least five degrees of freedom and a teleconferencing function. The robot may include a camera, a monitor and a holonomic platform all attached to a robot housing. The robot may be controlled by a remote control station that also has a camera and a monitor. The remote control station may be linked to a base station that is wirelessly coupled to the robot. The cameras and monitors allow a care giver at the remote location to monitor and care for a patient through the robot. The holonomic platform provides three degrees of freedom to allow the robot to move about a home or facility to locate and / or follow a patient. The robot also has mechanisms to provide at least two degrees of freedom for the camera.
Owner:JONATA SUB TWO INC +1

Dynamic spinal stabilization device

The present invention provides a dynamic stabilization device positionable about a portion of a spinal column. The stabilization device may generally include a first component and a second component, where the first and second components are movably coupled to one another to define an arcuate path of motion. The stabilization device may also include one or more adjustment elements positionable within first and second adjustment openings to affect the path of motion between the first and second components and / or the behavior and characteristics of the movement. In addition, one or more resistive elements may be adjustably positionable within either and / or both of the first and second adjustment openings to provide resistance and / or dampening of the forces experienced as the first and second components move relative to one another. The stabilization device may further define a joint having three degrees of freedom to adapt to movement of a spinal column.
Owner:DISC MOTION TECH

Magnetic haptic feedback systems and methods for virtual reality environments

A haptic feedback system comprises a moveable device with at least three degrees of freedom in an operating space. A display device is operative to present a dynamic virtual environment. A controller is operative to generate display signals to the display device for presentation of a dynamic virtual environment corresponding to the operating space, including an icon corresponding to the position of the moveable device in the virtual environment. An actuator of the haptic feedback system comprises a stator having an array of independently controllable electromagnet coils. By selectively energizing at least a subset of the electromagnetic coils, the stator generates a net magnetic force on the moveable device in the operating space. In certain exemplary embodiments the actuator has a controllably moveable stage positioning the stator in response to movement of the moveable device, resulting in a larger operating area. A detector of the system, optionally multiple sensors of different types, is operative to detect at least the position of the moveable device in the operating space and to generate corresponding detection signals to the controller. The controller receives and processes detection signals from the detection sensor and generates corresponding control signals to the actuator to control the net magnetic force on the moveable device.
Owner:ENERGID TECHNOLOGIES

Rotatable pivot mount for fans and other appliances

A pivot assembly that can be used with various appliances. The pivot assembly provides up to three degrees of freedom when positioning the appliance. The pivot may be used, for example, with a fan that is mounted on a base such that direction of the airflow generated can be adjusted about three coordinate axes by manipulating a single rotatable pivot mount. The fan assembly includes a base unit and an arm to which an appliance may be detachably coupled. The opposite end of the arm is provided with a spherical cap which is received by the base unit. Any adjustments to the positioning of the rotatable pivot mount are maintained by the friction within the rotatable pivot mount. Additionally, the pivot mount may include a pivot guide to restrict the degree of rotation about the pivot, thereby increasing stability.
Owner:HELEN OF TROY LIMITED

Wearable lower limb exoskeleton device

The invention discloses a wearable lower limb exoskeleton device, which comprises a waist supporting frame, a waist object carrier, an adjustable hip mechanism, a connecting rod adjustable knee joint mechanism, a connecting rod adjustable ankle joint mechanism, pressure detection shoes, a leg connecting rod, a constraint part and various connecting pieces. Both lower limbs have twelve rotational freedoms, the single lower limb has six degrees of freedom respectively, a hip has two degrees of freedom which finish bending and stretching as well as adduction and abduction movements of a hip joint, two joint axes always intersects at the center of the hip joint of a human body through the adjustment of the hip mechanism, and a knee joint has one degree of freedom which is coaxial with the knee joint of the human body and corresponds to the bending and stretching movement of the knee joint of the human body; and an ankle joint has three degrees of freedom. The device has good consistency of the movement of the hip joint and the movement of the human body during the walking of people; human-machine knee joints have small coaxality and position deviation; and the ankle joint has a compact structure. The device can be used for strengthening the abilities of walking with load and walking for a long time of wearers and detecting walking information of the wearers, and can also be used for helping people with slight obstacle of lower limb movement to normally walk and gradually rehabilitate.
Owner:BEIJING UNIV OF TECH

Catheter and system for using same

The present invention describes a system for controlling a thin flexible thermoplastic catheter. The system includes a plurality of shape memory alloy filaments attached to the distal end of the catheter, each filament having a phase and a temperature; a means for receiving a strain value for at least one of the filaments; a means for determining the phase change that will results in the strain value, whereby the phase change is dependent on the temperature and the temperature is dependent on a voltage; and a means for setting the voltage in each filament thereby resulting in movement of the catheter. In addition, a three-degrees of freedom force sensor measures the magnitude and direction of the force exerted on the tip of the catheter. The catheter can be autonomously guided or it can be interfaced to a haptic device. The catheter can also be fitted with microtools.
Owner:UNIV OF WESTERN ONTARIO +1

Manufacturing within a single-use container

A manufacturing assembly has at least a sterilizable chamber containing at least one of a three-dimensional printing device (additive manufacturing), a Computer Numerical Controlled (CNC) finishing head (subtractive manufacturing), a vacuum-forming unit, an injection-molding unit, a laser-cutting unit, a ultrasonic-welding unit, a robotic arman analysis device, a sampling device or a combination thereof. A plurality of individual sterilizable chambers may be aseptically connected into a network of sterilizable chambers that provides additional functionality for the manufacturing assembly. A sterilizable printer assembly may include at least one printing head, a printing platform, and a driving mechanism adapted to perform a movement of the at least one printing head relative to the printing platform along three degrees of freedom; a printer housing enclosing the printer assembly in a sterile manner, at least one aseptic connector fluidly connected to a corresponding one of the at least one printing head.
Owner:SARTORIUS STEDIM BIOTECH GMBH

Robot for large-format, three dimensional digital printing on a fixed surface and printing method involving at least one such robot

The invention concerns a print robot for large format three-dimensional printing on a fixed surface ( 11 ) having five motorized axes, comprising an inkjet printing block ( 13 ), means for displacing and orientating this printing assembly along several axes, at least one control unit controlling these means and a drying device to dry the ink sprayed onto said surface ( 11 ), wherein these means comprise: a carrier ( 15 ) with three degrees of freedom in translation, ensuring the positioning of the printing assembly allowing its horizontal, vertical and depth translation, a wrist ( 16 ) with two degrees of freedom which supports and orientates the printing assembly ( 13 ) allowing its rotations along two perpendicular axes. The invention also concerns a process implementing this robot.
Owner:CENT NAT DE LA RECHERCHE SCI +1

Dual arm robot

A dual arm robot assembly has two arms each having a set of joint / link pairs that, in conjunction with an actuator assembly, define at least three degrees of freedom to provide independent horizontal translation and rotation of a distalmost link. A vertical motion mechanism is also provided.
Owner:BOOKS AUTOMATION US LLC

Laparoscopic simulation interface

InactiveUS7023423B2Highly realistic force feedbackReduction of friction and compliance and backlashInput/output for user-computer interactionManual control with multiple controlled membersHigh bandwidthJoystick
A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object. The linear axis member can also be rotated about its lengthwise axis to provide a fourth degree of freedom, and, optionally, a floating gimbal mechanism is coupled to the linear axis member to provide fifth and sixth degrees of freedom to an object. Transducer sensors are associated with the fourth, fifth, and sixth degrees of freedom. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.
Owner:IMMERSION CORPORATION

AC-DC radial-axial mixed magnetic bearing having three degrees of freedom and method for controlling the same

This invention relates to a three freedom degree AC-DC radial-axial mixing magnetic bearing, which is fit for the electrical main shaft and rotary main shaft needs suspending support. The permanent magnet will provide radial-axial static bias magnetic flux to generate static bearing ability; the radial controlling coil and the axial controlling coil will provide magnetic flux to generate dynamic suspending force, making the rotor suspending on the balance place in radial-axial three freedom degree. The power enlarging circuit comprises axial liner power amplifier and radial CRPWM current tracking inverter, and the displacement sensor will test the shift of the rotor and then feedback to DSP controller; the DSP will operate PID compute and process, provide controlling signal to power enlarging circuit; the controlling signal will generate controlling current in magnetic bearing coil, and the controlling current will generate magnetic force in operation magnet, by which it can realize the stable suspending and real-time monitoring of the rotor in radial and axial.
Owner:JIANGSU UNIV

Robot hand with human-like fingers

ActiveUS20100259057A1Reduce tendonReduce cable frictionProgramme-controlled manipulatorGripping headsRobot handThree degrees of freedom
A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning / movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.
Owner:DISNEY ENTERPRISES INC

Docking support for a tablet computer with extended battery

The present invention provides a docking station (501) for a tablet computer (339) with or without an extended battery (301). This docking station (501) comprises a docking assembly for positioning with three degrees of freedom and having a data connector for mechanically supporting and interfacing with the tablet computer (339). A support member (505) couples the cradle (507) assembly to an expansion base (503). The base (503) includes a number of ports (54, 56, 60, 62) for interfacing with a variety of peripheral devices or power supplies. These varieties of ports mount to a printed circuit board contained within the expansion base (503). A flexible printed circuit (FPC) (64) combines the signal pathways for the variety of ports, allowing the signal pathways to travel from the printed circuit board (64) and to the data connector (519). The docking station (501) can support the tablet computer (339) in any orientation from landscape to portrait and can simultaneously charge both the tablets main battery (347) and the extended battery (301) while cradled in the docking station (501).
Owner:MOTION COMPUTING

Hoof Boot with Pivoting Heel Captivator

A hoof boot has a base, a heel captivator, and a pivoting mechanism that disposes the heel captivator to pivot relative to the base, preferably in a manner that allows the heel captivator at least three degrees of freedom of movement relative to the base. The heel captivator is preferably low in the rearmost portion, which provides clearance for the pastern bones of the equine lower leg to descend upon weight bearing during movement at various gaits. To reduce the possibility for bruising and chaffing of soft tissue around the pastern bones, and to help eliminate accumulation of debris, preferred heel captivators have an open mesh architecture. Heel captivators can alternatively or additionally be designed with fabric covered neoprene or other liners. Boots are preferably tightened using mechanically advantages laces.
Owner:BIG BRAIN HLDG INC

Endoscope manipulator for minimally invasive surgery

According to endoscope manipulator for MIS capable of overcoming disadvantages of multiaxial endoscope manipulator including conventional robot arm and providing compact and light-weight structure to obtain maximum activity space for medical staff, multi-joint arm is configured so that movement of all joints from base link to tip link is manually locked-unlocked by user and not controlled by motors. Endoscope mounted on end of multi-joint arm is manipulated using motors to enable movement of three-degrees of freedom, thereby accomplishing compact and light-weight endoscope manipulator. Tube of endoscope can be press-fitted onto tip of multi-joint arm, and three-axis movement function for vertical, lateral and forward / backward conveyance of endoscope is implemented in tip of multi-joint arm. Since external manual joints are not moved during operation, disturbance or restriction to activities of medical staff can be minimized. One-click button function of readily and rapidly attaching / detaching endoscope to / from endoscope manipulator can increase convenience of use.
Owner:NAT CANCER CENT

Stator field providing torque and levitation

The invention relates to an economical, non-wearing, electrical permanent magnet drive for actively controlling the rotor position in three degree of freedom. The stator windings produce superimposed fields with different pole numbers in the pole pitches by unsymmetrical magnetomotive force distributions.
Owner:LEVITRONIX TECH +1
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