Hand actuated, articulating device having an electric force enhancement system

• US 10,507,071 B2
• Filed: 05/10/2010
• Issued: 12/17/2019
• Est. Priority Date: 05/11/2009
• Status: Active Grant

• Current Assignee: Steris Corporation
• Original Assignee: Carefusion 2200 Corporation (Becton, Dickinson & Co)
• Inventors: Doyle, Mark
• Primary Examiner(s): Jackson, Gary
• Assistant Examiner(s): Lukjan, Sebastian X
• Application Number:
  US12/776,902
• Publication Number:
  US 20100286711A1
• Time in Patent Office: 3,508 Days
• Field of Search: 606 1, 606 46, 606130
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

An articulating device element and methods of operation thereof, including a compensating force enhancement for compensating for any unwanted friction and/or other such resistance forces experienced by the device when being manipulated.

Claims

1. An articulating device, comprising:

a hydraulically-driven system comprising;

a hydraulic input receiver capable of receiving an input as an external force in at least a first direction;

a hydraulically driven slave system coupled to the hydraulic input receiver operable to receive the external force in the at least the first direction from the hydraulic input receiver and generate a corresponding hydraulic output, wherein the hydraulically driven slave system comprises a first hydraulically driven slave end coupled to the hydraulic input receiver and a second hydraulically driven slave end;

a hydraulically driven functioning end coupled to the second hydraulically driven slave end, wherein the hydraulically driven functioning end performs the output; and

an electrically-driven enhancement system connected with the hydraulically-driven system and configured to provide an electric force enhancement during operation of the hydraulically-driven system by providing a compensating force in the at least the first direction to the hydraulically driven slave system, wherein the electrically-driven enhancement system comprises;

a sensing element coupled to the hydraulic input receiver and operable to detect the received input from the external force on the hydraulic input receiver;

a force enhancement electric element operatively connected to the sensing element and the hydraulic input receiver configured to transfer a function of the detected input from the sensing element to the slave system; and

a control circuit element which is coupled to the sensing element and the force enhancement electric element, wherein the control circuit element is configured to transmit a control signal to the force enhancement electric element based on a detected input from the sensing element, wherein the enhancement electric element outputs a compensating force based on the control signal, wherein the compensating force compensates for resistance forces in moving the hydraulic input receiver by enhancing the external force received at the hydraulic input receiver.

2. The articulating device of claim 1, wherein the control circuit is further operable to calculate the resistance forces produced by the articulating device and supply the control signal to the element to emit the compensating force based upon the calculated resistance forces.

3. The articulating device of claim 1, wherein the control signal transmitted to the element includes a current to energize the element, wherein the current is variable based upon the force of the input.

4. The articulating device of claim 1, wherein the control circuit is further operable to diagnose whether the articulating device is operating correctly.

5. The articulating device of claim 1, wherein the compensating force is a percentage of resistance forces produced by the articulating device.

6. The articulating device of claim 1, wherein the compensating force is set by a user.

7. The articulating device of claim 1, wherein the compensating force is self-learned by measuring resistance when moving the input receiver.

8. The articulating device of claim 1, wherein the compensating force is variable based upon the speed and force of the input.

9. The articulating device of claim 1, wherein the slave system comprises a closed loop double-acting hydraulic system.

10. The articulating device of claim 1, wherein the slave system further comprises a mechanical element.

11. The articulating device of claim 10, wherein the mechanical element comprises at least one of linkages, gears, cams, a series of u-joints, a push-pull chain, lead screws, cable-pulley system, or a flexible steel band.

12. The articulating device of claim 1, wherein the functioning end comprises one of a surgical tool, a surgical instrument, scissors, a knife, a screwdriver, a clamp, or pliers.

13. The articulating device of claim 1, wherein the sensing element is one of strain gage, a bipolar switch, a closing switch, or an optical system.

14. The articulating device of claim 1, wherein the element is one of a voice coil, or a linear motor.

15. The articulating device of claim 1, wherein the force enhancement electric element is coupled in series to the input receiver and the sensing element.

16. The articulating device of claim 1, wherein the force electric element is coupled in parallel to the input receiver and the sensing element.

23. The articulating device of claim 1, wherein the compensating force aids the motion of the input receiver.

17. A device comprising:

a hydraulically-driven mechanical system capable of receiving an input, as an external force in at least a first direction;

a sensor coupled to the hydraulically-driven mechanical system operable to detect the received input;

an electrically-driven enhancement system connected with the hydraulically-driven mechanical system and providing an electric force enhancement during operation of the hydraulically-driven mechanical system by providing a compensating force to a hydraulically driven slave system of the hydraulically-driven mechanical system the compensating force acting on the hydraulically-driven mechanical system in the at least the first direction, wherein the electrically-driven enhancement system comprises;

a force enhancement electric element coupled to the hydraulically-driven mechanical system configured to transfer a function of the detected input from the external force and the compensating force, wherein the compensating force enhances the external force; and

a control circuit element which is coupled to the sensor and the force cement electric element and configured to transmit a control signal to energize the force enhancement electric element in the direction of the received input, wherein the enhancement electric element outputs a compensating force based on the control signal, wherein the compensating force compensating for resistance force in moving the hydraulic input receiver by enhancing the external force received at the hydraulic input receiver.

18. The device of claim 17, wherein the sensor is in series with the mechanical system.

19. The device of claim 17, wherein the sensor is in, parallel with the mechanical system.

20. The device of claim 17, wherein the force enhancement electric element is in series with the mechanical system.

21. The device of claim 17, wherein the force enhancement electric element is in parallel with the mechanical system.

24. The device of claim 17, wherein the control circuit element is further operable to determine whether the force enhancement electric element is providing a correct amount of the compensating force.

25. The device of claim 24, wherein the control circuit element is operable to modify the control signal based on the determination.

22. A method comprising;

detecting, via a sensor, an external input force applied to a hydraulic input receiver in at least a first direction;

providing an electrically-driven compensating force to the external input force by an electrically-driven enhancement system, wherein the electronically driven enhancement system outputs a compensating force based on a control signal provided by a control circuit when the external input force is detected via the sensor,

wherein the compensating force compensates for resistance forces in moving the hydraulic input receiver by enhancing the external force received at the hydraulic input receiver;

transmitting a function of the detected external input force, including the compensating force, from the electrically-driven enhancement system to a hydraulically-driven slave system coupled to the input receiver and connected with the electrically-driven enhancement system, wherein the compensating force enhances the function of the detected external input force during operation of the hydraulically-driven mechanical system; and

generating, at the slave system, a corresponding output to the detected external input force.