HAND ACTUATED, ARTICULATING DEVICE HAVING AN ELECTRIC FORCE ENHANCEMENT SYSTEM

• US 20100286711A1
• Filed: 05/10/2010
• Published: 11/11/2010
• Est. Priority Date: 05/11/2009
• Status: Active Grant

• Current Assignee: Steris Corporation
• Original Assignee: Carefusion 2200 Corporation (Becton, Dickinson & Co)
• Inventors: Doyle, Mark
• Granted Patent: US 10,507,071 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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:

an input receiver capable of receiving an input;

a slave system coupled to the input receiver operable to receive the input from the input receiver and generate a corresponding output, wherein the slave system comprises a first slave end coupled to the input receiver and a second slave end;

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

a sensing element coupled to the input receiver and operable to detect the received input on the input receiver; and

an element coupled to the sensing element and the input receiver and operable to transfer a function of the detected input from the sensing element to the slave system;

wherein the element further provides a compensating force that compensates for resistance forces in moving the articulating device.

2. The articulating device of claim 1, further comprising:

a control circuit coupled to the sensing element and the element operable for transmitting a control signal to the element instructing the element to emit the compensating force in the same direction as the input.

3. The articulating device of claim 2, 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.

4. The articulating device of claim 2, 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.

5. The articulating device of claim 2, wherein the control circuit is further operable to diagnose whether the articulating device is operating correctly.

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

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

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

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

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

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

12. The articulating device of claim 11, 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.

13. 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.

14. 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.

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

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

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

18. The articulating device of claim 1, wherein the element is an electric element.

19. A device comprising:

a mechanical system capable of receiving an input;

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

a force enhancement element coupled to the mechanical system operable to transfer a function of the detected input to the mechanical system; and

a control element coupled to the sensor and the force enhancement element, wherein the control element is operable to energize the force enhancement element in the direction of the received input.

20. The device of claim 19, wherein the sensor is in series with the mechanical system.

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

22. The device of claim 19, wherein the force enhancement element is in series with the mechanical system.

23. The device of claim 19, wherein the force enhancement element is in parallel with the mechanical system.

24. A method comprising:

detecting, via a sensor, an input force on an input receiver;

providing a compensating force to the detected input that compensates for resistance forces;

transmitting a function of the detected input, including the compensating force, to a slave system coupled to the input receiver; and

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