Motion scaling tele-operating system with force feedback suitable for microsurgery
First Claim
1. A robotic system comprising an arm having a position adjustable-free end, said arm having joint connections constructed for macro-adjustments of said free end, an extension mounted on said free end, a micro teleoperation system mounted on said extension, said micro teleoperation system including a slave stator and a master stator mounted in fixed relationship on said extension, a slave floater cooperating with said slave stator and a master floater cooperating with said master stator, means for sensing the position of each of said master and said slave floaters relative to their respective said master and said slave stators, coupling means coupling said master floater and said slave floater so that movement of said master floater produces a scaled moment of said slave floater and movement of said slave floater produces a scaled movement of said master floater, said movement of said master resulting in a smaller corresponding scaled movement of said slave floater and said movement of said slave resulting in larger corresponding scaled movement of said master floater.
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Accused Products
Abstract
A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.
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Citations
19 Claims
- 1. A robotic system comprising an arm having a position adjustable-free end, said arm having joint connections constructed for macro-adjustments of said free end, an extension mounted on said free end, a micro teleoperation system mounted on said extension, said micro teleoperation system including a slave stator and a master stator mounted in fixed relationship on said extension, a slave floater cooperating with said slave stator and a master floater cooperating with said master stator, means for sensing the position of each of said master and said slave floaters relative to their respective said master and said slave stators, coupling means coupling said master floater and said slave floater so that movement of said master floater produces a scaled moment of said slave floater and movement of said slave floater produces a scaled movement of said master floater, said movement of said master resulting in a smaller corresponding scaled movement of said slave floater and said movement of said slave resulting in larger corresponding scaled movement of said master floater.
Specification