Robotic ultrasonic energy system

Patent metadata

Field	Value
Publication number	US-9271741-B2
Application number	US-201313962269-A
Country	US
Kind code	B2
Filing date	Aug 8, 2013
Priority date	Mar 20, 2002
Publication date	Mar 1, 2016
Grant date	Mar 1, 2016

Abstract

The robotic mechanism may include a programmable computer which is connected with a drive member by a motor. In addition to the motor, a force measurement assembly may be connected with the drive member and computer. The force measurement assembly has an output to the computer indicating the magnitude of resistance encountered. The force measurement device may be a piezoelectric cell or a spring assembly which controls energization of the electric motor. A position sensor is connected with drive member and the computer. The position sensor has an output which is indicative of the position. The output from the position sensor may indicate the depth or distance. Ultrasonic vibratory energy may be transmitted to the force transmitting member from a source or generator of ultrasonic vibratory energy. The force transmitting member may function as a horn and apply the ultrasonic vibratory energy.

First claim

What is claimed is:

1. A robotic system for bonding objects, the robotic system comprising:
a robotic mechanism having a transmitting member, the transmitting member being configured to:
transmit a force to an object; and
transmit ultrasonic energy from an energy source to the object to bond the object to a second object;

an electric motor connected to the robotic mechanism and configured to position the transmitting member; and
a sensor connected to the robotic mechanism and configured to output the force transmitted by the transmitting member.

2. The system of claim 1 further comprising a computer configured to control at least one of an actuation of the electric motor and the force applied to the object.

3. The system of claim 2 wherein the computer is configured to limit the force applied to a predetermined magnitude.

4. The system of claim 1 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

5. The system of claim 1 wherein a magnitude of the force is determined by the user.

6. The system of claim 1 further comprising an indicator associated with the sensor.

7. The system of claim 1 wherein the sensor includes a piezoelectric cell.

8. The system of claim 1 wherein the sensor is configured to provide an output associated with the transmitting member.

9. The system of claim 8 wherein the output is indicative of a resistance encountered by the transmitting member.

10. The system of claim 8 wherein the output is indicative of a position of the transmitting member.

11. The system of claim 8 wherein the output is indicative of a depth or distance traveled by the transmitting member.

12. The system of claim 1 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

13. The system of claim 1 wherein the ultrasonic energy heats the object.

14. The system of claim 1 wherein at least one of the force or ultrasonic energy plastically deforms the object.

15. The system of claim 1 further comprising a laser connected to the robotic mechanism.

16. The system of claim 1 further comprising an electrical resistance heater connected to the robotic mechanism.

17. A robotic system for bonding objects, the robotic system comprising:
a robotic mechanism having a transmitting member, the transmitting member being configured to:
transmit a force to an object; and
transmit ultrasonic energy from an energy source to the object to bond the object to second object;
an electric motor connected to the robotic mechanism and configured to position the transmitting member; and
a sensor having a piezoelectric cell, the sensor being connected to the transmitting member and configured to output a magnitude of the force transmitted by the transmitting member.

18. The system of claim 17 further comprising a controller configured to limit the force applied to a predetermined magnitude.

19. The system of claim 17 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

20. The system of claim 17 wherein a magnitude of the force is determined by the user.

21. The system of claim 17 further comprising an indicator associated with the sensor.

22. The system of claim 17 wherein the sensor is configured to provide an output associated with the transmitting member.

23. The system of claim 22 wherein the output is indicative of a resistance encountered by the transmitting member.

24. The system of claim 22 wherein the output is indicative of a position of the transmitting member.

25. The system of claim 22 wherein the output is indicative of a depth or distance traveled by the transmitting member.

26. The system of claim 17 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

27. The system of claim 17 wherein the ultrasonic energy heats the object.

28. The system of claim 17 wherein at least one of the force or ultrasonic energy plastically deforms the object.

29. The system of claim 17 further comprising a laser connected to the robotic mechanism.

30. The system of claim 17 further comprising an electrical resistance heater connected to the robotic mechanism.

31. The system of claim 17 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

32. A robotic system for bonding objects, the robotic system comprising:
a robotic mechanism having first and second transmitting members;
the first transmitting member being configured to transmit a force to an object and ultrasonic energy from an energy source to the object to bond the object to second object;
the second transmitting member being configured to support the object during transmission of ultrasonic energy; and
a sensor connected to at least one of the first and second transmitting members and configured to output the force transmitted by the first transmitting member.

33. The system of claim 32 further comprising a controller configured to limit the force applied to a predetermined magnitude.

34. The system of claim 32 wherein the robotic mechanism is configured to apply tension at a predetermined magnitude.

35. The system of claim 32 wherein a magnitude of the force is determined by the user.

36. The system of claim 32 further comprising an indicator associated with the sensor.

37. The system of claim 32 wherein the output is indicative of a resistance encountered by the first or second transmitting member.

38. The system of claim 32 wherein the output is indicative of a position of the first or second transmitting member.

39. The system of claim 32 wherein the output is indicative of a depth or distance traveled by the first or second transmitting member.

40. The system of claim 32 wherein the ultrasonic energy is applied in a range of approximately 20 khz to 70 khz.

41. The system of claim 32 wherein the ultrasonic energy heats the object.

42. The system of claim 32 wherein at least one of the force or ultrasonic energy plastically deforms the object.

43. The system of claim 32 wherein the first and second transmitting members press on substantially opposite sides of the object.

44. The system of claim 32 further comprising a laser connected to the robotic mechanism.

45. The system of claim 32 further comprising an electrical resistance heater connected to the robotic mechanism.

46. The system of claim 32 wherein the robotic mechanism is configured to urge two portions of the object together.

47. The system of claim 32 wherein the robotic mechanism is configured to close a staple.

Assignees

• P Tech Llc

Inventors

• Bonutti Peter M

Classifications

• A61B2090/065

  for measuring contact or contact pressure · CPC title

• A61B17/154

  for preparing bone for knee prosthesis · CPC title

• A61B2090/034

  abutting on parts of the device itself · CPC title

• A61B17/8852

  capable of being assembled or enlarged, or changing shape, inside the bone or disc · CPC title

• A61F2002/30133

  kidney-shaped or bean-shaped · CPC title