1. A surgical device for remotely controlling an articulating surgical instrument, said device comprising:
an articulating surgical instrument;
a control portion configured for receiving motion inputs in a plurality of degrees of freedom from a human shoulder, arm, and hand and translating said motion inputs into one or more control signals for controlling motion of said articulating surgical instrument, wherein said control signals are generated within said control portion and wherein at least one of said control signals comprises displacement of hydraulic fluid; and
a slave portion coupled between said control portion and said articulating surgical instrument, said control portion configured for moving said articulating surgical instrument in response to said one or more control signals.
2. The device of claim 1, further comprising:
a coupled with a distal tip of said articulating surgical instrument.
3. The device of claim 1, wherein said articulating surgical instrument comprises a shaft.
4. The device of claim 1, wherein said control portion is configured for remote location from said slave portion and said articulating surgical instrument.
5. The device of claim 1, wherein said control portion comprises:
a first set of controls configured for receiving motion inputs in first, second, and third degrees of freedom from said human shoulder, arm, and hand and translating one or more of said motion inputs in said first, second, and third degrees of freedom into one or more of said control signals for controlling one or more macro motions of said slave portion of said device; and
a second set controls coupled with said first set of controls and configured for receiving motion inputs in fourth, fifth, sixth, and seventh degrees of freedom from said human shoulder, arm, and hand and translating one or more of said motion inputs in said fourth, fifth, sixth, and seventh degrees of freedom into one or more of said control signals for controlling one or more micro motions of said articulating surgical instrument.
6. The device of claim 5, wherein said first set of controls comprises:
a first transmission configured for receiving said motion input in said first degree of freedom;
a first control cylinder coupled with said first transmission and configured for translating said motion input in said first degree of freedom into a first control signal of said control signals, wherein said first control signal comprises displacement of hydraulic fluid;
a second transmission configured for receiving said motion input in said second degree of freedom;
a second control cylinder coupled with said second transmission and configured for translating said motion input in said second degree of freedom into a second control signal of said control signals, wherein said second control signal comprises displacement of hydraulic fluid;
a third transmission configured for receiving said motion input in said third degree of freedom; and
a third control cylinder coupled with said third transmission and configured for translating said motion input in said third degree of freedom into a third control signal of said control signals, wherein said third control signal comprises displacement of hydraulic fluid.
7. The device of claim 6, wherein said second set of controls comprises:
a central frame assembly; and
an arm holder assembly coupled to said central frame assembly; and
a grasper handle assembly coupled with said central frame assembly, said grasper handle assembly including a moveable trigger.
8. The device of claim 7, further comprising:
a fourth control cylinder coupled with said arm holder assembly and configured for translating said motion input in said fourth degree of freedom into a fourth control signal of said one or more control signals, wherein said fourth control signal comprises displacement of hydraulic fluid;
a fifth control cylinder coupled with said grasper handle assembly and configured for translating said motion input in said fifth degree of freedom into a fifth control signal of said one or more control signals, wherein said fifth control signal comprises displacement of hydraulic fluid;
a sixth control cylinder coupled with said grasper handle assembly and configured for translating said motion input in said sixth degree of freedom into a sixth control signal of said one or more control signals, wherein said sixth control signal comprises displacement of hydraulic fluid; and
a seventh control cylinder coupled with said trigger and configured for translating said motion input in said seventh degree of freedom into a seventh control signal of said one or more control signals, wherein said seventh control signal comprises displacement of hydraulic fluid.
9. The device of claim 6, wherein said second set of controls comprises:
a central frame assembly;
a grasper handle assembly coupled with said central frame assembly, said grasper handle assembly including a moveable trigger; and
a thumbwheel coupled with said grasper handle assembly.
10. The device of claim 9, further comprising:
a fourth control cylinder coupled with said thumbwheel and configured for translating said motion input in said fourth degree of freedom into a fourth control signal of said one or more control signals, wherein said fourth control signal comprises displacement of hydraulic fluid.
11. A control portion of a device for remotely controlling an articulating surgical instrument, said control portion comprising:
a first set of controls configured for receiving motion inputs in first, second, and third degrees of freedom from a human shoulder, arm, and hand and translating one or more of said motion inputs in said first, second, and third degrees of freedom into one or more control signals for controlling one or more macro motions of a slave portion of said device which is couplable with an articulating surgical instrument of said device; and
a second set of controls coupled with said first set of controls and configured for receiving motion inputs in fourth, fifth, sixth, and seventh degrees of freedom from said human shoulder, arm, and hand and translating one or more of said motion inputs in said fourth, fifth, sixth, and seventh degrees of freedom into one or more control signals for controlling one or more micro motions of said articulating surgical instrument.
12. The control portion of claim 11, further comprising a clutch safety mechanism configured for temporarily disconnecting said first set of controls from said slave portion.
13. The control portion of claim 11, wherein said first set of controls comprises:
a first transmission configured for receiving said motion input in said first degree of freedom;
a first control cylinder coupled with said first transmission and configured for translating said motion input in said first degree of freedom into a first control signal, wherein said first control signal comprises displacement of hydraulic fluid;
a second transmission configured for receiving said motion input in said second degree of freedom;
a second control cylinder coupled with said second transmission and configured for translating said motion input in said second degree of freedom into a second control signal, wherein said second control signal comprises displacement of hydraulic fluid;
a third transmission configured for receiving said motion input in said third degree of freedom; and
a third control cylinder coupled with said third transmission and configured for translating said motion input in said third degree of freedom into a third control signal, wherein said third control signal comprises displacement of hydraulic fluid.
14. The control portion of claim 13, wherein said second set of controls comprises:
a central frame assembly;
an arm holder assembly coupled to said central frame assembly; and
a grasper handle assembly coupled with said central frame assembly, said grasper handle assembly including a moveable trigger.
15. The control portion of claim 14, further comprising:
a fourth control cylinder coupled with said arm holder assembly and configured for translating said motion input in said fourth degree of freedom into a fourth control signal, wherein said fourth control signal comprises displacement of hydraulic fluid;
a fifth control cylinder coupled with said grasper handle assembly and configured for translating said motion input in said fifth degree of freedom into a fifth control signal, wherein said fifth control signal comprises displacement of hydraulic fluid;
a sixth control cylinder coupled with said grasper handle assembly and configured for translating said motion input in said sixth degree of freedom into a sixth control signal, wherein said sixth control signal comprises displacement of hydraulic fluid; and
a seventh control cylinder coupled with said trigger and configured for translating said motion input in said seventh degree of freedom into a seventh control signal, wherein said seventh control signal comprises displacement of hydraulic fluid.
15. The control portion of claim 15, wherein said grasper handle assembly comprises a plurality of finger loops configured for receiving one or more fingers, wherein at least one of said finger loops is associated with said trigger.
17. The control portion of claim 13, wherein said second set of controls comprises:
a central frame assembly;
a grasper handle assembly coupled with said central frame assembly, said grasper handle assembly including a moveable trigger; and
a thumbwheel coupled with said grasper handle assembly.
18. The control portion of claim 17, further comprising:
a fourth control cylinder coupled with said thumbwheel and configured for translating said motion input in said fourth degree of freedom into a fourth control signal of said one or more control signals, wherein said fourth control signal comprises displacement of hydraulic fluid.
19. A method of manipulating an articulating surgical instrument, said method comprising:
in response to movement along a first degree of freedom of a control portion of a device for remotely controlling an articulating surgical instrument, pivoting an articulating surgical instrument associated with said device about a pivot point, said articulating surgical instrument coupled with a slave portion of said device;
in response to movement of said control portion along a second degree of freedom, laterally swiveling said articulating surgical instrument about a shaft of said slave portion;
in response to movement of said control portion along a third degree of freedom, translating said articulating surgical instrument along a longitudinal axis of said articulating surgical instrument, wherein said longitudinal axis extends through said pivot point;
in response to rotation of an element of said control portion in a fourth degree of freedom, rotating said articulating surgical instrument about a primary axis of said articulating surgical instrument;
in response to pivoting of a grasper handle assembly of said control portion in a fifth degree of freedom, actuating a wrist bend motion in said articulating surgical instrument;
in response to rotation of said grasper handle assembly in a sixth degree of freedom, actuating a tip rotate motion in said articulating surgical instrument; and
in response to pivoting of a trigger of said grasper handle assembly in a seventh degree of freedom, actuating a tip grasp motion in said articulating surgical instrument.
20. The method as recited in claim 19, wherein said pivoting an articulating surgical instrument associated with said device about a pivot point comprises:
pivoting said articulating surgical instrument about said pivot point in response to displacement of hydraulic fluid generated in said control portion by said movement along said first degree of freedom.
21. The method as recited in claim 19, wherein said laterally swiveling said articulating surgical instrument about a shaft of said slave portion comprises:
laterally swiveling said articulating surgical instrument about said shaft in response to displacement of hydraulic fluid generated in said control portion by said movement along said second degree of freedom.
22. The method as recited in claim 19, wherein said translating said articulating surgical instrument along a longitudinal axis of said articulating surgical instrument comprises:
translating said articulating surgical instrument along said longitudinal axis in response to displacement of hydraulic fluid generated in said control portion by said movement along said third degree of freedom.
23. The method as recited in claim 19, wherein said rotating said articulating surgical instrument about a primary axis of said articulating surgical instrument comprises:
rotating said articulating surgical instrument about said primary axis in response to displacement of hydraulic fluid generated in said control portion by said rotation of said element in said fourth degree of freedom, wherein said element comprises a rotatable arm holder assembly.
24. The method as recited in claim 19, wherein said rotating said articulating surgical instrument about a primary axis of said articulating surgical instrument comprises:
rotating said articulating surgical instrument about said primary axis in response to displacement of hydraulic fluid generated in said control portion by said rotation of said element in said fourth degree of freedom, wherein said element comprises a rotatable thumbwheel.
25. The method as recited in claim 19, wherein said actuating a wrist bend motion in said articulating surgical instrument comprises:
actuating said wrist bend motion in said articulating surgical instrument in response to displacement of hydraulic fluid generated in said control portion by said pivoting of said grasper handle in said fifth degree of freedom.
26. The method as recited in claim 19, wherein said actuating a tip rotate motion in said articulating surgical instrument comprises:
actuating said tip rotate motion in said articulating surgical instrument in response to displacement of hydraulic fluid generated in said control portion by said rotation of said grasper handle assembly in said sixth degree of freedom.
27. The method as recited in claim 19, wherein said actuating a tip grasp motion in said articulating surgical instrument comprises:
actuating said tip grasp motion in said articulating surgical instrument in response to displacement of hydraulic fluid generated in said control portion by said pivoting of said trigger in said seventh degree of freedom.
28. A method of articulation control signal generation, said method comprising:
in response to movement along a first degree of freedom of a control portion of a device for remotely controlling an articulating surgical instrument, generating within said control portion a first control signal configured for controlling pivot of an articulating surgical instrument associated with said device about a pivot point external to an operating environment, said articulating surgical instrument coupled with a slave portion of said device;
in response to movement of said control portion along a second degree of freedom, generating within said control portion a second control signal configured for controlling lateral swivel of said articulating surgical instrument about a shaft of said slave portion, wherein said shaft is external to said operating environment;
in response to movement of said control portion along a third degree of freedom, generating a third control signal configured for controlling translation of said articulating surgical instrument along a longitudinal axis of said articulating surgical instrument, wherein said longitudinal axis extends through said pivot point;
in response to rotation of an element of said control portion in a fourth degree of freedom, generating within said control portion a fourth control signal configured for controlling rotation of said articulating surgical instrument about a primary axis of said articulating surgical instrument;
in response to pivoting of a grasper handle assembly of said control portion in a fifth degree of freedom, generating within said control portion a fifth control signal configured for controlling actuation of a wrist bend motion in said articulating surgical instrument;
in response to rotation of said grasper handle assembly in a sixth degree of freedom, generating within said control portion a sixth control signal configured for controlling actuation of a tip rotate motion in said articulating surgical instrument; and
in response to pivoting of a trigger of said grasper handle assembly in a seventh degree of freedom, generating within said control portion a seventh control signal configured for controlling actuation of a tip grasp motion in said articulating surgical instrument.
29. The method as recited in claim 28, wherein said generating within said control portion a first control signal configured for controlling pivoting of an articulating surgical instrument associated with said device about a pivot point external to an operating environment comprises:
generating said first control signal by translating said movement along said first degree of freedom into a first displacement of hydraulic fluid.
30. The method as recited in claim 29, wherein said generating within said control portion a second control signal configured for controlling lateral swivel of said articulating surgical instrument about a shaft of said slave portion comprises:
generating said second control signal by translating said movement along said second degree of freedom into a second displacement of hydraulic fluid.
31. The method as recited in claim 30, wherein said generating a third control signal configured for controlling translation of said articulating surgical instrument along a longitudinal axis of said articulating surgical instrument comprises:
generating said third control signal by translating said movement along said third degree of freedom into a third displacement of hydraulic fluid.
32. The method as recited in claim 31, wherein said generating within said control portion a fourth control signal configured for controlling rotation of said articulating surgical instrument about a primary axis of said articulating surgical instrument comprises:
generating said fourth control signal by translating said rotation of said element in said fourth degree of freedom into a fourth displacement of hydraulic fluid, wherein said element comprises a rotatable thumbwheel.
33. The method as recited in claim 31, wherein said generating within said control portion a fourth control signal configured for controlling rotation of said articulating surgical instrument about a primary axis of said articulating surgical instrument comprises:
generating said fourth control signal by translating said rotation of said element in said fourth degree of freedom into a fourth displacement of hydraulic fluid, wherein said element comprises a rotatable arm holder assembly.
34. The method as recited in claim 33, wherein said generating within said control portion a fifth control signal configured for controlling actuation of a wrist bend motion in said articulating surgical instrument comprises:
generating said fifth control signal by translating said to pivoting of said grasper handle assembly in said fifth degree of freedom into a fifth displacement of hydraulic fluid.
35. The method as recited in claim 34, wherein said generating within said control portion a sixth control signal configured for controlling actuation of a tip rotate motion in said articulating surgical instrument comprises:
generating said sixth control signal by translating said rotation of said grasper handle assembly in said sixth degree of freedom into a sixth displacement of hydraulic fluid.
36. The method as recited in claim 35, wherein said generating within said control portion a seventh control signal configured for controlling actuation of a tip grasp motion in said articulating surgical instrument comprises:
generating said third control signal by translating said pivoting of said trigger in said seventh degree of freedom into a seventh displacement of hydraulic fluid.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An erase method of a flash memory device comprising:
applying a post program voltage to word lines of all memory cells in a block passing an erase verify operation;
precharging a first and second bit lines to a predetermined level;
applying a ground voltage to the word lines of all the memory cells in the block;
evaluating the memory cells for a predetermined time shorter than an evaluation time of a read operation;
sensing whether a memory cell passing a post program verify operation exists among the memory cells, according to whether charges accumulated in the first bit line are discharged; and
programming the memory cells in the block to a desired level using a predetermined program voltage and a step voltage when the memory cell passing the post program verify operation exists.
2. The method of claim 1, further comprising, before the precharging of the first and second bit lines:
discharging the first and second bit lines; and
setting a page buffer connected to the first and second bit lines.
3. The method of claim 1, wherein the ground voltage applied to the word lines of all the memory cells in the block is approximately 0 V.
4. The method of claim 2, wherein the page buffer comprises a bit line select and bias supply circuit, a precharge circuit, a latch.
5. The method of claim 4, wherein a sensing node make the bit line select and bias supply circuit and the precharge circuit be coupled to the latch.
6. An erase method of a flash memory device comprising:
applying a post program voltage to word lines of all memory cells in a block passing an erase verify operation;
precharging a first and second bit lines to a predetermined level;
applying a ground voltage to the word lines of all the memory cells in the block;
evaluating the memory cells;
sensing whether a memory cell passing a post program verify operation exists among the memory cells for a predetermined time shorter than an evaluation time of a read operation;
programming the memory cells in the block to a desired level using a predetermined program voltage and a step voltage when the memory cell passing the post program verify operation exists.
7. The method of claim 6, further comprising, before the precharging of the first and second bit lines:
discharging the first and second bit lines; and
setting a page buffer connected to the first and second bit lines.
8. The method of claim 6, wherein the ground voltage applied to the word lines of all the memory cells in the block is approximately 0 V.
9. The method of claim 7, wherein the page buffer comprises a bit line select and bias supply circuit, a precharge circuit, a latch.
10. The method of claim 9, wherein a sensing node make the bit line select and bias supply circuit and the precharge circuit be coupled to the latch.
11. An erase method of a non-volatile memory device comprising:
applying a post program voltage to memory cells passing an erase verify operation;
precharging a first bit line and a second bit line to a predetermined level;
applying a ground voltage to the memory cells;
evaluating the memory cells;
sensing whether a selected memory cell passing a post program verify operation exists among the memory cells;
programming the array of memory cells to a desired level using a predetermined program voltage and a step voltage when the selected memory cell passing the post program verify operation exists.
12. The method of claim 11, further comprising setting a predetermined time shorter than an evaluation time of the selected memory cell during a read operation and discharging charges accumulated in the first bit line.
13. The method of claim 11, further comprising, before precharging of the first and second bit lines:
discharging the first and second bit lines;
setting a page buffer connected to the first and second bit lines.
14. The method of claim 11, wherein the ground voltage applied to the memory cells is approximately 0V.
15. The method of claim 13, wherein the page buffer comprises a bit line select and bias supply circuit, a precharge circuit, a latch.
16. The method of claim 15, wherein a sensing node make the bit line select and bias supply circuit and the precharge circuit be coupled to the latch.