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1. 发明授权

US5778730A Robotic joint using metallic bands 失效
标题翻译：使用金属带的机器人接头
公开(公告)号：US5778730A
公开(公告)日：1998-07-14
申请号：US677493
申请日：1996-07-09
申请人： Todd R. Solomon , Alexander H. Slocum
发明人： Todd R. Solomon , Alexander H. Slocum
IPC分类号： B25J9/10 , G05G11/00
CPC分类号： B25J9/1045 , Y10T403/7117 , Y10T403/7152 , Y10T74/20323
摘要： A robotic arm utilizing two pulleys connected by two metallic drive bands wound in opposite directions and rotatably attached to the pulleys. The metallic drive bands may include multiple metal strips separated by a visco-elastic material. One end of one drive band is attached to the pulley by a pin. A positioning mechanism is provided to adjust the tension of the band. The positioning mechanism includes a retaining piece, a wedge piece and an adjustment piece. The retaining piece is laterally movable and has an attachment point to the metal band and a slanted face. The wedge piece is vertically-movable and has a face abutting the slanted face of the retaining piece. The adjustment piece attaches the wedge piece to the pulley and moves the wedge piece vertically.
摘要翻译：机器人手臂，利用由相反方向缠绕的两个金属驱动带连接的两个皮带轮，并可转动地连接在皮带轮上。金属驱动带可以包括由粘弹性材料分隔的多个金属条。一个驱动带的一端通过一个销连接到滑轮上。提供了一种调整带的张力的定位机构。定位机构包括保持件，楔块和调节件。保持件是侧向可移动的，并且具有与金属带的接合点和倾斜面。楔形件是可垂直移动的并且具有邻接保持件的倾斜面的面。调节件将楔形件附接到滑轮并使楔形件垂直移动。

2. 发明授权

US5682795A Robotic joint using metal bands 失效
标题翻译：机器人接头使用金属带
公开(公告)号：US5682795A
公开(公告)日：1997-11-04
申请号：US500429
申请日：1995-07-10
申请人： Todd R. Solomon , Alexander H. Slocum
发明人： Todd R. Solomon , Alexander H. Slocum
IPC分类号： B25J9/10 , G05G23/00
CPC分类号： B25J9/1045 , Y10T403/7117 , Y10T403/7152 , Y10T74/20323
摘要： A robotic arm utilizing two pulleys connected by two metal drive bands wound in opposite directions and rotatably attached to the pulleys. The metal drive bands may include multiple metal strips separated by a visco-elastic material. One end of one drive band is attached to the pulley by a pin. The pin has a laterally movable retaining piece with a slanted face having an attachment point connected to one end of the metal band, a vertically movable wedge piece with a face abutting the slanted face, and an adjustment piece which attaches the wedge piece to the pulley and moves the wedge piece vertically.
摘要翻译：一种机器臂，利用两个由两个金属驱动带连接的皮带轮，这两个驱动带以相反的方向缠绕并可转动地连接在滑轮上。金属驱动带可以包括由粘弹性材料分开的多个金属条。一个驱动带的一端通过一个销连接到滑轮上。销具有横向可移动的保持件，其具有倾斜面，该倾斜面具有连接到金属带的一端的连接点，具有邻接倾斜面的表面的可垂直移动的楔形件，以及将楔形件附接到滑轮并垂直移动楔形件。

3. 发明授权

US09261172B2 Multi-ply strap drive trains for surgical robotic arms 有权
标题翻译：用于手术机器人手臂的多层带驱动列车
公开(公告)号：US09261172B2
公开(公告)日：2016-02-16
申请号：US11611849
申请日：2006-12-15
申请人： Todd R. Solomon , Thomas G. Cooper
发明人： Todd R. Solomon , Thomas G. Cooper
IPC分类号： B25J18/00 , F16H7/20 , A61B19/00 , B25J9/10
CPC分类号： F16H7/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00845 , A61B2034/305 , A61B2034/715 , B25J9/1045 , B25J18/00 , B25J18/005 , B25J18/007 , Y10S901/21 , Y10T29/49455 , Y10T29/49826 , Y10T74/20305 , Y10T74/20323
摘要： In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.
摘要翻译：在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。带传动系包括耦合到连杆组件的第一组和第二组皮带。当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度链接。

4. 发明申请

US20110282358A1 SURGICAL SYSTEM INSTRUMENT MOUNTING 有权
标题翻译：外科系统仪器安装
公开(公告)号：US20110282358A1
公开(公告)日：2011-11-17
申请号：US12855452
申请日：2010-08-12
申请人： Daniel H. Gomez , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers , Todd R. Solomon
发明人： Daniel H. Gomez , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
摘要翻译：提供机器人手术系统和将手术器械耦合到操纵臂的方法。在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。

5. 发明授权

US06428266B1 Direct driven robot 失效
标题翻译：直接驱动机器人
公开(公告)号：US06428266B1
公开(公告)日：2002-08-06
申请号：US08677402
申请日：1996-07-09
申请人： Todd R. Solomon , Donald J. Thomas , Gerard J. Labonville
发明人： Todd R. Solomon , Donald J. Thomas , Gerard J. Labonville
IPC分类号： B66C2300
CPC分类号： B25J19/0029 , B25J9/042 , B25J9/104 , B25J9/106 , B25J19/0075 , F16H2037/128
摘要： A robot with a base, a first link connected to the base by a shoulder joint, and a second link connected to the first link by an elbow joint. A shoulder motor drives the shoulder joint, and an elbow motor drives the elbow joint. An upper elbow pulley is coupled to the first link. An end effector pulley coupled to the upper elbow pulley, and a dual-bladed end effector driven by the end effector pulley. The diameter of the upper elbow pulley and the diameter of the end effector pulley are related by a 1:2 ratio. Ferro-fluid seals are used to seal each joint. A static seal joins the seams of the links. Each arm link has a particle filter. The robot can communicate electrical signals through the revolute joints with a conductive slip-ring assembly. Alternately, the joint may have an inner cylinder and an outer cylinder, and a cable may be coiled between the cylinders.
摘要翻译：具有基座的机器人，通过肩关节连接到基座的第一连杆和通过肘关节连接到第一连杆的第二连杆。肩部电机驱动肩关节，肘部电机驱动肘关节。上肘带轮联接到第一连杆。连接到上弯头滑轮的末端执行器滑轮和由末端执行器滑轮驱动的双叶片端部执行器。上弯头滑轮的直径和末端执行器滑轮的直径以1:2的比例相关。铁流体密封件用于密封每个接头。静态密封件连接连杆的接缝。每个臂链都有一个颗粒过滤器。机器人可以通过旋转接头与导电滑环组件通信电信号。或者，接头可以具有内筒和外筒，并且电缆可以在气缸之间卷绕。

6. 发明申请

US20090292299A1 OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY 有权
标题翻译：偏心机器人远程中心操纵器
公开(公告)号：US20090292299A1
公开(公告)日：2009-11-26
申请号：US12499392
申请日：2009-07-08
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

7. 发明授权

US07594912B2 Offset remote center manipulator for robotic surgery 有权
标题翻译：用于机器人手术的偏移中心机械手
公开(公告)号：US07594912B2
公开(公告)日：2009-09-29
申请号：US10957077
申请日：2004-09-30
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B17/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

8. 发明申请

US20120083802A1 OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY 有权
标题翻译：偏心机器人远程中心操纵器
公开(公告)号：US20120083802A1
公开(公告)日：2012-04-05
申请号：US13251881
申请日：2011-10-03
申请人： Thomas G. Cooper , Todd R. Solomon
发明人： Thomas G. Cooper , Todd R. Solomon
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
摘要： Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
摘要翻译：公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

9. 发明申请

US20110282356A1 SURGICAL SYSTEM INSTRUMENT MANIPULATOR 有权
标题翻译：外科系统仪器操作员
公开(公告)号：US20110282356A1
公开(公告)日：2011-11-17
申请号：US12855413
申请日：2010-08-12
申请人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
发明人： Todd R. Solomon , Thomas G. Cooper , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC分类号： A61B19/00
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
摘要翻译：提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力从另一个执行器输出输入。仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。

10. 发明授权

US10646292B2 Electro-mechanical strap stack in robotic arms 有权
公开(公告)号：US10646292B2
公开(公告)日：2020-05-12
申请号：US11611850
申请日：2006-12-15
申请人： Todd R. Solomon , Thomas G. Cooper
发明人： Todd R. Solomon , Thomas G. Cooper
IPC分类号： A61B34/37 , B25J9/10 , A61B34/00 , A61B34/30 , A61B17/00 , A61B90/00
摘要： In one embodiment of the invention, a strap drive-train for use in a robotic arm to enable movement of a linkage assembly of the robotic arm is provided. The linkage assembly includes a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis. The strap drive-train includes a first driver pulley rigidly coupled to a link of the plurality of links and a second driver pulley rigidly coupled to another link of the plurality of links. The electro-mechanical strap stack includes at least one of a ground strap and an electrical cable strap in a stacked configuration with a drive strap, wherein the electro-mechanical strap stack is connected between the first driver pulley and the second driver pulley through a middle link.

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