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1. 发明公开

EP3459686A2 ROBOT CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：EP3459686A2
公开(公告)日：2019-03-27
申请号：EP18195664.0
申请日：2018-09-20
申请人： Seiko Epson Corporation
发明人： Toshimitsu, Shunsuke
IPC分类号： B25J9/16
CPC分类号： B25J9/06 , B25J9/0084 , B25J9/1676 , G05B2219/39096 , G05B2219/49144
摘要： A robot control device controls a robot including an A arm that is rotatable about an A rotation axis, a B arm that is provided so as to be rotatable around a B rotation axis with respect to the A arm and allowed to be brought into a first state overlapping with the A arm when viewed from an axial direction of the B rotation axis, a C arm that is provided so as to be rotatable around a C rotation axis which is an axial direction intersecting with an axial direction of the B rotation axis with respect to the B arm, the robot control device includes a control unit that suppresses interference between an object and the B arm by limiting a rotation range of the C arm in a case where the object is attached to the C arm.

2. 发明公开

EP3391804A3 HAND-ACTUATED DEVICE FOR REMOTE MANIPULATION OF A GRASPING TOOL 审中-实审
公开(公告)号：EP3391804A3
公开(公告)日：2018-10-31
申请号：EP18177374.8
申请日：2005-09-19
申请人： Intuitive Surgical Operations, Inc.
发明人： Danitz, David J , Hinman, Cameron Dale
IPC分类号： A61B1/005 , A61B1/008 , B25J3/00 , B25J9/10 , B25J15/00 , B25J13/02
CPC分类号： A61B34/70 , A61B1/0053 , A61B1/0055 , A61B17/072 , A61B17/07207 , A61B18/1492 , A61B34/71 , A61B34/77 , A61B2017/00323 , A61B2017/00424 , A61B2017/00438 , A61B2017/2905 , A61B2017/2927 , A61B2034/306 , A61B2090/038 , B25J9/06 , B25J9/104 , B25J13/02 , B25J18/06 , Y10S901/21 , Y10T74/20323 , Y10T74/20402
摘要： The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments (A1, B1, D1) at the proximal end (106, 107, 121, 606, 806, 1711, 1801) of the mechanism results in a corresponding, relative movement of segments (A2, B2, D2) at the distal end (108, 109, 123, 604, 808, 1721, 1822) of the mechanism. The proximal and distal segments are connected by a set of cables (104) in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.

3. 发明公开

EP3388015A1 SURGICAL OPERATION SYSTEM 审中-公开
公开(公告)号：EP3388015A1
公开(公告)日：2018-10-17
申请号：EP16872610.7
申请日：2016-11-30
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： NAKANISHI, Tetsuya
IPC分类号： A61B34/35 , B25J9/06
CPC分类号： A61B34/70 , A61B34/30 , A61B34/35 , A61B90/361 , A61B2034/304 , A61B2034/305 , B25J9/06
摘要： A surgical system includes a platform, a plurality of manipulator arms coupled to the platform, an instrument attached to the distal end portion of each of the plurality of manipulator arms, and a positioner configured to support the platform so as to allow the posture of the platform to change from a horizontal posture.

4. 发明公开

EP3357447A1 MEDICAL SUPPORT ARM DEVICE AND MEDICAL SYSTEM 审中-公开
公开(公告)号：EP3357447A1
公开(公告)日：2018-08-08
申请号：EP16850881.0
申请日：2016-08-03
申请人： Sony Corporation
发明人： KAMIKAWA, Yasuhisa , FUKUSHIMA, Tetsuharu , KOKUBO, Wataru , MATSUDA, Yasuhiro
IPC分类号： A61B50/28 , A61B34/30 , B25J9/06
CPC分类号： A61B34/30 , A61B50/28 , A61B90/361 , A61B90/37 , A61B2090/372 , B25J9/06
摘要： To make it possible to configure a medical support arm apparatus which does not impair operability for the surgeon, and which is also compact. Provided is a medical support arm apparatus including: an arm section configured so that a medical tool is provided on a front end, and movable axes are arranged so that the arm section has at least six degrees of freedom. Among the movable axes, a movable axis provided on the front end side that prescribes an attitude of the medical tool is a passive axis that rotates by following an external force, and at least one axis provided on a base end side that prescribes a position of the medical tool is a drive axis driven by an actuator.

5. 发明公开

EP3348860A1 LINEAR EXTENSION-RETRACTION MECHANISM 无效
公开(公告)号：EP3348860A1
公开(公告)日：2018-07-18
申请号：EP16844443.8
申请日：2016-09-08
申请人： Life Robotics Inc.
发明人： YOON, Woo-Keun , SANO, Hikaru
IPC分类号： F16G13/20 , B25J18/02
CPC分类号： B25J18/02 , B25J9/0027 , B25J9/06 , F16G13/20 , F16H19/04 , F16H19/0645 , Y10S901/28
摘要： To improve rigidity of a rigid state by joining two types of connection piece strings constituting a linear extension and retraction mechanism and to realize smooth sending-out and pulling-back operations of the connection piece strings.
A linear extension and retraction mechanism has a plurality of first connection pieces (53) connected bendably and a plurality of second connection pieces (54) connected bendably. The first and second connection pieces become linearly rigid when joined together and return to a bent state when separated. The first connection piece has a main body part (530). A pair of bearing sections (531) is provided on front both sides of the main body part, and a single bearing section (532) is provided on a rear center of the main body part. In order to limit bending of the connected first connection pieces to a front surface side from a linearly aligned posture, a projection section (536) protruding to the rear is provided on the bearing section on the rear of the main body part, and a receiving section (535) adapted to receive the projection section is provided between the pair of bearing sections on the front of the main body part.

6. 发明公开

EP3348360A1 ROBOT APPARATUS 无效
公开(公告)号：EP3348360A1
公开(公告)日：2018-07-18
申请号：EP16844444.6
申请日：2016-09-08
申请人： Life Robotics Inc.
发明人： TAKASE, Sosuke , KAWAGUCHI, Masateru , YOON, Woo-Keun , KURIHARA, Shinji
IPC分类号： B25J13/02 , B25J13/06
CPC分类号： B25J13/02 , B25J9/06 , B25J13/06 , B25J18/02 , Y10S901/15 , Y10S901/28
摘要： A purpose of the present invention is to lower the level of operations expertise needed for hand movements and posture changes of a robot system and reduce the difficulty of learning operations.
A robot system includes a robot arm mechanism equipped with an end effector (3); an operating device (60) for operating a movement and a posture change of the end effector; and a control section (101) for controlling the robot arm mechanism according to the input operation carried out via the operating device, in which the operating device equips a first operating button set and a second operating button set, the first operating button set is adapted for operating translational movement in which the end effector moves in positive and negative directions along each of three orthogonal axes of the robot coordinate system with a posture of the end effector on a robot coordinate system fixed, and the second operating button set is adapted for operating posture change motion in which the end effector rotates in positive and negative directions around each of three orthogonal axes of the hand coordinate system with an origin position of a hand coordinate system of the end effector on the robot coordinate system fixed.

7. 发明公开

EP3212107A4 MEDICAL DEVICE WITH ACTIVE BRAKE RELEASE CONTROL 审中-实审转让
公开(公告)号：EP3212107A4
公开(公告)日：2018-06-13
申请号：EP15854253
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS
发明人： SWARUP NITISH , GRIFFITHS PAUL G , LYNCH GORAN , MILLER DANIEL
IPC分类号： A61B34/00 , A61B34/35
CPC分类号： A61B90/50 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/305 , A61B2090/508 , B25J9/0087 , B25J9/06 , B25J9/1664 , B25J9/1689 , B25J19/0004 , Y10S901/02
摘要： A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.

8. 发明公开

EP3109980A4 ACTUATOR AND ROBOT ARM APPARATUS 无效转让
公开(公告)号：EP3109980A4
公开(公告)日：2018-04-18
申请号：EP15757822
申请日：2015-02-19
申请人： SONY CORP
发明人： KOKUBO WATARU , KASAI TAKARA , KAMIKAWA YASUHISA , KURODA YOHEI , TSUBOI TOSHIMITSU , FUKUSHIMA TETSUHARU , MATSUDA YASUHIRO , MIYAMOTO ATSUSHI
IPC分类号： H02K11/00 , B25J17/00 , G01D5/244 , H02K7/116 , H02P6/16
CPC分类号： H02K7/116 , B25J9/06 , B25J9/126 , B25J9/1641 , B25J13/088 , G01D5/04 , G01D5/145 , G01D5/2451 , G05B2219/39191 , H02K11/215 , H02P6/16
摘要： [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.

9. 发明公开

EP3269323A1 MEDIZINISCHER HALTEARM MIT RINGFÖRMIGEN LED-ANZEIGEMITTELN 有权转让
标题翻译：带有环形LED指示器的医疗保持臂
公开(公告)号：EP3269323A1
公开(公告)日：2018-01-17
申请号：EP17184477.2
申请日：2015-08-12
申请人： medineering GmbH
发明人： Nowatschin, Stephan , Krinninger, Maximilian , Gierlach, Dominikus
IPC分类号： A61B90/50 , F16M13/02 , A61B34/30 , A61B90/57
CPC分类号： A61B90/50 , A61B17/02 , A61B34/30 , A61B2017/00115 , A61B2090/0807 , A61B2090/508 , A61B2090/571 , B25J1/02 , B25J1/12 , B25J9/06 , B25J11/0005 , B25J13/02 , B25J13/082 , B25J13/084 , B25J13/085 , B25J18/04 , B25J19/06 , F16M13/022 , F16M2200/021
摘要： Die Erfindung betrifft eine Haltevorrichtung (1), insbesondere Haltearm und/oder Stativ, für medizinische Zwecke, mit einem proximalen Ende (2) zum Befestigen der Haltevorrichtung (1) an einer Basis und einem distalen Ende (4) zum Aufnehmen eines Anbaugeräts (6); wenigstens einem ersten und einem zweiten Armsegment (12, 14), wobei das erste Armsegment (12) mit einem ersten Gelenk (13) und das zweite Armsegment (14) mit einem zweiten Gelenk (15) verbunden ist, wobei jedes Gelenk (13, 15) freigebbar und arretierbar ist; einer Bedieneinrichtung (50) zum Freigeben und/oder Arretieren des entsprechenden Gelenks (13, 15) zum Verbringen der Haltevorrichtung (1) in eine gewünschte Pose; und einer ersten Anzeigeeinheit (34, 100, 200, 250), die an dem ersten Gelenk (13) angeordnet ist und einer zweiten Anzeigeeinheit (36, 100, 200, 252), die an dem zweiten Gelenk (15) angeordnet ist. Erfindungsgemäß sind die erste und/oder zweite Anzeigeeinheit (34, 36, 100, 200, 250, 252) dazu eingerichtet wenigstens einen vom Freigeben und/oder Arretieren des entsprechenden Gelenks (13, 15) verschiedenen Status der Haltevorrichtung (1) und/oder eines Anbaugeräts (6) anzuzeigen.
摘要翻译：本发明涉及一种保持装置（1），特别是支承臂和/或三脚架，用于医疗目的，具有近端（2）对于（1）的基座和远端（4），用于接收工具上固定所述保持装置（6 ）; 至少一个第一和一个第二臂部分（12，14），其中，所述第一臂部分（12）被连接到第一关节（13）和所述第二臂部分（14）与第二接头（15），每个接头（13， 15）是可释放和可锁定的; 用于释放和/或锁定用于使保持装置（1）进入期望姿态的相应关节（13,15）的操作装置（50）和布置在所述第一铰链（13）上的第一显示单元（34,100,200,250）和布置在所述第二铰链（15）上的第二显示单元（36,100,200,252）。根据本发明，所述第一和/或第二显示单元（34，36，100，200，250，252），其适于释放和/或锁定在保持装置的相应铰链（13，15）不同的状态中的至少一个（1）和/或附件（6）。

10. 发明公开

EP3238885A1 DOUBLE-ARMED ROBOT 有权
标题翻译：双臂机器人
公开(公告)号：EP3238885A1
公开(公告)日：2017-11-01
申请号：EP14908913.8
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , INADA, Takahiro , BANDO, Kenji , TANAKA, Yoshiaki , MURAKAMI, Junichi , HIBINO, Satoru , IWASAKI, Yukio
IPC分类号： B25J9/06
CPC分类号： B25J9/06 , B25J17/0258 , B25J18/00
摘要： A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.
摘要翻译：双臂机器人包括第一臂和第二臂，每个第一臂和第二臂具有可绕第一轴线旋转的第一连杆以及可旋转地联接到第一连杆并与端部执行器附接部分一起限定的第二连杆。第一臂的第一连杆设置成在第一轴的延伸方向上与第二臂的第一连杆分离。此外，第一臂的第二连杆和第二臂的第二连杆被布置成在第一轴的延伸方向上位于第一臂的第一连杆和第二臂的第一连杆之间，因此所述末端执行器安装部位于所述第一轴的延伸方向上的大致相同的位置。

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