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91. 发明申请

US20150164598A1 FORCE AND TORQUE SENSING FOR SURGICAL INSTRUMENTS 审中-公开
标题翻译：手术仪器的力和扭矩感应
公开(公告)号：US20150164598A1
公开(公告)日：2015-06-18
申请号：US14591826
申请日：2015-01-07
申请人： Intuitive Surgical Operations, Inc.
发明人： STEPHEN J. BLUMENKRANZ , David Q. Larkin
IPC分类号： A61B19/00 , G01L5/22 , G01L1/24
CPC分类号： G01L5/22 , A61B1/00059 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/06 , A61B90/37 , A61B2017/2927 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2562/0266 , B25J15/0009 , G01L1/246 , Y10T74/20335
摘要： An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。公开了其它有利的配置和方法。

92. 发明授权

US09028468B2 Robotic apparatus for minimally invasive surgery 有权
标题翻译：用于微创手术的机器人装置
公开(公告)号：US09028468B2
公开(公告)日：2015-05-12
申请号：US13642509
申请日：2011-04-22
申请人： Umberto Scarfogliero , Claudio Quaglia , Marco Piccigallo , Selene Tognarelli , Pietro Valdastri , Arianna Menciassi , Paolo Dario
发明人： Umberto Scarfogliero , Claudio Quaglia , Marco Piccigallo , Selene Tognarelli , Pietro Valdastri , Arianna Menciassi , Paolo Dario
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B2017/2906 , A61B2034/305 , Y10T74/19907 , Y10T74/20305 , Y10T74/20335
摘要： A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.
摘要翻译：描述了一种特别适用于腹腔镜手术的机器手臂，其具有扭转关节和形成连续排列的关节的弯曲关节。接头为臂提供相应的自由度，其进一步接收用于这种接头的驱动装置。机器臂还具有放置在驱动装置和接头之间的传动装置。传动装置是指三个齿轮（优选锥形齿轮）的第一组件和第二组件，以及连接第一组件和第二组件以形成差动机构的三个附加齿轮（优选是直切齿轮）的列车。

93. 发明授权

US08997599B2 Motorized joint with two pivot connections and humanoid robot which implements the joint 有权
标题翻译：具有两个枢轴连接的电动接头和实现接头的类人机器人
公开(公告)号：US08997599B2
公开(公告)日：2015-04-07
申请号：US12736449
申请日：2009-04-06
申请人： Bruno Maisonnier , Pascal Lafourcade , Romain Fischesser
发明人： Bruno Maisonnier , Pascal Lafourcade , Romain Fischesser
IPC分类号： B25J17/00 , B25J17/02
CPC分类号： B25J17/0275 , Y10S901/25 , Y10S901/26 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis. A second motor having a second drive shaft aliened with a second drive axis parallel to the first drive axis of the first motor is affixed to an output portion of the first speed reducer for axial rotation therewith about the first pivot axis so as to cause by means of a second speed reducer including a bevel gear relative rotational movement of the two elements with respect to one another about the second pivot axis. Also, the joint may be implemented as part of a humanoid robot.
摘要翻译：提供了一种具有连接两个元件的旋转自由度的电动接头。接头包括两个枢轴连接，使得第一个枢转连接件建立第一枢转轴线，第二个枢转连接件建立第二枢转轴线。第一枢转轴线不平行于第二枢转轴线。第一马达以两个元件中的第一个固定的关系设置，并且具有与第一驱动轴对准的驱动轴，以便通过具有平行轴的第一减速器引起两个元件围绕第一枢轴旋转轴。具有与平行于第一电动机的第一驱动轴的第二驱动轴相连的第二驱动轴的第二电动机被固定到第一减速器的输出部分，用于围绕第一枢转轴线轴向旋转，以便通过装置第二减速器包括两个元件相对于第二枢转轴线相对于彼此相对旋转运动的锥齿轮。另外，关节可以实现为人形机器人的一部分。

94. 发明授权

US08984982B2 Parallel kinematic structure 有权
标题翻译：平行运动学结构
公开(公告)号：US08984982B2
公开(公告)日：2015-03-24
申请号：US12446491
申请日：2006-10-31
申请人： Patrick Helmer , Charles Baur, Jr. , Marc Weibel
发明人： Patrick Helmer , Charles Baur, Jr. , Marc Weibel
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B25J9/0015 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled. The parallel kinematic structure further comprises a moveable end-effector section coupled with the output sections of the anti-planar joint arrangements.
摘要翻译：平行运动学结构包括至少两个在功能上并行布置的运动链。两个运动链中的每一个在其可移动端处具有至少一个自由度，并且包括具有平移自由度和两个旋转自由度的被动抗平面接合装置。每个反平面接合装置具有输入部分和输出部分。运动链中的至少一个包括具有至少一个平移自由度和旋转自由度中的至少一个的平面接合装置，该平面接头装置具有输出部分。此外，平面接头装置适于其至少一个自由度的主动运动。反平面接合装置的输入部分和相应的平面接头装置的输出部分相连接。平行运动学结构还包括与反平面接合装置的输出部分联接的可移动的端部执行器部分。

95. 发明授权

US08964351B2 Robotic arm 有权
标题翻译：机器臂
公开(公告)号：US08964351B2
公开(公告)日：2015-02-24
申请号：US13966015
申请日：2013-08-13
申请人： Panasonic Corporation
发明人： Takashi Horinouchi
IPC分类号： H01L21/683 , B25J17/00 , B25J17/02 , B25J18/00 , B25J5/00 , B25J9/04 , B25J19/00 , B25J15/00
CPC分类号： B25J17/00 , B25J5/007 , B25J9/046 , B25J15/0028 , B25J19/0004 , Y10S901/01 , Y10S901/28 , Y10S901/31 , Y10T74/20329 , Y10T74/20335
摘要： A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.
摘要翻译：机器臂包括：具有一个或多个关节的臂; 臂固定单元，其设置在所述一个或多个接头中的至少一个接头处，并且被配置为通过静电粘附来固定由所述一个或多个接头中的至少一个接头中的每一个联接的两个部件之间的位置关系; 以及控制单元，其构造成打开和关闭所述臂固定单元的静电附着。

96. 发明授权

US08945095B2 Force and torque sensing for surgical instruments 有权
标题翻译：外科手术器械的力和转矩检测
公开(公告)号：US08945095B2
公开(公告)日：2015-02-03
申请号：US11537241
申请日：2006-09-29
申请人： Stephen J. Blumenkranz , David Q. Larkin
发明人： Stephen J. Blumenkranz , David Q. Larkin
IPC分类号： A61B1/00 , A61B19/00 , B25J15/00 , A61B17/29
CPC分类号： A61B19/2203 , A61B1/00059 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B90/06 , A61B90/37 , A61B2017/2927 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2562/0266 , B25J15/0009 , G01L1/246 , G01L5/22 , Y10T74/20335
摘要： An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.
摘要翻译：提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。公开了其它有利的配置和方法。

97. 发明授权

US08893578B2 Parallel robot provided with wrist section having three degrees of freedom 有权
标题翻译：平行机器人具有三个自由度的手腕部分
公开(公告)号：US08893578B2
公开(公告)日：2014-11-25
申请号：US13238199
申请日：2011-09-21
申请人： Satoshi Kinoshita , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Hikaru Yamashiro
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J17/0266 , B25J9/0051 , B25J17/0283 , Y10S901/15 , Y10S901/26 , Y10S901/29 , Y10T74/20317 , Y10T74/20335
摘要： A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
摘要翻译：并联机器人包括可动部驱动机构和手腕部驱动机构。手腕部分包括支撑在可移动部分上的第一旋转部件，其可绕与可移动部件的三轴平移运动的轴线不同的第四旋转轴线旋转;第二旋转部件，连接到第一旋转部件，与第四旋转轴正交的旋转轴，以及连接到第二旋转构件并可绕与第五旋转轴正交的第六旋转轴旋转的第三旋转构件。第三旋转构件设置有附接工具附接的附接表面。安装面相对于第六旋转轴以预定的角度倾斜。

98. 发明申请

US20140286736A1 SYSTEMS, APPARATUS AND METHODS FOR TRANSPORTING SUBSTRATES IN ELECTRONIC DEVICE MANUFACTURING 审中-公开
标题翻译：用于在电子设备制造中运输基板的系统，装置和方法
公开(公告)号：US20140286736A1
公开(公告)日：2014-09-25
申请号：US14301382
申请日：2014-06-11
申请人： Applied Materials, Inc.
发明人： Izya Kremerman , Jeffrey C. Hudgens
IPC分类号： B65G47/90 , B25J18/00
CPC分类号： B65G47/904 , B25J9/042 , B25J18/00 , H01L21/67742 , Y10S414/135 , Y10S414/141 , Y10S901/15 , Y10S901/16 , Y10S901/21 , Y10S901/28 , Y10S901/29 , Y10T74/20335
摘要： An electronic device processing system is disclosed. The system includes a transfer chamber including facets and a plurality of single-entry process chambers coupled to the facets, wherein at least some process chambers are non-focalized process chambers, at least one load lock chamber, and a robot apparatus operable to transport substrates between the process chambers and the load lock chamber(s). Robot apparatus includes an upper arm, a forearm, and a wrist member adapted for independent rotation relative to the forearm about a wrist axis, and an end effector adapted to carry a substrate. Various degrees of yaw may be imparted to the wrist member in order to service the non-focalized process chambers. Systems and methods are also provided as are other aspects.
摘要翻译：公开了一种电子设备处理系统。该系统包括传送室，其包括小平面和耦合到小平面的多个单入口处理室，其中至少一些处理室是非聚焦处理室，至少一个加载锁定室和可操作以输送基板的机器人装置在处理室和负载锁定室之间。机器人装置包括上臂，前臂和适于相对于围绕腕轴的前臂独立旋转的腕部构件，以及适于承载基底的端部执行器。可以向腕部构件施加各种程度的偏转，以便维持非聚焦的处理室。还提供了系统和方法以及其它方面。

99. 发明申请

US20140251058A1 PARALLEL ROBOT 有权
标题翻译：平行机器人
公开(公告)号：US20140251058A1
公开(公告)日：2014-09-11
申请号：US14162742
申请日：2014-01-24
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Nobuhiko MIHARA , Takashi SANADA , Ryuichiro TOMINAGA
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J17/02 , B25J9/003 , B25J19/0025 , Y10T74/20335
摘要： A parallel robot includes a plurality of actuators, a wrist portion, and a plurality of arms that respectively connect the wrist portion to the plurality of actuators. The wrist portion includes a base portion that includes a plurality of connection portions respectively connected to the plurality of arms and a rotation member that rotates about a rotation axis located outside an area surrounded by the plurality of connection portions. The rotation member is provided with a through-hole that is formed along the rotation axis.
摘要翻译：平行机器人包括分别将腕部连接到多个致动器的多个致动器，腕部和多个臂。手腕部包括：基部，其包括分别连接到多个臂的多个连接部分和围绕位于由多个连接部分包围的区域外部的旋转轴线旋转的旋转部件。旋转构件设置有沿着旋转轴线形成的通孔。

100. 发明授权

US08820189B2 Articulated robot wrist 有权
标题翻译：铰接机器人手腕
公开(公告)号：US08820189B2
公开(公告)日：2014-09-02
申请号：US13399353
申请日：2012-02-17
申请人： Mauro Amparore , Giorgio Pernechele , Giuseppe Paparella
发明人： Mauro Amparore , Giorgio Pernechele , Giuseppe Paparella
IPC分类号： G05G11/00 , B25J17/02 , B25J19/00
CPC分类号： B25J19/0025 , B25J17/0283 , Y10T74/20305 , Y10T74/20317 , Y10T74/20335
摘要： Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.
摘要翻译：这里公开的是关节式机器人手腕的实施例，其可包括第一主体，该第一主体包括第一和第二端，所述第一端旨在安装在可围绕第一轴线旋转的机器人部件上; 第二主体，包括第一端和第二端，所述第一端围绕相对于所述第一轴倾斜的第二轴可旋转地安装在所述第一主体的所述第二端上; 以及包括第一和第二端的第三主体，所述第一端围绕相对于所述第二轴线倾斜的第三轴线可旋转地安装在所述第二主体的所述第二端上，其中所述第一和第三轴线基本上正交于所述第二轴线，并且其中在所述机械手腕的至少一个位置中，所述第一和第三轴线基本上彼此对准。

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