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131. 发明授权

US07392722B2 Control unit with three parallel branches 失效
标题翻译：具有三个并联分支的控制单元
公开(公告)号：US07392722B2
公开(公告)日：2008-07-01
申请号：US10501939
申请日：2003-01-20
申请人： Florian Gosselin , Eric Villedieu , Jean-Pierre Friconneau
发明人： Florian Gosselin , Eric Villedieu , Jean-Pierre Friconneau
IPC分类号： G05G11/00
CPC分类号： G06F3/016 , B25J13/02 , B25J17/0266 , G05G9/04737 , G06F3/0346 , Y10T74/20305 , Y10T74/20335 , Y10T74/20348
摘要： This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.
摘要翻译：该控制器在固定基座（1）和控制手柄（4）之间包括三个相似的臂（2），每个臂包括三个连杆（5,6,7），所述三个连杆（5,6,7）通过枢轴连接在基座和手柄平台之间 8），两个旋转接头（9和10）和一个球窝接头（11）。具有六个自由度的该控制器包括在第一和第二接头（8和9）处的力反馈电动机，其中第一接头固定到基座（1），第二接头固定到第一连杆（5），使得第一接头不动，另一方则运动不足; 第三个关节（10）是免费的。所得到的结构简单而轻，不需要任何平行四边形，运动学奇异性大大降低。

132. 发明授权

US07316681B2 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 有权
标题翻译：用于进行微创手术的铰接手术器具具有增强的灵巧性和灵敏度
公开(公告)号：US07316681B2
公开(公告)日：2008-01-08
申请号：US11243730
申请日：2005-10-04
申请人： Akhil J. Madhani , J. Kenneth Salisbury
发明人： Akhil J. Madhani , J. Kenneth Salisbury
IPC分类号： A61B17/00 , B25J17/00 , B25J17/02
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/29 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/2927 , A61B2017/2929 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J3/04 , B25J9/104 , Y10T74/20329 , Y10T74/20335
摘要： An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
摘要翻译：一种用于增强微创外科手术的表现的关节式手术器械。仪器具有高灵敏度，低摩擦，低惯性和良好的力反射。独特的电缆和滑轮驱动系统可以减少摩擦和增强力反射。与标准腹腔镜手术相比，独特的手腕机构可以增强手术灵敏度。该系统经过优化，可以减少执行器的数量，从而生成最小尺寸的全功能关节式手术器械。

133. 发明申请

US20070199399A1 Joint structure and robot arm 有权
标题翻译：联合结构和机器人手臂
公开(公告)号：US20070199399A1
公开(公告)日：2007-08-30
申请号：US11785366
申请日：2007-04-17
申请人： Yasunao Okazaki , Katsuhiko Asai
发明人： Yasunao Okazaki , Katsuhiko Asai
IPC分类号： B25J17/00
CPC分类号： B25J9/142 , B25J9/104 , B25J9/1075 , Y10T74/20323 , Y10T74/20329 , Y10T74/20335
摘要： A joint structure includes a rotating guide pulley, a fixed guide, and a rotating guide pulley. The rotating guide pulley is coaxial with a rotating shaft of a revolute joint, and is arranged so as to be rotatable about the rotating shaft. The fixed guide is arranged in a first structure, and has an arc portion. The arc portion has the same radius as the rotating guide pulley and is coaxial with the rotating guide pulley. The rotating guide pulley is arranged in a second structure so as to be relatively movable. A wire is put round the rotating guide pulley, the movable rotating guide pulley, and the fixed guide in the order of them.
摘要翻译：接头结构包括旋转导向轮，固定导向件和旋转导向轮。旋转导轮与旋转接头的旋转轴同轴，并且能够绕旋转轴旋转。固定引导件布置成第一结构，并且具有弧形部分。弧形部分具有与转动导向滑轮相同的半径，并且与转动导轮同轴。旋转导向轮布置成第二结构以相对移动。电线按照它们的顺序放置在旋转的导向滑轮，可移动的旋转导向滑轮和固定的导向器周围。

134. 发明授权

US07241102B2 Robot 有权
公开(公告)号：US07241102B2
公开(公告)日：2007-07-10
申请号：US10989688
申请日：2004-11-16
申请人： Kiyoshi Wakaizumi
发明人： Kiyoshi Wakaizumi
IPC分类号： B25J9/10
CPC分类号： B23Q1/5462 , B25J9/101 , B25J9/106 , B25J9/1065 , Y10S414/13 , Y10T74/20305 , Y10T74/20335
摘要： Disclosed is a robot which is compact in structure and may be movable in a large working range, wherein move members 1, 1 may be moved by drive devices 4, 4 respectively along a straight line and in parallel with each other, the drive devices 4, 4 including motors 40, 40 respectively which are individually controlled by a control device 9, so that the move members 1, 1 may be moved at a different speed and may be stopped at different relative positions. The move members 1, 1 are connected to a work holder 3 by means of arms 2, 2, the arms having one end pivotally connected to the move members 1, 1 at the pivots 10, 10 thereof respectively, the arms 2, 2 having the opposite end pivotally connected to the work holder 3 at the pivots 30, 30 thereof respectively. The work holder 3 may hold an optional jig and may be moved in a horizontal plane and in a vertical plane enabling the jig to work in the working plane.

135. 发明申请

US20070152014A1 Surgical instrument with bending articulation controlled articulation pivot joint 有权
标题翻译：具有弯曲关节运动的关节运动枢纽关节的手术器械
公开(公告)号：US20070152014A1
公开(公告)日：2007-07-05
申请号：US11323536
申请日：2005-12-30
申请人： Christoph Gillum , Chad Boudreaux , Kenneth Hogue , Geoffrey Hueil , Douglas Siebenaler
发明人： Christoph Gillum , Chad Boudreaux , Kenneth Hogue , Geoffrey Hueil , Douglas Siebenaler
IPC分类号： A61B17/10
CPC分类号： A61B17/07207 , A61B2017/2927 , A61B2017/320052 , Y10T74/20335
摘要： A surgical instrument particularly suited to endoscopic and laparoscopic insertion through a cannula of a trocar into an insufflated body cavity or lumen includes a bending member in an elongate shaft that acts to rotate an end effector about an articulation pivot joint. A proximally directed camming surface (e.g., gear segment, cam recess) aft of a pivotal attachment of the end effector to a proximal frame ground of the elongate shaft interacts with a bending member whose proximal end is ground to the proximal frame ground. Differential fluidic actuators or mechanical cam bars deflect a distal end (e.g., rack, cam point) of the bending member to effect articulation. Thereby, the end effector may act upon tissue that would otherwise be obscured, such as behind an organ. The articulated end effector also advantageously allows an endoscope to be positioned behind the end effector without being blocked by the instrument shaft.
摘要翻译：特别适于通过套管针的内窥镜和腹腔镜插入穿入体腔或腔内的手术器械包括在细长轴中的弯曲构件，该弯曲构件用于围绕关节运动枢转关节旋转端部执行器。端部执行器的枢转附件后部的近侧定向的凸轮表面（例如，齿轮段，凸轮凹部）与细长轴的近侧框架接地相互作用，该弯曲构件的近端被研磨到近侧框架地面。差分流体致动器或机械凸轮杆偏转弯曲构件的远端（例如，齿条，凸轮点）以实现铰接。因此，末端执行器可以作用在否则将被遮蔽的组织上，例如在器官后面。铰接端部执行器还有利地允许内窥镜被定位在末端执行器的后面而不被仪器轴阻挡。

136. 发明申请

US20070151391A1 MODULAR FORCE SENSOR 有权
标题翻译：模块式传感器
公开(公告)号：US20070151391A1
公开(公告)日：2007-07-05
申请号：US11553303
申请日：2006-10-26
申请人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
发明人： David Q. Larkin , Stephen J. Blumenkranz , Rajesh Kumar
IPC分类号： B25J17/02
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/065 , Y10T74/20335
摘要： A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.
摘要翻译：提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及用于向近侧联接到联接到端部的腕关节的远端管部分。

137. 发明申请

US20070140823A1 Articulated arm robot 有权
标题翻译：铰接臂机器人
公开(公告)号：US20070140823A1
公开(公告)日：2007-06-21
申请号：US11311123
申请日：2005-12-20
申请人： Reiner Dorner , Joachim Pottiez
发明人： Reiner Dorner , Joachim Pottiez
IPC分类号： B66C23/00
CPC分类号： B25J9/047 , B25J15/0616 , Y10T74/20335
摘要： In a multi-axis articulated arm robot for transferring workpieces, there is a robot base, on which a movement unit is able to be pivoted about a first axis, which is vertical in an operational state. The movement unit has a pivoting part adjacent to the base, an articulated arm constituted by a top arm and a bottom arm, such top arm being connected for pivoting at one end about a horizontal second axis with the pivoting part at the other end is connected with the adjacent end of the bottom arm for pivoting about a horizontal third axis, a rotary member arranged at the bottom arm's end opposite to the top arm, such rotary member being able to be rotated about a fourth axis extending in the longitudinal direction of the bottom arm, a pivoting member connected with the rotary member for pivoting about a fifth axis extending athwart the fourth axis, and a supporting part rotatingly connected with the pivoting member, such supporting part extending athwart the fifth axis. On the supporting part a holding means of a lifting means, associated with the workpieces to be transferred, and more particularly a vacuum suction means, is arranged for rotation about a seventh axis. The supporting part is directed in the direction of the sixth axis away from the pivoting member. The seventh axis is directed athwart the sixth axis.
摘要翻译：在用于传送工件的多轴铰接臂机器人中，存在一个机器人基座，运动单元能够围绕第一轴线在其上枢转，该第一轴线在工作状态下是垂直的。移动单元具有邻近基座的枢转部分，由顶臂和底臂构成的铰接臂，该顶臂连接用于在一端围绕水平第二轴线枢转，另一端的枢转部分连接底部臂的相邻端部围绕水平的第三轴线枢转，旋转构件布置在与顶部臂相对的底部臂的端部处，该旋转构件能够围绕沿着顶部臂的纵向方向延伸的第四轴线旋转底部臂，与旋转构件连接的枢转构件，用于围绕第四轴线延伸的第五轴线枢转，以及与枢转构件旋转地连接的支撑部分，该支撑部分延伸延伸到第五轴线。在支撑部分上，布置有用于围绕第七轴线旋转的与待传送工件相关联的提升装置的保持装置，更具体地说是真空吸附装置。支撑部分沿着远离枢转构件的第六轴线的方向。第七轴指向第六轴。

138. 发明申请

US20070113699A1 Light weight parallel manipulators using active/passive cables 有权
公开(公告)号：US20070113699A1
公开(公告)日：2007-05-24
申请号：US11656425
申请日：2007-01-23
申请人： Amir Khajepour , Saeed Behzadipour , Robert Dekker , Edmon Chan
发明人： Amir Khajepour , Saeed Behzadipour , Robert Dekker , Edmon Chan
IPC分类号： B25J18/00 , B66C3/00
CPC分类号： B25J17/0266 , B25J9/0078 , Y10S414/13 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms. Different embodiments of the robotic manipulators use either active cables only, passive cables only, or combinations of active and passive cables. An active cable is one whose length is varied by means of a winch. A passive cable is one whose length is constant and which is used to provide a mechanical constraint. These mechanisms reduce the moving inertia significantly to enhance the operational speed of the robots. They also provide a simpler, more cost effective way to manufacture parallel mechanisms for use in robotic applications.

139. 发明授权

US07104153B2 Linear element laying structure in relative rotation mechanism 失效
公开(公告)号：US07104153B2
公开(公告)日：2006-09-12
申请号：US10406287
申请日：2003-04-04
申请人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka , Masaaki Uematsu
发明人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka , Masaaki Uematsu
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , H02G11/00 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： Pipes and/or wires extend in a bundle from a hollow portion of a second wrist element to a hollow portion of first wrist element of a robot. The first wrist element can rotate relatively to the second wrist element around an axis that passes through the two hollow portions. This bundle is divided into a plurality of split bundles in the hollow portion of the first wrist element. The split bundles are led out individually through a plurality of openings in the sidewall of the first wrist element and are connected to a working unit on a flange portion of the first wrist element.

140. 发明授权

US07086307B2 Parallel control arm with two branches 有权
标题翻译：平行控制臂有两个分支
公开(公告)号：US07086307B2
公开(公告)日：2006-08-08
申请号：US10276415
申请日：2001-05-17
申请人： Florian Gosselin , Alain Riwan
发明人： Florian Gosselin , Alain Riwan
IPC分类号： B25J17/00
CPC分类号： B25J13/02 , B25J3/04 , Y10T74/20329 , Y10T74/20335
摘要： The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.
摘要翻译：机器人臂由两个平行的分支（2,3）构成，该分支由少数段（5,6,7）形成，并通过手腕（5）通过腕托（8）彼此连接，方向它们通过变速器保持大致恒定（12至16）。该控制臂的工作空间大，除了末端位置外，没有任何动力学奇异点，实现了平移和旋转运动的良好的分离。

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