| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 141 | Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism | US13699800 | 2011-05-25 | US09248576B2 | 2016-02-02 | Woo-Keun Yoon |
| A robot arm (50) of the present invention includes, as a direct acting extensible/retractable joint (J3), an arm section (2) constituted by an upper structure group (20) and a lower structure group (21). Groups (20) and (21), having an arrangement in which structures are connected in series, partially engage so as to form a direct rigid combined structure, and are separated so as to release the rigid structure. An arm length can be adjusted arbitrarily. Section (2) can have a plane surface having no gap to prevent entry of a finger/dust. Separation of Groups (20) and (21) allows an upper structure (22) and a lower structure (23) to rotate around their rotational axes, to realize compact storage inside a robot arm supporting member (1). It is thus possible to prevent significantly entry of a finger/dust, and provide a compact direct acting extensible and retractable arm mechanism. | ||||||
| 142 | TENTACLE MECHANISM | US14288659 | 2014-05-28 | US20150343649A1 | 2015-12-03 | Richard Galinson |
| A tentacle mechanism comprising an elongate helicoid stage of windings having multiple through bores formed therethrough which carry control lines for controlling the shape of stages of the helicoid tentacle. An actuator and motor control the control lines and additional cables positioned in other sets of through bores can change the length and shape of the tentacle as well as desired spatial attitude. Embodiments of the tentacle carry end effectors at the distal end-effector actuation cables couple the end-effectors to actuator and motor. | ||||||
| 143 | DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM, AND ROBOT ARM PROVIDED WITH DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM | US14823971 | 2015-08-11 | US20150343648A1 | 2015-12-03 | Woo-Keun YOON |
| A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures. | ||||||
| 144 | LOW STRAIN PNEUMATIC NETWORKS FOR SOFT ROBOTS | US14464396 | 2014-08-20 | US20150266186A1 | 2015-09-24 | Bobak MOSADEGH; Robert F. SHEPHERD; George M. WHITESIDES |
| An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls. | ||||||
| 145 | Robotic surgery system including position sensors using fiber bragg gratings | US13049003 | 2011-03-16 | US09125679B2 | 2015-09-08 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 146 | ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS | US14684569 | 2015-04-13 | US20150245881A1 | 2015-09-03 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 147 | ARTICULATED DEVICE WITH VISUALIZATION SYSTEM | US14642311 | 2015-03-09 | US20150239132A1 | 2015-08-27 | Brett Zubiate; Howard Choset; Amir Degani; Sarjoun Skaff |
| An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera. | ||||||
| 148 | Articulating mechanisms with actuatable elements | US14012489 | 2013-08-28 | US09085085B2 | 2015-07-21 | David J. Danitz; Adam Gold |
| 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 at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables 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. | ||||||
| 149 | Robotic surgery system including position sensor using fiber bragg gratings | US13049023 | 2011-03-16 | US09060793B2 | 2015-06-23 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 150 | Robotic surgery system including position sensors using fiber bragg gratings | US13049028 | 2011-03-16 | US09039685B2 | 2015-05-26 | David Q. Larkin; David C. Shafer |
| A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm. | ||||||
| 151 | SPINAL COLUMN FOR A HUMANOID ROBOT | US14404908 | 2013-05-13 | US20150122073A1 | 2015-05-07 | Bruno Maisonnier |
| A spinal column for a humanoid robot comprises a lower base to be fixed to a pelvis of the robot and an upper base to be fixed to a neck of the robot, the spinal column allowing two rotations of the upper base with respect to the lower base, a first being about a sagittal axis and a second being about a transverse axis. The column comprises a flexible rod and linear actuators, the rod being inset at a first of its ends at a point in a first of the bases and at least guided at a point in a second of the bases, the actuators both being anchored between the two bases at anchor points. For each of the bases, the anchor points of the two actuators and the point of insetting or guidance of the rod are distant. | ||||||
| 152 | ACTUATOR AND MANIPULATOR INCLUDING THE SAME | US14532399 | 2014-11-04 | US20150122071A1 | 2015-05-07 | Youn Baek LEE; Yong Jae KIM; Jeong Hun KIM; Kyung Shik ROH; Se Gon ROH; Jong Won LEE; Byung June CHOI |
| Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section. | ||||||
| 153 | Arm With A Combined Shape And Force Sensor | US14560501 | 2014-12-04 | US20150112486A1 | 2015-04-23 | David Q. Larkin; Vincent Duindam |
| A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated. | ||||||
| 154 | Articulated device with visualization system | US12937947 | 2009-04-14 | US09005114B2 | 2015-04-14 | Brett Zubiate; Howard Choset; Amir Degani; Sarjoun Skaff |
| An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera. | ||||||
| 155 | Table-Mounted Surgical Instrument Stabilizers | US14463159 | 2014-08-19 | US20150020637A1 | 2015-01-22 | Walter von Pechmann; Samuel C. Yoon; Ben Lane; Keith Lipford; Brian Lipford |
| A surgical instrument stabilizer system that includes an articulating boom that is releasably connectable to a surgical table side rail. The articulating boom includes an actuator, a multi-directional flexible arm having a first end region attached to the actuator, and a cable extending through the flexible arm. The cable has one end region connected to the actuator and another end region connected to a preload tensioning mechanism. The actuator is operable to tighten and loosen the cable, and the preload tensioning mechanism maintains an amount of tension in the cable when the actuator loosens the cable. The system further includes a surgical instrument-supporting member that is attached to a second end region of the flexible arm and is configured to releasably retain a surgical instrument. | ||||||
| 156 | Linear-motion telescopic mechanism and robot arm having linear-motion telescopic mechanism | US13140130 | 2009-12-17 | US08925405B2 | 2015-01-06 | Ichiro Kawabuchi; Woo-Keun Yoon; Tetsuo Kotoku |
| A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner. This arrangement can provide a linear-motion telescopic mechanism (i) which enhances safety by eliminating such a risk, inevitable for a typical robot arm having an elbow joint, that an object around the robot arm gets caught between arm sections when the elbow joint is closed, and (ii) which can reduce a space to be occupied by the robot arm. | ||||||
| 157 | Robot having obstacle avoidance mechanism | US13936125 | 2013-07-05 | US08925185B2 | 2015-01-06 | Branko Sarh; Haruhiko Harry Asada; Geoffrey Ian Karasic |
| A system includes a driver robot having a body with a pair of spaced apart flux conductors, and a follower robot having an articulated body with a pair of spaced apart magnets. The magnets are coupled to the flux conductors when the articulated body is in an engaged position. One of the magnets is decoupled from one of the flux conductors when the articulated body is in a flipping or stepping position. | ||||||
| 158 | Arm with a combined shape and force sensor | US12490487 | 2009-06-24 | US08918212B2 | 2014-12-23 | David Q. Larkin; Vincent Duindam |
| A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated. | ||||||
| 159 | HIGHLY ARTICULATED PROBES WITH ANTI-TWIST LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF PERFORMING MEDICAL PROCEDURES | US14343915 | 2012-09-12 | US20140371764A1 | 2014-12-18 | Arnold Oyola; Brett Zubiate; Dale Whipple; Joseph A. Stand; Robert Didomenico; William H. Kennefick; J. Christopher Flaherty |
| An articulating probe, comprises a first mechanism including a first link comprising a first longitudinal axis, a first articulation surface and a first motion-limiting element; and a second link comprising a second longitudinal axis, a second articulation surface and a second motion-limiting element. An articulation joint comprises the first articulation surface and the second articulation surface and constructed and arranged to allow two degree-of-freedom articulation of the second link relative to the first link. A motion resisting assembly comprises the first motion limiting element and the second motion limiting element, wherein the motion resisting assembly is constructed and arranged to resist rotation of the second link about the second longitudinal axis relative to the first longitudinal axis of the first link. | ||||||
| 160 | Fluid-operated manipulator | US13505490 | 2010-12-14 | US08863608B2 | 2014-10-21 | Markus Fischer; Ruwen Kaminski; Rudiger Neumann; Alexander Hildebrandt |
| The invention concerns a fluidically operable manipulator made up of several manipulator segments stacked along an extension curve, each comprising at least one connecting plate and at least two fluidically separated fluid chambers spaced apart on the connecting plate at right-angles to the extension curve, wherein each of the fluid chambers has at least one elastically deformable wall section which is designed to make possible, on pressurization of the respective fluid chamber with a fluid, a change in volume of the fluid chamber for a linear movement substantially parallel to the extension curve, and wherein a main extension surface of the connecting plate is provided for an arrangement at least substantially at right-angles to the extension curve, wherein the two or more fluid chambers are made integral with the connecting plate or plates. | ||||||
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