| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 121 | MASTER MANIPULATOR | US14022417 | 2013-09-10 | US20140007732A1 | 2014-01-09 | Ryohei OGAWA |
| A master manipulator for operating a driving of a slave manipulator includes a grip portion that is positioned in a clean area, gripped by an operator, and provided with a predetermined operating member; and an arm portion that is positioned in an unclean area, and with which the grip portion is directly or indirectly connected. The grip portion has a movable member that moves in conjunction with displacement of the operating member and the arm portion has a position detection portion that detects the position of the movable member. | ||||||
| 122 | Articulated arm robot, control method and control program | US13643278 | 2011-01-31 | US08442686B2 | 2013-05-14 | Fuminori Saito; Toru Isobe |
| An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane. | ||||||
| 123 | IMPROVISED EXPLOSIVE DEVICE DEFEAT SYSTEM | US13267357 | 2011-10-06 | US20130090764A1 | 2013-04-11 | Matthew D. Summer; Paul M. Bosscher; John B. Rust |
| A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. | ||||||
| 124 | ARTICULATED ARM ROBOT, CONTROL METHOD AND CONTROL PROGRAM | US13643278 | 2011-01-31 | US20130041509A1 | 2013-02-14 | Fuminori Saito; Toru Isobe |
| An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane. | ||||||
| 125 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175498 | 2011-07-01 | US20110276059A1 | 2011-11-10 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 126 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175550 | 2011-07-01 | US20110270271A1 | 2011-11-03 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 127 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175590 | 2011-07-01 | US20110264112A1 | 2011-10-27 | William C. Nowlin; Paul W. Mohr; Bruce M. Shena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 128 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US13175572 | 2011-07-01 | US20110264111A1 | 2011-10-27 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 129 | ANTHROPOMORPHIC FORCE-REFLECTIVE MASTER ARM | US13099140 | 2011-05-02 | US20110206481A1 | 2011-08-25 | MAYEZ AL-MOUHAMED; NESAR MERAH |
| The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation. | ||||||
| 130 | Teleoperable electromechanical device | US11749716 | 2007-05-16 | US07874227B2 | 2011-01-25 | Daniel Steven Sanchez |
| The user's movement of the joints on a master mechanism is converted to electrical energy to control a kinematically similar arrangement of joints on a slave mechanism. Bi-directional, dynamic, force reflecting control of the slave mechanism is provided without a need for sensors, software, computers, or external power sources. | ||||||
| 131 | Software center and highly configurable robotic systems for surgery and other uses | US11133423 | 2005-05-19 | US20070013336A1 | 2007-01-18 | William Nowlin; Paul Mohr; Bruce Schena; David Larkin; Gary Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 132 | Robotic apparatus | US10893613 | 2004-07-15 | US20050043718A1 | 2005-02-24 | Akhil Madhani; J. Salisbury; Gunter Niemeyer |
| A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master. | ||||||
| 133 | Manipulable hand for laparoscopy | US99675 | 1993-07-29 | US5441494A | 1995-08-15 | Mark Ortiz |
| A manipulable hand for use in laparoscopic surgery is disclosed, having a master or control hand with clamps for attaching the master hand to that of an operator, the master hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint in a human hand. The manipulable hand further includes a slave or controlled hand, distally disposed from the operator, the slave hand having at least one finger, the finger having at least one hinge corresponding to an interphalangeal joint of a human finger. Both the master and slave hinges are capable of movement corresponding to flexion and extension of a human finger. The master hand and the slave hand are connected by motion transmission rods or cables, and the movements of the slave hand corresponds one-for-one to the movements of the master hand. The preferred embodiment of the manipulable hand has two fingers and a thumb, the thumb of both the master and slave hands is capable of movements corresponding to palmar adduction and abduction, and the fingers of both the master and slave hands are capable of coplanar spreading away from each other and moving back toward each other, moving from a substantially aligned position to a V-shaped configuration. The rods are enclosed within a hollow shaft, and the master and slave hands are mounted with parallel connections therebetween forming wrists at the ends of the shaft. | ||||||
| 134 | Automatic lock for mechanisms controlling various movements of the gripping pliers of a remote handling device when dismounting the ball and socket joint bearing these pliers | US310722 | 1989-01-09 | US4915563A | 1990-04-10 | Eric Teillauchet; Angelo Bandiera; Laurent Girault |
| Strips (20), housed in the slave arms (10) of a remote handling device and used for transmitting to the pair of gripping pliers borne by this arm orientation and tightening movements remote controlled by an operator, rotate pinions (26a) mounted at the extremity of the slave arm (10). These pinions (26a) are normally geared onto pinions (30a) mounted in a ball and socket joint (16) inserted between the pliers and the slave arm. When the ball and socket joint is dismounted, any attempt to remove the strips (20) is made impossible by the locking devices (60a) which come to rest onto the flanks of the pinions (26a) under the action of the spring (72). Any breakage of the strips due to their being pulled during dismantling of the ball and socket joint is thus avoided. | ||||||
| 135 | Master-slave telescopic remote manipulator | US461031 | 1983-01-26 | US4549839A | 1985-10-29 | Charles Glachet; Daniel Francois; Jean Tentelier; Christian Frioux |
| A telescopic remote manipulator includes a rotary passage block which passes through a partition, a telescopic master arm having upper and lower segments, and a telescopic slave arm having upper, intermediate and lower segments. The arms are articulated by their upper segments on the passage block by pins. A control handle and gripping member are respectively mounted on the free ends of the master and slave arms. Means are provided for transmitting to the gripping member movements of the handle and include cable means associated with the master arm and cable means associated with the slave arm, both coacting with a rotary shaft in the passage block to transmit the handle movements to the gripping member. The slave arm cable means pass over pulleys carried by a mobile carriage positioned externally of the slave arm and then on pulleys mounted on the slave arm in the vicinity of its shoulder pin. Means are provided for displacing the mobile carriage along the slave arm, when there is a variation in the length of the slave arm, in the opposite direction of movement of the slave arm and over a distance equal to half the length variation. The means for displacing the carriage include opposing cable means whose ends are fixed to the slave arm and pass over pulleys mounted on the carriage and the upper, intermediate and lower segments of the slave arm. | ||||||
| 136 | Master-slave type telescopic telemanipulator | US458886 | 1983-01-18 | US4493598A | 1985-01-15 | Charles Glachet; Daniel Francois; Jean Tentelier; Christian Frioux |
| A telescopic telemanipulator of the master-slave type, wherein the slave arm is equilibrated by means of at least one counterweight mounted on a link articulated to the traversing block on the master arm side, the counterweight moving along the link when an offsetting is introduced between the length of the slave arm and that of the master arm; at least a second counterweight is mounted adjacent the first counterweight on another link, such counterweight moving along the link when a variation in the length of the slave arm is controlled from the master arm.The telemanipulator has application for the remote-controlled handling, among other things, of radioactive products. | ||||||
| 137 | Master-slave mechanical manipulator with homothetic displacements | US78056 | 1979-09-24 | US4298300A | 1981-11-03 | Daniel Francois; Charles Glachet |
| Master-slave manipulator having a master arm provided with a control handle and a slave arm controlled by the master arm and provided with a tool, said arms being connected by a shaft mounted in pivotal manner about its axis with respect to a fixed support, the master arm having at least one so-called shoulder articulation between itself and the shaft and perpendicular to the shaft axis, said slave arm being of the articulated type and having an upper arm articulated about a shoulder axis perpendicular to the shaft axis and a lower arm articulated with respect to the upper arm about an elbow axis parallel to the shoulder axis, wherein it comprises means for defining a first point occupying a homothetic position in a homothetic transformation of negative ratio relative to the shoulder axis of the arm of the control handle and means for transmitting position information from said point to the slave arm, said means comprising at least two rods, the first of said rods being articulated to the said point about an axis perpendicular to the shaft axis and relative to the second rod with an axis parallel to the first axis, said second rod being articulated by its other end to a second point connected to the shaft through which passes an axis parallel to said first axis, one of the rods being forced to remain parallel to the lower arm, whereby said rods have lengths proportional to the lengths of the corresponding lower and upper arm. | ||||||
| 138 | Balanced articulated manipulator | US862152 | 1977-12-19 | US4179035A | 1979-12-18 | Daniel Francois; Jean-Claude Germond; Paul Marchal; Jean Vertut |
| A master-slave manipulator which penetrates an enclosure wall through an opening fitted with a mounting plate has a slave arm and master arm pivoted respectively to each end of a pivotally mounted central cylindrical body and constituted by one or more articulated cylindrical segments in end-to-end relation. A tool or tong unit is fitted at the slave end while a control handle and balance weight are fitted at the master end. The segments of the master arm are in an inverted homothetic relationship with those of the slave arm with respect to the point of intersection of the axis of the central body with the pivotal mounting axis and are in a ratio equal to -k while the weights of the homothetic segments are in a ratio of 1/k. The movements transmitted by the master arm to the slave arm ensure that, at each instant, the angle made by the two homothetic segments of the slave arm are equal and opposite, the dimensions of one segment of the master arm being equal to k times those of the corresponding slave segment. | ||||||
| 139 | Articulated master slave manipulator | US596228 | 1975-07-16 | US3976206A | 1976-08-24 | Carl R. Flatau |
| An articulated master slave manipulator has a lower arm pivoted at a main idler pulley at one end of an upper arm, and a counter-balance mass pivoted at an idler pulley at the other end of the upper arm. A coupling system maintains the angle between the axis of the upper arm and the axes defined by the centers of gravity and the respective main pulleys of the counter-balance mass and the lower arm equal. A flexible, non-stretchable cable or so called tape extends from an actuator pulley on the counter-balance mass, around an auxiliary idler pulley on the counter-balance mass, thence around the main idler pulley and an auxiliary pulley on the lower arm to an output pulley on the lower arm. The actuating pulley, auxiliary pulleys, and output pulley are mounted to have a constant distance between their axes and the axes of the respective main idler pulleys. | ||||||
| 140 | Articulated master-slave manipulator | US3664517D | 1970-09-28 | US3664517A | 1972-05-23 | GERMOND JEAN-CLAUDE; GUILBAUD JEAN-PIERRE; VERTUT JEAN |
| An articulated master-slave manipulator comprises a master assembly and a slave assembly articulated to opposite ends of a tube extending through a wall. The slave assembly comprises a first segment and a second segment which are disposed in that order from the tube which extends through the wall, whereas the master assembly comprises, from its articulation to the tube, a top second half-segment which drives the slave-assembly second segment, a first segment which drives the slave assembly first-segment, and a bottom second half-segment, parallel to the top second half-segments.
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