| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 61 | 텔레스코픽 서보매니퓰레이터 탈부착장치 | KR1020060062500 | 2006-07-04 | KR100857149B1 | 2008-09-05 | 박병석; 이종광; 이효직; 홍동희; 윤지섭 |
| 방사선 환경에서 작업할 수 있는 마스터 서보매니퓰레이터, 슬레이브 서보매니퓰레이터 및 천정 이송장치로 구성된 천정이동 마스터-슬레이브 서보매니퓰레이터 시스템이 제공된다. 상기 각 서보매니퓰레이터는 결합장치를 구비하여 텔레스코픽 신축장치에서 손쉽게 탈부착이 가능하다. 결합돌기 및 상기 결합돌기가 삽입될 수 있는 결합구멍이 형성된 결합판이 구비되고, 상기 결합돌기의 끝단은 원추형으로 이루어져 있다. 상기 결합돌기는 접촉 보정하면서 결합구멍에 삽입됨으로서, 결합초기 편심이 존재하더라도 상호간의 방향과 위치가 정확히 일치하며, 작업자 1인의 적은 노동력만으로도 용이하게 탈착 또는 부착이 가능하다. 특히 핫셀과 같은 원격 환경에서 작업자의 직접적인 개입 없이 벽부착 기계식 마스터-슬레이브 매니퓰레이터를 이용한 단순한 조작만으로도 천정 이송장치의 텔레스코픽 신축장치에서 슬레이브 서보매니퓰레이터를 탈착 및 부착이 가능한 탈부착장치를 제공한다. 마스터, 슬레이브, 서보, 천정이동, 텔레스코픽 서보매니퓰레이터, 탈부착 | ||||||
| 62 | TELEOPERATED ROBOTIC SYSTEM | PCT/US2012035620 | 2012-04-27 | WO2012149446A3 | 2013-09-12 | JACOBSEN STEPHEN C; SMITH FRASER M; MCCULLOUGH JOHN; COLVIN JR GLENN E; SCROGGIN WAYCO; OLIVIER MARC X |
| A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate. | ||||||
| 63 | A MULTI-MODE MANIPULATOR ARM AND DRIVE SYSTEM | PCT/US2007062293 | 2007-02-16 | WO2007098391A9 | 2007-12-21 | MCCOY RICHARD W |
| The present invention relates to a manipulator arm and drive system that can be operated in multiple modes, including an on or off mode, referred to herein as a "rate mode" or a spatially correspondent ("SC") mode. The multi-mode manipulator arm and drive system of the present invention can be hydraulically operated subsea. | ||||||
| 64 | VARIABLE MODE MANIPULATOR AND DRIVE SYSTEM | PCT/US2007062290 | 2007-02-16 | WO2007098389A9 | 2007-11-29 | MCCOY RICHARD W JR |
| The invention relates to a manipulator arm drive system that can be operated in variable rate modes. The variable mode manipulator arm drive system of the invention can be operated in a variable rate mode, a proportional rate mode, and a force feedback mode. It can also be hydraulically operated subsea. | ||||||
| 65 | A MULTI-MODE MANIPULATOR ARM AND DRIVE SYSTEM | PCT/US2007062293 | 2007-02-16 | WO2007098391A2 | 2007-08-30 | MCCOY RICHARD W |
| The present invention relates to a manipulator arm and drive system that can be operated in multiple modes, including an on or off mode, referred to herein as a "rate mode" or a spatially correspondent ("SC") mode. The multi-mode manipulator arm and drive system of the present invention can be hydraulically operated subsea. | ||||||
| 66 | APPLIANCE FOR EXCHANGING MOVEMENTS OR POSITIONS | PCT/DE8800082 | 1988-02-18 | WO8806077A3 | 1989-07-27 | DIKEOULIAS VASSILIOS |
| The appliance makes it possible to exchange movements or positions between persons in the way in which information is exchanged by means of communications appliances. It consists of at least one measuring instrument (M) for recording the movement or position of a person and at least one positioning drive (AR-AG) for reproducing the movement or position of another person and can be hooked-up to an identical appliance, so that in the simplest case the positioning drive of one appliance can be controlled by the measuring instrument of the other appliance and vice versa. Inclusion of a decoupling switch in the appliance makes it possible to incorporate the measuring instrument in the object moved by the positioning drive. | ||||||
| 67 | SYSTEM AND METHOD FOR CONTROLLING A TELE-OPERATED ROBOTIC AGILE LIFT SYSTEM | PCT/US2012035609 | 2012-04-27 | WO2012149435A3 | 2013-09-12 | JACOBSEN STEPHEN C; SMITH FRASER M; OLIVIER MARC X; STILSON SHANE |
| A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface. | ||||||
| 68 | SYSTEM AND APPARATUS FOR ROBOTIC DEVICE AND METHODS OF USING THEREOF | PCT/US2011031797 | 2011-04-08 | WO2011127410A2 | 2011-10-13 | VAN DER MERWE DIRK A; LANGENFELD CHRISTOPHER C; COULTER STEWART M; WERNER CHRISTOPHER M; SLATE MICHAEL J; STERN ETHAN D |
| A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assemblv, the at least one robotic assemblv controlled bv the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform. | ||||||
| 69 | METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS | PCT/IB2008003323 | 2008-04-16 | WO2009037576A3 | 2010-02-04 | GREER ALEXANDER; SUTHERLAND GARNETTE; FIELDING TIM; NEWHOOK PERRY |
| Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot. | ||||||
| 70 | METHOD FOR HANDLING AN OPERATOR COMMAND EXCEEDING A MEDICAL DEVICE STATE LIMITATION IN A MEDICAL ROBOTIC SYSTEM | PCT/US2006062413 | 2006-12-20 | WO2007111749A3 | 2008-01-03 | PRISCO GIUSEPPE; ROSA DAVID J |
| A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device. | ||||||
| 71 | APPARATUS FOR MANIPULATING AN OBJECT IN A CELL REGION COMPRISING A REMOTELY CONTROLLED HYDRAULIC ARM | PCT/GB2004002915 | 2004-07-05 | WO2005005106A3 | 2005-03-24 | DANIEL GERALD ALBERT; BROADHURST BRENT; HARKENS JAMES PHILIP; ROBSON COLIN JAMES |
| A method and apparatus for manipulating a target object is disclosed. The manipulator apparatus includes a base (23) which may be secured to a trolley (13) and a hydraulic arm (24) mounted on the base (23) arranged for being controlled remotely by a user. The arm (24) includes at an end distal from the base (23) a tool coupling (25) which is arranged to receive a variety of tools for performing work on the target object. | ||||||
| 72 | ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS | PCT/US0008348 | 2000-03-29 | WO0060421A3 | 2001-03-08 | NIEMEYER GUNTER D; NOWLIN WILLIAM C; GUTHART GARY S |
| Establishing alignment or a desired orientational relationship between a master (700) and a slave (10) of a telerobotic system (200). The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part (699) of a master control (700) and an end effector (58) of an associated slave (10) as viewed in an image displayed on a viewer (202) is provided. The method includes causing the end effector (58) to remain stationary, determining a current orientation of the end effector (58) relative to a viewing end of an image capturing device (304) operatively associated with the viewer (202) and determining a desired corresponding orientation of the hand-held part (699) of the master control (700) relative to the viewer (202), at which orientation the desired orientational relationship between the hand-held part (699) of the master control (700) and the end effector (58) would be established. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part (699). | ||||||
| 73 | アーム固定装置および減速機交換方法 | JP2017091882 | 2017-05-02 | JP2018187711A | 2018-11-29 | 主税 慎哉; 陶山 峻; 中島 経善 |
| 【課題】アームに動力を伝達する減速機を交換する場合に、アームをベースに対して移動しないように支持する。 【解決手段】水平な軸線B回りに支持部材2に対して回転可能に支持されるとともに、サーボモータ10の動力により減速機を介して軸線B回りに回転駆動されるアーム3を支持部材2に固定するアーム固定装置1であって、支持部材2に設けられた座面6とアーム3の座面7またはアーム4に駆動力を伝達するリンク5に設けられた座面12とに密着させられる密着面8aを備えるとともに、密着面8aの座面6,7に設けられたねじ孔または貫通孔の一方に一致する位置に貫通して形成されたねじ孔または貫通孔の他方を備え、各密着面8aを各座面6,7に密着させて座面6,7間に掛け渡されるブラケット8と、貫通孔を貫通して各ねじ孔に締結される締結具9とを備えるアーム固定装置1を提供する。 【選択図】図1 |
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| 74 | 位置決め制御装置 | JP2014185413 | 2014-09-11 | JP6416560B2 | 2018-10-31 | 豊田 和孝; 奥田 英樹; 小山 俊彦; 橋爪 誠; 大内田 理一 |
| 75 | 物体において穿孔された造作の検査 | JP2017556878 | 2016-04-28 | JP2018521861A | 2018-08-09 | カーベリー、ジョナサン・マイケル; クック、オースティン・ジェームス |
| 開示されるものは、物体(2)に形成される造作(4)の深さを決定するための方法と装置であり、造作(4)は、切削工具(38)によって物体に形成されている。装置は: 造作(4)と造作(4)に近接する物体(2)の部分との画像を取得するよう構成されたカメラ(42)、および、機能するようにカメラ(42)に接続され、造作(4)と物体(2)の表面との間の造作(4)のエッジ(72)を画像において検出し、検出されたエッジ(72)を使用して、円(74、76、78)についての直径を計算し、切削工具(38)の先端角を取得し、計算された直径と取得された先端角とを用いて、造作(4)についての深さの値を計算するように構成された1つまたはそれより多くのプロセッサ、を備える。 | ||||||
| 76 | 複数のロボットシステム間の情報共有システム及び情報共有方法 | JP2016002585 | 2016-05-27 | JPWO2017033358A1 | 2018-07-19 | 橋本 康彦; 掃部 雅幸 |
| 複数のロボットシステム間の情報共有システムは、ネットワークを介して互いに通信可能に接続され、ロボットの所定の動作を予め設定し且つその動作を繰り返し修正することが可能に構成された複数のロボットシステムと、ネットワークに接続され、少なくとも一のロボットシステムにおいて修正された所定の動作をロボットに実行させるための動作情報である修正動作情報を含む修正情報を記憶する記憶装置と、を備え、複数のロボットシステムの各々のロボットシステムは、記憶装置に記憶された修正情報を共有し、共有する修正情報に基づきロボットを動作させる。 | ||||||
| 77 | ロボットシステム | JP2016002590 | 2016-05-27 | JPWO2017033363A1 | 2018-07-05 | 橋本 康彦; 下村 信恭; 前原 毅; 掃部 雅幸; 黒沢 靖; 田中 繁次 |
| 本発明に係るロボットシステムは、オペレータからの操作指示を受けつけるマスター装置と、スレーブアームと、スレーブアームによって実施される処理を規定した動作シーケンス情報を記憶する記憶装置と、スレーブアームの動作を制御する制御装置と、を備え、制御装置は、入力信号を受信する受信部と、スレーブアームの運転モードを自動モードとするか、手動モードとするか、あるいは、修正自動モードとするか判定し、判定した運転モードによりスレーブアームの動作を制御する動作制御部と、自動モードの継続を許可するか否か判定する継続判定部と、を有し、自動モードによりスレーブアームが動作する予定の工程において、動作制御部によって、この工程の所定のステップで自動モードによるスレーブアームの動作を停止させた後、継続判定部は、この動作の停止時に受信部により受信した入力信号に基づき、自動モードの継続を許可するか否か判定する。これにより、自動モードによりスレーブアームが動作する予定の工程においてスレーブアームを適切に動作させることができる。 | ||||||
| 78 | ロボットシステム | JP2016003064 | 2016-06-24 | JPWO2017033379A1 | 2018-06-14 | 東條 剛史 |
| ロボットシステムは、ロボットアームと、前記ロボットアームに取り付けられたエンドエフェクタと、を備えるロボット本体と、操作部を有し、操作部が操作されると当該操作に応じた操作情報を出力する操作装置と、前記操作装置から出力される操作情報に従って前記ロボット本体の動作を制御する動作制御部と、前記エンドエフェクタの先端の速度を検出する速度検出手段と、前記エンドエフェクタ先端の速度に対して正の相関を有する第1の力成分を含む力情報を、仮想反力情報として出力する仮想反力情報生成器と、前記仮想反力情報生成器から出力される前記仮想反力情報に応じた力を前記操作者に知覚させるために前記操作部に力を付与する力付与装置と、を備える。 | ||||||
| 79 | 遠隔制御ロボットシステム | JP2014508144 | 2012-04-27 | JP6320915B2 | 2018-05-09 | スティーヴン・シー・ジェイコブセン; フレイザー・エム・スミス; ジョン・マカロー; グレン・イー・コルヴァン・ジュニア; ウェイコー・スクラギン; マーク・エックス・オリヴィエ |
| 80 | 医療システム | JP2017524714 | 2016-04-28 | JP6289755B2 | 2018-03-07 | 二梃木 昌夫 |
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