ATE361814T1 - Werkzeughalteranordnung - Google Patents

Werkzeughalteranordnung

Info

Publication number
ATE361814T1
ATE361814T1 AT03026807T AT03026807T ATE361814T1 AT E361814 T1 ATE361814 T1 AT E361814T1 AT 03026807 T AT03026807 T AT 03026807T AT 03026807 T AT03026807 T AT 03026807T AT E361814 T1 ATE361814 T1 AT E361814T1
Authority
AT
Austria
Prior art keywords
tool holder
tool
arrangement
holder arrangement
sensor
Prior art date
Application number
AT03026807T
Other languages
English (en)
Inventor
Russell P Fitzgibbon
Original Assignee
Prosurgics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Prosurgics Ltd filed Critical Prosurgics Ltd
Application granted granted Critical
Publication of ATE361814T1 publication Critical patent/ATE361814T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15546—Devices for recognizing tools in a storage device, e.g. coding devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • A61B2017/00482—Coupling with a code
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/901—Robot end effectors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
    • Y10T483/132—Responsive to tool identifying information
    • Y10T483/134—Identifying information on tool or tool holder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/14—Tool changing with signal or indicator

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Devices For Use In Laboratory Experiments (AREA)
  • Cutting Tools, Boring Holders, And Turrets (AREA)
  • Gripping On Spindles (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
AT03026807T 2003-01-20 2003-11-20 Werkzeughalteranordnung ATE361814T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0301242A GB2397234A (en) 2003-01-20 2003-01-20 A tool holder arrangement

Publications (1)

Publication Number Publication Date
ATE361814T1 true ATE361814T1 (de) 2007-06-15

Family

ID=9951433

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03026807T ATE361814T1 (de) 2003-01-20 2003-11-20 Werkzeughalteranordnung

Country Status (5)

Country Link
US (1) US7008362B2 (de)
EP (1) EP1439026B1 (de)
AT (1) ATE361814T1 (de)
DE (1) DE60313728T2 (de)
GB (1) GB2397234A (de)

Families Citing this family (65)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US8182469B2 (en) 1997-11-21 2012-05-22 Intuitive Surgical Operations, Inc. Surgical accessory clamp and method
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
JP2005202549A (ja) * 2004-01-14 2005-07-28 Nec Corp リセット回路およびリセット方法
EP1577050B1 (de) * 2004-03-18 2007-05-23 Tesa SA Werkzeugswechselvorrichtung
CN101340852B (zh) 2005-12-20 2011-12-28 直观外科手术操作公司 机器人外科系统的器械对接装置
DE102006001677B3 (de) * 2006-01-12 2007-05-03 Gebr. Brasseler Gmbh & Co. Kg Chirurgische Kupplungsvorrichtung
AT9279U1 (de) * 2006-03-23 2007-07-15 Wimmer Alois Ing Werkzeugerkennung
JP2009539509A (ja) * 2006-06-14 2009-11-19 マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド 直角プーリ駆動機構付きの手術マニピュレータ
DE102006046759B4 (de) * 2006-09-29 2018-05-17 Abb Ag Verfahren zur Erhöhung der Sicherheit beim Betrieb eines Roboters
US8313330B2 (en) * 2006-11-16 2012-11-20 Immersion Corporation Systems and methods for medical tool auto-capture
JP5006093B2 (ja) 2007-04-03 2012-08-22 テルモ株式会社 マニピュレータシステム及び制御装置
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US9144909B2 (en) * 2007-07-05 2015-09-29 Re2, Inc. Defense related robotic systems
US20090144958A1 (en) * 2007-12-07 2009-06-11 Robert Allan Ahti Method of manufacturing interchangeable tools
US8512096B2 (en) * 2007-12-07 2013-08-20 General Electric Company System for removing material from components
CN101607398B (zh) * 2008-06-18 2012-06-20 鸿富锦精密工业（深圳）有限公司 夹具更换装置
GB2462828B (en) * 2008-08-19 2012-12-05 Soutter Medical Ltd De A medical device
US8056949B1 (en) * 2008-09-11 2011-11-15 The United States Of America As Represented By The Secretary Of The Navy Universal gripper block for a robotic arm
US8992113B2 (en) * 2009-06-08 2015-03-31 Re2, Inc. Robust manual connector for robotic arm end effector
US8382177B2 (en) * 2009-06-11 2013-02-26 Re2, Inc. Quick-change finger for robotic gripper
US10076844B2 (en) 2009-08-10 2018-09-18 Re2, Inc. Automated tool change assembly for robotic arm
DE102010004085A1 (de) * 2010-01-06 2011-07-07 DE-STA-CO Europe GmbH, 61440 Werkzeugwechsler
US9283334B2 (en) 2011-11-23 2016-03-15 Northgate Technologies Inc. System for identifying the presence and correctness of a medical device accessory
DE102012207060A1 (de) * 2012-04-27 2013-10-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboteranordnung zum Einsatz in medizinischen Bereichen
AU2014236718B2 (en) 2013-03-14 2018-07-05 Sri International Compact robotic wrist
EP2967521B1 (de) 2013-03-15 2019-12-25 SRI International Elektromechanisches chirurgisches system
KR102397300B1 (ko) 2014-03-17 2022-05-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 캐뉼라 및 수술 캐뉼라를 식별하는 관련 시스템 및 방법
US20170231701A1 (en) 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
US9757863B2 (en) * 2015-01-30 2017-09-12 Canon Kabushiki Kaisha Robot apparatus, exchanger apparatus and robot system
DE102015001624A1 (de) * 2015-02-09 2016-08-11 Kuka Roboter Gmbh Robotersystem
CN108025445A (zh) 2015-07-23 2018-05-11 斯里国际 机器人臂及机器人手术系统
WO2017037723A1 (en) 2015-09-04 2017-03-09 Memic Innovative Surgery Ltd. Actuation of a device comprising mechanical arms
US10384357B2 (en) * 2015-09-08 2019-08-20 The Johns Hopkins University Rigid temporary attachment device for a robotic gripper
CN113229942A (zh) * 2015-09-09 2021-08-10 奥瑞斯健康公司 手术器械装置操纵器
CN105688336B (zh) * 2016-01-14 2018-03-16 北京爱看到美科技有限公司 一种美容仪器及其工作头、手柄和手具
US10463438B2 (en) 2016-03-09 2019-11-05 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
KR102529167B1 (ko) * 2016-05-17 2023-05-08 주식회사 디엔솔루션즈 공구 교환 장치의 그립핑 암
GB2551541B (en) 2016-06-21 2021-09-01 Cmr Surgical Ltd Instrument-arm communications in a surgical robotic system
US11602474B2 (en) 2016-11-28 2023-03-14 Verb Surgical Inc. Surgical table base with high stiffness and adjustable support members with force feedback
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US11078945B2 (en) 2017-03-26 2021-08-03 Verb Surgical Inc. Coupler to attach robotic arm to surgical table
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
KR102346833B1 (ko) * 2017-08-02 2022-01-04 한화디펜스 주식회사 로봇 핸드로 상용 공구를 조작하기 위한 공구 어댑터
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
DE102019007290A1 (de) 2019-10-21 2021-04-22 Karl Storz Se & Co. Kg Sensorbasiertes Chirurgie-Set und Verfahren
KR20210063975A (ko) * 2019-11-25 2021-06-02 엘지전자 주식회사 로봇 및 그 제어 방법
US20220133331A1 (en) 2020-10-30 2022-05-05 Mako Surgical Corp. Robotic surgical system with cut selection logic
USD1044829S1 (en) 2021-07-29 2024-10-01 Mako Surgical Corp. Display screen or portion thereof with graphical user interface
TWI841199B (zh) * 2023-01-17 2024-05-01 國立高雄科技大學 感測刀把

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4620362A (en) * 1984-06-22 1986-11-04 The Boeing Company Changeable tooling system for robot end-effector
US4784421A (en) * 1986-04-18 1988-11-15 Mecanotron Corporation Interchangeable tool mounting mechanism for robots
US5018266A (en) * 1987-12-07 1991-05-28 Megamation Incorporated Novel means for mounting a tool to a robot arm
FI93607C (fi) * 1991-05-24 1995-05-10 John Koivukangas Leikkaustoimenpidelaite
US5749885A (en) * 1995-10-02 1998-05-12 Smith & Nephew, Inc. Surgical instrument with embedded coding element
JPH1034471A (ja) * 1996-07-23 1998-02-10 Adtex:Kk 数値制御機械の工具識別装置
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6068627A (en) * 1997-12-10 2000-05-30 Valleylab, Inc. Smart recognition apparatus and method
US6840895B2 (en) * 2003-03-12 2005-01-11 Ati Industrial Automation, Inc. Tool side robotic safety interlock

Also Published As

Publication number Publication date
DE60313728T2 (de) 2007-08-16
DE60313728D1 (de) 2007-06-21
GB0301242D0 (en) 2003-02-19
US20040142803A1 (en) 2004-07-22
EP1439026A1 (de) 2004-07-21
GB2397234A (en) 2004-07-21
US7008362B2 (en) 2006-03-07
EP1439026B1 (de) 2007-05-09

Similar Documents

Publication Publication Date Title
ATE361814T1 (de) Werkzeughalteranordnung
IT1293459B1 (it) Sensore tattile, particolarmente per apparecchiatura elettrica.
DE60130971D1 (de) Intelligentes werkzeugmaschinensystem
DE60307269D1 (de) Metallfasern enhaltendes, elektrisch leitendes garn
ATE222961T1 (de) Diagnostische vorrichtung auf der basis von tetrazoliumverbindungen
DE60309155D1 (de) Stromfühlerschaltung
DE50210863D1 (de) Elektrochirurgische Vorrichtung
ATE290723T1 (de) Stecker
AU2003298716A8 (en) Nanotube chemical sensor based on work function of electrodes
FR2794231B1 (fr) Sonde de reconnaissance
DE60033344D1 (de) Stromsensor für eine elektrische Vorrichtung
DE69203534D1 (de) Tragbare wärmeleitende Vorrichtung.
DE60328144D1 (de) Bilderzeugende Vorrichtung
DE59912599D1 (de) Überwachungssystem, basierend auf einer Hängevorrichtung für elektrisch zu kontaktierende Gegenstände
FR2857160B1 (fr) Capteur d'image ergonomique
ITRM20000151A0 (it) Apparecchiatura portatile per l'identificazione scientifica di un individuo.
JP2002034164A5 (de)
AU2002212133A1 (en) Process for detecting serine/threonine kinase activity
TW553594U (en) Warning mark on machine housing
ITMI20001153A0 (it) Apparecchiatura atta a rilevare la posizione di un allarme termico incavi termosensibili, utilizzabile sia per il montaggio in un quadro el
ITMI20022436A1 (it) Dispositivo per la misurazione della sensibilita' barestesica.
ITRM20020022A0 (it) Dispositivo di sicurezza per apparecchiature elettriche.
BR8203018Y1 (pt) caixa de testemunhos de sondagem.
IT1302923B1 (it) Indicatore per dispositivo elettronico ausiliario di retromarcia.
JP3824582B2 (ja) 並列有限要素法計算システム

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties