BR9611559A - Aparelho de telemanipulação do tipo "mestre-escravo" com seis graus de liberdade - Google Patents

Aparelho de telemanipulação do tipo "mestre-escravo" com seis graus de liberdade

Info

Publication number
BR9611559A
BR9611559A BR9611559A BR9611559A BR9611559A BR 9611559 A BR9611559 A BR 9611559A BR 9611559 A BR9611559 A BR 9611559A BR 9611559 A BR9611559 A BR 9611559A BR 9611559 A BR9611559 A BR 9611559A
Authority
BR
Brazil
Prior art keywords
slave
freedom
master
degrees
type
Prior art date
Application number
BR9611559A
Other languages
English (en)
Inventor
Claude Reboulet
Original Assignee
Onera Office National D Estude
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 Onera Office National D Estude filed Critical Onera Office National D Estude
Publication of BR9611559A publication Critical patent/BR9611559A/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/02—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the master and slave units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • Y10S414/00—Material or article handling
    • Y10S414/13—Handlers utilizing parallel links
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20396—Hand operated
    • Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
    • Y10T74/2042—Flexible transmitter [e.g., Bowden cable] and hand operator
BR9611559A 1995-11-21 1996-11-21 Aparelho de telemanipulação do tipo "mestre-escravo" com seis graus de liberdade BR9611559A (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9513791A FR2741292B1 (fr) 1995-11-21 1995-11-21 Appareil de telemanipulation du type "maitre-esclave" a six degres de liberte
PCT/FR1996/001849 WO1997018927A1 (fr) 1995-11-21 1996-11-21 Appareil de telemanipulation du type 'maitre-esclave' a six degres de liberte

Publications (1)

Publication Number Publication Date
BR9611559A true BR9611559A (pt) 1999-03-02

Family

ID=9484768

Family Applications (1)

Application Number Title Priority Date Filing Date
BR9611559A BR9611559A (pt) 1995-11-21 1996-11-21 Aparelho de telemanipulação do tipo "mestre-escravo" com seis graus de liberdade

Country Status (8)

Country Link
US (1) US6026701A (pt)
EP (1) EP0871563B1 (pt)
JP (1) JP2001504395A (pt)
BR (1) BR9611559A (pt)
CA (1) CA2238256A1 (pt)
DE (1) DE69620236T2 (pt)
FR (1) FR2741292B1 (pt)
WO (1) WO1997018927A1 (pt)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1020396C2 (nl) * 2002-04-16 2003-10-17 Amc Amsterdam Manipulator voor een instrument voor minimaal-invasieve chirurgie, alsmede een dergelijk instrument.
NL2000607C2 (nl) * 2007-04-24 2008-10-28 Academisch Medisch Ct Van De U Manipulator voor een instrument voor minimaal-invasieve chirurgie, alsmede een positioneerhulporgaan voor het plaatsen van een dergelijk instrument.
JP2009018027A (ja) * 2007-07-12 2009-01-29 Mizuho Co Ltd 内視鏡下手術具の操作装置
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
CN102218734B (zh) * 2011-05-31 2013-07-03 北京航空航天大学 具有虚拟运动中心的双平行四杆两维转动并联机构
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
JP5800676B2 (ja) 2011-10-25 2015-10-28 オリンパス株式会社 医療用マニピュレータ
EP3102139B1 (en) 2014-02-03 2018-06-13 DistalMotion SA Mechanical teleoperated device comprising an interchangeable distal instrument
EP3185808B1 (en) 2014-08-27 2022-02-23 DistalMotion SA Surgical system for microsurgical techniques
EP3232951B1 (en) 2014-12-19 2023-10-25 DistalMotion SA Surgical instrument with articulated end-effector
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
EP3232974B1 (en) 2014-12-19 2018-10-24 DistalMotion SA Articulated handle for mechanical telemanipulator
EP4342412A2 (en) 2014-12-19 2024-03-27 DistalMotion SA Reusable surgical instrument for minimally invasive procedures
WO2016097871A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Docking system for mechanical telemanipulator
DE102015003239A1 (de) * 2015-03-10 2016-09-15 Beumer Gmbh & Co. Kg Vorrichtung zum Be- oder Entladen einen Transportbehälters
EP3280343A1 (en) 2015-04-09 2018-02-14 DistalMotion SA Mechanical teleoperated device for remote manipulation
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
WO2017037532A1 (en) 2015-08-28 2017-03-09 Distalmotion Sa Surgical instrument with increased actuation force
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
CN111885979A (zh) 2018-02-07 2020-11-03 迪斯透莫森公司 包括机器人远程操纵器和集成的腹腔镜检查的外科手术机器人系统
JP6962229B2 (ja) * 2018-02-15 2021-11-05 オムロン株式会社 中央制御装置、制御方法およびプログラム
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2774488A (en) * 1955-06-17 1956-12-18 Raymond C Goertz Remote-control manipulator
US3369427A (en) * 1965-10-18 1968-02-20 Arvin Ind Inc Remote controlled mirror
US3966162A (en) * 1974-06-12 1976-06-29 Harman International Industries, Inc. Remote control rearview mirror
SE419421B (sv) * 1979-03-16 1981-08-03 Ove Larson Bojlig arm i synnerhet robotarm
GB8503547D0 (en) * 1985-02-12 1985-03-13 British Petroleum Co Plc Nozzle
FR2672836B1 (fr) * 1991-02-15 1995-06-02 Onera (Off Nat Aerospatiale) Dispositif d'articulation a structure parallele et appareils de transmission de mouvement a distance en faisant application.
AU4026793A (en) * 1992-04-10 1993-11-18 Cardiorhythm Shapable handle for steerable electrode catheter
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner

Also Published As

Publication number Publication date
EP0871563B1 (fr) 2002-03-27
JP2001504395A (ja) 2001-04-03
US6026701A (en) 2000-02-22
EP0871563A1 (fr) 1998-10-21
WO1997018927A1 (fr) 1997-05-29
FR2741292B1 (fr) 1998-01-16
DE69620236T2 (de) 2002-11-14
DE69620236D1 (de) 2002-05-02
FR2741292A1 (fr) 1997-05-23
CA2238256A1 (fr) 1997-05-29

Similar Documents

Publication Publication Date Title
BR9611559A (pt) Aparelho de telemanipulação do tipo "mestre-escravo" com seis graus de liberdade
DE69319592D1 (de) Sechsachsiger kraftsensor
DE69504519D1 (de) Drei-achsen verpackungsanordnung
DE59406620D1 (de) Beruhigungssauger
DE69604140T2 (de) Positioniermechanismus mit mehreren Freiheitsgraden
DE69405962T2 (de) Beschleunigungsmessaufnehmer
DE69416571T2 (de) Beschleunigungsmessaufnehmer
DE59401041D1 (de) Drosselklappenstutzen
GB2308879B (en) Manipulator with six degrees of freedom
ITMI941126A0 (it) Succhietto
DE69311546T2 (de) "Brückenmodul"
DE59309578D1 (de) Beschleunigungssensor
KR960024275U (ko) 단순구조를 갖는 다축형 압전 가속도센서
KR970015634U (ko) 모니터의 시일드 케이스 고정장치
KR950012487U (ko) 브이씨알의 케이스 구조
KR970047154U (ko) 전지의 방폭침 구조
DE19681722T1 (de) Manipulatorvorrichtung
FI1995U1 (fi) Madrass
IT9033609U1 (it) Deumificatore d'ambiente
KR940021758U (ko) 조끼형 책가방
KR970048514U (ko) 폰잭 캔의 구조
KR950017797U (ko) 자동차용 발전 전압조정기의 커버 결합구조
KR970034351U (ko) 글로브박스의 개폐구조
SE9500686D0 (sv) Manipulator
KR950008839U (ko) 디바이스포장용 슬라이브의 구조

Legal Events

Date Code Title Description
FF Decision: intention to grant
FG9A Patent or certificate of addition granted
B24H Lapse because of non-payment of annual fees (definitively: art 78 iv lpi)
B24F Patent annual fee: publication cancelled

Free format text: ANULADA A PUBLICACAO CODIGO 24.8 NA RPI NO 2256 DE 01/04/2014 POR TER SIDO INDEVIDA.

B21F Lapse acc. art. 78, item iv - on non-payment of the annual fees in time

Free format text: REFERENTE AS 13A, 14A, 15A, 16A, 17A, 18A, 19A E 20A ANUIDADES.

B24J Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)

Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2606 DE 15-12-2020 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.