CN109363774B - 避免活动范围极限的自动推出 - Google Patents

避免活动范围极限的自动推出 Download PDF

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Publication number
CN109363774B
CN109363774B CN201811547351.9A CN201811547351A CN109363774B CN 109363774 B CN109363774 B CN 109363774B CN 201811547351 A CN201811547351 A CN 201811547351A CN 109363774 B CN109363774 B CN 109363774B
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China
Prior art keywords
joint
range
motion
linkage
manipulator
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Chinese (zh)
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CN109363774A (zh
Inventor
P·G·格里菲思
P·W·莫尔
B·D·伊科威兹
T·R·尼克松
R·迪万根佐
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Intuitive Surgical Operations Inc
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Intuitive Surgical Operations Inc
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    • 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
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • 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
    • A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Springs (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
CN201811547351.9A 2014-03-17 2015-03-17 避免活动范围极限的自动推出 Active CN109363774B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461954452P 2014-03-17 2014-03-17
US61/954,452 2014-03-17
US201462019311P 2014-06-30 2014-06-30
US62/019,311 2014-06-30
CN201580014403.4A CN106102644B (zh) 2014-03-17 2015-03-17 避免活动范围极限的自动推出

Related Parent Applications (1)

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CN201580014403.4A Division CN106102644B (zh) 2014-03-17 2015-03-17 避免活动范围极限的自动推出

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CN109363774A CN109363774A (zh) 2019-02-22
CN109363774B true CN109363774B (zh) 2021-04-09

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CN201811547351.9A Active CN109363774B (zh) 2014-03-17 2015-03-17 避免活动范围极限的自动推出
CN201580014403.4A Active CN106102644B (zh) 2014-03-17 2015-03-17 避免活动范围极限的自动推出
CN201910524185.9A Active CN110292441B (zh) 2014-03-17 2015-03-17 具有有源偏置的恒定力弹簧

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CN201910524185.9A Active CN110292441B (zh) 2014-03-17 2015-03-17 具有有源偏置的恒定力弹簧

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US (4) US10201393B2 (enExample)
EP (4) EP3485838B1 (enExample)
JP (4) JP6474424B2 (enExample)
KR (4) KR102390621B1 (enExample)
CN (3) CN109363774B (enExample)
WO (2) WO2015142786A1 (enExample)

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