CN109476020B - 用于机器人关节的齿轮组件 - Google Patents

用于机器人关节的齿轮组件 Download PDF

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Publication number
CN109476020B
CN109476020B CN201780045091.2A CN201780045091A CN109476020B CN 109476020 B CN109476020 B CN 109476020B CN 201780045091 A CN201780045091 A CN 201780045091A CN 109476020 B CN109476020 B CN 109476020B
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Prior art keywords
axis
gear
rotation
arm
arm segment
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Chinese (zh)
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CN109476020A (zh
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J·O·格兰特
K·马歇尔
T·B·杰克森
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CMR Surgical Ltd
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CMR Surgical Ltd
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Priority to CN202211076918.5A priority Critical patent/CN115256360A/zh
Publication of CN109476020A publication Critical patent/CN109476020A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Gear Transmission (AREA)
CN201780045091.2A 2016-07-22 2017-07-19 用于机器人关节的齿轮组件 Active CN109476020B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211076918.5A CN115256360A (zh) 2016-07-22 2017-07-19 外科手术机械臂

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1612763.1A GB2552383B (en) 2016-07-22 2016-07-22 Gear packaging for robotic joints
GB1612763.1 2016-07-22
PCT/GB2017/052121 WO2018015748A1 (en) 2016-07-22 2017-07-19 Gear packaging for robotic joints

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202211076918.5A Division CN115256360A (zh) 2016-07-22 2017-07-19 外科手术机械臂

Publications (2)

Publication Number Publication Date
CN109476020A CN109476020A (zh) 2019-03-15
CN109476020B true CN109476020B (zh) 2022-09-23

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
CN201780045091.2A Active CN109476020B (zh) 2016-07-22 2017-07-19 用于机器人关节的齿轮组件
CN202211076918.5A Pending CN115256360A (zh) 2016-07-22 2017-07-19 外科手术机械臂

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202211076918.5A Pending CN115256360A (zh) 2016-07-22 2017-07-19 外科手术机械臂

Country Status (6)

Country Link
US (2) US11597102B2 (enExample)
EP (2) EP4349548B1 (enExample)
JP (2) JP7077300B2 (enExample)
CN (2) CN109476020B (enExample)
GB (1) GB2552383B (enExample)
WO (1) WO2018015748A1 (enExample)

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* Cited by examiner, † Cited by third party
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JP6443456B2 (ja) * 2014-11-26 2018-12-26 株式会社安川電機 ロボットアーム、ロボットシステム
JP7250758B2 (ja) 2017-08-10 2023-04-03 プロ－デツクス・インコーポレイテツド 締結具の内視鏡的留置のための関節動作ツール
CA3121399A1 (en) * 2018-11-30 2020-06-04 Bio-Medical Engineering (HK) Limited Robotic arm system with gear-driven end-effector assembly
CN109591047A (zh) * 2019-01-15 2019-04-09 珠海市海峰机器人系统有限公司 一种二轴关节装置
CN119214798A (zh) 2019-03-07 2024-12-31 普罗赛普特生物机器人公司 用于组织切除和成像的机器人臂和方法
JP7101134B2 (ja) * 2019-03-11 2022-07-14 ファナック株式会社 ロボット
US20220347868A1 (en) * 2019-10-03 2022-11-03 Abb Schweiz Ag Wrist Device, Industrial Robot And Method
US11071601B2 (en) 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
CN110840563A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种开合机构及手术机器人
CN110840562A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种手术机器人系统
CN110916802B (zh) * 2020-01-17 2020-07-28 金陵科技学院 一种多末端单孔微创手术机器人
US11877818B2 (en) * 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
CN111872972B (zh) * 2020-07-23 2021-08-13 伯朗特机器人股份有限公司 一种焊接机器人嵌套式关节的齿轮间隙微调结构
CN112402017A (zh) * 2020-11-19 2021-02-26 锐志微创医疗科技（常州）有限公司 一种手术机器人末端执行装置和手术机器人末端驱动机构
CN112315584B (zh) * 2020-11-19 2022-07-08 锐志微创医疗科技（常州）有限公司 一种手术机器人末端俯仰装置和手术机器人末端
CN114848156B (zh) * 2020-11-30 2025-03-14 天津大学医疗机器人与智能系统研究院 一种前端执行器及其方法、机械手装置及外科手术器械
CN112773510A (zh) * 2021-03-01 2021-05-11 锐志微创医疗科技（常州）有限公司 一种手术机器人末端开合装置及手术机器人末端机构
CN112826594A (zh) * 2021-03-01 2021-05-25 锐志微创医疗科技（常州）有限公司 一种手术机器人末端自转装置及手术机器人末端机构
WO2022226103A1 (en) 2021-04-20 2022-10-27 Procept Biorobotics Corporation Surgical probe with independent energy sources
DE102021119526A1 (de) 2021-07-28 2023-02-02 Karl Storz Se & Co. Kg Chirurgisches Instrument und Lenkgetriebe dafür
CN113664804A (zh) * 2021-08-18 2021-11-19 伯朗特机器人股份有限公司 高精度焊接机器人的五轴传动机构
CN117072631B (zh) * 2023-10-16 2024-01-12 深圳康诺思腾科技有限公司 齿盘副和手术器械

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EP4349548A2 (en) 2024-04-10
EP4349548B1 (en) 2025-07-30
US12036667B2 (en) 2024-07-16
JP2022122889A (ja) 2022-08-23
EP3487669A1 (en) 2019-05-29
US20180021960A1 (en) 2018-01-25
JP2019524259A (ja) 2019-09-05
GB2552383A (en) 2018-01-24
US11597102B2 (en) 2023-03-07
JP7077300B2 (ja) 2022-05-30
US20230173693A1 (en) 2023-06-08
GB2552383B (en) 2022-08-24
JP7325895B2 (ja) 2023-08-15
EP3487669B1 (en) 2024-04-03
GB201612763D0 (en) 2016-09-07
CN109476020A (zh) 2019-03-15
EP4349548A3 (en) 2024-07-24
CN115256360A (zh) 2022-11-01
WO2018015748A1 (en) 2018-01-25

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