CN116367968B - 作业辅助机器人 - Google Patents

作业辅助机器人

Info

Publication number
CN116367968B
CN116367968B CN202080106119.0A CN202080106119A CN116367968B CN 116367968 B CN116367968 B CN 116367968B CN 202080106119 A CN202080106119 A CN 202080106119A CN 116367968 B CN116367968 B CN 116367968B
Authority
CN
China
Prior art keywords
joint
arm
lifting
work
rotation axis
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN202080106119.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN116367968A (zh
Inventor
只野耕太郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Riverfield Inc
Original Assignee
Riverfield Inc
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 Riverfield Inc filed Critical Riverfield Inc
Publication of CN116367968A publication Critical patent/CN116367968A/zh
Application granted granted Critical
Publication of CN116367968B publication Critical patent/CN116367968B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/06—Program-controlled manipulators characterised by multi-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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (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)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN202080106119.0A 2020-10-15 2020-10-15 作业辅助机器人 Active CN116367968B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/038998 WO2022079875A1 (ja) 2020-10-15 2020-10-15 作業支援ロボット

Publications (2)

Publication Number Publication Date
CN116367968A CN116367968A (zh) 2023-06-30
CN116367968B true CN116367968B (zh) 2025-09-09

Family

ID=81208999

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080106119.0A Active CN116367968B (zh) 2020-10-15 2020-10-15 作业辅助机器人

Country Status (5)

Country Link
US (1) US20230256590A1 (https=)
EP (1) EP4223459A4 (https=)
JP (1) JP7200458B2 (https=)
CN (1) CN116367968B (https=)
WO (1) WO2022079875A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12552011B2 (en) * 2022-12-01 2026-02-17 Northwestern University Method and system for multirobot collaborative mobile manipulation

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101443162A (zh) * 2006-02-03 2009-05-27 欧洲原子能共同体由欧洲委员会代表 用于实施微创医疗手术的机器人手术系统
WO2020181290A1 (en) * 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07223179A (ja) * 1994-02-04 1995-08-22 Toshiba Corp 複腕ロボット
JPH0870033A (ja) * 1994-08-26 1996-03-12 Kokusai Electric Co Ltd 半導体製造装置のウェーハ移載機
US6246200B1 (en) * 1998-08-04 2001-06-12 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
KR20140052987A (ko) * 2011-03-30 2014-05-07 스큐즈 가부시키가이샤 스콧 러셀 기구식 장치
JP6435400B2 (ja) * 2015-03-06 2018-12-05 株式会社日立製作所 作業ロボット及びグリッパ
JP6799534B2 (ja) 2015-06-29 2020-12-16 川崎重工業株式会社 ロボットシステム
DE102016004840A1 (de) * 2016-04-24 2017-10-26 Kastanienbaum GmbH Mobiler Roboter
JP6469304B1 (ja) * 2018-10-23 2019-02-13 株式会社A−Traction 手術支援装置、その制御方法及びプログラム
CN109730778A (zh) * 2019-03-20 2019-05-10 苏州康多机器人有限公司 一种双控制协同操作的腹腔镜手术机器人及系统
CN110239869A (zh) * 2019-07-08 2019-09-17 桂林电子科技大学 一种基于双目视觉的移动双臂搬运装置及其使用方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101443162A (zh) * 2006-02-03 2009-05-27 欧洲原子能共同体由欧洲委员会代表 用于实施微创医疗手术的机器人手术系统
WO2020181290A1 (en) * 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging

Also Published As

Publication number Publication date
JP7200458B2 (ja) 2023-01-10
EP4223459A1 (en) 2023-08-09
WO2022079875A1 (ja) 2022-04-21
JPWO2022079875A1 (https=) 2022-04-21
EP4223459A4 (en) 2023-11-22
CN116367968A (zh) 2023-06-30
US20230256590A1 (en) 2023-08-17

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Address after: 8-1-22 Akasaka, Tokyo Metropolitan Area, Japan

Applicant after: RIVERFIELD Inc.

Address before: 4th Floor, NMF Aoyama-itchome Building, 8-1-22, Akasaka, Minato-ku, Tokyo, Japan

Applicant before: RIVERFIELD Inc.

GR01 Patent grant
GR01 Patent grant