DE2249894C2 - Motorgesteuerter Manipulator - Google Patents

Motorgesteuerter Manipulator

Info

Publication number
DE2249894C2
DE2249894C2 DE2249894A DE2249894A DE2249894C2 DE 2249894 C2 DE2249894 C2 DE 2249894C2 DE 2249894 A DE2249894 A DE 2249894A DE 2249894 A DE2249894 A DE 2249894A DE 2249894 C2 DE2249894 C2 DE 2249894C2
Authority
DE
Germany
Prior art keywords
axis
upper arm
manipulator
forearm
support block
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.)
Expired
Application number
DE2249894A
Other languages
German (de)
English (en)
Other versions
DE2249894A1 (de
Inventor
Jean Claude Paris Germond
Charles Taverny Glachet
Jean-Pierre Jouars-Pontchartrain Guilbaud
Jean Issy Les Moulineaux Vertut
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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
Priority claimed from FR7136470A external-priority patent/FR2155848B1/fr
Priority claimed from FR7216859A external-priority patent/FR2183583B2/fr
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of DE2249894A1 publication Critical patent/DE2249894A1/de
Application granted granted Critical
Publication of DE2249894C2 publication Critical patent/DE2249894C2/de
Expired legal-status Critical Current

Links

Classifications

    • 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
    • B25J19/0008—Balancing devices
    • B25J19/002—Balancing devices using counterweights
    • 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
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE2249894A 1971-10-11 1972-10-11 Motorgesteuerter Manipulator Expired DE2249894C2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7136470A FR2155848B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1971-10-11 1971-10-11
FR7216859A FR2183583B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1972-05-10 1972-05-10

Publications (2)

Publication Number Publication Date
DE2249894A1 DE2249894A1 (de) 1973-04-19
DE2249894C2 true DE2249894C2 (de) 1984-04-05

Family

ID=26216655

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2249894A Expired DE2249894C2 (de) 1971-10-11 1972-10-11 Motorgesteuerter Manipulator

Country Status (5)

Country Link
US (1) US3790002A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JPS5613597B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (1) DE2249894C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
GB (1) GB1372327A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
IT (1) IT975223B (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

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US4398110A (en) * 1982-05-05 1983-08-09 Westinghouse Electric Corp. Harmonic electric actuator
JPS5959371A (ja) * 1982-09-30 1984-04-05 フアナツク株式会社 工業用ロボツト
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DE3447701A1 (de) * 1984-12-28 1986-07-10 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Industrie-roboter fuer unterschiedliche einsatzzwecke
DE8525812U1 (de) * 1985-09-10 1987-02-19 Manutec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Gelenkroboter
GB8811204D0 (en) * 1988-05-11 1988-06-15 Danzoe Eng Ltd Improvements in/relating to support & manipulating apparatus
US4955918A (en) * 1989-05-30 1990-09-11 University Of Southern California Artificial dexterous hand
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US5246465A (en) * 1991-04-19 1993-09-21 Richard G. Rincoe Prosthetic knee joint
US5265129A (en) * 1992-04-08 1993-11-23 R. Brooks Associates, Inc. Support plate inspection device
US5305356B1 (en) * 1992-05-14 1998-09-01 Brooks Support Systems Inc Inspection device
US5697256A (en) * 1996-06-28 1997-12-16 Matteo; Joseph C. Hybrid differential transmission
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
FR2853273B1 (fr) * 2003-04-04 2006-03-10 Commissariat Energie Atomique Dispositif d'actionnement, notamment pour un bras articule
SE526909C2 (sv) * 2003-04-29 2005-11-15 Abb Ab Handledshus med genomgående kanal för kablage till en robotarm
KR101833743B1 (ko) 2010-07-28 2018-03-02 메드로보틱스 코포레이션 서지컬 포지셔닝과 서포트 시스템
US8992421B2 (en) 2010-10-22 2015-03-31 Medrobotics Corporation Highly articulated robotic probes and methods of production and use of such probes
US9649163B2 (en) 2010-11-11 2017-05-16 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
DK2692486T3 (en) * 2011-03-30 2016-06-06 Squse Inc Scott-Russel mechanism arrangement
FR2975040B1 (fr) * 2011-05-10 2013-06-28 Michelin Soc Tech Outil de pose d'une bandelette pour la realisation d'une ebauche de pneumatique
WO2013039999A2 (en) 2011-09-13 2013-03-21 Medrobotics Corporation Highly articulated probes with anti-twist link arrangement, methods of formation thereof, and methods of performing medical procedures
CN108262741A (zh) 2011-12-21 2018-07-10 美的洛博迪克斯公司 用于具有链节装置的高度铰接探针的稳固装置,该装置的形成方法，以及该装置的使用方法
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
EP2882367A4 (en) 2012-08-09 2016-06-29 Medrobotics Corp POSITIONING SYSTEMS FOR A SURGICAL TOOL
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
EP2996619A4 (en) 2013-05-02 2017-01-18 Medrobotics Corporation A robotic system including a cable interface assembly
EP3089696A4 (en) 2013-12-30 2017-08-30 Medrobotics Corporation Articulated robotic probes
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
KR102569960B1 (ko) 2015-09-09 2023-08-24 아우리스 헬스, 인크. 수술 로봇 시스템을 위한 기구 장치 조작기
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
KR20230096148A (ko) 2016-08-31 2023-06-29 아우리스 헬스, 인코포레이티드 길이 보존 수술용 기구
JP7016213B2 (ja) * 2016-11-09 2022-02-04 株式会社東芝 アーム構造および搬送装置
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10470830B2 (en) 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
CN110869173B (zh) 2017-12-14 2023-11-17 奥瑞斯健康公司 用于估计器械定位的系统与方法
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
KR102798863B1 (ko) 2018-01-17 2025-04-23 아우리스 헬스, 인코포레이티드 개선된 로봇 아암을 갖는 수술 로봇 시스템
KR102712920B1 (ko) 2018-06-27 2024-10-07 아우리스 헬스, 인코포레이티드 의료 기구를 위한 정렬 및 부착 시스템
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
EP3908224A4 (en) 2019-03-22 2022-10-19 Auris Health, Inc. SYSTEMS AND METHODS FOR INLET ALIGNMENTS ON MEDICAL DEVICES
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
JP7640052B2 (ja) 2019-12-31 2025-03-05 オーリス ヘルス インコーポレイテッド 高度バスケット駆動モード
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health, Inc. DYNAMIC PULLEY SYSTEM
US11874683B1 (en) 2021-11-04 2024-01-16 United States Of America As Represented By The Administrator Of National Aeronautics And Space Administration Hand controller
CN114012779B (zh) * 2021-11-22 2024-06-11 重庆矩子兴智能科技有限公司 一种可执行不同任务的机械臂及其使用方法

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US2861699A (en) * 1950-10-16 1958-11-25 Gen Mills Inc Method and apparatus for performing operations at a remote point
US2846084A (en) * 1955-06-21 1958-08-05 Raymond C Goertz Electronic master slave manipulator
US2861701A (en) * 1958-05-19 1958-11-25 Gen Mills Inc Remote controlled handling unit
FR1394029A (fr) * 1963-11-15 1965-04-02 Commissariat Energie Atomique Télémanipulateur maître-esclave à bras articulés
GB1244940A (en) * 1969-03-31 1971-09-02 Aida Tekkosho Kk An article transfer apparatus
BE756593A (fr) * 1969-10-03 1971-03-01 Commissariat Energie Atomique Telemanipulateur maitre-esclave articule

Also Published As

Publication number Publication date
IT975223B (it) 1974-07-20
US3790002A (en) 1974-02-05
DE2249894A1 (de) 1973-04-19
GB1372327A (en) 1974-10-30
JPS5613597B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1981-03-30
JPS4849159A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1973-07-11

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Legal Events

Date Code Title Description
OD Request for examination
8125 Change of the main classification

Ipc: B25J 19/00

D2 Grant after examination
8364 No opposition during term of opposition