DE69112557D1 - Roboterhandgelenk. - Google Patents

Roboterhandgelenk.

Info

Publication number
DE69112557D1
DE69112557D1 DE69112557T DE69112557T DE69112557D1 DE 69112557 D1 DE69112557 D1 DE 69112557D1 DE 69112557 T DE69112557 T DE 69112557T DE 69112557 T DE69112557 T DE 69112557T DE 69112557 D1 DE69112557 D1 DE 69112557D1
Authority
DE
Germany
Prior art keywords
robot wrist
wrist
robot
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 - Fee Related
Application number
DE69112557T
Other languages
English (en)
Other versions
DE69112557T2 (de
Inventor
Mauro Zona
Marco Bettinardi
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Publication of DE69112557D1 publication Critical patent/DE69112557D1/de
Application granted granted Critical
Publication of DE69112557T2 publication Critical patent/DE69112557T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE69112557T 1990-10-04 1991-10-02 Roboterhandgelenk. Expired - Fee Related DE69112557T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67764A IT1241622B (it) 1990-10-04 1990-10-04 Polso di robot

Publications (2)

Publication Number Publication Date
DE69112557D1 true DE69112557D1 (de) 1995-10-05
DE69112557T2 DE69112557T2 (de) 1996-03-14

Family

ID=11305120

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69112557T Expired - Fee Related DE69112557T2 (de) 1990-10-04 1991-10-02 Roboterhandgelenk.

Country Status (6)

Country Link
US (1) US5178032A (de)
EP (1) EP0479739B1 (de)
JP (1) JPH04256593A (de)
DE (1) DE69112557T2 (de)
ES (1) ES2076508T3 (de)
IT (1) IT1241622B (de)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
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US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
US5647723A (en) * 1995-11-13 1997-07-15 Rush; Joe A. Memory wire robotic hand
US5894754A (en) * 1996-04-26 1999-04-20 Amada Company, Limited System for producing bent sheet-metal articles and components of the system
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
SE516023C2 (sv) * 1999-06-24 2001-11-12 Abb Ab Industrirobot innefattande en växellådskonfiguration samt förfarande i en industrirobot
SE0001163L (sv) * 2000-03-31 2001-10-01 Anani Vladimirov Ananiev Omkonfigurerbar lättviktsrobotarm för mobila robotar
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
SE0202445L (sv) * 2002-08-19 2004-02-20 Abb Ab Anordning vid en industrirobot
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US8834488B2 (en) 2006-06-22 2014-09-16 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic surgical devices and related methods
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
EP3673855B1 (de) * 2007-07-12 2021-09-08 Board of Regents of the University of Nebraska Betätigungssysteme in robotergeräten
WO2009023851A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
EP2178431A4 (de) * 2007-08-15 2017-01-18 Board of Regents of the University of Nebraska Medizinische inflations-, aufbringungs- und verabreichungsvorrichtungen sowie entsprechende verfahren
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
KR100997140B1 (ko) * 2008-07-16 2010-11-30 삼성전자주식회사 인간형 로봇
FR2952573B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en parallele
US8894633B2 (en) * 2009-12-17 2014-11-25 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US9033998B1 (en) 2010-05-13 2015-05-19 Titan Medical Inc. Independent roll wrist mechanism
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
EP4275634A3 (de) 2011-06-10 2024-01-10 Board of Regents of the University of Nebraska Verfahren, systeme und vorrichtungen in zusammenhang mit chirurgischen endeffektoren
EP3588217A1 (de) 2011-07-11 2020-01-01 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
EP2806941B1 (de) 2012-01-10 2021-10-27 Board of Regents of the University of Nebraska Systeme und vorrichtungen für chirurgischen zugriff und einsatz
CA2871149C (en) 2012-05-01 2020-08-25 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US9010214B2 (en) 2012-06-22 2015-04-21 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
EP2882331A4 (de) 2012-08-08 2016-03-23 Univ Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
JP2016513556A (ja) 2013-03-15 2016-05-16 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット外科的デバイス、システム、および関連する方法
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US9128507B2 (en) * 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
JP5898743B1 (ja) * 2014-09-25 2016-04-06 上銀科技股▲分▼有限公司 関節式ロボットアームの手首構造
EP3217890B1 (de) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkentwurf
WO2016152987A1 (ja) * 2015-03-25 2016-09-29 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、手術用観察装置及び医療用観察システム
CN108472030B (zh) 2015-08-03 2021-06-18 内布拉斯加大学董事会 机器人手术装置系统及相关方法
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CA3100992A1 (en) * 2017-03-31 2018-10-04 Kinova Inc. Articulated mechanism with protective sleeve at joint
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
CN111770816B (zh) 2018-01-05 2023-11-03 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
JP7167522B2 (ja) * 2018-07-27 2022-11-09 セイコーエプソン株式会社 ロボットアーム
CN114302665A (zh) 2019-01-07 2022-04-08 虚拟切割有限公司 机器人辅助手术系统以及相关装置和方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5727686A (en) * 1980-07-21 1982-02-15 Hitachi Ltd Industrial articular robot
FR2512727A1 (fr) * 1981-09-15 1983-03-18 Renault Poignet orientable a trois axes de rotation pour robot industriel
US4645409A (en) * 1982-02-05 1987-02-24 American Cimflex Corporation Outer arm assembly for industrial robot
JPS5973298A (ja) * 1982-10-20 1984-04-25 ファナック株式会社 工業用ロボツトの手首機構
US4671732A (en) * 1982-11-19 1987-06-09 American Cimflex Corporation Industrial robot
DE8310067U1 (de) * 1983-04-06 1985-06-05 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Robotergelenk
JPS60127989A (ja) * 1983-12-14 1985-07-08 ファナック株式会社 産業用ロボットの手首駆動機構
DE3423432C2 (de) * 1984-06-26 1986-06-12 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Vorrichtung zur Positionierung einer Probe
DE3545068A1 (de) * 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter Getriebekopf fuer manipulatoren
DE3717597A1 (de) * 1986-07-09 1988-01-21 Eisenmann Foerdertech Gmbh Robotergelenkkopf in modulbauweise

Also Published As

Publication number Publication date
IT9067764A1 (it) 1992-04-04
US5178032A (en) 1993-01-12
IT1241622B (it) 1994-01-25
JPH04256593A (ja) 1992-09-11
EP0479739B1 (de) 1995-08-30
EP0479739A1 (de) 1992-04-08
ES2076508T3 (es) 1995-11-01
DE69112557T2 (de) 1996-03-14
IT9067764A0 (it) 1990-10-04

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee