EP3180167A1 - Système de support pour manipulateur - Google Patents

Système de support pour manipulateur

Info

Publication number
EP3180167A1
EP3180167A1 EP15752921.5A EP15752921A EP3180167A1 EP 3180167 A1 EP3180167 A1 EP 3180167A1 EP 15752921 A EP15752921 A EP 15752921A EP 3180167 A1 EP3180167 A1 EP 3180167A1
Authority
EP
European Patent Office
Prior art keywords
carrier
air
pressure
positioning device
manipulator
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.)
Withdrawn
Application number
EP15752921.5A
Other languages
German (de)
English (en)
Inventor
Sebastian LOHMEIER
Wolfgang Schober
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.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
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 DE102014012124.0A external-priority patent/DE102014012124A1/de
Priority claimed from DE102014012160.7A external-priority patent/DE102014012160A1/de
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP3180167A1 publication Critical patent/EP3180167A1/fr
Withdrawn legal-status Critical Current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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • 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
    • A61B34/37—Master-slave robots
    • 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477—Coupling
    • 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
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39022—Transform between measuring and manipulator coordinate system

Definitions

  • the present invention relates to a carrier system for a manipulator
  • manipulators in particular robots
  • a surgical robot placed on a moveable support may be slid into an operating room and thus optimally placed relative to an operating table and / or the operating theater periphery.
  • such a surgical robot can optionally in different
  • Surgery robots are intended to provide a surgical end effector
  • a scalpel, forceps, camera or tube opening to move on or in the patient relative to a surgical robot base by drives the surgical robot to move its joints.
  • An object of the present invention is to improve the use of a manipulator, in particular a robot, in particular a surgical robot.
  • Claim 12 provides a corresponding manipulator arrangement under protection.
  • a carrier system for a manipulator or a carrier system has a manipulator arrangement with a
  • Manipulator a carrier and a flange on which the manipulator
  • the manipulator is in one embodiment a robot, in particular a surgical, industrial or
  • the flange is fixedly connected to the carrier or immobile relative to this, in particular integrally formed therewith. In another embodiment, the flange or the manipulator attached thereto is relative to the
  • Adjustable carrier in particular one or multi-axis, in particular vertically and / or horizontally, displaceable and / or rotatable, for example by a lifting column and / or a rotary joint.
  • the flange of the carrier system is the
  • Positioning device and the carrier of the carrier system of the carrier of this positioning device, on the one or multi-axially linearly movable and / or rotatably mounted their positioning device base, wherein the manipulator or surgery robot on the
  • Positioning device in particular have the carrier system described here. As explained in the introduction, however, this can also be used independently hereby, in particular for or with an industrial or
  • the carrier system has a arranged on the support, in particular detachably or permanently connected to the carrier, air chamber arrangement with one or more pressure chambers, which are covered by a pressure apron.
  • the air chamber arrangement in particular one or more of its pressure chambers, can be connected to an overpressure air supply in order to form a monocellular or multicellular air cushion;
  • Air chamber arrangement in particular one or more of their pressure chambers, for forming a single or multicellular air cushion with a
  • the carrier system in particular with the attached to the flange manipulator or, for example, for a change of the manipulator, even without a manipulator attached to the flange, advantageously, in particular manually, are moved, in particular precise, noise, friction and / or low abrasion and / or obstacles such as hoses, sleepers or the like.
  • a common pressure skirt covers two or more, in particular all pressure chambers of the air chamber arrangement.
  • the air chamber arrangement has at least two pressure aprons, which in each case encase one or more pressure chambers of the air chamber arrangement, or at least two pressure chambers are clad by different pressure aprons. As a result, advantageously an increased reliability and / or interchangeability can be achieved.
  • a pressure apron encloses a pressure chamber on the circumference, this is thus open to the ground.
  • a pressure apron is flexible, for example made of rubber or, in particular coated, textile material or an elastic plastic. Accordingly, a pressure chamber in a
  • variable volume which is preferably increased for moving the carrier or for forming the air cushion and / or reduced to fix the carrier by means of negative pressure.
  • the pressure chamber is in an execution
  • Manipulator carrying single-cell or multicellular air cushion, which is or is formed by the associated with the compressed air supply pressure chambers or, can by the positive pressure air through a gap between the ground and
  • noise may be generated by ambient air sucked into the pressure chamber (s) when the vacuum is fixed to the carrier. This is disadvantageous in particular when used as a carrier system of a surgical robot arrangement.
  • the air chamber arrangement has at least one sound space clad by a sound baffle, which at least one of the
  • Pressure chambers in particular circumferentially surrounds.
  • a common sound shield covers two or more, in particular all pressure chambers or aprons of the air chamber arrangement
  • the air chamber arrangement has at least two sound skirts, which in each case encase one or more pressure chambers or skirts of the air chamber arrangement, preferably concentrically, or at least two pressure chambers or skirts are clad by different sound skirts or spaces, preferably concentrically , This can advantageously be achieved increased reliability.
  • a sound panel encloses one or more pressure aprons or spaces circumferentially, the corresponding sound space is thus open to the ground.
  • a sound panel is flexible, for example made of rubber or, in particular coated, textile material or an elastic plastic.
  • a sound space in one embodiment also has a variable volume, which corresponds to the volume of the pressure chamber (s) enlarged or smaller!
  • a sound space is bounded or formed on the inside by the pressure apron (s), on the outside by the sound apron and on the ceiling side by a bottom of the carrier and / or a part of the pressure or sonic apron (s) arranged thereon.
  • At least one sound and pressure apron are formed integrally with each other, which can improve the production and / or assembly. In another embodiment, at least one sound and pressure apron are formed separately from each other, which can improve the design and / or replacement.
  • a pressure and / or sound apron sits sealingly on the floor or base or is provided or furnished for this purpose.
  • a skirt in particular a, preferably flexible, bottom-side sealing element, for example a
  • Sealing lip or the like have. Additionally or alternatively, the apron against the ground or ground, in particular elastic, be biased or be.
  • a pressure and / or sonic apron is distributed in one embodiment by one or more concentric rows around the circumference, in particular each other
  • a pressure and / or acoustic apron for example, be formed by a single or multi-layered closed wall.
  • the carrier system has at least one silencer means for damping airborne noise in at least one sound space.
  • Muffler means may in particular one or more reflection muffler with several, in particular at least four, with each other, in particular with
  • Absorption silencer preferably with porous material, in particular fleece, fabric, rock wool, glass wool and / or glass fiber, have. This advantageously vibrations of the pressurized air, for the formation of the air cushion from a gap between the pressure apron (s) and ground in a
  • a silencer means is arranged in a sound space.
  • one or more concentric rows of lamellae may be arranged in a sound space, which preferably grind on the floor during operation, in particular when the air cushion is formed, and / or have sound-absorbing material such as textile tile, fabric or the like.
  • the sound baffle itself may be formed by such slats.
  • a silencer means may be spaced from a sound space and communicate with this sound space, in particular via an air passage, in particular duct.
  • the silencer means can be arranged at an advantageous location or be.
  • Such a silencer means spaced from a sound space and communicating therewith can, like a sound space arranged in the sound space
  • Silencer means - carrier-proof or -side. So, for example
  • Overpressure air which exits through a gap between the bottom and pressure apron from a pressure in a sound space, in the sound space sound-absorbing fins or flow around before it emerges through a gap between the bottom and the sound also preferably designed as a lamella attenuated into the environment , Similarly, the air from the sound space in a
  • carrier-resistant silencer means are derived, from which they can escape close to the ground or away from the ground, to reduce the swirling up of ground dust.
  • a muffler means spaced from and communicating with a sound space is a muffler means remote from the sound carrier and preferably communicating with the sound space via one of the support Outgoing air line communicates.
  • the carrier-external silencer means can thus discharge the air into the environment at a location remote from the carrier.
  • such a wearer-external silencer means is stationary or
  • ambient in another embodiment in turn also movable or mobile.
  • one or more pressure chambers of the air chamber arrangement are supplied by an overpressure air supply connected thereto or pressurized with air under overpressure and the carrier carried air-cushion-carried, in particular manually or by a motor.
  • the carrier system includes one having one or more
  • Pressure chambers of the air chamber assembly connectable, in particular connected, positive pressure air supply for supplying excess pressure air and / or one with one or more, in particular the same or other, pressure chambers of
  • Air chamber arrangement connectable, in particular connected,
  • Negative pressure supply are connected to alternatively form a cell of an air cushion or a carrier fixing to the substrate negative pressure. In this way, advantageously, the air chamber arrangement can be made more compact.
  • the air chamber assembly may also include one or more
  • the air chamber arrangement according to one aspect can also be connectable to, or in particular connected to, an air cushion or only with a vacuum air supply for fixing to the ground.
  • a wheel, roller, rail or slide carrier can be fixed by vacuum in the air chamber assembly on the ground, in particular be fixed or be.
  • the optional use of the air chamber arrangement as air cushion or for fixing represents a particularly advantageous double use.
  • the overpressure air supply and / or vacuum air supply has a carrier-fixed or air-side connection which can be connected to a carrier-remote or external, in particular stationary or mobile, overpressure air source or vacuum air source, in particular connected or becomes.
  • an overpressure and / or negative pressure air supply in the sense of the present invention can be such a carrier-resistant or -.00
  • Air line connection preferably in conjunction with the carrier distant or external positive or negative pressure air source.
  • the carrier can be relieved.
  • the carrier at least temporarily, be operated autonomously.
  • a carrier-side and / or a carrier-external positive-pressure air source has a pressure accumulator in which air is stored under overpressure in relation to the environment ("overpressure air”.)
  • a carrier-side and / or a negative-pressure source external of the carrier
  • a carrier-side and / or a carrier-external positive pressure air source has a turbomachine for increasing the pressure of air drawn in by the turbomachine, in particular ambient air, in particular a compressor.
  • a carrier-side and / or a carrier-external negative pressure air source may comprise a turbomachine for reducing the pressure of air drawn in by the turbomachine, in particular ambient air or air from the air chamber arrangement, in particular a compressor for drawing air from the air chamber arrangement or one connected to a compressor Venturi nozzle for extracting air from the air chamber assembly.
  • a pressure accumulator in which negative pressure relative to the environment prevails
  • a turbomachine for generating negative pressure relative to the environment referred to as (sub) compressed air source or -Versorgung for compact representation.
  • both an overpressure and a vacuum air supply are generally referred to as a compressed air supply
  • an overpressure and a vacuum air source are generally referred to as a compressed air source.
  • Air line connection for optional or alternative connection with a carrier-external positive or negative pressure air source, and / or have the same, optionally operated in opposite directions turbomachine. This allows the
  • Compressed air supply to be made more compact Compressed air supply to be made more compact.
  • the positive and negative pressure air supply in one embodiment different
  • the compressed air supplies can advantageously be optimized and / or used in parallel.
  • the carrier system has a roller assembly with two or more transport rollers for moving the carrier.
  • the carrier can continue to be moved, in particular in the event of a decrease or failure of the air cushion.
  • the roller assembly has three or four in a further development
  • the roller assembly is preferably spaced from the floor to take full advantage of the supporting air bag.
  • the roller arrangement in one embodiment,
  • the roller assembly in one embodiment can be releasably connected to the carrier, in particular connected or be. In another embodiment, however, the roller assembly is stationary or permanently arranged on the carrier.
  • the roller assembly is arranged in one or more of the pressure chambers, which allows a particularly space-saving and statically advantageous support.
  • the carrier system has a support arrangement with two or more, in particular elastic, supports for supporting the carrier, in particular instead of the air cushion.
  • the support assembly is preferably spaced from the ground when the air bag is formed.
  • the air cushion or the pressure apron (s) with formed air cushion on a vertical extension which is greater than the vertical extent of the support assembly, so that it is lifted by the trained air cushion from the ground or is.
  • the vacuum-fixed carrier is supported in an embodiment on the roller and / or support assembly.
  • the support assembly in one embodiment, in particular, automatically, automatically and / or manually adjusted from an operating to a storage position, in particular pivoted or retracted, preferably by or after forming the air cushion. Additionally or alternatively, it can,
  • Adjusted operating position, in particular pivoted or extended are, in particular by or before degradation of the air cushion and / or by or before forming the negative pressure.
  • the support assembly can be releasably connected to the carrier, in particular connected or be. In another embodiment, however, the support assembly is stationary or permanently arranged on the carrier.
  • the carrier system has a controller and / or a
  • operating device for, in particular communicating therewith, operating device for, in particular
  • the operating device is arranged in an embodiment on the carrier, in particular a handle for moving the carrier, for example in the form of one or more actuation switches, buttons or the like.
  • the air cushion can advantageously be controlled, in particular activated and / or deactivated, during the movement of the carrier or the negative pressure during the fixing of the carrier.
  • the operating device can also be a remote control device for controlling the air cushion and / or negative pressure that is at a distance from the carrier, which in a development can be detachably connected, in particular connected, or connected to the carrier.
  • the controller has one or more, in particular steplessly adjustable and / or electrically actuated, control or control valves for selectively supplying one or more pressure chambers with overpressure air or / or
  • the controller in particular software or program technology, is set up to supply one or more pressure chambers, in particular jointly or independently of one another, with overpressure air and / or underpressure through the overpressure or underpressure supply.
  • the controller in particular software or program technology, is configured to regulate the overpressure and / or underpressure in the pressure chamber (s) to a predefined level by controlling it or on the basis of a detected actual and a predefined setpoint Condition, for example, air pressure or vertical distance of the carrier to the ground, supplied with positive pressure air or negative pressure through the positive or negative pressure supply.
  • a predefined setpoint Condition for example, air pressure or vertical distance of the carrier to the ground, supplied with positive pressure air or negative pressure through the positive or negative pressure supply.
  • the controller regulates a supply of the air chamber arrangement, in particular one or more of their pressure chambers, with overpressure air and / or negative pressure by the over- and / or vacuum air supply connected thereto, in particular an air supply and / or removal or an overflow - And / or negative pressure in one or more pressure chambers of the air chamber assembly, based on a tilting moment of the carrier system to the horizontal or is set up for this purpose.
  • the controller increases an over or under pressure in one or more of the air chambers of the air chamber assembly when a tilting moment of the carrier system increases about the horizontal and / or reduces an over or under pressure in one or more of the air chambers of the air chamber assembly when a stalling moment of the carrier system is reduced by the horizontal, or is set up for this purpose.
  • the controller increases an overpressure in one or more of the air chambers such that it induces a counter-torque to the tilting moment, that is, in particular in air chambers on one side of the carrier, to which the
  • Tilting momentum seeks to tilt the carrier system, and / or increases a negative pressure in one or more of the air chambers such that it induces a counter-torque to the tilting moment, ie in particular in air chambers on one side of the carrier, which seeks to raise the tilting moment the carrier system, or is set up for this purpose.
  • a tilting moment of the carrier system about the horizontal i. torque acting on and urging the support system about a horizontal axis depends, in particular, on a pose of a manipulator mounted on the support: it has a large display and a center of gravity spaced from the center of gravity of the support system
  • the controller regulates the supply of the air chamber arrangement with excess pressure air and / or negative pressure based on a pose of the manipulator attached to the carrier system or is set up for this purpose.
  • the controller increases an over or under pressure in one or more of the air chambers of the air chamber assembly when a display of the
  • Manipulator increases, and / or reduces an excess or negative pressure in one or more of the air chambers of the air chamber assembly when a display of the manipulator is reduced, or is set up for this purpose.
  • the controller increases an overpressure in one or more air chambers on one side of the carrier to which the manipulator has a delivery, and / or increases a negative pressure in one or more air chambers on one of the delivery
  • the controller in all air chambers increase the positive and / or negative pressure when a display of the manipulator increases, and / or reduce the positive or negative pressure in all air chambers of the air chamber assembly, if a display of the
  • Manipulator decreases, or be set up for this purpose.
  • a display means, in particular, a distance of a center of gravity or center of mass of the manipulator from a, preferably statically stable, in particular tilting moment-free, reference.
  • a display may, for example, also refer to a horizontal distance between a TCP and a base of the manipulator. The display can be from the pose of
  • Manipulators are determined. Accordingly, the carrier system in a Execution of a detection means for detecting a pose of the manipulator, which is signal-connected to the controller, for example, joint sensors or the like.
  • a tilting moment of the carrier system about the horizontal depends in particular on a load of a manipulator attached to the carrier: if this has a greater load, this can induce a greater tilting moment. Therefore, in one embodiment, the controller controls the supply of the air chamber assembly
  • the controller increases over or under pressure in one or more of the air chambers of the air chamber assembly as a load on the manipulator increases and / or reduces over or under pressure in one or more of the air chambers of the air chamber assembly when a load on the manipulator is present reduced, or is set up for this purpose.
  • a load is to be understood as meaning, in particular, a payload attached to the manipulator, preferably releasably. It can be determined, for example, from driving forces of the manipulator.
  • the carrier system comprises a detection means for detecting a load of the manipulator, which is signal-connected to the controller, such as joint torque sensors or the like.
  • the controller controls the supply of the air chamber assembly with positive pressure air and / or negative pressure based on a position of the carrier or is set up for this purpose.
  • the controller increases an over or under pressure in one or more of the air chambers of the air chamber assembly when a deflection of the carrier increases toward the horizontal, and / or reduces over or under pressure in one or more of the air chambers of the air chamber assembly a deflection of the carrier is reduced to the horizontal, or is set up for this purpose.
  • the controller increases overpressure in one or more Air chambers on one side of the carrier to which the carrier tilts, and / or increases or sets a negative pressure in one or more air chambers on a side from which the carrier is tilted away.
  • the control in all air chambers may increase the positive and / or negative pressure as a deflection of the carrier against the horizontal increases, and / or reduce the over or under pressure in all air chambers of the air chamber assembly as a deflection of the carrier against the horizontal decreases , or be set up for this purpose.
  • the carrier system comprises a detection means for detecting a position, in particular deflection against the horizontal, of the carrier, which is signal-connected to the controller, for example one or more spaced-apart distance sensors for detecting a vertical
  • a tilting moment of the carrier system around the horizontal and an air pressure in the air chamber arrangement depend on each other from one another: so can
  • the controller increases an air supply to one or more of the air chambers of the air chamber assembly when an overpressure in one or more of the air chambers of the air chamber assembly decreases, increases an air discharge from one or more of the air chambers of the air chamber assembly when a negative pressure in one or more the air chambers of the
  • Air chamber assembly reduces, reduces an air supply to one or more of the air chambers of the air chamber assembly when an overpressure in one or more of the air chambers of the air chamber assembly increases, and / or reduces an air discharge from one or more of the air chambers Air chamber arrangement when a negative pressure in one or more of the air chambers of the air chamber assembly is increased or is set up for this purpose.
  • the carrier system comprises detecting means for detecting an air pressure in the air chamber assembly, which is signal-connected to the controller, such as pressure sensors or the like.
  • a positioning device for a robot in particular a surgical robot or a positioning device of a robot, in particular a surgical robot arrangement with a robot, in particular surgical robots, has a (positioning device) base and a
  • Surgery robot in particular releasably, for example, electromagnetically, hydraulically and / or by screws, fastened or attached is or will.
  • the robot has a, in particular surgical,
  • End effector which is provided in a development for mechanical, optical and / or fluidic work, in particular on or in a patient, in particular for pressing, in particular clamping, cutting, in particular cutting or piercing, drilling, emitting and / or Interception of electromagnetic radiation, in particular visible light, and / or inflow and / or outflow of liquids and / or gases.
  • the end effector in particular via an instrument shaft, is or can be fastened or fastened detachably to a robot flange of the robot, for example electromagnetically, hydraulically and / or by screwing, latching or clamping.
  • the instrument shaft is introduced in one embodiment in a natural or artificial body opening or is provided for this purpose or set up the scope of which in a further development is at most twice the maximum circumference of the end effector and / or at most 15 cm.
  • Surgery robots are provided in a version for minimally invasive surgery.
  • the robot has at least six, in particular at least seven, preferably through, in particular electromotive, drives of the robot movable, joints, in particular swivel joints, on which the end effector or
  • Positioniervoriquessflansch is fastened or is or is.
  • the Positioniervoriquessflansch is connected by a kinematics having at least two joints, in particular pivot joints, with the positioning device base.
  • the positioning device flange is, in particular translational, of a, in particular Cartesian, first position relative to the positioning device base, in particular at least substantially on a circular path or straight line, in a spaced, in particular Cartesian, second position relative to the positioning device base adjustable or adjusted.
  • the joints of the kinematics are interconnected by, preferably rigid, links, in particular levers such as rods, beams, shells or the like, which are correspondingly called links of the kinematics.
  • Positioner base commonly referred to as members of the positioning device.
  • the positioning device flange is in front of a
  • Operation operation in particular before (initial) interaction of the end effector with the patient, adjusted or is set up or provided for this purpose, which is referred to herein as prepositioning of the robot base (before the operation by the robot). Additionally or alternatively, or is the
  • Positioniervoriquessflansch during operation operation especially at standstill of the end effector on or in the patient, adjusted or is set up or provided for this purpose, which in the present case as repositioning of the robot base
  • the present invention particularly relates to a pre and / or repositioning of the robot.
  • the robot base is rigidly connected to the positioning flange.
  • Execution is or is the robot base linearly movable, in particular by a kinematics additional linear axis or another linear joint in addition to the joints of the kinematics with the Positioniervoriquessflansch connectable or connected.
  • a radius of a circular path on which the positioning device flange is guided by the kinematics and the orientation means, varied or a straight line along which the positioning device is guided by the kinematics and the orientation means are moved in parallel.
  • this additional linear axis is fixable and / or parallel or perpendicular to a first or base axis of rotation of the
  • the robot base is rotatable, in particular by a further pivot joint in addition to the joints of the kinematics with the
  • Positioner flange can be varied.
  • this additional rotary joint is fixable and / or its axis of rotation parallel or perpendicular to a first or base axis of rotation of the robot connected to the positioning device flange.
  • the positioning device has an orientation means, which causes the positioning device flange due to
  • Orientation, in particular angular position, in the second position umorientiert or set up or provided for this, in a development compared to the first orientation by at least 75 °, in particular at least 85 °, preferably more than 90 ° about a reference axis, in particular a horizontal is twisted.
  • the robot or its base can be positioned in a simple and / or reliable manner, in particular also by medical personnel without corresponding kinematic knowledge, in particular optionally on the wall or ceiling or on the bottom side, in particular a first or base rotational axis the robot optionally, at least substantially, horizontally or vertically.
  • the orientation means which causes this reorientation as a result of, in particular during or during the adjustment from the first to the second position, advantageously reduces the number of degrees of freedom that it has to set for the user: he only has to move the positioning device flange or the associated
  • the orientation means may also effect an adjustment from the first to the second position due to a reorientation from the first to the second orientation. Due to the preferred angular range of at least 75 °, in particular at least 85 °, preferably more than 90 °, can in one embodiment between a
  • the positioning device flange is through the
  • the robot or its base can optionally be arranged in one or more intermediate layers between a wall and a ceiling or bottom layer, in particular a first or base axis of rotation of the robot optionally tilted against the horizontal and vertical be or be.
  • the positioning device flange is maximally adjustable between the first and second positions, thus defining or limiting a maximum displacement of the positioning device flange.
  • the positioning device flange is adjustable beyond the first and / or second position, so that the first and second positions define or predetermine a minimum displacement of the positioning device flange.
  • the kinematics or the positioning device flange can be fixed at least in the first and / or second position, preferably also in one or more intermediate positions, in particular in discrete, predetermined intermediate positions or continuously in any intermediate positions between the first and second positions.
  • the kinematics at least one rotary joint, in particular at least three, in particular serially arranged, hinges, in particular with parallel axes of rotation. Additionally or alternatively to one or more
  • the kinematics have at least one linear joint or a linear axis.
  • an advantageous working space of the kinematics and / or a structurally advantageous kinematics can be provided.
  • the kinematics has three pivot joints, which are arranged in pairs or connected in pairs, in particular by rigid links, of the kinematics, with parallel axes of rotation.
  • three pivot joints which are arranged in pairs or connected in pairs, in particular by rigid links, of the kinematics, with parallel axes of rotation.
  • two parallelograms or a four-bar linkage with the three pivot joints of the kinematics and a virtual pivot point fixed relative to the positioning device base can thereby be represented
  • the kinematics on a rotary joint and a linear joint or a linear axis which are connected in a development by a, in particular rigid, member of the kinematics.
  • this can be represented a gallows guide, the Positioniervoriquessflansch approximately on a straight line leads, but in particular can be structurally advantageous compared to a four-bar linkage.
  • an adjustment of the positioning device flange can take place manually and be detected by corresponding joint sensors of the kinematics and transmitted to the controller, which controls the actuators on the basis of the detected adjustment in order to effect the corresponding reorientation.
  • a particularly flexible orientation means can be made available.
  • the orientation means is mechanically implemented.
  • a particularly simple, reliable and / or power supply-independent orientation means can be provided, which reorients the positioning device flange, in particular during a manual adjustment into the second or an intermediate position, into the second or intermediate orientation.
  • the orientation means one or more mechanical positive couplings or guides of two members of the
  • Positioning device which are each connected by one or more, in particular at least two, joints of the kinematics, in particular a mechanical forced coupling of the positioning device flange with a link of the kinematics and / or a mechanical positive coupling of
  • the invention reduces mechanically, in particular form-lockingly or frictionally, kinematic degrees of freedom of the links connected by the joint (s) by at least one, in particular to zero, i. the one link is uniquely or
  • Piston rod or coupling rod or a hydraulic or fluid transmission, in particular be.
  • a gear ratio of one is one, so that a change in orientation of the one member identical or equal size is converted into a change in orientation of the other member.
  • one or more mechanical ones are or will be
  • the kinematics can advantageously be folded compactly when not in use.
  • Positioniervoriquessflansch by three serially arranged rotary joints connected to parallel axes of rotation, wherein by the orientation means a, in particular mechanical, Viergelenk-, in particular parallelogram is or is formed, the three serially arranged hinges of the kinematics and a fixed relative to the positioning base virtual fulcrum having parallel axes of rotation.
  • the positioning device flange is or is always advantageously aligned with the virtual pivot point in the case of a translatory adjustment on a circular path.
  • the kinematics has a first pivot, which the
  • Positioning device base connects to a first link of the kinematics, a second pivot joint connecting the first to a second link of the kinematics, and a third pivot link connecting the second link of the kinematic to the positioning device flange, and the orientation means mechanically forcibly couples the positioning device base with this second link of kinematics and another forced coupling of the
  • Positioniervoriquessflansch is connected by a linear joint or a linear axis and a rotary joint connected thereto, wherein by the orientation means a mechanical boom guidance is or is formed, which is the
  • the kinematics has a linear joint, which the
  • Positioning device base with a first link of the kinematics connects, and a hinge, which is the first link of the kinematics with the
  • Positioner flange connects, and the orientation means has a mechanical positive coupling of the positioning device base with the
  • the linear joint is rotatably connected to the positioning base.
  • an inclination of the straight line along which the positioning device flange is adjustable can be varied relative to the positioning device base, in particular also in order to bring the positioning device into a compact transport and / or storage position.
  • the number of degrees of freedom of the kinematics can be reduced by locking all joints of the kinematics in particular to zero or the kinematics and thus the positioning device flange relative to the positioning device base, in particular in the first position, the second position or at least one intermediate position, preferably in any intermediate position between the first and second position, in one embodiment by the maximum
  • the orientation means reduces the number of kinematics given by the degrees of freedom of the joints of the kinematics
  • Degrees of freedom of the positioning device between the positioning device base and flange by at least one, preferably at one.
  • the orientation means By additionally blocking further, in particular all joints of the kinematics, in one embodiment, the orientation means,
  • the orientation means in particular one or more mechanical positive couplings, in particular gear, have greater tolerances and / or compliance, since the robot, especially after a calibration, compensate in the position of its base precisely fixed by the blocked joints can.
  • the joints are or are mechanically blocked or
  • the joints are or are manually blocked or blocked. This facilitates in particular the direct handling of the positioning device. Additionally or alternatively, the joints in one embodiment are actuated blocked or blocked, for example by electromagnetic closing or ventilation of brakes, bars or the like. This facilitates in particular the blocking of hard to reach joints.
  • one or more joints together with at least one other joint of the kinematics are blocked or blocked, in particular all joints of the kinematics are blocked or blocked together.
  • a desired position can be fixed directly redundantly and the orientation means are relieved.
  • one or more joints in one embodiment are blocked or blockable independently of at least one other joint of the kinematics.
  • the position of the positioning projection flange can be fixed in cooperation with the orientation means.
  • the other joint or joints can advantageously be further moved if the orientation means is ineffective, for example by releasing one or more mechanical positive couplings or the like.
  • the positioning device has at least one, in particular mechanical and / or pneumatic, tensioning means which ties together two links of the positioning device connected to one another by at least one joint of the kinematics and by moving the positioning device into a position in which they have a lower positional energy in particular by adjusting the Positioniervornchtungsflanschs from a raised position in one
  • the tensioning means is more tensioned than in the first of the first and second positions of the positioning device flange in which the positioning device has the lower attitude energy than in the other of the first and second position of the positioning device flange in which the
  • Positioning device on the other hand has greater storage energy.
  • the positioning device has at least two links, which are interconnected by at least one joint of the kinematics and in a
  • Storage are collapsible, in which these two limbs, at least in
  • Positioning device advantageously stored compactly and stored when not in use.
  • the positioning device has a carrier on which the positioning device base is mounted in one or more than one axis, which is linearly movable and / or rotatable.
  • the positioning device base in turn can be pre-positioned relative to the carrier. This advantageously makes it possible to better adapt the positioning device to different operating theaters or areas with correspondingly different patient supports and accesses, and in particular in addition to the above-described change between a wall and a ceiling or floor or horizontal or vertical hanging or standing orientation first or base axis of the robot to avoid interference between multiple co-operating robots.
  • the carrier is stationary in one embodiment, in particular permanently or detachably attached to a wall, ceiling or floor of an operating room.
  • the carrier in particular manually, movable or mobile,
  • the carrier may also be automotive, such as by a corresponding, in particular motor-driven, suspension or the like.
  • the positioning device base is rotatable about a vertical and / or horizontal axis in an operative position of the carrier. This allows in particular a favorable orientation relative to the environment. Additionally or alternatively, the positioning base is rotatable about an axis that is perpendicular or parallel to an axis of the joint of the kinematics to which the positioning device base is connected. This allows in particular an advantageous alignment of robots with each other.
  • the positioning device base is vertically and / or horizontally linearly movable in an operating position of the carrier. This makes possible
  • the positioning device base is linearly movable in or along an axis that is perpendicular or parallel to an axis of the joint of the kinematics to which the positioning device base is connected. This allows in particular an advantageous alignment of robots with each other.
  • the positioning device base is fixable to the carrier in one or more positions and / or orientations such that the ones attached to the carrier
  • Positioning device flange fixed robot base can be set by the positioning device and the carrier environment.
  • a robot arrangement has at least two of the positioning devices described here, on whose
  • Positioniervoriquessflanschen each one of the robots described here are fastened or to be, so can be stored in one embodiment, the positioning of at least two of the positioning devices together in the manner described here or multi-axially linearly movable and / or rotatably mounted on the carrier.
  • the positioning device bases of at least two of the positioning devices can be mounted independently of one another in the manner described here or multiaxially linearly movable and / or rotatable on the same carrier or on mutually independent carriers.
  • the carrier has a housing into which the
  • Positioniervoriquessbasis in particular for this folded, kinematics, and / or the Positioniervoriquessflansch is fully or partially retractable.
  • a compact storage and / or transport position is provided in an embodiment in which the retracted into the housing areas of the Positioning device and the environment, especially operating personnel, are protected against each other.
  • a robot arrangement has a positioning device described here and a robot described here, which or its base, in particular releasably, can be fastened or fastened to the positioning device flange.
  • a robot assembly having a positioning device having a base and a flange to which the robot is attached, the flange being kinematically connected to the base, by which the flange is adjustable relative to the base from a first position relative to the base to a second position spaced therefrom and / or reorientable from a first orientation relative to a reference axis to a second orientation rotated relative to the first orientation relative to the reference axis, in particular a positioning device according to another of the aspects described here, the robot for, in particular manual, adjusting and / or reorienting the
  • Positioniervoriquessflanschs controlled in a predetermined Position michspose, in particular by appropriate actuation of his joint drives.
  • the predetermined positioning pose is a pose in which the robot has an advantageous manipulability or mobility, in particular one or more joints of the robot in opposite directions, in particular
  • a rotary joint which has an angular range of 180 °, in the predetermined positioning pose an angular position of about 90 °.
  • a predetermined Position istspose in which the robot is an advantageous Manipulierbarpour. Has mobility, for example, by a large, in particular maximum distance to a singular pose of the robot or thereby be characterized in that the robot in the pose preferred, in particular statistically frequent, End binor Gayen can perform by selected joints or joint combinations.
  • the predetermined positioning pose for example based on an operation to be performed and / or a position of the
  • Positioniervoriquessflansches relative to the positioning device base and / or a position of the positioning device base relative to the carrier, selected from a plurality of predetermined poses. This allows the user to pre-position the robot in an optimal pose for the particular application.
  • Reorientation of the positioning front flange in accordance with another aspect of the present invention, after fixing the positioning device, particularly fixing the positioning front flange in a position relative to the positioning device base and / or the positioning device base relative to the environment, in particular positioning base, carrier or ambient solid calibration means with a robot-fixed reference point, in particular an excellent point of the robot flange or end effector, approached in one or more different poses of the robot and evaluated the associated joint coordinates of the robot.
  • a reference system of a controller of the robot calibrated and so a pre- or
  • the robot or robots described here can be, in particular, surgical robots with a surgical end effector. In the embodiments, therefore, surgical robots are used, for which the present invention is particularly advantageous.
  • the manipulator or robots described here, in particular robots can also be industrial and / or service manipulators, in particular robots, for which the present invention is likewise advantageous.
  • Fig. 1 a positioning device according to an embodiment of the present invention
  • Fig. 2 the positioning device of Figure 1, wherein the orientation means comprises two coupling rods.
  • FIG. 3 shows the positioning device of FIG. 1, wherein the orientation means has two traction mechanism transmissions
  • FIGS. 4A-4E illustrate a bearing operation of a surgical robotic assembly according to one embodiment of the present invention
  • Fig. 5 a positioning device according to another embodiment of the present invention.
  • FIG. 6 shows a positioning device according to a further embodiment of the present invention.
  • FIG. 7 shows a surgical robot arrangement according to an embodiment of the invention.
  • FIG. 8 shows a surgical robot arrangement according to a further embodiment of the present invention in perspective view
  • FIG. 9 is a perspective view of a surgical robot arrangement according to a further embodiment of the present invention.
  • FIG. 10 is a perspective view of a surgical robot arrangement according to a further embodiment of the present invention.
  • FIG. 11 shows a manipulator arrangement with a carrier system according to an embodiment of the present invention in a side view;
  • FIG. 12 a part of the carrier system of FIG. 11 in a section;
  • Figure 13 shows a part of a carrier system according to a further embodiment of the present invention in Figure 12 corresponding view.
  • FIGS. 12, 13 shows a part of a carrier system according to a further embodiment of the present invention in FIGS. 12, 13 corresponding view;
  • FIG. 15 shows a method for moving and / or fixing the carrier system of FIG. 13 according to an embodiment of the present invention.
  • Fig. 7 shows a surgical robot arrangement according to an embodiment of the present invention in perspective view.
  • This has a support 9, on which three positioning devices are mounted together uniaxially linearly movable and rotatable, to which in turn a respective surgery robot is attached.
  • Positioning devices and surgical robots are each identical in construction, so that only the one or more in FIG. 7 front (s) is explained in more detail below.
  • This positioning device has a positioning device base 1 and a positioning device flange 7 (see Fig. 1) on which the seven-axis
  • the surgical robot 10 is intended for minimally invasive surgery and for this purpose has a surgical end effector 13, which is attached via an instrument shaft 14 to a surgical robot flange 12 of the surgical robot, which
  • a surgical robot base 1 1 which is fixed to the positioning device flange 7 (see Fig. 1).
  • FIG. 1 in which a positioning device is shown schematically, which except for explained below differences in
  • Positioning device of FIG. 7 corresponds, the Positioniervoriquessflansch 7 by a kinematics, which has three hinges 2, 4, 6, with the
  • Positioning device base 1 connected.
  • the positioning device flange is translationally adjustable from a Cartesian first position relative to the positioning device base on a circular path indicated by dashed lines in FIG. 1 to a second position spaced therefrom.
  • the joints of the kinematics are interconnected by rigid members 3, 5
  • the surgical robot base 11 is connected in a linearly movable manner to the positioning device flange 7 by means of a fixable linear joint 17 which is additional to the rotary joints 2, 4, 6 of the kinematics. This is not shown in the embodiments of FIGS. 2, 3 and 5 for clarity.
  • the surgical robotic base 11 is also rotatably attached to the positioning device flange 7 or the output of the linear joint 17 by a further fixable rotary joint 17 'which is additional to the joints 2, 4, 6 of the kinematics.
  • the axis of rotation of this further rotary joint 17 ' is perpendicular to a first or base rotational axis of the surgical robot 10.
  • the surgical robotic base 11 is rigid with the
  • the positioning device base 1 is fastened to a support 9 in a horizontally movable manner by a linear axis 19. 1, which is explained in more detail below with reference to FIG. 9.
  • the surgical robotic base 11 can be rigid (see Fig. 6), linearly movable (see Fig. 1) and / or rotatable (see Fig. 7) with the
  • Positioniervoriquessflanschs reoriented from the first to the second position from a first orientation in the first position to a second orientation in the second position, which is rotated relative to the first orientation by 90 ° about a horizontal.
  • Surgery robot 10 and its base 11 are either wall or ceiling side arranged.
  • the orientation means reduces the number of
  • Positioniervoriquessflansch 7 or the associated surgery robot base 1 1 in the first or second position adjust, in particular pull or push must while the orientation means inevitably a corresponding
  • Reorientation of the Positioniervoriquessflanschs 7 or the associated surgery robot base 1 1 causes from the first to the second orientation. This is indicated in Fig. 1 by a virtual pivot point V, to which the
  • Positioniervoriquessflanschs 7 remains aligned during an adjustment on the circular path.
  • the orientation means is in each case mechanically implemented or formed, wherein the joints 2, 4, 6 are passive or actuatorless.
  • it can equally be implemented by a controller and actuators commanded by it, which move these joints, which are then actuated in the modification, by the actuators, in particular electric motors, controlled accordingly for this purpose, as described below for the mechanical one trained orientation means is described.
  • Orientation means a mechanical positive coupling 100 of
  • Positioning device base 1 with the link 5 of the kinematics which is double-dashed schematized in Fig. 1, and a further mechanical positive coupling 101 of the positioning device 7 with the link 3 of the kinematics, which is dash-dotted lines in Fig. 1.
  • These mechanical positive couplings can in particular be a on or
  • FIG. 2 shows an example of an embodiment of
  • Coupling rod 202 is rotatable in a pivot joint 204 with a second
  • Coupling rod 205 connected, which in turn in a pivot 206 on the
  • Positioniervoriquessflansch 7 is rotatably supported, so that the hinges 6, 203, 204 and 206 with the links 5, the first coupling rod 202, the second
  • FIG. 3 shows by way of example another embodiment of the invention
  • first synchronizing disk 301 whose axis is aligned with the axis of the joint 2
  • a rigidly connected to the member 5 second timing pulley 305 the axis of which is aligned with the axis of the joint 4 and via a first pulling means 304 with the first pulley 301 is coupled
  • a rigidly connected to the member 3 third synchronizer pulley 303 whose axis is also aligned with the axis of the joint 4
  • a rigidly connected to the Positioniervoriquessflansch 7 fourth timing pulley 307 the axis of which is aligned with the axis of the joint 6 and over a second pulling means 306 is coupled to the third synchronizing disk 303.
  • Fig. 1 and corresponding to FIGS. 2, 3, 6 and 7 are the
  • Positioner base 1 and the Positioniervoridessflansch 7 by three serially arranged hinges 2, 4, 6 connected to parallel axes of rotation, wherein by the orientation means a mechanical parallelogram is formed, the three serially arranged hinges of the kinematics and the relative to the Positioniervoridessbasis 1 stationary virtual pivot point V with parallel
  • the kinematics with the rotary joint 2 comprises a first rotary joint, which connects the positioning device base 1 to the (first) link 3 of the kinematics, with the rotary joint 4 a second rotary link, which connects the (first) link 3 to the (second) link 5 of FIG Kinematics connects, and with the pivot 6, a third pivot joint, which connects the (second) member 5 of the kinematics with the Positioniervoriquessflansch 7, the orientation means comprises a mechanical positive coupling 100 of the positioning device base 1 with the (second) member 5 of the kinematics and another forced coupling 101 of the
  • Positioniervoriquessflansches 7 with the (first) member 3 of the kinematics. 5 shows in a corresponding manner a positioning device according to a further embodiment of the present invention, which can be used alternatively to the positioning device explained with reference to FIGS. 1-3 and 6,
  • the positioning device base 1 and the positioning device flange 7 are connected by a linear joint 24 and a pivot joint 6 connected thereto, wherein a mechanical beam guide is provided by the orientation means, which contributes to the positioning device flange a translational Align adjustment on a dashed line in FIG. 5 approximately to a virtual pivot point V.
  • Positioning device base 1 with a first member 35 of the kinematics connects, and a pivot 6, which the first member 35 of the kinematics with the
  • Positioner flange 7 connects, wherein the orientation means a mechanical positive coupling 102 of the positioning device base 1 with the
  • Positioniervoriquessflansch 7 which is schematized in Fig. 5 in Fig. 1 corresponding manner double-dashed lines.
  • the linear joint 24 is rotatably connected to the positioning base 1.
  • Positioning device base can be varied.
  • the unactuated joints 2, 4, 6 or 24 of the kinematics each have a lock for the positive or frictional locking or fixing of the respective joint, for example by closing bars,
  • the positioning devices each have a, in Figs. 1, 5 and 6 indicated by a mechanical spring 8 and 8 ',
  • Positioner flange facilitates.
  • the positioning device comprises a support 9 on which the positioning device bases 1 of the three Positioning devices together uniaxially linearly movable and rotatably mounted.
  • the carrier 9 is for this purpose connected by a lifting column 19 to a skeleton to which the positioning device bases 1 are fastened, the lifting column 19 being rotatable about its longitudinal axis.
  • the carrier 9 is stationary in the embodiment of FIG. 7. In a modification, the carrier is mobile, in particular manually movable.
  • the positioning device bases 7 (in a portable carrier in its operating position) are rotatable by the lifting column 19 about a vertical axis which is perpendicular to the axis of the joint 2 of the kinematics to which the positioning device base 1 is connected.
  • the lifting column 19 is rotatable by the lifting column 19 about a vertical axis which is perpendicular to the axis of the joint 2 of the kinematics to which the positioning device base 1 is connected.
  • the lifting column is locked or fixed (not shown).
  • the surgical robot arrangement of FIG. 7 comprises three of the positioning devices described in particular with reference to FIGS. 1-3, 5 and 6, the positioning device bases of which are mounted together in a linearly movable and / or rotatable manner on the carrier 9.
  • Fig. 8 shows a surgical robot arrangement according to a further embodiment of the present invention in Fig. 7 corresponding representation.
  • Corresponding features are denoted by identical reference numerals, so that subsequently only differences to the embodiment of FIG. 7 are discussed and, moreover, reference is made to the description thereof.
  • FIG. 9 shows a surgical robot arrangement according to a further embodiment of the present invention in a representation corresponding to FIGS. 7, 8.
  • the separate lifting columns 19 are each additionally linearly movable by a horizontal linear axis 19.1, which is perpendicular to the axis of the joint 2 of the kinematics, to which the positioning device base 1 is connected.
  • the further linear axis 17 is omitted, the surgical robotic base 11 is articulated directly to the positioning device flange 7 via the further rotary joint 17 '.
  • Fig. 10 shows a surgical robot arrangement according to a further embodiment of the present invention in Fig. 7, 8, 9 corresponding representation.
  • Corresponding features are denoted by identical reference numerals, so that subsequently only differences to the embodiment of FIG. 9 are discussed and, moreover, reference is made to the preceding description.
  • the separate lifting columns 19 are each provided with a linear linear pivot 19.2 whose axis is perpendicular to the axis of articulation 2 of the kinematics to which the positioning base 1 is connected, both linearly movable and rotating tiltable.
  • Positioning device explained in more detail. This may in particular correspond to one of those explained above with reference to FIGS. 1-3, 5-10, so that reference is made to the description thereof and only differences are discussed below.
  • the carrier 9 has a housing into which the positioning device base 1, the kinematics 2-6 folded therefor and the
  • Positioniervoriquessflansch 7 is retractable.
  • the links 3, 5 of the kinematics are folded into a storage position, in which these two elements are in opposite directions parallel to each other (Fig. 4A -> Fig. 4B).
  • the positioning device base 1 which is rotatably arranged on a carriage 20 of the support 9, pivoted, whereby the members 3, 5 swing into the housing (Fig. 4B - »Fig. 4C).
  • the surgical robot 10 may be controlled in a compact bearing pose ( Figures 4C - 4D).
  • the positioning device is lowered by means of the carriage 20 into the housing.
  • the positioning pose is based on a
  • a positioning device base, carrier or environmental proof calibrating means (not shown) with an excellent point of the surgical robot flange 12 or end effector 13 is provided with a plurality of mutually different poses
  • Fig. 1 1 shows a manipulator assembly with a carrier system according to a
  • Positioning device a manipulator, in particular a robot assembly, a
  • Positioniervoriquessflansch 7 of the positioning attached which is connected via the kinematics 2-6 with the positioning device base 1, which is adjustably mounted on the support 9 via the lifting column 12.
  • a robotic robot arrangement represents an advantageous use of the carrier system explained below with reference to FIGS. 1-14, but this is not restricted thereto, but can equally be used with industrial or service manipulators, in particular robots.
  • Fig. 12 shows a section through a part of the carrier 9. At this is a
  • Air chamber arrangement arranged in the embodiment of FIG. 12, a clad by a pressure apron 40A pressure chamber 41A and a further pressure apron 40B enclosed pressure chamber 41 B, the formation of an air cushion independently via control or control valves 53A and 53B with overpressure air can be supplied by a positive pressure air supply.
  • overpressure air supply has a carrier-side overpressure air source with a turbomachine in the form of a compressor 52 and an overpressure accumulator in the form of an overpressure container 50, which can be charged or charged by the compressor.
  • the user actuates an operating device in the form of an actuating button 91, which transmits this to a controller 90.
  • the controller thereby regulates the position of the valves. Additionally or alternatively, the controller can also
  • Control compressor The thereby overflowing through a gap between pressure aprons 40A, 40B and the ground overpressure air can cause undesirable noise and
  • a common sound shield 60 encloses a sound space 61, which surrounds the pressure chambers 41 A, 41 B.
  • the sound shield 60 is resiliently biased against the ground and has a bottom-side sealing lip.
  • the sound space 61 communicates via a passage 71 with a carrier-side silencer means in the form of an absorption silencer 70 for damping airborne noise in the sound space.
  • the sound-deadened air passes over one
  • the user actuates another actuating button 92, which transmits this to a controller 90.
  • This correspondingly closes the valves 53A, 53B and blocks the pressure chambers 41A, 41B from the overpressure container 50 of the positive pressure air supply. Instead, the controller opens now analog
  • Vacuum accumulator in the form of a vacuum tank 51 a carrier side
  • the controller thereby regulates the position of the valves. Additionally or alternatively, the controller may also control the compressor.
  • the support is supported by a support assembly with three or four elastic supports in the pressure chambers 41 A and 41 B, of which in the section of FIG. 12, two supports 81 A, 81 B are visible.
  • the carrier system further comprises a stationarily arranged on the carrier
  • Roller arrangement with at least three arranged in the pressure chambers 41A, 41 B transport rollers, of which in the section of Fig. 12, two transport rollers 80A and 80B are visible. These are biased in the embodiment by compression springs from a storage in an operating position in which they survive on the bottom side on the supports 81 A, 81 B. In this operating position, the transport rollers can be blocked by a lock 82A, 82B, a retraction into the storage position locks. When the lock is released, however, the transport rollers move into their position
  • Fig. 13 shows in Fig. 12, a corresponding manner, a carrier system according to a further embodiment of the present invention.
  • Features consistent with the embodiment discussed above are identified by identical reference numerals, so that reference is made to the above description and only differences will be discussed below.
  • the positive pressure air source in the form of a
  • the carrier-distant absorption silencer 70 ' also communicates with the sound space 61 via a flexible air duct which is detachably connected to the carrier 3 and conducts excess pressure air on the sound space 61
  • Fig. 14 shows in Figs. 12, 13, a carrier system according to a further embodiment of the present invention.
  • the silencer means is in the form of several
  • the carrier-side overpressure container 50 which acts in particular as a buffer, on the one hand via the carrier-side air line connection 55 and the flexible line 55.1 detachably connected to the carrier-distant pressure vessel 50 'and on the other hand by a control valve 53 with excess pressure air from the clad of the pressure skirt 40 single pressure chamber 41st supplied by the controller 90 opens due to a corresponding actuation of the actuating knob 91 of this valve, in particular for controlling the vertical ground clearance stronger and / or longer opens or closes.
  • Controller 90 the valves 53 A, 53 B, so that the pressure chambers 41 A, 41 B with
  • Overpressure air from the pressurized air tank 50 are supplied (S20).
  • the controller 90 detects a pose of the manipulator 10 via detection means in the form of joint sensors (not shown) and uses this as a display to determine the directional or signed horizontal distance a of its flange 12 from a reference torque-free reference configuration (see FIG. Furthermore, the controller 90 via distance sensors at the bottom corners of the carrier (not shown) detects a directional or signed position or
  • the controller 90 closes the valves 53A, 53B and opens the valves 54A, 54B so that the pressure spaces 41A, 41B are now closed Vacuum from the vacuum air tank 51 are supplied.
  • the controller 90 increases by corresponding
  • the controller 90 increases on the basis of the detected pose of the manipulator 10 and the detected position of the carrier 9, the overpressure on a side over which a tilting moment, which is induced by a display a of the manipulator and in a deflection of the carrier against the horizontal seeks to tip the carrier system.
  • the controller 90 increases the negative pressure on one side of the carrier system, which is a tilting moment, which is induced by a display a of the manipulator and in a deflection of the carrier against the Horizontal affects, seeks to lift.

Abstract

La présente invention concerne un système de support destiné à un manipulateur, en particulier à un robot (10), qui comprend un support (9) et une bride (7) destinée à la fixation du manipulateur. L'invention est caractérisée par un ensemble de chambre à air qui est disposé sur le support et qui comporte au moins un espace sous pression (41a, 41b; 41) enveloppé par un tablier de pression (40A, 40B; 40) et pouvant être relié à une alimentation en air comprimé (50, 51, 52; 56 55).
EP15752921.5A 2014-08-14 2015-08-13 Système de support pour manipulateur Withdrawn EP3180167A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014012124.0A DE102014012124A1 (de) 2014-08-14 2014-08-14 Positionierung eines Roboters
DE102014012160.7A DE102014012160A1 (de) 2014-08-14 2014-08-14 Trägersystem für einen Manipulator
PCT/EP2015/001674 WO2016023636A1 (fr) 2014-08-14 2015-08-13 Système de support pour manipulateur

Publications (1)

Publication Number Publication Date
EP3180167A1 true EP3180167A1 (fr) 2017-06-21

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EP15752921.5A Withdrawn EP3180167A1 (fr) 2014-08-14 2015-08-13 Système de support pour manipulateur
EP15752920.7A Active EP3180168B1 (fr) 2014-08-14 2015-08-13 Positionnement d'un robot

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Application Number Title Priority Date Filing Date
EP15752920.7A Active EP3180168B1 (fr) 2014-08-14 2015-08-13 Positionnement d'un robot

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US (1) US10391635B2 (fr)
EP (2) EP3180167A1 (fr)
KR (1) KR101961572B1 (fr)
CN (1) CN106573373B (fr)
WO (2) WO2016023635A1 (fr)

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WO2016023635A1 (fr) 2016-02-18
US10391635B2 (en) 2019-08-27
EP3180168B1 (fr) 2021-05-26
CN106573373B (zh) 2019-10-18
WO2016023636A1 (fr) 2016-02-18
KR20170041890A (ko) 2017-04-17
EP3180168A1 (fr) 2017-06-21
CN106573373A (zh) 2017-04-19
US20170274533A1 (en) 2017-09-28

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