FR2427183A1 - Manipulateur maitre-esclave - Google Patents

Manipulateur maitre-esclave

Info

Publication number
FR2427183A1
FR2427183A1 FR7914038A FR7914038A FR2427183A1 FR 2427183 A1 FR2427183 A1 FR 2427183A1 FR 7914038 A FR7914038 A FR 7914038A FR 7914038 A FR7914038 A FR 7914038A FR 2427183 A1 FR2427183 A1 FR 2427183A1
Authority
FR
France
Prior art keywords
master
movements
slave manipulator
transform
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.)
Granted
Application number
FR7914038A
Other languages
English (en)
Other versions
FR2427183B1 (fr
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.)
Central Research Laboratories Ltd
Original Assignee
Central Research Laboratories Ltd
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 Central Research Laboratories Ltd filed Critical Central Research Laboratories Ltd
Publication of FR2427183A1 publication Critical patent/FR2427183A1/fr
Application granted granted Critical
Publication of FR2427183B1 publication Critical patent/FR2427183B1/fr
Granted 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
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Ce manipulateur est pourvu d'un dispositif d'assistance du mouvement de pince qui augmente les possibilités de manipulation. Il comporte également un dispositif à contrepoids rotatifs qui améliore l'équilibrage dans le mouvement << Y >> qui s'éloigne de l'opérateur. Des moyens transforment les mouvements longitudinaux en mouvements rotatifs pour leur transmission à travers le mur écran et retransforment ceux-ci en mouvements linéaires. Les joints des poignets sont amovibles, remplaçables et interchangeables, de même que la pince.
FR7914038A 1978-05-31 1979-05-31 Manipulateur maitre-esclave Granted FR2427183A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/911,232 US4221516A (en) 1978-05-31 1978-05-31 Master-slave manipulator

Publications (2)

Publication Number Publication Date
FR2427183A1 true FR2427183A1 (fr) 1979-12-28
FR2427183B1 FR2427183B1 (fr) 1985-03-15

Family

ID=25429944

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7914038A Granted FR2427183A1 (fr) 1978-05-31 1979-05-31 Manipulateur maitre-esclave

Country Status (5)

Country Link
US (1) US4221516A (fr)
JP (1) JPS5554189A (fr)
CA (1) CA1106873A (fr)
DE (3) DE2921983A1 (fr)
FR (1) FR2427183A1 (fr)

Families Citing this family (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58126075A (ja) * 1981-05-18 1983-07-27 ブリテイツシユ　ニユ−クリア　フユエルス　ピ−エルシ− マスターアームとスレーブアームとからなるマニュピレータを有する遮蔽セル
FR2520918B1 (fr) * 1982-02-03 1988-04-22 Calhene Telemanipulateur telescopique du type maitre/esclave et ses moyens de transmission de mouvements par cables ou rubans
US4604016A (en) * 1983-08-03 1986-08-05 Joyce Stephen A Multi-dimensional force-torque hand controller having force feedback
US4831531A (en) * 1987-02-20 1989-05-16 Sargent Industries, Inc. System for the performance of activity in space
US4762455A (en) * 1987-06-01 1988-08-09 Remote Technology Corporation Remote manipulator
US5193963A (en) * 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US5389865A (en) * 1992-12-02 1995-02-14 Cybernet Systems Corporation Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor
US7345672B2 (en) * 1992-12-02 2008-03-18 Immersion Corporation Force feedback system and actuator power management
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US6801008B1 (en) * 1992-12-02 2004-10-05 Immersion Corporation Force feedback system and actuator power management
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
NL1010446C2 (nl) * 1998-11-02 2000-05-03 Exact Dynamics B V Manipulator.
US6253458B1 (en) * 1998-12-08 2001-07-03 Faro Technologies, Inc. Adjustable counterbalance mechanism for a coordinate measurement machine
NL1020396C2 (nl) * 2002-04-16 2003-10-17 Amc Amsterdam Manipulator voor een instrument voor minimaal-invasieve chirurgie, alsmede een dergelijk instrument.
CA2530372A1 (fr) * 2003-06-25 2005-01-06 Honda Motor Co., Ltd. Procede et dispositif de transport d'assistance
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
FR2866826B1 (fr) * 2004-02-26 2006-08-04 Commissariat Energie Atomique Bras de telemanipulation en deux parties
US20090005907A1 (en) * 2007-03-07 2009-01-01 Orbital Robotics Ltd. Manipulator unit
US20100158641A1 (en) * 2008-12-19 2010-06-24 Delaware Capital Formation, Inc. Manipulator System
HU229773B1 (hu) * 2009-09-02 2014-06-30 Eszköz sebészeti beavatkozáshoz
DE202010012232U1 (de) * 2010-09-06 2011-12-08 Wälischmiller Engineering GmbH Vorrichtung mit einer Antriebseinheit zum Antrieb eines Manipulatorarms eines Manipulators und Manipulator
EP2627278B1 (fr) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Manipulateur mécanique destiné à des instruments chirurgicaux
US9186220B2 (en) 2010-12-17 2015-11-17 Ethicon Endo-Surgery, Inc. Surgical system and methods for mimicked motion
US8716973B1 (en) 2011-02-28 2014-05-06 Moog Inc. Haptic user interface
CN103717355B (zh) 2011-07-27 2015-11-25 洛桑联邦理工学院 用于远程操纵的机械遥控操作装置
US20130296882A1 (en) * 2012-03-30 2013-11-07 Young Jae Kim Apparatus for surgery
EP3185808B1 (fr) 2014-08-27 2022-02-23 DistalMotion SA Système chirurgical pour techniques de microchirurgie
ES2968221T3 (es) 2014-12-19 2024-05-08 Distalmotion Sa Instrumento quirúrgico con efector final articulado
EP3232973B1 (fr) 2014-12-19 2020-04-01 DistalMotion SA Interface stérile pour instruments chirurgicaux articulés
EP3232974B1 (fr) 2014-12-19 2018-10-24 DistalMotion SA Poignée articulée pour télémanipulateur mécanique
WO2016097871A1 (fr) 2014-12-19 2016-06-23 Distalmotion Sa Système d'accueil pour télémanipulateur mécanique
DK3653145T3 (da) 2014-12-19 2024-04-15 Distalmotion Sa Genanvendeligt kirurgisk instrument til minimalinvasive procedurer
CN107428007B (zh) * 2015-01-09 2020-10-30 第一电通株式会社 工作装置
WO2016162751A1 (fr) 2015-04-09 2016-10-13 Distalmotion Sa Instrument manuel articulé
EP3280343A1 (fr) 2015-04-09 2018-02-14 DistalMotion SA Dispositif mécanique télécommandé pour manipulation à distance
WO2017037532A1 (fr) 2015-08-28 2017-03-09 Distalmotion Sa Instrument chirurgical doté d'une force d'actionnement accrue
CN105500379A (zh) * 2016-01-28 2016-04-20 西安西航集团航空航天地面设备有限公司 一种伸缩式机械手
CN105904446A (zh) * 2016-07-07 2016-08-31 成都航天烽火精密机电有限公司 一种自动平衡式机械手
KR101814926B1 (ko) 2016-07-08 2018-02-21 (주)월성티엠피 원격제어 매니퓰레이터 장치의 와이어 케이블 장력 저감장치
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
JP2021513442A (ja) 2018-02-07 2021-05-27 ディスタルモーション エスエー ロボット遠隔マニピュレータを備えた手術ロボットシステム及び統合腹腔鏡手術
US11529543B2 (en) * 2020-03-19 2022-12-20 Proteus Motion Inc. Exercise device having a linear arm portion
US20230082469A1 (en) * 2020-03-19 2023-03-16 Proteus Motion Inc. Exercise device having a linear arm portion
CN112223243A (zh) * 2020-10-10 2021-01-15 江苏中海华核环保有限公司 一种电控主从式机械手
US11779799B2 (en) * 2020-11-12 2023-10-10 Proteus Motion Inc. Exercise handle
CN113770996B (zh) * 2021-09-16 2023-04-11 中国核电工程有限公司 小型关节主从机械手
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1285335A (fr) * 1961-01-10 1962-02-23 Saint Gobain Nucleaire Télémanipulateur mécanique pour le travail en enceinte chaude
FR1375511A (fr) * 1963-11-26 1964-10-16 Pye Ltd Manipulateur
US3164267A (en) * 1961-03-27 1965-01-05 Figure
FR1425545A (fr) * 1964-12-11 1966-01-24 Calhene Dispositif de transmission mécanique à effort et sensibilité réglables, notamment pour pince de télémanipulateur

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2846084A (en) * 1955-06-21 1958-08-05 Raymond C Goertz Electronic master slave manipulator
US2888154A (en) 1957-05-03 1959-05-26 Central Res Lab Inc Lateral rotation device
BE631545A (fr) 1962-04-25
GB963553A (en) * 1962-05-07 1964-07-08 Atomic Energy Authority Uk Remote-control master-slave manipulator
US3212651A (en) * 1962-06-12 1965-10-19 American Mach & Foundry Manipulator
DE1254843B (de) 1964-06-18 1967-11-23 Hans Waelischmiller Manipulator fuer Arbeiten in nicht unmittelbar betretbaren Raeumen
US3344936A (en) * 1964-10-19 1967-10-03 American Mach & Foundry Manipulator having motorized grasper and method
GB1108873A (en) * 1965-06-22 1968-04-03 Atomic Energy Authority Uk Remote-control manipulator
US3425569A (en) * 1966-10-28 1969-02-04 Central Research Lab Inc Extended reach sealed manipulator
FR1578992A (fr) * 1968-05-22 1969-08-22

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1285335A (fr) * 1961-01-10 1962-02-23 Saint Gobain Nucleaire Télémanipulateur mécanique pour le travail en enceinte chaude
US3164267A (en) * 1961-03-27 1965-01-05 Figure
FR1375511A (fr) * 1963-11-26 1964-10-16 Pye Ltd Manipulateur
FR1425545A (fr) * 1964-12-11 1966-01-24 Calhene Dispositif de transmission mécanique à effort et sensibilité réglables, notamment pour pince de télémanipulateur

Also Published As

Publication number Publication date
US4221516A (en) 1980-09-09
JPS622949B2 (fr) 1987-01-22
CA1106873A (fr) 1981-08-11
JPS5554189A (en) 1980-04-21
DE2921983A1 (de) 1980-02-07
DE2954648C2 (fr) 1992-07-02
FR2427183B1 (fr) 1985-03-15
DE2921983C2 (fr) 1992-05-27
DE2954649C2 (fr) 1992-05-14

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