JP2010518972A - 改良されたマニプレータ - Google Patents
改良されたマニプレータ Download PDFInfo
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- JP2010518972A JP2010518972A JP2009550917A JP2009550917A JP2010518972A JP 2010518972 A JP2010518972 A JP 2010518972A JP 2009550917 A JP2009550917 A JP 2009550917A JP 2009550917 A JP2009550917 A JP 2009550917A JP 2010518972 A JP2010518972 A JP 2010518972A
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- 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
- A61B34/77—Manipulators with motion or force scaling
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- 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
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- 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
- A61B34/35—Surgical robots for telesurgery
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- 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
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- 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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- 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
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- 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
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- 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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
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- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
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- 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
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
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- 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
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32008—Plural distinct articulation axes
- Y10T403/32041—Universal
- Y10T403/32049—Non-coplanar axes
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- 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
- Y10T74/20305—Robotic arm
-
- 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
- Y10T74/20305—Robotic arm
- Y10T74/20311—Robotic arm including power cable or connector
-
- 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
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
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- 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
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Abstract
【解決手段】医療処置にて使用されるもののようなマニプレータが提供される。該マニプレータは、本体と、第一の装着点にて本体と接続され且つ、第一の装着点を少なくとも3自由度にて動作させることのできる第一のアクチュエータシステムとを含む。第二のアクチュエータシステムは、第二の装着点にて本体と接続され且つ、第二の装着点を少なくとも3自由度にて動作させることができる。第三のアクチュエータシステムは、本体と一体化され且つ、本体の少なくとも一部分を少なくとも1自由度にて動作させることができる。
【選択図】図8
Description
Claims (29)
- マニプレータにおいて、
本体と、
第一の装着点にて本体と接続される第一のアクチュエータシステムにして、該第一の装着点を少なくとも3自由度にて動作させることのできる第一のアクチュエータシステムと、
第二の装着点にて本体と接続される第二のアクチュエータシステムにして、該第二の装着点を少なくとも3自由度にて動作させることのできる第二のアクチュエータシステムと、
前記本体と一体化される第三のアクチュエータシステムにして、該本体の少なくとも一部分を少なくとも1自由度にて動作させることのできる第三のアクチュエータシステムとを備える、マニプレータ。 - 請求項1に記載のマニプレータにおいて、前記第一の装着点は、3自由度の継手を備える、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第一の装着点は、2自由度の継手を備える、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第一の装着点は、2自由度の継手を備え、前記第二の装着点は、3自由度の継手を備える、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第三のアクチュエータシステムは、前記本体の少なくとも一部分を回転軸線の回りにて回転させ得るように前記本体上に支持された回転アクチュエータである、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、直列のアクチュエータシステムである、マニプレータ。
- 請求項6に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、少なくとも3つの線形継手/アクチュエータを採用する、マニプレータ。
- 請求項6に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、少なくとも3つの回転継手/アクチュエータを採用する、マニプレータ。
- 請求項6に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの少なくとも1つは、回転及び線形継手/アクチュエータの組み合わせを採用する、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの双方は、直列のアクチュエータシステムである、マニプレータ。
- 請求項10に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、少なくとも3つの線形継手/アクチュエータを採用する、マニプレータ。
- 請求項10に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、少なくとも3つの回転継手/アクチュエータを採用する、マニプレータ。
- 請求項10に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの少なくとも1つは、回転及び線形継手/アクチュエータの組み合わせを採用する、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記第一のアクチュエータシステムは、直列のアクチュエータシステムであり、前記第二のアクチュエータシステムは、並列のアクチュエータシステムである、マニプレータ。
- 請求項10に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、複数の回転継手/アクチュエータを含むマニプレータ。
- 請求項10に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、直列に配置された第一及び第二の回転継手/アクチュエータを含む、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記第一及び第二のアクチュエータシステムの各々は、2つの回転継手/アクチュエータと共に直列に配置された4バー連結機構を含む、マニプレータ。
- 請求項17に記載のマニプレータにおいて、前記4バー連結機構の1つの隅部は、前記4バー連結機構の動作を駆動し得るよう第三の回転継手/アクチュエータを備える、マニプレータ。
- 請求項18に記載のマニプレータにおいて、前記第三の回転継手アクチュエータを備える前記4バー連結機構の前記隅部は、それぞれのアクチュエータシステムの回転慣性力を最小にし得るよう、前記第一及び第二の回転継手/アクチュエータに最も近い隅部である、マニプレータ。
- 請求項17に記載のマニプレータにおいて、前記4バー連結機構は、それぞれの装着点にて前記支持部材と接続するアームを含む、マニプレータ。
- 請求項21に記載のマニプレータにおいて、前記第三の回転継手アクチュエータは、第三の回転軸線を画定し、前記4バー連結機構の一部分は、前記第三の回転軸線の対向した第二の側部に配置された本体及びそれぞれのアクチュエータシステムの別の部分を均衡させるのを助け得るように前記第三の回転軸線の第一の側部上に配置される、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記複数の回転継手/アクチュエータの1つは、第一の回転軸線を画定し、前記第一及び第二のアクチュエータシステムは、前記それぞれのアクチュエータシステムの一部分が前記回転軸線の反対側の第二の側部に配置された本体及びアクチュエータシステムの別の部分を均衡させるのを助け得るように該回転軸線の第一の側部上に配置される構成とされる、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記複数の回転継手/アクチュエータは、それぞれの歯車駆動装置を介して駆動される、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記複数の回転継手/アクチュエータは、それぞれのケーブル駆動装置を介して駆動される、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記複数の回転継手/アクチュエータは、それぞれのチェーン駆動装置を介して駆動される、マニプレータ。
- 請求項16に記載のマニプレータにおいて、前記複数の回転継手/アクチュエータは、それぞれの摩擦駆動装置を介して駆動される、マニプレータ。
- 請求項25に記載のマニプレータにおいて、前記摩擦駆動装置はベルト駆動装置である、マニプレータ。
- 請求項25に記載のマニプレータにおいて、前記摩擦駆動装置はケーブル駆動装置である、マニプレータ。
- 請求項1に記載のマニプレータにおいて、前記本体は器具マウントを含み、該器具マウントは、前記第三のアクチュエータシステムにより動作される本体の部分を備える、マニプレータ。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/710,023 | 2007-02-23 | ||
US11/710,023 US7950306B2 (en) | 2007-02-23 | 2007-02-23 | Manipulator |
PCT/US2008/002315 WO2008103425A1 (en) | 2007-02-23 | 2008-02-21 | Improved manipulator |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010518972A true JP2010518972A (ja) | 2010-06-03 |
JP2010518972A5 JP2010518972A5 (ja) | 2011-04-07 |
JP5220035B2 JP5220035B2 (ja) | 2013-06-26 |
Family
ID=39710398
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009550917A Expired - Fee Related JP5220035B2 (ja) | 2007-02-23 | 2008-02-21 | 改良されたマニプレータ |
Country Status (4)
Country | Link |
---|---|
US (3) | US7950306B2 (ja) |
EP (1) | EP2114280A4 (ja) |
JP (1) | JP5220035B2 (ja) |
WO (1) | WO2008103425A1 (ja) |
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US7950306B2 (en) | 2011-05-31 |
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JP5220035B2 (ja) | 2013-06-26 |
EP2114280A4 (en) | 2014-08-20 |
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