JP2016519001A - ロボット - Google Patents
ロボット Download PDFInfo
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- JP2016519001A JP2016519001A JP2016512862A JP2016512862A JP2016519001A JP 2016519001 A JP2016519001 A JP 2016519001A JP 2016512862 A JP2016512862 A JP 2016512862A JP 2016512862 A JP2016512862 A JP 2016512862A JP 2016519001 A JP2016519001 A JP 2016519001A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
- A61N5/1083—Robot arm beam systems
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/40—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis
- A61B6/4007—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for generating radiation specially adapted for radiation diagnosis characterised by using a plurality of source units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
- A61N5/1084—Beam delivery systems for delivering multiple intersecting beams at the same time, e.g. gamma knives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/005—Arms having a curved shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- G05B2219/39096—Self-collision, internal collison, collision between links of one robot
-
- 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
- Y10S901/23—Electric motor
-
- 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
- Y10T74/20317—Robotic arm including electric motor
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
Description
それにより、変換行列(3)は次のように整理される
すなわち、ヤコビアン行列は次の通りである。
100:リンク部
110:第1リンク部材
112:接続要素
120:第2リンク部材
200:駆動部
210:第1駆動部材
220:第2駆動部材
300:放出部材
310:角度調整要素
X1:第1回転軸
X2:第2回転軸
X3:第3軸
Claims (20)
- 複数のリンク部材を備えるリンク部と、
前記リンク部材を回転させる駆動部と、
を含み、
前記リンク部材の端部の前記駆動部の回転軸は同じ地点で接することを特徴とするロボット。 - 前記リンク部は、
第1リンク部材と、
前記第1リンク部材の端部に接続した第2リンク部材と、
を含むことを特徴とする請求項1に記載のロボット。 - 前記第1リンク部材及び前記第2リンク部材は弧状に備えられ、前記第1リンク部材及び前記第2リンク部材は同心球上にそれぞれ位置することを特徴とする請求項2に記載のロボット。
- 前記駆動部の回転軸は、前記同心球の中心で接することを特徴とする請求項3に記載のロボット。
- 前記第1リンク部材及び前記第2リンク部材は、互いに非干渉的に回転するよう放射状に離隔する位置から離れて位置することを特徴とする請求項2に記載のロボット。
- 前記第1リンク部材及び前記第2リンク部材は、互いに異なる長さを備え、前記第1リンク部材と前記第2リンク部材のうち、外側に位置するリンク部材の長さが内側に位置するリンク部材の長さよりも大きく設けられることを特徴とする請求項2に記載のロボット。
- 前記駆動部は、
前記第1リンク部材の一端に取り付けられ、第1回転軸を中心に前記第1リンク部材を回転させる第1駆動部材と、
前記第1リンク部材の他端に取り付けられ、第2回転軸を中心に前記第2リンク部材を回転させる第2駆動部材と、
を含むことを特徴とする請求項2に記載のロボット。 - 前記第1回転軸及び前記第2回転軸は前記同じ地点で接し、前記第1回転軸と前記第2回転軸との間の角度に応じて前記第1リンク部材の長さが決定されることを特徴とする請求項7に記載のロボット。
- 前記第1回転軸は、前記第1リンク部材の端部の接線方向に沿って垂直であり、前記第2回転軸は、前記第2リンク部材の端部の接線方向に沿って垂直であることを特徴とする請求項7に記載のロボット。
- 前記第2リンク部材の他端には、ターゲットに向かうように取り付けられた放出部材が設けられ、前記放出部材は、放射線治療のために放射線を照射する線形加速器に設けられることを特徴とする請求項2に記載のロボット。
- 前記放出部材は、前記第2リンク部材端部の接線方向に沿って垂直に位置することを特徴とする請求項10に記載のロボット。
- 前記放出部材は、前記ターゲットを中心に前記第2リンク部材の回転軌跡に沿って球状に移動することを特徴とする請求項10に記載のロボット。
- 前記第2リンク部材又は前記放出部材には角度調整要素が取り付けられ、前記放出部材が前記ターゲットに向かう角度を調整することを特徴とする請求項10に記載のロボット。
- 第1リンク部材と、
前記第1リンク部材の一端に取り付けられ、第1回転軸を中心に前記第1リンク部材を回転させる第1駆動部材と、
前記第1リンク部材の他端に接続する第2リンク部材と、
前記第1リンク部材と前記第2リンク部材との間に配置し、第2回転軸を中心に前記第2リンク部材を回転させる第2駆動部材と、
前記第2リンク部材の端部に取り付けられてターゲットに向かう放出部材と、
を含み、
前記第1回転軸及び前記第2回転軸は、前記ターゲットで接することを特徴とするロボット。 - 前記第1リンク部材及び前記第2リンク部材は弧状に設けられ、前記第1リンク部材及び前記第2リンク部材は、前記ターゲットを中心にする同心球上にそれぞれ位置することを特徴とする請求項14に記載のロボット。
- 前記第1リンク部材及び前記第2リンク部材は、互いに非干渉的に回転するよう放射状に離隔する位置から離れて位置することを特徴とする請求項14に記載のロボット。
- 前記第1回転軸と前記第2回転軸との間の角度に応じて、前記第1リンク部材の長さが決定されることを特徴とする請求項14に記載のロボット。
- 前記第1回転軸は前記第1リンク部材の端部の接線方向に沿って垂直であり、前記第2回転軸は前記第2リンク部材の端部の接線方向に沿って垂直であることを特徴とする請求項14に記載のロボット。
- 前記ターゲットから前記放出部材を延長して第3軸が形成され、前記第2回転軸と前記第3軸との間の角度に応じて、前記第2リンク部材の長さが決定されることを特徴とする請求項14に記載のロボット。
- 前記第2リンク部材又は前記放出部材には角度調整要素が取り付けられ、前記放出部材が前記ターゲットに向かう角度を調整することを特徴とする請求項14に記載のロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020140041386A KR101485291B1 (ko) | 2014-04-07 | 2014-04-07 | 로봇 |
KR10-2014-0041386 | 2014-04-07 | ||
PCT/KR2014/010950 WO2015156472A1 (en) | 2014-04-07 | 2014-11-14 | Robot |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016519001A true JP2016519001A (ja) | 2016-06-30 |
JP6182260B2 JP6182260B2 (ja) | 2017-08-16 |
Family
ID=52591125
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016512862A Active JP6182260B2 (ja) | 2014-04-07 | 2014-11-14 | ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US9895559B2 (ja) |
EP (1) | EP2950981A4 (ja) |
JP (1) | JP6182260B2 (ja) |
KR (1) | KR101485291B1 (ja) |
CN (1) | CN105307823A (ja) |
WO (1) | WO2015156472A1 (ja) |
Cited By (1)
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JP2020500674A (ja) * | 2016-11-22 | 2020-01-16 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | 改良された全体的位置決めデバイスならびに関連するシステムおよび方法 |
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- 2014-11-14 JP JP2016512862A patent/JP6182260B2/ja active Active
- 2014-11-14 WO PCT/KR2014/010950 patent/WO2015156472A1/en active Application Filing
- 2014-11-14 EP EP14866812.2A patent/EP2950981A4/en not_active Withdrawn
- 2014-11-14 CN CN201480024006.0A patent/CN105307823A/zh active Pending
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KR101485291B1 (ko) | 2015-01-21 |
US9895559B2 (en) | 2018-02-20 |
WO2015156472A1 (en) | 2015-10-15 |
EP2950981A1 (en) | 2015-12-09 |
CN105307823A (zh) | 2016-02-03 |
JP6182260B2 (ja) | 2017-08-16 |
US20150283407A1 (en) | 2015-10-08 |
EP2950981A4 (en) | 2016-09-07 |
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