JP2020519397A - ロボットアームのためのカート、及びアームのカートリッジ又はマガジン装填のための方法及び装置 - Google Patents
ロボットアームのためのカート、及びアームのカートリッジ又はマガジン装填のための方法及び装置 Download PDFInfo
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Abstract
Description
本出願は、2017年6月20日に出願された、米国特許出願第62/522,494号に対する優先権を主張し、その全体が参照により本明細書に組み込まれる。
Claims (18)
- 装置であって、
複数のロボットアームであって、前記複数のロボットアームのうちの各ロボットアームが外科用テーブルに連結されるように構成されている、複数のロボットアームと、
前記複数のロボットアームを収容するように構成されたアームカートと、を備え、
前記複数のロボットアームのうちの1つのロボットアームが、前記アームカート内の第1の保管位置と、前記アームカート内の第2の保管位置と、展開位置との間で、前記アームカート内で移動可能であり、前記ロボットアームが垂直に配向され、かつ前記第1の保管位置及び前記第2の保管位置において前記アームカート内に完全に配設され、前記ロボットアームが水平に配向され、かつ前記ロボットアームの少なくとも一部分が前記展開位置において前記アームカートから突出し、そのため、前記ロボットアームの前記一部分が前記外科用テーブルと嵌合するように構成されている、装置。 - 前記アームカートから前記ロボットアームを解放するように構成された解放機構を更に備える、請求項1に記載の装置。
- 前記ロボットアームが、前記第1の保管位置と前記第2の保管位置との間で水平軸に沿って並進するように構成されている、請求項1に記載の装置。
- 前記ロボットアームが、前記第2の保管位置と前記展開位置との間で水平軸の周りで枢動するように構成されている、請求項1に記載の装置。
- 前記ロボットアームが第1のロボットアームであり、前記装置が、前記複数のロボットアームのうちの第2のロボットアームを更に含み、
前記第2のロボットアームが、前記アームカートの中央部分内の第3の保管位置と、前記アームカートの後部部分内の第4の保管位置との間で移動可能であり、
前記第2のロボットアームは、前記第1のロボットアームが前記展開位置に移動される前に、前記第3の保管位置から前記第4の保管位置へと移動するように構成され、前記第1のロボットアームは、前記第1の保管位置から前記展開位置へと枢動するように構成され、前記第4の保管位置は、前記第1のロボットアームが前記展開位置へと移動するためのクリアランスを提供するように構成されている、請求項1に記載の装置。 - 前記ロボットアームが第1のロボットアームであり、前記装置が、前記複数のロボットアームのうちの第2のロボットアームを更に含み、
前記展開位置が、第1の展開位置であり、
前記第2のロボットアームは、第3の保管位置と、第4の保管位置と、第2の展開位置との間で移動可能であり、
前記第2のロボットアームは、前記第1のロボットアームが前記第2の保管位置にあるときに、前記第3の保管位置から前記第2の展開位置へと移動するように構成されている、請求項1に記載の装置。 - アームカートリッジを更に備え、前記複数のロボットアームのうちの前記ロボットアームが、前記アームカートリッジ内に配設されるように構成され、前記ロボットアーム及び前記アームカートリッジが、前記第1の保管位置と前記第2の保管位置との間で集合的に移動するように構成されている、請求項1に記載の装置。
- 前記展開位置が第1の展開位置であり、前記装置が、アームカートリッジを更に備え、前記複数のロボットアームのうちの前記ロボットアームが、前記アームカートリッジ内に配設されるように構成され、前記ロボットアーム及び前記アームカートリッジは、前記第1の保管位置と、前記第2の保管位置と、第2の展開位置との間で集合的に移動するように構成され、前記ロボットアームは、前記第2の展開位置と前記第1の展開位置との間で、前記アームカートリッジから独立して移動するように構成され、第1のロボットアームは、前記第1の展開位置において前記外科用テーブルに連結されるように構成されている、請求項1に記載の装置。
- 前記展開位置が第1の展開位置であり、前記装置が、
アームカートリッジであって、前記ロボットアームが、前記アームカートリッジ内に配設されるように構成され、前記ロボットアーム及び前記アームカートリッジが、前記第1の保管位置と、第2の格納位置と、第2の展開位置との間で集合的に移動するように構成されている、アームカートリッジと、
アクチュエータであって、前記装置が、前記ロボットアームを前記第2の展開位置から前記第1の展開位置に移動させて、前記ロボットアームを前記アームカートリッジから排出するように構成され、第1のロボットアームは、前記第1の展開位置で前記外科用テーブルに連結されるように構成されている、アクチュエータと、を更に備える、請求項1に記載の装置。 - 方法であって、
複数のロボットアームを収容するアームカートを、保管位置から外科用テーブルに移動させることと、
前記複数のロボットアームのうちの1つのロボットアームを、垂直の保管位置から水平の展開位置へと枢動させることと、
前記ロボットアームを前記外科用テーブルに向かって水平に摺動させることと、
前記ロボットアームを前記外科用テーブルに連結することと、
前記ロボットアームを前記アームカートから連結解除することと、を含む、方法。 - 前記ロボットアームが、前記複数のロボットアームのうちの第1のロボットアームであり、前記ロボットアームが前記外科用テーブルの第1の場所に連結され、前記方法が、
前記外科用テーブルの前記第1の場所から前記外科用テーブルの第2の場所まで前記アームカートを移動させることと、
前記複数のロボットアームのうちの第2のロボットアームを、垂直の保管位置から水平の展開位置へと枢動させることと、
前記第2のロボットアームを前記外科用テーブルの第2の位置に連結することと、を更に含む、請求項10に記載の方法。 - ‎前記ロボットアームを前記アームカートに再連結することと、
前記ロボットアームを前記外科用テーブルから連結解除することと、
前記ロボットアームを前記外科用テーブルから連結解除した後に、外科用アームを前記垂直の保管位置に枢動させることと、を更に含む、請求項10に記載の方法。 - 前記ロボットアームが第1のロボットアームであり、前記第1のロボットアームは、前記複数のロボットアームのうちの第2のロボットアームが前記アームカート内に配設されている間に、前記水平の展開位置に枢動され、
前記外科用テーブルが第1の外科用テーブルであり、前記方法が、
前記第1のロボットアームを前記アームカートに再連結することと、
前記第1のロボットアームを前記第1の外科用テーブルから連結解除することと、
前記第1のロボットアームを前記第1の外科用テーブルから連結解除した後に、前記ロボットアームを前記垂直の保管位置に枢動させることと、
前記アームカートを第2の外科用テーブルに移動させることと、
前記第1のロボットアームが前記アームカート内に配設されている間に、前記第2のロボットアームを垂直の保管位置から水平の展開位置へと枢動させることと、
第2の外科用アームを前記第2の外科用テーブルに向かって水平に摺動させることと、
前記第2のロボットアームを前記第2の外科用テーブルに連結することと、を更に含む、請求項10に記載の方法。 - 外科用アームを前記外科用テーブルに向かって水平に摺動させることが、前記外科用アームをアームカートリッジから排出することを含む、請求項10に記載の方法。
- 方法であって、
複数のロボットアームを収容するアームカートを保管位置から外科用テーブルに移動させることと、
前記複数のロボットアームのうちの各ロボットアームが第1の位置から第2の位置へと同時に移動するように、回転機構を回転させることと、
前記複数のロボットアームを前記第2の位置に存在させた後に、前記複数のロボットアームのうちの1つのロボットアームを前記外科用テーブルに連結することと、を含む、方法。 - 前記ロボットアームを前記外科用テーブルに連結する前に、前記ロボットアームを、その第2の位置から第3の位置へと水平方向に前記外科用テーブルに向かって摺動させることを更に含む、請求項15に記載の方法。
- 前記ロボットアームが第1のロボットアームであり、前記第1のロボットアームが前記外科用テーブルの第1の位置に連結され、前記方法が、
前記第1のロボットアームを前記外科用テーブルの前記第1の位置に連結した後に、前記アームカートを前記外科用テーブルの前記第1の位置から前記外科用テーブルの第2の位置に移動させることと、
前記複数のロボットアームのうちの残りのロボットアームがそれぞれ、前記第2の位置から第3の位置へと同時に移動するように、前記回転機構を回転させることと、
前記複数のロボットアームのうちの残りのロボットアームを前記第3の位置に存在させた後に、前記複数のロボットアームのうちの第2のロボットアームを前記外科用テーブルの前記第2の位置に連結することと、を更に含む、請求項15に記載の方法。 - 前記複数のロボットアームが全て、前記第1の位置において前記アームカート内で保管構成にあり、前記複数のロボットアームが前記第2の位置にあるとき、前記ロボットアームが展開位置にあり、少なくとも部分的に前記アームカートの外側にある、請求項15に記載の方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US201762522494P | 2017-06-20 | 2017-06-20 | |
US62/522,494 | 2017-06-20 | ||
US15/785,291 US10913145B2 (en) | 2017-06-20 | 2017-10-16 | Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms |
US15/785,291 | 2017-10-16 | ||
PCT/US2018/036566 WO2018236594A1 (en) | 2017-06-20 | 2018-06-07 | ROBOTIC ARM TROLLEY AND METHOD AND APPARATUS FOR LOADING CARTRIDGE OR ARM STORE |
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JP2020519397A true JP2020519397A (ja) | 2020-07-02 |
JP6995884B2 JP6995884B2 (ja) | 2022-01-17 |
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EP3600208A1 (en) | 2020-02-05 |
KR20200010350A (ko) | 2020-01-30 |
CN113974848A (zh) | 2022-01-28 |
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