JP6426181B2 - 可変器具予荷重機構コントローラ - Google Patents

可変器具予荷重機構コントローラ Download PDF

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JP6426181B2
JP6426181B2 JP2016534824A JP2016534824A JP6426181B2 JP 6426181 B2 JP6426181 B2 JP 6426181B2 JP 2016534824 A JP2016534824 A JP 2016534824A JP 2016534824 A JP2016534824 A JP 2016534824A JP 6426181 B2 JP6426181 B2 JP 6426181B2
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Prior art keywords
assembly
preload
force
drive
disc
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Japanese (ja)
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JP2016530003A (ja
JP2016530003A5 (enExample
Inventor
ソロモン，トッド，アール
マクグロガン，アンソニー，ケイ
クーパー，トーマス，ジー
Original Assignee
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
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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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2003—Screw mechanisms with arrangements for taking up backlash
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41032—Backlash

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Orthopedic Medicine & Surgery (AREA)
JP2016534824A 2013-08-15 2014-08-13 可変器具予荷重機構コントローラ Active JP6426181B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361866117P 2013-08-15 2013-08-15
US61/866,117 2013-08-15
PCT/US2014/050957 WO2015023793A1 (en) 2013-08-15 2014-08-13 Variable instrument preload mechanism controller

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018199912A Division JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Publications (3)

Publication Number Publication Date
JP2016530003A JP2016530003A (ja) 2016-09-29
JP2016530003A5 JP2016530003A5 (enExample) 2017-09-21
JP6426181B2 true JP6426181B2 (ja) 2018-11-21

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Family Applications (2)

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JP2016534824A Active JP6426181B2 (ja) 2013-08-15 2014-08-13 可変器具予荷重機構コントローラ
JP2018199912A Active JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Family Applications After (1)

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JP2018199912A Active JP6659798B2 (ja) 2013-08-15 2018-10-24 可変器具予荷重機構コントローラ

Country Status (6)

Country Link
US (1) US10932868B2 (enExample)
EP (2) EP3597135B1 (enExample)
JP (2) JP6426181B2 (enExample)
KR (1) KR102312950B1 (enExample)
CN (2) CN108992172B (enExample)
WO (1) WO2015023793A1 (enExample)

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US20160184036A1 (en) 2016-06-30
US10932868B2 (en) 2021-03-02
CN108992172B (zh) 2021-11-09
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JP2016530003A (ja) 2016-09-29
EP3033032A1 (en) 2016-06-22
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