JP6853813B2 - ロボットアーム - Google Patents

ロボットアーム Download PDF

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Publication number
JP6853813B2
JP6853813B2 JP2018502784A JP2018502784A JP6853813B2 JP 6853813 B2 JP6853813 B2 JP 6853813B2 JP 2018502784 A JP2018502784 A JP 2018502784A JP 2018502784 A JP2018502784 A JP 2018502784A JP 6853813 B2 JP6853813 B2 JP 6853813B2
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Japan
Prior art keywords
shaft
gear
rotation
drive
axis
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Active
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JP2018502784A
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English (en)
Japanese (ja)
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JP2018527200A (ja
Inventor
ベイツ ジャクソン，トーマス
ベイツ ジャクソン，トーマス
デイビッド ロナルド ヘアーズ，ルーク
デイビッド ロナルド ヘアーズ，ルーク
マーシャル，キース
ジェイムズ ランドル，スティーブン
ジェイムズ ランドル，スティーブン
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CMR Surgical Ltd
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CMR Surgical 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
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Priority to JP2018074902A priority Critical patent/JP6918739B2/ja
Publication of JP2018527200A publication Critical patent/JP2018527200A/ja
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Publication of JP6853813B2 publication Critical patent/JP6853813B2/ja
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Classifications

    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B25J17/0283—Three-dimensional joints
    • 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
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • 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
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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
    • 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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • 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
    • 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
    • Y10S901/25—Gearing
    • 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
    • Y10S901/25—Gearing
    • Y10S901/26—Gearing including bevel gear

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2018502784A 2015-07-22 2016-07-22 ロボットアーム Active JP6853813B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018074902A JP6918739B2 (ja) 2015-07-22 2018-04-09 ロボットアーム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1512959.6A GB2541369B (en) 2015-07-22 2015-07-22 Drive mechanisms for robot arms
GB1512959.6 2015-07-22
PCT/GB2016/052264 WO2017013453A1 (en) 2015-07-22 2016-07-22 Drive mechanisms for robot arms

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2018074902A Division JP6918739B2 (ja) 2015-07-22 2018-04-09 ロボットアーム
JP2018074900A Division JP6841786B2 (ja) 2015-07-22 2018-04-09 ロボットアーム

Publications (2)

Publication Number Publication Date
JP2018527200A JP2018527200A (ja) 2018-09-20
JP6853813B2 true JP6853813B2 (ja) 2021-03-31

Family

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Family Applications (4)

Application Number Title Priority Date Filing Date
JP2018502784A Active JP6853813B2 (ja) 2015-07-22 2016-07-22 ロボットアーム
JP2018074902A Active JP6918739B2 (ja) 2015-07-22 2018-04-09 ロボットアーム
JP2018074900A Expired - Fee Related JP6841786B2 (ja) 2015-07-22 2018-04-09 ロボットアーム
JP2021119577A Active JP7145294B2 (ja) 2015-07-22 2021-07-20 ロボットアーム

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2018074902A Active JP6918739B2 (ja) 2015-07-22 2018-04-09 ロボットアーム
JP2018074900A Expired - Fee Related JP6841786B2 (ja) 2015-07-22 2018-04-09 ロボットアーム
JP2021119577A Active JP7145294B2 (ja) 2015-07-22 2021-07-20 ロボットアーム

Country Status (7)

Country Link
US (4) US10398516B2 (enExample)
EP (1) EP3325224B1 (enExample)
JP (4) JP6853813B2 (enExample)
CN (2) CN114683312B (enExample)
DE (1) DE202016009227U1 (enExample)
GB (3) GB2541369B (enExample)
WO (1) WO2017013453A1 (enExample)

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