JP6967524B2 - 取り外し可能な手関節 - Google Patents

取り外し可能な手関節 Download PDF

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Publication number
JP6967524B2
JP6967524B2 JP2018548715A JP2018548715A JP6967524B2 JP 6967524 B2 JP6967524 B2 JP 6967524B2 JP 2018548715 A JP2018548715 A JP 2018548715A JP 2018548715 A JP2018548715 A JP 2018548715A JP 6967524 B2 JP6967524 B2 JP 6967524B2
Authority
JP
Japan
Prior art keywords
wrist joint
end effector
frame body
remote
outer frame
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
JP2018548715A
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English (en)
Japanese (ja)
Other versions
JP2019509906A (ja
JP2019509906A5 (enExample
Inventor
アイザック エム． ギーセン，
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Delaware Capital Formation Inc
Original Assignee
Delaware Capital Formation Inc
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
Application filed by Delaware Capital Formation Inc filed Critical Delaware Capital Formation Inc
Publication of JP2019509906A publication Critical patent/JP2019509906A/ja
Publication of JP2019509906A5 publication Critical patent/JP2019509906A5/ja
Application granted granted Critical
Publication of JP6967524B2 publication Critical patent/JP6967524B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices
    • B25J21/005—Clean rooms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/045—Connections means having screw means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • 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
    • 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
    • B25J19/0066—Means or methods for maintaining or repairing manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/02—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving a parallelogram coupling of the leader and follower units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • 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
    • 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
    • A61B34/37—Leader-follower 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
    • A61B34/70—Manipulators specially adapted for use in surgery

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2018548715A 2016-03-17 2017-03-16 取り外し可能な手関節 Active JP6967524B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662309834P 2016-03-17 2016-03-17
US62/309,834 2016-03-17
PCT/US2017/022763 WO2017161150A1 (en) 2016-03-17 2017-03-16 Removable wrist joint

Publications (3)

Publication Number Publication Date
JP2019509906A JP2019509906A (ja) 2019-04-11
JP2019509906A5 JP2019509906A5 (enExample) 2020-03-19
JP6967524B2 true JP6967524B2 (ja) 2021-11-17

Family

ID=58489058

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018548715A Active JP6967524B2 (ja) 2016-03-17 2017-03-16 取り外し可能な手関節

Country Status (4)

Country Link
US (1) US11389974B2 (enExample)
EP (1) EP3429500B1 (enExample)
JP (1) JP6967524B2 (enExample)
WO (1) WO2017161150A1 (enExample)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108697480B (zh) * 2016-03-04 2021-07-13 柯惠Lp公司 用于将手术器械耦合到机器人系统的耦合器组合件
EP3429500B1 (en) 2016-03-17 2023-08-16 Delaware Capital Formation, Inc. Removable wrist joint
CN109822557B (zh) * 2019-03-01 2024-12-10 达闼科技（北京）有限公司 一种机械手及机器人
CN110978043A (zh) * 2019-10-15 2020-04-10 深圳市越疆科技有限公司 执行器、机械臂末端和机械臂

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1599698A (en) * 1978-05-31 1981-10-07 Central Research Lab Inc Master-slave manipulator
US4221516A (en) * 1978-05-31 1980-09-09 Central Research Laboratories, Inc. Master-slave manipulator
JPS6130396A (ja) * 1984-07-23 1986-02-12 フアナツク株式会社 工業用ロボツトの交換可能腕構造
FR2573493B1 (fr) * 1984-11-21 1988-02-05 Innovations Tech Raccord a baionnette de telemanipulateur comportant une securite contre un deverrouillage accidentel
JPS63102886A (ja) 1986-10-17 1988-05-07 東京電力株式会社 ロ−プ駆動式マニピユレ−タ
FR2615431B1 (fr) 1987-05-20 1989-08-18 Calhene Ste Nle Expl Dispositif de verrouillage automatique des mecanismes commandant les differents mouvements d'une pince de prehension d'un telemanipulateur, lors du demontage de la genouillere portant cette pince
US5460439A (en) 1994-01-07 1995-10-24 Delaware Capital Formation, Inc. Sealed transfer system
KR100857149B1 (ko) 2006-07-04 2008-09-05 한국원자력연구원 텔레스코픽 서보매니퓰레이터 탈부착장치
US20100158641A1 (en) * 2008-12-19 2010-06-24 Delaware Capital Formation, Inc. Manipulator System
EP2464884B1 (en) * 2009-08-10 2014-01-15 RE2, Inc. Automated tool change assembly for robotic arm
US9782169B2 (en) * 2013-03-01 2017-10-10 Ethicon Llc Rotary powered articulation joints for surgical instruments
EP3429500B1 (en) 2016-03-17 2023-08-16 Delaware Capital Formation, Inc. Removable wrist joint

Also Published As

Publication number Publication date
EP3429500B1 (en) 2023-08-16
WO2017161150A1 (en) 2017-09-21
EP3429500A1 (en) 2019-01-23
JP2019509906A (ja) 2019-04-11
US20200164528A1 (en) 2020-05-28
US11389974B2 (en) 2022-07-19

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