JPWO2021066122A1 - - Google Patents

Info

Publication number
JPWO2021066122A1
JPWO2021066122A1 JP2021551467A JP2021551467A JPWO2021066122A1 JP WO2021066122 A1 JPWO2021066122 A1 JP WO2021066122A1 JP 2021551467 A JP2021551467 A JP 2021551467A JP 2021551467 A JP2021551467 A JP 2021551467A JP WO2021066122 A1 JPWO2021066122 A1 JP WO2021066122A1
Authority
JP
Japan
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.)
Pending
Application number
JP2021551467A
Other versions
JPWO2021066122A5 (ja
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 filed Critical
Publication of JPWO2021066122A1 publication Critical patent/JPWO2021066122A1/ja
Publication of JPWO2021066122A5 publication Critical patent/JPWO2021066122A5/ja
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B25J13/083—Grasping-force detectors fitted with slippage detectors
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G01L5/162—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of piezoresistors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/043—Arrangements of multiple sensors of the same type in a linear array
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40155—Purpose is grasping objects
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
JP2021551467A 2019-10-04 2020-10-02 Pending JPWO2021066122A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019183388 2019-10-04
PCT/JP2020/037494 WO2021066122A1 (ja) 2019-10-04 2020-10-02 把持具、把持システム、滑り検知装置、滑り検知プログラム、および滑り検知方法

Publications (2)

Publication Number Publication Date
JPWO2021066122A1 true JPWO2021066122A1 (ja) 2021-04-08
JPWO2021066122A5 JPWO2021066122A5 (ja) 2022-07-21

Family

ID=75338126

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021551467A Pending JPWO2021066122A1 (ja) 2019-10-04 2020-10-02

Country Status (5)

Country Link
US (1) US20240115343A1 (ja)
EP (1) EP4023174B1 (ja)
JP (1) JPWO2021066122A1 (ja)
CN (1) CN114585484A (ja)
WO (1) WO2021066122A1 (ja)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113500621A (zh) * 2021-07-26 2021-10-15 淮阴工学院 一种由直线电机控制对工件夹紧力大小的夹持装置及方法
JP2024015795A (ja) * 2022-07-25 2024-02-06 ソニーグループ株式会社 ロボット装置およびロボット装置の制御方法

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1002907C2 (nl) * 1996-04-19 1997-10-21 Univ Delft Tech Tastsensor en werkwijze voor het bepalen van een afschuifkracht en van slip met een dergelijke tastsensor.
JP2005144573A (ja) * 2003-11-12 2005-06-09 Toyota Motor Corp ロボットハンドの把持力制御方法
JP2009036557A (ja) * 2007-07-31 2009-02-19 Sony Corp 検出装置および方法、並びにプログラム
JP5388031B2 (ja) * 2009-05-08 2014-01-15 公益財団法人北九州産業学術推進機構 鉗子
JP2013117458A (ja) * 2011-12-05 2013-06-13 Seiko Epson Corp 検出装置、電子機器及びロボット
TR201608291A1 (tr) * 2016-06-17 2018-01-22 Univ Istanbul Teknik Yeni̇li̇kçi̇ laparoskopi̇k kavrama ci̇hazi
CN105947534B (zh) * 2016-06-28 2018-08-31 广西华科环保砖制造有限公司 带计数功能的砖块运送装置
WO2018061705A1 (ja) 2016-09-27 2018-04-05 国立大学法人香川大学 圧力センサ、内視鏡フード、内視鏡および圧力測定装置
JP2018192735A (ja) * 2017-05-19 2018-12-06 セイコーエプソン株式会社 印刷装置及び搬送ベルトの滑り検出方法
CN107247460B (zh) * 2017-06-01 2020-08-18 三峡大学 一种机器蜜蜂的集群控制方法与系统
CN107696998B (zh) * 2017-09-21 2021-03-19 南京瑞贻电子科技有限公司 一种汽车牵引力动态均衡电子控制系统及其控制方法
CN108100557A (zh) * 2017-12-19 2018-06-01 山东理工精密机械有限公司 一种自助取快递小车及其自助取快递控制方法
CN108673551B (zh) * 2018-05-28 2021-04-27 安徽工程大学 一种仿生机械手

Also Published As

Publication number Publication date
US20240115343A1 (en) 2024-04-11
CN114585484A (zh) 2022-06-03
EP4023174A1 (en) 2022-07-06
EP4023174B1 (en) 2024-02-21
WO2021066122A1 (ja) 2021-04-08
EP4023174A4 (en) 2022-09-28

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