SG11202105684PA - Robotic arm system with gear-driven end-effector assembly - Google Patents

Robotic arm system with gear-driven end-effector assembly

Info

Publication number
SG11202105684PA
SG11202105684PA SG11202105684PA SG11202105684PA SG11202105684PA SG 11202105684P A SG11202105684P A SG 11202105684PA SG 11202105684P A SG11202105684P A SG 11202105684PA SG 11202105684P A SG11202105684P A SG 11202105684PA SG 11202105684P A SG11202105684P A SG 11202105684PA
Authority
SG
Singapore
Prior art keywords
gear
robotic arm
effector assembly
driven end
arm system
Prior art date
Application number
SG11202105684PA
Inventor
Chung Kwong Yeung
Jianwei Zhang
Tsun Ping Jimmy To
Wai Lik Alik Chan
Original Assignee
Bio Medical Eng Hk 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
Application filed by Bio Medical Eng Hk Ltd filed Critical Bio Medical Eng Hk Ltd
Publication of SG11202105684PA publication Critical patent/SG11202105684PA/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • 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
    • 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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • 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
    • B25J17/0241—One-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
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/14—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising conical gears only
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • F16H1/203—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members with non-parallel axes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1422—Hook
    • 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
    • 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—Master-slave robots
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
    • 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
    • F16H35/00—Gearings or mechanisms with other special functional features
    • F16H35/06—Gearings designed to allow relative movement between supports thereof without ill effects
SG11202105684PA 2018-11-30 2018-11-30 Robotic arm system with gear-driven end-effector assembly SG11202105684PA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/118536 WO2020107397A1 (en) 2018-11-30 2018-11-30 Robotic arm system with gear-driven end-effector assembly

Publications (1)

Publication Number Publication Date
SG11202105684PA true SG11202105684PA (en) 2021-06-29

Family

ID=67568500

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202105684PA SG11202105684PA (en) 2018-11-30 2018-11-30 Robotic arm system with gear-driven end-effector assembly

Country Status (6)

Country Link
US (3) US10632613B1 (en)
EP (1) EP3886721B1 (en)
CN (1) CN110123455B (en)
CA (1) CA3121399A1 (en)
SG (1) SG11202105684PA (en)
WO (1) WO2020107397A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112303190A (en) * 2020-11-24 2021-02-02 王怡科 Conical gear staggered tooth speed reducer
CN112571448A (en) * 2020-11-30 2021-03-30 长沙理工大学 Three-degree-of-freedom wrist device of robot
CN112690902A (en) * 2021-03-25 2021-04-23 成都博恩思医学机器人有限公司 Electric hook structure
US11246668B1 (en) * 2021-07-16 2022-02-15 Yijiahe (Singapore) Pte. Ltd. Minimally invasive surgical tool with asymmetric gear assembly

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3134091B2 (en) * 1995-03-22 2001-02-13 住友重機械工業株式会社 Double-arm telescopic robot
JP3325858B2 (en) * 1999-05-26 2002-09-17 松下電器産業株式会社 Ultrasonic probe
US6840938B1 (en) * 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US8771270B2 (en) * 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
JP5336568B2 (en) 2011-10-28 2013-11-06 テルモ株式会社 manipulator
WO2013181536A1 (en) * 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Instrument carriage assembly for surgical system
US9839481B2 (en) 2013-03-07 2017-12-12 Intuitive Surgical Operations, Inc. Hybrid manual and robotic interventional instruments and methods of use
US10220522B2 (en) * 2013-12-12 2019-03-05 Covidien Lp Gear train assemblies for robotic surgical systems
WO2015161677A1 (en) 2014-04-22 2015-10-29 Bio-Medical Engineering (HK) Limited Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems
GB201512966D0 (en) 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
GB2541369B (en) * 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
US10219871B2 (en) * 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
GB2552383B (en) 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
US10702347B2 (en) 2016-08-30 2020-07-07 The Regents Of The University Of California Robotic device with compact joint design and an additional degree of freedom and related systems and methods
GB2568616B (en) * 2016-11-01 2019-12-25 Bio Medical Eng Hk Ltd Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions
WO2018209518A1 (en) * 2017-05-15 2018-11-22 Bio-Medical Engineering (HK) Limited Systems, devices, and methods for performing surgical actions via externally driven driving assemblies

Also Published As

Publication number Publication date
US11707835B2 (en) 2023-07-25
CA3121399A1 (en) 2020-06-04
US20200254608A1 (en) 2020-08-13
EP3886721B1 (en) 2023-11-15
US10632613B1 (en) 2020-04-28
EP3886721A1 (en) 2021-10-06
CN110123455A (en) 2019-08-16
US20210387329A1 (en) 2021-12-16
US11130228B2 (en) 2021-09-28
CN110123455B (en) 2020-10-02
EP3886721A4 (en) 2022-08-03
WO2020107397A1 (en) 2020-06-04

Similar Documents

Publication Publication Date Title
EP3740150A4 (en) Surgical robotics systems with improved robotic arms
NO344971B1 (en) Robot vehicle assembly with picking system
EP3582935A4 (en) Robotic gripper camera
HUE058264T2 (en) Robotic arm assembly construction
SG11201705624XA (en) Underwater manipulator arm robot
SG11202105684PA (en) Robotic arm system with gear-driven end-effector assembly
EP3421172A4 (en) Robot arm control system
EP3827937A4 (en) Robot comprising robot arm
EP3897440A4 (en) Robotic surgical systems having robotic arm assemblies
NO345105B1 (en) Multiaxial robotic arm
EP3600787A4 (en) Robot arm
EP3653351A4 (en) Robot arm coupling device
EP3835007A4 (en) Robot system
GB201811182D0 (en) Robotic system
EP3848164A4 (en) Robot system
GB201811181D0 (en) Robotic system
GB201808710D0 (en) Robot interaction system
EP3386420B8 (en) Robot arm location
SG11202106631RA (en) Robotic system
GB201819826D0 (en) Robotic arm
EP3804921A4 (en) Robot arm and robot provided with same
GB202103363D0 (en) Drawing apparatus based on robotic arm
GB2566534B (en) Robotic arm
GB2564480B (en) Robotic positioning system
GB2579596B (en) Robotic arm