US3463329A - Material transfer device with parallel link frame - Google Patents

Material transfer device with parallel link frame Download PDF

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Publication number
US3463329A
US3463329A US3463329DA US3463329A US 3463329 A US3463329 A US 3463329A US 3463329D A US3463329D A US 3463329DA US 3463329 A US3463329 A US 3463329A
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Prior art keywords
frame
member
valve
position
cylinder
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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.)
Expired - Lifetime
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Inventor
Stanley J Gartner
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Verizon Laboratories Inc
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Verizon Laboratories Inc
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G17/00Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30Details; Auxiliary devices
    • B65G17/48Controlling attitudes of load-carriers during movement
    • B65G17/485Controlling attitudes of load-carriers during movement the load carriers being suspended
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01JELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
    • H01J9/00Apparatus or processes specially adapted for the manufacture, installation, removal, maintenance of electric discharge tubes, discharge lamps, or parts thereof; Recovery of material from discharge tubes or lamps
    • H01J9/46Machines having sequentially arranged operating stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01JELECTRIC DISCHARGE TUBES OR DISCHARGE LAMPS
    • H01J2893/00Discharge tubes and lamps
    • H01J2893/0096Transport of discharge tube components during manufacture, e.g. wires, coils, lamps, contacts, etc.

Description

Aug. 26, 1969 S- J. GARTNER MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Filed May 18, 1967 amialfw ATTORNEY 2 Sheets-Sheet 1 INVENT OR Aug. 26, 1969 5- J. GARTNER MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Filed May 18, 1967 2 Sheets-Sheet 2 T0 B0 r 70M 0F PISTON 1 TOP OF PISTON INVENT OR TO Ta 0F STANLEY J 60/? TNER P/5 TON ATTORNEY United States Patent 3,463,329 MATERIAL TRANSFER DEVICE WITH PARALLEL LINK FRAME Stanley J. Gartuer, Emporium, Pa., assignor to Sylvauia Electric Products Inc, a corporation of Delaware Filed May 18, 1967, Ser. No. 639,422

Int. Cl. B25 /02; 1566c 1/02, 19/00 US. Cl. 214-1 13 Claims ABSTRACT OF THE DISCLOSURE A carrier depending from a roller carriage riding in a trackway has a universal connection with the carriage so that the carrier may at will be moved to any rotative position. The carrier supports at its lower end a suction head for causing objects as television picture tubes to adhere to the head, the carrier itself comprising a parallel link frame with means for enabling contraction and elongation of the frame. Said means and the varied movements of the frame is under control of a handle on the lower end of the frame.

BACKGROUND OF THE INVENTION The invention relates to material handling devices particularly to devices for holding an object which is to be transferred from one location to another, which locations may be in different horizontal planes and which may also be located in out of vertical planes. As examples of structures approaching the above conditions, but not fully meeting them, note the following patents: 1,959,512, Wall et al.; 2,792,810, Maconeghy et al.; 2,867,185, Hayward.

SUMMARY OF THE INVENTION The invention, in a specific aspect, is in an article handling device in which a support which may be fixed or be part of a travelling conveyor has connected to the support by means of a universal joint, a vertically telescopic frame in parallelogram form with pivoted joints between the links of the frame so that the angles between the links of the frame may be altered at will. The frame depends from its support and the side links or members thereof are telescopic so that the parallelogram side frame members can be shortened or lengthened. Means are provided on the frame to ensure equalized lengthening and shortening of the side members and a motor effects the change in size of the side members, the motor being under control of a handle mounted to move with the lower portion of the telescopic frame. The collapsing or expanding of the frame follows the direction of movement of the handle, up, to collapse the frame; down, to expand the frame, and, when the handle is in an intermediate position, to hold the frame against change in length. In addition structure is provided for arresting change in length of the frame when relative vertical movement ensues between the object holding means and the lower portion of the frame. The holding means is rotatively mounted on a horizontal axis and is a vacuum chuck whose suction is under control of a valve adjacent the handle. Movement of the handle in any direction will cause follow up movement of the frame whether it be about the universal joint, the pivotal connections of the parallelogram links or the telescopic movement of the side members of the frame.

It is an object of this invention to provide a means for attaining extreme flexibility in the transport of an article from one position to another.

Other objects will become apparent after consideration of the following specification when taken in conjunction with the accompanying drawings in which:

3,463,329 Patented Aug. 26, 1969 FIG. 1 is a side elevational view, partly in section, of the material transfer device of the present invention;

FIG. 2 is an enlarged horizontal sectional view taken on the line 2-2 of FIG. 1;

FIG. 3 is a fragmentary vertical sectional view taken on the line 33 of FIG. 1;

FIG. 4 is an enlarged fragmentary vertical sectional View of a detachable coupling for pressure and vacuum lines used in the device;

FIG. 5 is a fragmentary vertical sectional view taken on the line 55 of FIG. 4; and

FIGS. 6, 7 and 8 are diagrammatic views of the actuating valve showing the three positions thereof during manipulation of the transfer device.

Referring to the drawings in greater detail, at 10, FIGS. 1 and 3, is a trackway supporting carriages 12 connected together by links 14 forming an endless chain which may be driven in any desired manner as by pins 16 extending downwardly from a motor driven chain and engaging in the spaces between the links and behind the carriages, the trackway for that purpose being slotted as indicated at 18. Depending from each carriage and fixed thereto is a threaded stud 20 to which is screwed one member 22 of a rotatable coupling the other member 24 of which is fastened thereto in any suitable manner as by screws 26 passing through a planar portion or plate 28 of the other member and threaded into a circumferential overhanging lip 30 portion of the said other member. The plate 28 is integrated with a first member 32 of a second rotary coupling, the second member 34 of which is indicated as being U-shaped in elevation and pivotally connected to member 32 by a bolt 36 threaded at the right hand end as seen in FIG. 1, into coupling member 34 and provided with a lock nut 38. The two couplings form a universal connection.

Pivotally connected to the coupling member 34 of the second coupling, as indicated at 39, is a pair of channel irons 40 and 42 (see FIG. 2) each pivoted at its lower end by a rotatable shaft affixed to parallel spaced apart gear support plates 44. The channel irons between their pivot points are of equal length and are parallel to each other whereby the coupling member, channel irons 40 and 42 and plates 44 form a parallel link frame with plates 44 parallel to member 34 regardless of the angularity of the channel irons. The pivots 39 are arranged to be at the same horizontal level.

Guided within the channel irons is a pair of racks 46 and 48 whose motions are coordinated for simultaneous equal telescopic displacement with respect to the channel irons 40 and 42 by a train of gears 49, 50, 52, 54, 56 and 57, the gear 49 meshing with the rack 46 and fixed on the same rotatable shaft as gear 50, also fixed to that shaft, the gear 52 meshing with gears 50 and 54, gear 54 meshing with gear 56 fixed on a rotatable shaft to which a second gear 57 is fixed, said gear 57 meshing with rack 48. To the lower end of the racks is pivoted a platform 58, the platform being arranged so that when the racks, gears and channel irons are assembled, it is parallel to the plates and member 34, wherefore the entire frame consisting of parts 34, telescopic channel irons 40, 42, racks 46, 48 and platform 58 includes a parallel linkage motion with the platform horizontal regardless of the angularity of the links 40, 46 (or 42, 48), or of the degree of telescopic collapse of the frame.

The platform 58 extends toward one side of the parallel links, as toward the left, FIG. 1, and is provided along its length but short of the left hand end thereof with a pair of ears 60 pivotally mounting a chunk sup porting arm 62, normally gravitationally resting on the platform in a horizontal position. The free end of the arm is provided with any desired means for grasping an object, here shown as a suction head 64 adapted to cause adherence of the face of a television picture tube to the' head. The head is attached to the arm by a swivel joint 65 so that the chuck may be rotated about a horizontal axis.

Hand movement follow up mechanism is provided to control the telescopic movement of the frame. On a line with the pivots 39 is pivoted a bracket 67 rigid with the cylinder 66 of a fluid pressure motor, the lower end of the cylinder being pivoted to the plates 44 on a horizontal line with the lower pivots of channel irons 40 and 42 and midway therebetween, the cylinder of the motor being parallel to the channel irons. The piston rod 68 of the motor is pivoted to the platform 58 on a line with the lower pivots of the racks 46 and 48 and midway therebetween. The motor is a double acting fluid pressure motor and ducts 70 and 72 therefrom as well as a third duct 74 from the coupling member 34 lead to a valve body 76 mounted on the platform 58. A valve stem 78 by vertical reciprocating motion controls the application of pressure to the two ends of the cylinder and the simultaneous venting of the opposite ends of the cylinder.

The ports in the valve stem and in the body are so arranged that in normal position the valve stem is positioned to block oif flow of fluid into or out of either end of the cylinder, as shown in FIG. 6. The frame size is therefore unchanged. In the down position of the valve stem, see FIG. 7, the bottom of the cylinder is vented while the top of the cylinder is supplied with fluid pressure, as air, and the frame therefore elongates. In the up position of the valve stem, see FIG. 8, the bottom of the cylinder is supplied with air under pressure and the top of the cylinder is vented, wherefore the frame collapses. Accordingly, the frame will be expanded or telescoped in accordance with the direction of movement of the valve stem. To facilitate movement of the valve stem, the same is provided with a handle 80, FIG. 1, and to bias the stem to the neutral position shown in FIG. 6, when the handle is released, there is provided a spring 82 interposed between an abutment disc 84 fixed on the stem 78 and the body 76 of the valve, the spring being held immovable at the center portion of its length by being welded at that portion to a bar 86 fastened to the valve body. Thus the spring 82 tends to centralize the valve stem. On the upper surface of the arm 62 is a rigid projection 88 underlying the handle and normally spaced therefrom. Should the valve stem be depressed as in the position shown in FIG. 8, and the chuck 64 approach too close to the support on which the object, as a TV picture tube, supported by the chuck is to be placed, the arm 62 will tilt about the pivot in ears 60 causing the projection 88 to force the stem upwardly against the hand holding force applied thereto, thereby stopping further outward movement of the piston rod 68 from the cylinder.

The chuck 64 is supplied with air under sub atmospheric pressure by means of a duct 90 connected to a three way rotary valve 92 provided with a cross handle 94, the suction line indicated as 96 being ganged with the other air lines 70, 72, 74 to form a cable for the sake of neatness. The pressure line 74 and vacuum line 96 are connected to outlets or ports in the block 34, these ports leading to a box 98, see FIGS. 4 and 5, mounted on the side of member 34. The box is a square receptacle with two ports 74 and 96' connecting with the lines 74 and 96 and a pin receiving hole 100 to cooperate with a pin 101 on a coupling valve member 102, the member 102 and box 98 providing means for attaining a quick detachable coupling of pressure feed line 104 and vacuum feed line 106 to the member 34. The block 102 is comprised of a flanged member 108 cooperating with a second flanged member 110, the two flanges of these members being bolted together. The fluid feed lines 104, 106 are coupled to nipples 112 frictionally held in the member 108. In member 110 there is provided a pair of valves 114 and 116. Each valve has a valve stem which when the block 102 and box 98 are connected together will force the valve head off its seat against the resistance of a conical spring 118 interposed between the head of a valve and a washer 120 screwed into the member 110. The holes in the washers communicate with the holes in the nipples 112. To guide the valve stems of the valves, each stem is provided with a flat key 122 riding in grooves 124, see FIGS. 4 and 5, in the member 110.

The material handling device just described may be one employed in conjunction with the transport of a picture tube through a machine in which machine many processes are performed upon the picture tube at successive stations such as exhausting the envelope and tipping it off, heating the electrodes in the picture tubes to degassify them, exploding the getter, etc., and wherein after such transport in the machine the picture tube is to be transferred from the conveyor to another conveyor or other receiver. In the transfer process it may be necessary to rotate the carrier for the picture tube or change the elevation of the chuck, all of which may be effected with the disclosed structure while maintaining the chuck in horizontal position. Where the collapsible frame is supended from a conveyor, an attendant will appropriately couple and uncouple the members 98, 102 at the transfer station. Obviously, the transfer device described need not be supported by a carriage of the chain. The member 22 of the rotary coupling may be screwed onto a fixed stud adjacent the area of transfer of the objects and the transfer device used to transfer an object as from one conveyor to a second conveyor. In the event that the carrier is not transported with the chain, the coupling 98, 102 may be connected together permanently. Rotation of control valve handle 94 will apply suction to chuck 64 or releive the suction. Manipulation of handle 80 will effect universal movement of the chuck except rotative movement about a horizontal axis and the valve controlled by the handle will automatically be reset to fluid pressure to motor locked position upon downward movement of the chuck being resisted.

Iclaim:

1. In a transfer device, a support, a frame connected to said support and a chuck carried by said frame; said frame being in the form of a parallelogram with upper and lower parallel end members and two parallel telescopic side members pivoted to the upper and lower end members, a motor for effecting telescoping movement of the side members, means including a rack on each of like portions of the side members for equalizing the extent of movement of the telescopic side members, a bridge mounted on and between the like portions of the side members having pivoted gears carried by the bridge with said gears intermeshing with one another and with the rack to produce like direction and extent of movement of both rack provided portions of the side members, an object retaining means carried by the lower member and means for controlling said motor, said means for controlling said motor comprising a control member mounted on the lower member, said control member having an upper, an intermediate, and a lower position in accordance with which position said side members contract in length, are fixed in position, or extend in length.

2. The structure of claim 1 wherein the control member is a device having a slide member movable in a body portion affixed to a part movable with the lower end member.

3. The structure of claim 2 wherein the object retaining means is carried by a cantilever arm pivoted to the part movable with the lower end member and normally supported in horizontal position by said part, and said slide member is provided with a handle engageable by a portion movable with the cantilever arm when the downward movement of the arm is resisted and while the lower end frame member is moving downward, said engagement of the parts tending to raise the handle and slide member.

4. The structure of claim 1 wherein the connection between the support and the frame includes a universal joint.

5. The structure of claim 1 wherein the connection between the support and the frame includes a universal joint.

6. The structure of claim 1 wherein the support is a carriage forming part of an endless chain.

7. The structure of claim 1 wherein the support is a carriage forming part of an endless chain.

8. The structure of claim 1 wherein the motor is a double acting fluid pressure motor having a cylinder and piston rod and the control member is a slide ported to admit fluid pressure to the upper portion of the cylinder while simultaneously venting the lower portion of the cylinder when the slide is in a fully down position, operate in reverse when the slide is in a fully up position and trap the fluid pressure in both ends of the cylinder when the slide in in an intermediate position.

9. The structure of claim 8 in which the slide is spring biased to said intermediate position.

10. The structure of claim 1 wherein the motor is a double acting fluid pressure motor having a cylinder and piston rod and the control member is a slide ported to admit fluid pressure to the upper portion of the cylinder while simultaneously venting the lower portion of the cylinder when the slide is in a fully down position, 0perate in reverse when the slide is in a fully up position and trap the fluid pressure in both ends of the cylinder when the slide is in an intermediate position.

11. The structure of claim 10 in which the slide is spring biased to said intermediate position.

12. The structure of claim 1 in which the object retaining means is connected to the frame by a swivel joint.

13. The structure of claim 5 in which the object retaining means is connected to the frame by a swivel joint.

References Cited UNITED STATES PATENTS 2,040,028 5/1936 Smith 2l41 2,737,839 3/1956 Paget 8153 3,063,574 11/1962 Peterson 214l 3,208,600 9/1965 Bignall 2l41 GERALD M. FORLENZA, Primary Examiner G. -F. ABRAHAM, Assistant Examiner US. Cl. X.R. 2l226, 124

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Cited By (24)

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US3743267A (en) * 1971-11-19 1973-07-03 Ametek Inc Energy absorbing device
US4645408A (en) * 1985-09-27 1987-02-24 Mizuno Tekko Kabushiki Kaisha Uncontrolled angular displacement compensating device for industrial robot
US5172922A (en) * 1991-04-25 1992-12-22 Digital Equipment Corporation Self aligning vacuum nozzle
EP0699053A1 (en) * 1993-05-14 1996-03-06 Sri International Remote center positioner
US5653350A (en) * 1996-06-10 1997-08-05 Maki Manufacturing, Inc. Grapple carriage
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US5807378A (en) * 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US5931098A (en) * 1996-05-03 1999-08-03 Willett International Limited Robot mounted printhead
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6491174B1 (en) * 2000-01-26 2002-12-10 Friede & Goldman, Ltd. Inverted pedestal crane
US6731988B1 (en) 1992-01-21 2004-05-04 Sri International System and method for remote endoscopic surgery
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US20040197181A1 (en) * 2001-08-03 2004-10-07 Clark Curtis C. Mobile load handling apparatus
US6850817B1 (en) 1992-01-21 2005-02-01 Sri International Surgical system
US20060074406A1 (en) * 2004-09-30 2006-04-06 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US20060237385A1 (en) * 2005-04-25 2006-10-26 Scotty Baker Logging carriage with towline-operated grapple
US20070089557A1 (en) * 2004-09-30 2007-04-26 Solomon Todd R Multi-ply strap drive trains for robotic arms
US20080021440A1 (en) * 2004-09-30 2008-01-24 Solomon Todd R Electro-mechancial strap stack in robotic arms
US7862580B2 (en) 2002-12-06 2011-01-04 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8911428B2 (en) 2001-06-29 2014-12-16 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9005112B2 (en) 2001-06-29 2015-04-14 Intuitive Surgical Operations, Inc. Articulate and swapable endoscope for a surgical robot
US9796495B2 (en) 2014-03-03 2017-10-24 Integrated Packaging Machinery, LLC Robot with packing head and integrated vacuum arm

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US3743267A (en) * 1971-11-19 1973-07-03 Ametek Inc Energy absorbing device
US4645408A (en) * 1985-09-27 1987-02-24 Mizuno Tekko Kabushiki Kaisha Uncontrolled angular displacement compensating device for industrial robot
US5172922A (en) * 1991-04-25 1992-12-22 Digital Equipment Corporation Self aligning vacuum nozzle
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US20060142897A1 (en) * 1992-01-21 2006-06-29 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US7890211B2 (en) 1992-01-21 2011-02-15 Intuitive Surgical Operations, Inc. Master-slave manipulator system and apparatus
US20050102062A1 (en) * 1992-01-21 2005-05-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US5808665A (en) * 1992-01-21 1998-09-15 Sri International Endoscopic surgical instrument and method for use
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US20070276423A1 (en) * 1992-01-21 2007-11-29 Sri International Roll-Pitch-Roll Wrist Methods for Minimally Invasive Robotic Surgery
US7248944B2 (en) 1992-01-21 2007-07-24 Institute Surgical, Inc Roll-pitch-roll wrist methods for minimally invasive robotic surgery
US6731988B1 (en) 1992-01-21 2004-05-04 Sri International System and method for remote endoscopic surgery
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US7107124B2 (en) 1992-01-21 2006-09-12 Sri International Roll-pitch-roll wrist methods for minimally invasive robotic surgery
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US7824424B2 (en) 1995-06-07 2010-11-02 Sri International System and method for releasably holding a surgical instrument
US8500753B2 (en) 1995-06-07 2013-08-06 Sri International Surgical manipulator for a telerobotic system
US6461372B1 (en) 1995-06-07 2002-10-08 Sri International System and method for releasably holding a surgical instrument
US8840628B2 (en) 1995-06-07 2014-09-23 Intuitive Surgical Operations, Inc. Surgical manipulator for a telerobotic system
US6413264B1 (en) 1995-06-07 2002-07-02 Sri International Surgical manipulator for a telerobotic system
US5810880A (en) * 1995-06-07 1998-09-22 Sri International System and method for releasably holding a surgical instrument
US5807378A (en) * 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US6080181A (en) * 1995-06-07 2000-06-27 Sri International System and method for releasably holding a surgical instrument
US20050273086A1 (en) * 1995-06-07 2005-12-08 Sri International Surgical manipulator for a telerobotic system
US8048088B2 (en) 1995-06-07 2011-11-01 Sri International Surgical manipulator for a telerobotic system
US6620174B2 (en) 1995-06-07 2003-09-16 Sri International Surgical manipulator for a telerobotic system
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US8012160B2 (en) 1995-06-07 2011-09-06 Sri International System and method for releasably holding a surgical instrument
US7204844B2 (en) 1995-06-07 2007-04-17 Sri, International System and method for releasably holding a surgical instrument
US7648513B2 (en) 1995-06-07 2010-01-19 Sri International Surgical manipulator for a telerobotic system
US20100160930A1 (en) * 1995-06-07 2010-06-24 Sri International Surgical manipulator for a telerobotic system
US5931098A (en) * 1996-05-03 1999-08-03 Willett International Limited Robot mounted printhead
US5653350A (en) * 1996-06-10 1997-08-05 Maki Manufacturing, Inc. Grapple carriage
US6772053B2 (en) 1998-12-08 2004-08-03 Visx, Incorporated Aspects of a control system of a minimally invasive surgical apparatus
US20050027397A1 (en) * 1999-04-07 2005-02-03 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US6491174B1 (en) * 2000-01-26 2002-12-10 Friede & Goldman, Ltd. Inverted pedestal crane
US9730572B2 (en) 2001-06-29 2017-08-15 Intuitive Surgical Operations, Inc. Articulate and swappable endoscope for a surgical robot
US8911428B2 (en) 2001-06-29 2014-12-16 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US9005112B2 (en) 2001-06-29 2015-04-14 Intuitive Surgical Operations, Inc. Articulate and swapable endoscope for a surgical robot
US9717486B2 (en) 2001-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Apparatus for pitch and yaw rotation
US20040197181A1 (en) * 2001-08-03 2004-10-07 Clark Curtis C. Mobile load handling apparatus
US7862580B2 (en) 2002-12-06 2011-01-04 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8690908B2 (en) 2002-12-06 2014-04-08 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8790243B2 (en) 2002-12-06 2014-07-29 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US9095317B2 (en) 2002-12-06 2015-08-04 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8337521B2 (en) 2002-12-06 2012-12-25 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
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