WO1982000611A1 - Dispositif d'actionnement analogue fonctionnant a distance - Google Patents

Dispositif d'actionnement analogue fonctionnant a distance

Info

Publication number
WO1982000611A1
WO1982000611A1 PCT/JP1981/000167 JP8100167W WO8200611A1 WO 1982000611 A1 WO1982000611 A1 WO 1982000611A1 JP 8100167 W JP8100167 W JP 8100167W WO 8200611 A1 WO8200611 A1 WO 8200611A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
hydraulic
valve
displacement
control valve
Prior art date
Application number
PCT/JP1981/000167
Other languages
English (en)
Japanese (ja)
Inventor
K Kurogi
Original Assignee
K Kurogi
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 K Kurogi filed Critical K Kurogi
Priority to AU73756/81A priority Critical patent/AU7375681A/en
Publication of WO1982000611A1 publication Critical patent/WO1982000611A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms

Definitions

  • the present invention relates to a device for remotely controlling a working device configured to bend, turn, extend and retract independently in a hand machine, a novel machine, a trimmer, or the like.
  • the present invention relates to a similar operating device provided with an operating device having a mechanism similar to the working device, and configured to make the working device perform a motion similar to the movement of the operating device.
  • the device disclosed in this publication operates a working device, a hydraulic cylinder for distributing hydraulic oil to the hydraulic cylinder, and a hydraulic servo valve for distributing hydraulic oil to the hydraulic cylinder.
  • H A hydraulic circuit for controlling the valve according to the movements of the operating device and the working device.
  • the hydraulic circuit includes an operating hydraulic cylinder attached to a joint of the operating device. It has a hydraulic cylinder for knocking attached to the joint of the working device.
  • the operation of the work equipment is converted to the amount of oil to be sucked into the hydraulic cylinder for the feed back, and the valve slide is adjusted according to the amount of oil. Since the actuator is displaced toward the original position, the operating device cannot accurately follow the operating device due to an oil leak occurring in the cylinder or the pipe. In addition, in order to increase the follow-up accuracy of the working equipment, it is necessary to increase the stroke of the hydraulic cylinder for operation and the hydraulic cylinder for feed pack. However, the entire device will be huge. There are also known systems that electrically detect the displacement of the operating device and the displacement of the working device, respectively, and electrically make the working device follow the movement of the operating device. However, the electric control system has a complicated structure.
  • an object of the present invention is to provide a compact and inexpensive remote operation similar operating device that allows a working device to follow the movement of an operating device with high accuracy.
  • a hydraulic actuator that drives the movable member is similar to the working device.
  • Operating device having a simple mechanism, a hydraulic control valve for distributing pressure oil to the hydraulic actuator, and controlling the hydraulic control valve in response to the displacement of the operating device and the displacement of the operating device
  • a remote control similar actuating device comprising: a control device having a movable control member between a neutral position and operating positions on both sides thereof, wherein the control device responds to a displacement of the control member.
  • a positioning device operatively connected to the oil EE control valve so as to control the hydraulic control valve, a first member rotating at a fixed position, a second member rotating at a fixed position, 1
  • a differential mechanism having a movable fourth member holding a third member that rotates in contact with the member and the second member; and one of the first, second, and fourth members of the differential mechanism
  • Each has a device for transmitting, and the displacement of the operating device is the differential
  • the hydraulic actuator is transmitted to the control member via a mechanism to operate the hydraulic actuator, and the displacement of the working device is fed to the control member via the differential mechanism.
  • a similar remote operating remote control device is provided.
  • FIG. 1 is an overall view of a similar operation device for remote operation according to an embodiment of the present invention
  • Figure 2 is a cross-sectional view of the working device
  • FIG. 3 is a plan view showing a control unit 50 of the apparatus of FIG. 1
  • FIG. 4 is a schematic view showing a control unit 50 A of the apparatus of FIG. 1
  • FIG. 5 is a schematic diagram showing a modification of the swing mechanism.
  • FIGS. 7A, 7B, and 8 are side views, cross-sectional views, and top views showing modified examples of the differential mechanism different from the above.
  • 9, 10, and 11 are side views, cross-sectional views, and top views showing still another modified example of the differential mechanism.
  • FIG. 12, FIG. 13, and FIG. 14 are schematic diagrams each showing another embodiment different from the above,
  • FIG. 15 is a partial side view of an embodiment using a transmission cable in place of the wrapping transmission mechanism of the apparatus of FIG. 1,
  • FIG. 1 is an enlarged perspective view of the transmission cable.
  • FIG. 1 shows a similar operation device for remote operation according to an embodiment of the present invention.
  • FIG. 1 is an overall view showing an outline of a device, which is roughly divided into a working device 1 to be operated, an operating device 30 having a mechanism similar to the working device 1, and a movement of the operating device. It comprises a control unit 50 for moving the working device 1 in a following manner.
  • the working device 1 has a column 3 fixed on the machine 2. and five links 4A, 4B, 4c, 4D, 4E. These struts and links are mutually pivotable on axes 5A, 5B, 5c, 5s, except between links 4c and 4D, as shown in Figure 2.
  • the links 4c and 4D are rotatably connected to a turning device 6K having a built-in hydraulic actuator.
  • the end of the link 4E has a holding mechanism 7 for grasping an object and a hydraulic actuator (hydraulic cylinder) 7 for operating the holding mechanism 7.
  • A is provided between each link.
  • hydraulic actuating hydraulic actuators (hydraulic cylinders) 8A, 8B, 8c, 8E are installed between each link.
  • the working apparatus 1 has relatively movable parts in the power station, and each part is provided with a hydraulic actuator.
  • each of the links and the holding device 7 includes a fixed pulley 3A, 9B, 9 c, 9D, gE and 10 are provided. That is, the fixed pulley 9A is fixed to the shaft 5A fixed to the link 4A. And the fixed pulley 9B is fixed to the link 4B-fixed to the shaft 5B, and the fixed pulley Sc is fixed to the shaft 5c fixed to the link 4c, and the fixed pulley 9B is fixed to the shaft 5B. D is fixed directly to the link 4D and the fixed pulley 9E is fixed to the shaft 5E fixed to the link 4E, so that the fixed pulleys 9A, 9B, 9c, 9 D and 3 E are links
  • the fixed pulley 10 is fixed to a gear 12 for transmitting one movement of the pair of holding claws 11 of the holding device 7 to the other, and accordingly, together with the holding claws 11. It works.
  • the rotation of these ⁇ fixed pulleys is controlled by a number of endless chains or wire pellets 13, which are freely rotatably held on the shafts of the connecting parts of the links.
  • An idler pulley 15 rotatably held by the pulley 14 and the link 4D, protrudes laterally from the link 4D, and rotates integrally with the link 4D.
  • the idler pulley 17 held by 16 is laterally protruded from the swivel device S, and is therefore mounted on the machine base 2 by the idler pulley 13 held by the non-rotatable repeller 18.
  • the two control devices 50, 5, 5, 5, 5, which are provided for the respective hydraulic actuators, via a winding transmission mechanism including an idler pulley 21, etc. held in the rack 2 (3) 0 ⁇ , 5 0 c 5 5 0 D »
  • the operating device 30 has a similar shape and structure to the working device 1 except that the operating device 30 does not have a hydraulic actuator. That is, the post 33 fixed to the machine 2, the link 34 A pivotally connected to the post 33, the link 34 B pivotally connected to the link 34 A, and the link Linked to the link 34 B.
  • the link 34 D and the link 34 D rotatably connected to the link 34 c and the link 34 c via a swivel mechanism 36. It has a link 35D pivotally attached and a holding mechanism 37 attached to the link 35D. The movement of each of these links and the holding mechanism 37 is controlled by the winding conduction. It is configured to be transmitted to the operation pulleys 52A, 52B, 52c, 52D, 52E, 52F of the control unit 50 via a mechanism.
  • control units 50 A, 50 B, 50 B correspond to the movable parts of the power station of the working unit 1 and the operating unit 30 as shown in FIG. C, 50 D, 50 ⁇ ,
  • control device 50 A has 5 OF. Since each of these control devices has the same structure, the control device 50 A
  • a large hydraulic control valve 90 for distributing pressure oil to the hydraulic cylinder 8A is provided.
  • the discharge pipe S5 to 94 and the oil supply pipe 9 ⁇ , 97 to the hydraulic cylinder 8A are connected, and when the valve spool 91 is displaced upward from the position shown, the hydraulic cylinder Distribute E oil below the 8 A piston, and use the valve. When the rule 91 is displaced downward, the hydraulic oil is distributed above the piston of the hydraulic cylinder 8A.
  • the control device 5OA has a positioning device 53 for controlling the position of the valve spool 91 of the hydraulic pressure control valve 30.
  • the positioning device 53 includes a hydraulic control valve 60, and the hydraulic control valve 60 has a control member or valve spool 61 movable to a neutral position and an operating position above and below the neutral position. I have.
  • control device '50A is a valve switch.
  • the differential machine 7 (3) was rotatably held by a mouth 7 1 connected to a valve spool 6 1, a mouth 7 2 rotatably held by the valve 7 1, and a frame 7 3.
  • a pair of pulleys rotatably held by a frame end 73 and an operation end spell 76 suspended over a pair of pulleys 74, 75.
  • the belt retainer rollers 80 and 81 are rotatably held at their ends. These rollers
  • roller 80 and .81 push the pellets 76 and 79 against the central roller 2, respectively, causing the rollers 76 and 79 and the roller 72 to slip.
  • the rollers are in contact with each other.
  • a pair of endless knurls 76, 799 can each be rotated at a fixed position, while the roller 72 can be rotated at the endless velocities 76, 7 9
  • Rolling force It can move up and down with the rod 71 while rotating by contact.
  • the pulleys 75 and 78 are connected so as to rotate together with the pulleys 52A and 51A (see Fig. 3) on the outside of the frame 73, respectively.
  • Valve control for hydraulic control valve 60 At the top of rule 6 1
  • Rod 62 is a stopper integrated with valve sleeve S3. It penetrates the plate S4 and has a staff.
  • coil springs 65, 66 and disks 67, 68 threadedly engaged with the rod 62, respectively.
  • This mechanism is a valve. Function and valve switch to push rule S 1 back to the neutral position shown. It has a function to determine the movement stroke of rule 61. Further, a normal positioning mechanism 6S is provided near the port 71 below the valve spool 61. This mechanism 69 is a valve spring 6 1 force; neutral
  • Hydraulic control valve 60 has an oil supply line from hydraulic pump 83
  • __ ⁇ 4 A is driven in the direction indicated by arrow F.
  • the pivoting movement of the link 4A in the direction of the arrow F is applied to the feedpack endrest 73 via the fixed pulley 9A, the feedback pulley 51A and the like.
  • the link 34 of the operating device 30 is transmitted in the direction of the arrow and is driven in the direction of the arrow.
  • the link 34A of the operating device 30 is moved in the direction A, and the end lever 7S for operation; If you hold down the button so that it is at the same speed as the dress pendant 79, the roller 72 sandwiched between both pallets 76 and 79 drops down Only the rotation at the position is continued, so that the valve valve 7 ° —rule S 1 is also held at the position displaced downward, and the link 4A of the working device continues to move in the F direction.
  • the link 34A of the operating device 30 is moved to a desired position and then stopped, the operating end belt is accordingly moved.
  • the corresponding link 4 also moves and stops at the position corresponding to the position of link 34A.
  • the control device is Since it is provided corresponding to the movable part, the working device ⁇ 1 moves following the movement of any part of the operating device 30 by hand.
  • the claw of the holding mechanism 37 of the operating device 30 is moved by hand, the movement of the claw is transmitted to the pulley 40, and the movement of the pulley 40 'is controlled by the control device 50 via the winding transmission mechanism.
  • the operation pulley 52 F is transmitted to the operation pulley 52 F, and the hydraulic cylinder 7 A of the working device 1 is operated by the control device 50 F to move the claw 11.
  • the movement of the claw 11 is controlled via the pulley 10
  • the idler pulley 4 4 B which is connected to the 3 9 B by the belt 4 3, does not rotate, even though the fixed pulley 3 9 B does not rotate. It will rotate.
  • the rotation of the idler pulley 4 4 B is transmitted to the control device 50 BK corresponding to the fixed pulley 39 B, and the operation endless ⁇ note 76 of the control device 50 B is rotated in the direction of arrow B. It will be done.
  • the link 4A of the working device 1 rotates following the rotation of the link 34A.
  • Rotation is performed by turning the feed-pack endrest 73 in the control unit 50B in the & direction regardless of whether the fixed pulley 3B of the link 4B is rotating. Rotate.
  • the end spreads 76 and 79 force are applied; the valve is turned.
  • the rule 61 is held in the neutral position, and the hydraulic cylinder 8B between the links 4A and 4B is not operated. In other words, if there is no relative displacement between the links 34 and 34B of the operating device 30, no relative displacement occurs between the links 4A and 4B of the working device. Therefore, the working device 1 always operates exactly following the movement of the operating device 30.
  • FIG. 5 to FIG. 11 show modified examples of the differential mechanism ′ used in the present invention.
  • the differential mechanism 100 in Fig. 5 is the valve switch for the oil EE control valve 60. End which is wrapped around a pair of pulleys 102, 103 rotatably held by a rod 101 connected to a roller 61, and which rotates around them. Operation roller that is held by the rest 104 and the frame 105 and rotates in a fixed position
  • the operation roller 10S transmits the movement of the operation device 30. Driven by the belt 11 reached, and the feed-packing roller 1 107 feeds the movement of the work implement 1 to the belt 1 1 1 Therefore, it is connected to be driven. Next, the operation of the differential mechanism 100 will be described. Operation roller according to the movement of the operating device 30
  • FIGS. 1 to 8 show a planetary gear type differential mechanism 120 using a bevel gear.
  • Differential mechanism 1 2 0 is frame
  • Planetary gears 1 15 and 12 S that are rotatably held by a carrier having a shaft 124 that is perpendicular to the axes of 122 and 123 and that mesh with both gears. are doing.
  • the operating wheel 1 2 2 is driven by the operating device 30 via the operating pulley 1 27 and the pellet 1 18 outside the frame 1 1 1.
  • feedback gear On the other hand, feedback gear
  • 1 2 3 is a feed-pack pulley 1 2 3 and a pellet
  • the movement of the working device 1 is feed-packed via 130.
  • the upper end of shaft 1 1 4 is pin
  • FIG. 9 to FIG. 11 show a planetary gear type operating mechanism 140 using a spur gear.
  • This operating mechanism 140 is hydraulic
  • the sun gear 144 is fixed to a shaft 144 rotatably held by a frame ⁇ 144, and a pulley 144 is also fixed to the shaft 144.
  • a pellet 147 for transmitting the movement of the working device 1 is hung on 146.
  • the planetary gear 1443 is provided on the side of a carrier 144 that is rotatably held on a shaft 144.
  • the pulley is formed on the carrier 144, and the operation device 3 (The belt 14 transmitting the movement of 3 is hung.
  • the movement of the operating device 30 causes the planetary gear 14 3 to move the sun gear 14 4.
  • the movement of the working device 1 is fed back by the rotation of the sun gear 14 2, and the ring gear 14 1 moves according to the speed difference between the two, and the valve
  • the pool 61 is moved to the left and right of the neutral position to control the hydraulic control valve 90 (Fig. 4), where the valve spool 61 is a ring and the force of the gear 141, It may be connected to the carrier 144 or the sun gear 144.
  • valve spool 61 of the hydraulic control valve S0 is moved by the differential mechanism.
  • FIG. 12 shows another embodiment of the present invention.
  • the valve spool 61 of the hydraulic control valve 60 is shown in FIG.
  • ⁇ 8 are connected to each other.
  • the supply and discharge pipes 160 and 161 from the hydraulic control valve 60 are connected to both ends of a double-acting hydraulic cylinder 162.
  • the piston rod 163 of the oil E cylinder 162 is connected to the manual operation lever 164.
  • the operation lever 16 4 has a large hydraulic control valve 90 'valve valve. Rule 31 'is also concatenated.
  • a manual operation in which the working device 1 is driven using the manual operation lever 164 is also possible.
  • You. -Fig. 13 shows yet another embodiment. In this embodiment, a valve switch of the hydraulic control valve 170 that distributes hydraulic oil to the hydraulic actuator 8 A of the working device 1.
  • Rule 17 1 is directly connected to the load 17 2 of the differential mechanism 100 so that it is controlled by the movement of the load 17 2.
  • the rod 1772 constitutes a control member of a positioning device that controls the hydraulic control valve 170.
  • the working device 1 can follow the movement of the operating device 30 in the same manner as described with reference to FIG.
  • a differential machine 70, 120, 140 or the like may be used instead of the differential mechanism 100.
  • FIG. 14 shows still another embodiment. It is. In the present example, an electromagnetic thermopowder was used to control the hydraulic actuator.
  • the positioning device for controlling the hydraulic control valve 180 has a control member 1805 holding a movable contact 1884 of a potentiometer 183, and the control member 1885 is a differential mechanism. Connected to 70. In other words, the movement of the operating device displaces the control member 185 upward or downward from the neutral position shown in the drawing via the differential mechanism 70, and the displacement of the control member, that is, the potentiometer. Hydraulic control valve 18 1 Valve spool 18 1 force in proportion to the displacement of 18 3 movable contact 18 4; Displaced upward or downward, hydraulic actuator 8 A Activate. The movement of the working device 1 caused by the operation of the hydraulic actuator 8A is fed back to the differential device 70, and controls the movement of the control member 1885.
  • a winding transmission mechanism using a belt or a chain is used to transmit the displacement of the operating device 30 and the working device 1 to the control device.
  • a power cable 1 SO in which a steel cable 19 2 is passed through in a sliding manner in a metal or synthetic resin pipe 19 1. You may.
  • the steel cable 192 needs to be fixed to the pulleys 40 and 52A to prevent slippage.
  • This pawl may be used as a part of the winding transmission mechanism.
  • a gear mechanism may be incorporated in a part of the winding transmission mechanism.
  • the holding mechanism 7 holds the object.
  • control members 61, 172, and 185 of the positioning device that control the hydraulic control valve that controls the hydraulic actuator of the working device 1 are mechanically different from each other. It is configured so that it can be moved by the displacement of the operating device 30 via the motive mechanism, and the displacement of the working device 1 is fed-packed. Therefore, it is possible to operate more accurately than a device that transmits the displacement of the operating device and feeds back the displacement of the working device. In particular, under severe operating conditions such as civil engineering, oil rafts are likely to occur, and conventional hydraulic ones are liable to malfunction, but the device of the present invention is susceptible to oil leakage. No, accurate follow-up operation is always possible.
  • control member 51 is extremely miniaturized. It can.
  • the control member responds to the minute displacement of the operating device and the working device, and the position of the control member is reduced. Therefore, extremely high-precision tracking operation is possible.
  • the device is suitable not only for industrial machinery and equipment but also for civil engineering, mining, agriculture, fishing and other machinery.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Dispositif d'actionnement analogue fonctionnant a distance permettant a une unite de travail (1) de suivre automatiquement le mouvement d'un dispositif d'actionnement (30). Des organes de commande (61, 172, 185) agissant sur des soupapes de commande hydrauliques (90, 170, 180) qui commandent un dispositif d'actionnement hydraulique (8A) de l'unite de travail (1) sont connectees a des organes mobiles (71, 101, 124, 141) de mecanismes differentiels (70, 100, 120, 140). Les deux autres organes mobiles respectifs (76, 79; 106, 107; 122, 123; 142, 148) formant un mecanisme differentiel sont connectes de maniere a etre entraines par le dispositif d'actionnement (30) et par l'unite de travail (1). Le mouvement du dispositif d'actionnement est ainsi transmis a l'organe de commande, et le mouvement de l'unite de travail exerce une retro-commande sur l'organe de commande.
PCT/JP1981/000167 1980-08-20 1981-07-22 Dispositif d'actionnement analogue fonctionnant a distance WO1982000611A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU73756/81A AU7375681A (en) 1980-08-20 1981-07-22 Remotely operating similar actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11528980A JPS5822314B2 (ja) 1980-08-20 1980-08-20 遠隔操作用相似作動位置決め装置
JP80/115289800820 1980-08-20

Publications (1)

Publication Number Publication Date
WO1982000611A1 true WO1982000611A1 (fr) 1982-03-04

Family

ID=14658970

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1981/000167 WO1982000611A1 (fr) 1980-08-20 1981-07-22 Dispositif d'actionnement analogue fonctionnant a distance

Country Status (2)

Country Link
JP (1) JPS5822314B2 (fr)
WO (1) WO1982000611A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19517486A1 (de) * 1995-05-12 1996-11-14 Bayerische Motoren Werke Ag Vorrichtung zum Montieren von Bauteilen
WO2013014621A3 (fr) * 2011-07-27 2013-03-21 Ecole Polytechnique Federale De Lausanne (Epfl) Dispositif mécanique télécommandé pour manipulation à distance
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
US10357320B2 (en) 2014-08-27 2019-07-23 Distalmotion Sa Surgical system for microsurgical techniques
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
US10413374B2 (en) 2018-02-07 2019-09-17 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US10548680B2 (en) 2014-12-19 2020-02-04 Distalmotion Sa Articulated handle for mechanical telemanipulator
US10568709B2 (en) 2015-04-09 2020-02-25 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US10646294B2 (en) 2014-12-19 2020-05-12 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10786272B2 (en) 2015-08-28 2020-09-29 Distalmotion Sa Surgical instrument with increased actuation force
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4932097A (fr) * 1972-07-28 1974-03-23

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4932097A (fr) * 1972-07-28 1974-03-23

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19517486A1 (de) * 1995-05-12 1996-11-14 Bayerische Motoren Werke Ag Vorrichtung zum Montieren von Bauteilen
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
US11076922B2 (en) 2010-10-11 2021-08-03 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US11200980B2 (en) 2011-07-27 2021-12-14 Ecole Polytechnique Federale De Lausanne (Epfl) Surgical teleoperated device for remote manipulation
US9696700B2 (en) 2011-07-27 2017-07-04 Ecole Polytechnique Federale De Lausanne Mechanical teleoperated device for remote manipulation
US10510447B2 (en) 2011-07-27 2019-12-17 Ecole Polytechnique Federale De Lausanne (Epfl) Surgical teleoperated device for remote manipulation
US10325072B2 (en) 2011-07-27 2019-06-18 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
CN103717355A (zh) * 2011-07-27 2014-04-09 洛桑联邦理工学院 用于远程操纵的机械遥控操作装置
WO2013014621A3 (fr) * 2011-07-27 2013-03-21 Ecole Polytechnique Federale De Lausanne (Epfl) Dispositif mécanique télécommandé pour manipulation à distance
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
US10357320B2 (en) 2014-08-27 2019-07-23 Distalmotion Sa Surgical system for microsurgical techniques
US11571195B2 (en) 2014-12-19 2023-02-07 Distalmotion Sa Sterile interface for articulated surgical instruments
US11478315B2 (en) 2014-12-19 2022-10-25 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10646294B2 (en) 2014-12-19 2020-05-12 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10548680B2 (en) 2014-12-19 2020-02-04 Distalmotion Sa Articulated handle for mechanical telemanipulator
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
US10568709B2 (en) 2015-04-09 2020-02-25 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
US10786272B2 (en) 2015-08-28 2020-09-29 Distalmotion Sa Surgical instrument with increased actuation force
US11337716B2 (en) 2015-08-28 2022-05-24 Distalmotion Sa Surgical instrument with increased actuation force
US11944337B2 (en) 2015-08-28 2024-04-02 Distalmotion Sa Surgical instrument with increased actuation force
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US10413374B2 (en) 2018-02-07 2019-09-17 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11510745B2 (en) 2018-02-07 2022-11-29 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof

Also Published As

Publication number Publication date
JPS5741185A (en) 1982-03-08
JPS5822314B2 (ja) 1983-05-07

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