公开(公告)号：EP2117417A4

公开(公告)日：2010-06-23

申请号：EP08730875

申请日：2008-02-27

申请人： UNIV CARNEGIE MELLON

发明人： ZUBIATE BRETT ,  DEGANI AMIR ,  CHOSET HOWIE

IPC分类号： A61B1/00 ,  A61B46/23

CPC分类号： B25J13/025 ,  B25J9/06 ,  B25J9/065 ,  B25J13/085 ,  B25J18/06 ,  Y10S901/15 ,  Y10S901/21 ,  Y10S901/28 ,  Y10T74/20 ,  Y10T74/20201 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T403/7039

摘要： A steerable multi-linked device may include a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first multi-linked mechanism and the second multi-linked mechanism may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links and a reinforcing member. A first one of the intermediate links may be movably coupled to the first link, and the reinforcing member may extend from a first end of a third one of the intermediate links toward a second end of the third one of the intermediate links.

摘要翻译： 可操纵的多连接设备可以包括第一多连接机构和第二多连接机构。 第一多连杆机构和第二多连杆机构中的至少一个可以包括第一连杆，多个中间连杆，可移动地联接到第二中间连杆的第二连杆和加强件。 中间连杆中的第一个可以可移动地联接到第一连杆，并且加强构件可以从第三个中间连杆的第一端朝向第三个中间连杆的第二端延伸。

公开(公告)号：EP1793475B1

公开(公告)日：2010-06-09

申请号：EP06023287.3

申请日：2006-11-09

申请人： Dr. Johannes Heidenhain GmbH

发明人： Höfer, Volker ,  Scheglmann, Gerhard

IPC分类号： H02K5/22

CPC分类号： H02K5/225 ,  H02K33/00 ,  Y10T74/20323

公开(公告)号：EP2173230A1

公开(公告)日：2010-04-14

申请号：EP08782417.3

申请日：2008-07-25

申请人： SRI International ,  The Board of Trustees of The Leland Stanford Junior University

发明人： GARCIA, Pablo ,  LOW, Thomas ,  CHAVEZ, Bryan ,  PRAHLAD, Harsha ,  ISAZA, Natalia ,  DUTTA, Sanjeev

IPC分类号： A61B1/00

CPC分类号： B25J18/06 ,  H02N1/006 ,  Y10T74/20323

摘要： A selectively rigidizable endoscopic device is described. In one aspect, an endoscopic medical device is described that includes a flexible inner tube having a first lumen, a flexible outer tube that receives the inner tube, and a multiplicity of overlapping, rigidizable scale-like strips. Each scale-like strip is coupled with the inner tube and positioned between the inner and outer tubes. Of particular note, the overlapping strips are actuatable between a non-rigidized state in which overlapping strips are slideable relative to one another and a rigidized state in which overlapping strips are not slideable relative to one another

公开(公告)号：EP1829651A1

公开(公告)日：2007-09-05

申请号：EP05807077.2

申请日：2005-11-15

申请人： HONDA MOTOR CO., Ltd.

发明人： SUGAWARA, Zenta, HONDA R & D CO., LTD. ,  SUGIYAMA, Kenichiro, HONDA R & D CO., LTD. ,  KOKUSHIYOU, Masayoshi, HONDA R & D CO., LTD.

IPC分类号： B25J17/02

CPC分类号： B25J17/0258 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20335

摘要： A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.

摘要翻译： 一种机器人的连接结构，用于移动组件51以相对于机器人连杆机构连接的机构，该接头结构包括用于使组件进行纵向摆动的第一马达10，用于使组件的第二马达20 横向摆动运动，以及用于使组件旋转运动的第三电动机30，其中第一电动机10和第二电动机20被布置成使得第一电动机10的输出轴和第二电动机20的输出轴为 彼此平行并且与机器人连杆正交，并且第三电动机30被设置成使得第三电动机30的输出轴相对于组件51的旋转运动的中心轴线移动。

公开(公告)号：EP1722934A1

公开(公告)日：2006-11-22

申请号：EP05728081.0

申请日：2005-02-25

申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ,  COMPAGNIE GENERALE DES MATIERES NUCLEAIRES

发明人： GARREC, Philippe ,  PIOLAIN, Gérard

IPC分类号： B25J3/04 ,  B25J1/08

CPC分类号： B25J3/04 ,  Y10T74/20305 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

摘要： The inventive telemanipulation arm comprises a master arm (5) and a slave arm (1) which are mechanically separated from each other and linked by means of an interface system (6) consisting of a control unit (7) and a mechanical unit (8) for driving the slave arm. According to said invention, the mechanical unit (8) comprises a stationary motor and a transmission for turning the tubular segment of the traverse (3) of the slave arm by at least one complete revolution for increasing workload.

摘要翻译： 本发明的遥控操纵臂包括彼此机械分离并通过由控制单元（7）和机械单元（8）组成的接口系统（6）相互机械连接的主臂（5）和从臂（1） ）用于驱动从属臂。 根据所述发明，机械单元（8）包括固定马达和传动装置，该传动装置用于将从动臂的横臂（3）的管状区段转动至少一个完整的旋转以增加工作负荷。

公开(公告)号：EP1628632A2

公开(公告)日：2006-03-01

申请号：EP04776074.9

申请日：2004-05-21

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： SIMAAN, Nabil ,  TAYLOR, Russell, H. ,  FLINT, Paul ,  CHIRIKJIAN, Gregory

IPC分类号： A61K8/18

CPC分类号： A61B19/2203 ,  A61B17/24 ,  A61B17/3421 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/003 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  Y10T74/20323

摘要： Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.

公开(公告)号：EP1463612B1

公开(公告)日：2005-03-30

申请号：EP02793241.7

申请日：2002-11-15

申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE

发明人： GOSSELIN, Florian ,  RIWAN, Alain ,  PONSORT, Dominique

IPC分类号： B25J9/10 ,  B25J9/04

CPC分类号： B25J9/104 ,  B25J9/04 ,  Y10T74/18848 ,  Y10T74/20323

摘要： The invention concerns a transmission cable link (14) between a drive pulley (15) and a driven pulley (22) rotating a mobile member (5) comprising two strands (23, 24) linking the driven pulley (22) to idle pulleys (17, 18) which are substantially aligned with an axis (Y) of rotation of an intermediate part (2) between the member (5) and the base plate (1) whereon the motor (12) is fixed. Thus, the motor (12) is arranged on the two optionally fixed parts and the rotation of the support (2) has hardly any effect on the tension of the cable (14), thereby enabling its constant proper operation. The invention is particularly applicable to articulated robot arms.

公开(公告)号：EP1409907A1

公开(公告)日：2004-04-21

申请号：EP02740855.8

申请日：2002-06-04

申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ,  COMPAGNIE GENERALE DES MATIERES NUCLEAIRES

发明人： GARREC, Philippe

IPC分类号： F16L1/00

CPC分类号： E03F7/12 ,  B25J18/06 ,  F16L55/265 ,  G01M3/005 ,  Y10T74/20323

摘要： The invention concerns a mobile carriage (5) in a main pipe (1) carrying an inspection or working tool (12) which transports said tool into adjacent pipes (3) connected to the preceding one through a box and at a different level by extending a semirigid rotary arm, longer than the radius of the main pipe.

公开(公告)号：EP1292431A1

公开(公告)日：2003-03-19

申请号：EP01947541.7

申请日：2001-06-20

申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE

发明人： RIWAN, Alain ,  GOSSELIN, Florian

IPC分类号： B25J9/10 ,  B25J13/02 ,  G05G9/047

CPC分类号： B25J13/02 ,  B25J9/107 ,  Y10T74/20323

摘要： The invention concerns a master arm comprising two parallel branches (1, 2), preferably symmetrical, assembled to a control wrist (7). The branches consist of segments (3, 4, 5, 6) whereof the first (3) extend away from a common base (8), so as to space apart the branches from each other and to counter the occurrence of kinematic irregularities.

公开(公告)号：EP0871563B1

公开(公告)日：2002-03-27

申请号：EP96939964.1

申请日：1996-11-21

申请人： ONERA (Office National d'Etudes et de Recherches Aérospatiales)

发明人： REBOULET, Claude

IPC分类号： B25J9/10 ,  B25J3/02

CPC分类号： B25J3/02 ,  B25J9/1065 ,  Y10S414/13 ,  Y10T74/20201 ,  Y10T74/20323 ,  Y10T74/2042

摘要： A "master-slave" remote manipulation apparatus having six degrees of freedom and comprising a flexible parallelogram with two parallel arms (2) hinged to a cross member (3) with one degree of rotational freedom and to a frame (4) with two degrees of rotational freedom; two parallel-hinged "master" (8) and "slave" (9) devices at the end of each respective arm (2); and five two-way linear motion transmitting devices (19) between said "master" and "slave" devices.