公开(公告)号：EP4356864A2

公开(公告)日：2024-04-24

申请号：EP24160603.7

申请日：2015-02-13

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas G. ,  PARK, William John ,  WILLIAMS, Matthew R.

IPC分类号： A61B34/30

CPC分类号： A61B2017/0031420130101 ,  A61B34/71 ,  A61B34/30 ,  A61B2034/30620160201 ,  B25J9/06 ,  B25J9/104 ,  B25J15/0023 ,  B25J15/0066 ,  B25J15/0475 ,  B25J15/10 ,  B25J15/12

摘要： An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

公开(公告)号：EP3405326A1

公开(公告)日：2018-11-28

申请号：EP17741891.0

申请日：2017-01-19

申请人： President and Fellows of Harvard College

发明人： GALLOWAY, Kevin, C. ,  WOOD, Robert, J. ,  BECKER, Kaitlyn

IPC分类号： B29C45/43 ,  A61B1/008 ,  A61B34/30 ,  B25J9/00 ,  B25J15/00 ,  B25J18/06

CPC分类号： B25J15/12 ,  A61B34/30 ,  B25J15/0023 ,  B25J15/0066 ,  B25J15/0475 ,  B25J15/10 ,  B29C33/46 ,  B29L2031/703

摘要： A method of making an actuator having a complex internal shape includes providing a core of a shape that defines an internal cavity of an actuator; molding an actuator around the core, wherein the core occupies the internal cavity of the actuator, the cavity having an opening; generating a pressure differential between an exterior surface of the actuator and the internal cavity of the actuator, wherein the external pressure is less than the internal pressure, to expand the actuator cavity; and removing the core through the opening of the expanded actuator cavity.

公开(公告)号：EP2917002B1

公开(公告)日：2017-09-27

申请号：EP13854112.3

申请日：2013-11-08

申请人： iRobot Corporation

发明人： CLAFFEE, Mark ,  CORSON, Nicholas Roy

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J15/00 ,  B25J15/04 ,  B25J15/10

CPC分类号： B25J15/10 ,  B25J9/0015 ,  B25J9/104 ,  B25J15/0009 ,  B25J15/0475

公开(公告)号：EP3119565A1

公开(公告)日：2017-01-25

申请号：EP14711223.9

申请日：2014-03-17

申请人： F&P Robotics AG

发明人： DE CASTELBAJAC, Charles ,  FRUEH, Hansruedi ,  WIJEYRATNE, Norman

IPC分类号： B25J15/04

CPC分类号： B25J15/0475 ,  B23P19/04

摘要： The invention relates to an assembly device (1) having an assembly rail (2), comprising a base slide (3) and a spacer slide (4) for replacing a gripper tip (5) of a gripper finger (6) for a robotic system. The base slide (3) comprises a first fastening means (30) for fastening a gripper jaw (7) of the gripper finger (6) and the spacer slide (4) comprises a second fastening means (40) for fastening the gripper tip (5) such that the gripper jaw (7) can be fastened on the base slide (3) by the first fastening means (30) relative to a longitudinal direction (L) and the gripper tip (5) can be fastened on the spacer slide (4) by the second fastening means (40) relative to the longitudinal direction (L). According to the invention, the base slide (3) and the spacer slide (4) are arranged to be movable against each other between a locked position (VP) and an unlocked position (EP) along the longitudinal direction (L) such that, in the locked position (VP), the gripper tip (5) is locked to the gripper jaw (7) and, in the unlocked position (EP), the gripper tip (5) is unlocked from the gripper jaw (7).

摘要翻译： 安装装置包括具有底座托架的安装导轨和用于替代用于机器人系统的抓爪手指的夹持器尖端的距离托架。 基座滑架包括用于紧固夹爪的夹爪的第一固定剂，并且距离滑架包括用于紧固夹持器尖端的第二固定剂，使得夹爪可以通过第一固定剂固定到基座托架上， 夹钳尖可以通过第二固定剂固定到距离托架上。 基座托架和距离托架在沿着纵向方向的锁定位置和解锁位置之间相对于彼此可移动地布置，使得夹持器末端在锁定位置处锁定在夹爪处，并且在夹紧爪处于解锁位置解锁 。

公开(公告)号：EP2911835B1

公开(公告)日：2017-01-25

申请号：EP13818408.0

申请日：2013-10-23

申请人： Esanastri S.r.l.

发明人： POSARELLI, Roberto ,  VEGNI, Giuliano ,  DINELLI, Giorgio ,  STEFANINI, Cesare ,  CARNASCIALI, Federico

IPC分类号： B25J15/10 ,  B44C1/16

CPC分类号： B32B43/006 ,  B25J15/0028 ,  B25J15/0033 ,  B25J15/0057 ,  B25J15/0475 ,  B25J15/10 ,  B25J19/0091 ,  B32B38/10 ,  B32B2451/00 ,  B32B2519/00 ,  B44C1/16 ,  Y10T156/1168 ,  Y10T156/19 ,  Y10T156/195 ,  Y10T156/1994

公开(公告)号：EP3107463A1

公开(公告)日：2016-12-28

申请号：EP15751972.9

申请日：2015-02-13

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas G. ,  PARK, William John ,  WILLIAMS, Matthew R.

IPC分类号： A61B17/02 ,  A61B90/00

CPC分类号： A61B34/35 ,  A61B17/00234 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00314 ,  A61B2034/306 ,  B25J9/06 ,  B25J9/104 ,  B25J15/0023 ,  B25J15/0066 ,  B25J15/0475 ,  B25J15/10 ,  B25J15/12

摘要： An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

摘要翻译： 进行关节运动的部件包括远端，近端，在致动部件和一个约束构件。 所述致动构件从所述近端到所述远端延伸。 激励部件将力传递到从中间位置弯曲关节运动的成员。 约束构件从所述近端到所述远端延伸。 约束元件可具有相对的端部并固定在远端和近端。 在一个中，实施方式约束构件如下至少沿从所述近端到所述远端可铰接构件的一部分的螺旋路径。 在另一个实施例中致动部件沿如下所述可铰接构件的至少一部分上的螺旋形路径。

公开(公告)号：EP2043824B1

公开(公告)日：2009-11-18

申请号：EP07823310.3

申请日：2007-07-20

申请人： Sidel Participations

发明人： TUAUDEN, Philippe ,  GERMAIN, Dominique ,  DEVAUX, Eric

IPC分类号： B25J15/04

CPC分类号： B65G47/90 ,  B25J15/0475 ,  Y10T29/53913 ,  Y10T279/34 ,  Y10T279/3475

公开(公告)号：EP1785238B1

公开(公告)日：2008-11-26

申请号：EP06020300.7

申请日：2006-09-27

申请人： Schunk GmbH & Co. KG Spann- und Greiftechnik

发明人： Jesser, Markus

IPC分类号： B25J15/04

CPC分类号： B25J15/0475

公开(公告)号：EP0935516A4

公开(公告)日：2000-06-28

申请号：EP97945454

申请日：1997-10-03

申请人： PHD INC

发明人： MOILANEN STEVEN M ,  MCINTOSH BRUCE D

IPC分类号： B25B5/08 ,  B25B5/16 ,  B25J9/08 ,  B25J15/00 ,  B25J15/02 ,  B25J15/04

CPC分类号： B25J9/08 ,  B25B5/087 ,  B25B5/163 ,  B25J15/0052 ,  B25J15/0226 ,  B25J15/0475 ,  Y10S294/902

摘要： A modular gripper assembly having body with a yoke structure (44) defined at one end thereof and an actuator at an opposite end for reciprocally driving a piston assembly (58) within the yoke structure (44). A pair of opposable jaw members (49) having through-slots (48) formed therein are provided within the yoke structure (44) and coupled to the piston assembly (58) by a cam pin (47) so that at least one of the opposable jaw members (49) pivots when the piston assembly (58) moves within the yoke structure (44). The jaw members (49) are removable and interchangeable.

公开(公告)号：EP1004410A2

公开(公告)日：2000-05-31

申请号：EP99308266.8

申请日：1999-10-20

申请人： PHD, Inc.

发明人： Moilanen, Steven M. ,  McIntosh, Bruce D. ,  Steele, Kenneth

IPC分类号： B25J15/02

CPC分类号： B25B5/087 ,  B25B5/163 ,  B25J9/08 ,  B25J15/0052 ,  B25J15/0226 ,  B25J15/0475

摘要： Adjustable stoppers for limiting the angle at which pivotal gripper jaws (200) are opened. The stoppers include a stop block (205) and at least one stopper pad (207) which is made from a shock absorbing material such as urethane. The stoppers are secured to a pivotal one of a pair of gripper jaw members of a parts gripper and positioned to abut the other of the pair of gripper jaw members. Stoppers which are provided with two or more stopper pads of different lengths are reversible and can be used to adjust the angle at which the jaw members open.

摘要翻译： 用于限制枢转夹爪（200）打开的角度的可调节止动件。 止动件包括止动块（205）和由诸如氨基甲酸乙酯的减震材料制成的至少一个止动垫（207）。 止动件被固定到部件夹持器的一对夹持爪构件中的枢转的一个，并且定位成抵靠该对夹持爪构件中的另一个。 设置有两个或更多个不同长度的止动垫的止动器是可逆的，并且可以用于调节钳口构件打开的角度。