公开(公告)号：EP3025635A1

公开(公告)日：2016-06-01

申请号：EP14830091.6

申请日：2014-07-03

申请人： Olympus Corporation

发明人： ISODA, Takumi ,  HATAKEYAMA, Naoya ,  IIDA, Masatoshi ,  WATANABE, Sadahiro

IPC分类号： A61B1/00 ,  A61B90/00 ,  B25J3/00

CPC分类号： A61B1/0057 ,  A61B1/00006 ,  A61B1/00045 ,  A61B1/0052 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B34/70 ,  A61B34/71 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/35417 ,  G05B2219/39439 ,  G05B2219/45118 ,  G05B2219/49253

摘要： The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving assembly actuates rapidly in association with the operation of an operating assembly.
The manipulator 1 includes an operating assembly 2 operated by an operator, a moving assembly 3 operated by the operating assembly 2, a transmitting assembly 4 for coupling the operating assembly 2 to the moving assembly 3 to transmit driving force of the operating assembly 2 to the moving assembly 3, and a transmission compensating assembly 6 for making up for a dynamic surplus occurring in the transmitting assembly 4 in association with the operation of the operating assembly 2.

摘要翻译： 本发明的目的是提供一种操纵器和操纵器系统，其中快速移除动态剩余，并且移动组件与操作组件的操作相关联地快速致动。 操纵器1包括由操作者操作的操作组件2，由操作组件2操作的移动组件3，用于将操作组件2联接到移动组件3以将操作组件2的驱动力传递到 移动组件3和传动补偿组件6，用于补偿与操作组件2的操作相关联的发送组件4中发生的动态剩余。

公开(公告)号：EP1977713B1

公开(公告)日：2014-06-18

申请号：EP08153969.4

申请日：2008-04-02

申请人： Karl Storz GmbH & Co. KG

发明人： Jinno, Makoto ,  Sunaoshi, Takamitsu ,  Omori, Shigeru

IPC分类号： A61B19/00 ,  A61B17/28 ,  B25J13/08 ,  B25J9/16

CPC分类号： B25J9/1641 ,  A61B34/70 ,  A61B34/72 ,  A61B2017/2943 ,  G05B2219/39457 ,  G05B2219/41195 ,  G05B2219/41361 ,  G05B2219/45118 ,  Y10T74/20 ,  Y10T74/20207 ,  Y10T74/20305

公开(公告)号：EP2126646B1

公开(公告)日：2012-08-22

申请号：EP07869751.3

申请日：2007-12-21

申请人： MAKO SURGICAL CORP.

发明人： KANG, Hyosig

IPC分类号： A61B19/00 ,  G05B19/4061 ,  A61B17/00 ,  B25J17/02 ,  B25J9/10

CPC分类号： B25J17/0266 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/70 ,  A61B90/03 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2034/304 ,  A61B2090/034 ,  A61B2090/3945 ,  A61B2090/3983 ,  B25J9/0042 ,  B25J9/101 ,  G05B2219/36432 ,  G05B2219/39432 ,  G05B2219/45118 ,  G05B2219/45123

摘要： A method and apparatus for constraining motion of an end-effector in space. In one embodiment, the apparatus comprises a mechanical positioner and first and second stops. The first and second stops are controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate an end-effector outside a predetermined range of motion. The first and second stops are further controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion.

公开(公告)号：EP2470105A2

公开(公告)日：2012-07-04

申请号：EP10814313.2

申请日：2010-08-26

申请人： The Research Foundation Of State University Of New York

发明人： KESAVADAS, Thenkurussi ,  SRIMATHVEERAVALLI, Govindarajan

IPC分类号： A61B19/00 ,  B25J13/08 ,  B25J13/06 ,  B25J9/00 ,  B25J3/00

CPC分类号： A61B34/77 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/301 ,  A61B2090/065 ,  B25J9/1689 ,  B25J13/025 ,  G05B2219/45118

摘要： A system for manipulating elongate surgical instruments comprises a console, which comprises an input controller. The input controller may have a haptic feedback mechanism. The system further comprises a slave component, which comprises a first linear actuator, a second linear actuator, and a first rotational actuator. Each actuator is in electrical communication with the input controller. The slave component further comprises a force sensor in electronic communication with the input controller. The force sensor is configured to measure a force acting upon the first elongate member on at least one degree of freedom. The force sensor will send a force signal to the haptic feedback mechanism of the input controller.

公开(公告)号：EP1181627B1

公开(公告)日：2005-11-16

申请号：EP00925883.1

申请日：2000-03-29

申请人： Intuitive Surgical, Inc.

发明人： NIEMEYER, Gunter, D. ,  NOWLIN, William, C. ,  GUTHART, Gary, S.

IPC分类号： G05B1/00 ,  G05B19/401

CPC分类号： A61B1/00149 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B2018/00982 ,  A61B2034/102 ,  A61B2034/305 ,  A61B2090/506 ,  B25J3/04 ,  B25J9/1689 ,  B25J9/1692 ,  B25J19/023 ,  G05B19/401 ,  G05B2219/39014 ,  G05B2219/39057 ,  G05B2219/39062 ,  G05B2219/39253 ,  G05B2219/39387 ,  G05B2219/39389 ,  G05B2219/39391 ,  G05B2219/39394 ,  G05B2219/39437 ,  G05B2219/39439 ,  G05B2219/39483 ,  G05B2219/40144 ,  G05B2219/40354 ,  G05B2219/40552 ,  G05B2219/41441 ,  G05B2219/45118 ,  H04N13/239 ,  H04N13/246 ,  H04N13/327 ,  H04N2005/2255

摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave., as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

公开(公告)号：EP0810841B1

公开(公告)日：2004-03-31

申请号：EP96935293.9

申请日：1996-11-20

申请人： Koninklijke Philips Electronics N.V.

发明人： HABRAKEN, Wilhelmus, Johannes, Petrus ,  BLOM, Antonius, Hermanus, Maria ,  ASJES, Ronald, Jan

IPC分类号： A61B6/10

CPC分类号： A61B6/102 ,  G05B19/4061 ,  G05B2219/34031 ,  G05B2219/37272 ,  G05B2219/37628 ,  G05B2219/45118

摘要： An apparatus for medical diagnosis and/or therapy, including an electromagnetic obstacle sensor. Due to variations of the ambient temperature and humidity and/or due to the hanging of, for example, a cloth around the sensors (16, 18), drift of the zero point of the control may occur, so that the approaching of an obstacle by a movable part (6) of the apparatus could be incorrectly interpreted by the apparatus. In order to compensate for such drift there is provided a control unit (25) for automatically controlling the output signal V0 of the receiver (27) back to the zero value in the absence of an object in the vicinity of the movable part (6). This control preferably takes place at a comparatively high speed when a cloth or moisture is moved into the vicinity of the sensors, and at a comparatively low speed upon removal of the cloth or the moisture. As a result, the nature of the movement of the drive is maintained for some time after the displacement of the movable part, thus contributing to the ease of operation of the apparatus.

公开(公告)号：EP0810841A1

公开(公告)日：1997-12-10

申请号：EP96935293.0

申请日：1996-11-20

申请人： PHILIPS ELECTRONICS N.V. ,  PHILIPS NORDEN AB

发明人： HABRAKEN, Wilhelmus, Johannes, Petrus ,  BLOM, Antonius, Hermanus, Maria ,  ASJES, Ronald, Jan

IPC分类号： A61B6 ,  G05B19 ,  B25J9

CPC分类号： A61B6/102 ,  G05B19/4061 ,  G05B2219/34031 ,  G05B2219/37272 ,  G05B2219/37628 ,  G05B2219/45118

摘要： An apparatus for medical diagnosis and/or therapy, including an electromagnetic obstacle sensor. Due to variations of the ambient temperature and humidity and/or due to the hanging of, for example, a cloth around the sensors (16, 18), drift of the zero point of the control may occur, so that the approaching of an obstacle by a movable part (6) of the apparatus could be incorrectly interpreted by the apparatus. In order to compensate for such drift there is provided a control unit (25) for automatically controlling the output signal V0 of the receiver (27) back to the zero value in the absence of an object in the vicinity of the movable part (6). This control preferably takes place at a comparatively high speed when a cloth or moisture is moved into the vicinity of the sensors, and at a comparatively low speed upon removal of the cloth or the moisture. As a result, the nature of the movement of the drive is maintained for some time after the displacement of the movable part, thus contributing to the ease of operation of the apparatus.

公开(公告)号：EP0804730A4

公开(公告)日：1997-11-05

申请号：EP95921270

申请日：1995-05-17

IPC分类号： G01N33/48 ,  B25J9/16 ,  G01N1/31 ,  G01N35/00 ,  G01N35/02 ,  G01N35/10 ,  G06Q50/00 ,  G01N33/543

CPC分类号： B25J9/1679 ,  B25J9/1671 ,  G01N1/312 ,  G01N35/0092 ,  G01N35/0099 ,  G01N2035/0093 ,  G01N2035/1093 ,  G05B2219/40097 ,  G05B2219/40098 ,  G05B2219/40099 ,  G05B2219/40108 ,  G05B2219/40113 ,  G05B2219/40463 ,  G05B2219/45092 ,  G05B2219/45118 ,  Y10T436/11 ,  Y10T436/115831

摘要： A system which performs a plurality of independent analysis procedures simultaneously, possibly involving differing types of tissues and differing process steps, comprising a robotic arm (10), which may move the different tissue samples among a plurality of process stations (13), and a processor (15), which may select the next tissue sample to move, when to move it, and where to move it to. The processor may direct the robotic arm to interleave the differing process steps, adjust the process steps for conflicts, and optimize the order in which samples are moved. The processing stations may be disposed in a set of grid locations (12). The processing stations may comprise workstations for performing individual steps of the tissue assay procedures, such as solution trays. The processor may comprise a graphic interface by which an operator may specify the process steps, may monitor the progress of ongoing procedures, or override the determination of what process steps to perform.

摘要翻译： 一种同时执行多个独立分析程序的系统，其可能涉及不同类型的组织和不同的处理步骤，所述系统包括可以在多个处理站（13）之间移动不同组织样本的机器人臂（10），以及 处理器（15），其可以选择要移动的下一个组织样本，何时移动它以及移动到何处。 处理器可以指示机器人手臂交错不同的处理步骤，调整冲突的处理步骤，并且优化样本移动的顺序。 处理站可以布置在一组网格位置（12）中。 处理站可以包括用于执行组织测定程序的各个步骤的工作站，例如溶液托盘。 处理器可以包括图形界面，通过该图形界面，操作员可以指定过程步骤，可以监视正在进行的过程的进展，或者超越确定要执行什么过程步骤。

公开(公告)号：EP0600939A1

公开(公告)日：1994-06-15

申请号：EP92916866.0

申请日：1992-08-04

申请人： BIOTEK SOLUTIONS, INC.

发明人： BERNSTEIN, Steven, Allen ,  ERICKSON, Page, Andrew

IPC分类号： G01N33 ,  B25J9 ,  G01N1 ,  G01N35 ,  G05B19

CPC分类号： G01N35/0092 ,  B25J9/1671 ,  B25J9/1679 ,  G01N1/312 ,  G01N35/0099 ,  G01N2035/0093 ,  G05B2219/45092 ,  G05B2219/45118

摘要： Un système effectuant simultanément une pluralité de procédures d'analyses indépendantes, éventuellement de différents types de tissus et différentes étapes de traitement, comportant un bras robotique (10) pouvant déplacer les différents échantillons de tissus parmi une pluralité de stations de traitement, ainsi qu'un processeur (15) pouvant sélectionner l'échantillon suivant à déplacer, ainsi que le moment et le sens du déplacement. Le processeur peut ordonner au bras robotique d'intercaler les différentes étapes de traitement. Les stations de traitement peuvent être disposées en un ensemble d'emplacements (12) présentant un quadrillage. Les stations de traitement peuvent comprendre des stations de travail (13) servant à exécuter les étapes individuelles des procédures d'analyse de tissus, telles que des plateaux contenant des solutions. Le processeur (15) peut sélectionner un échantillon de tissu à déplacer en réaction à des informations de synchronisation concernant les procédures. Le processeur (15) peut également optimiser l'ordre de déplacement des échantillons, afin de minimiser le temps total nécessaire au système pour exécuter les procédures.

公开(公告)号：EP2110212B1

公开(公告)日：2018-07-04

申请号：EP09005241.6

申请日：2009-04-09

申请人： Olympus Corporation

发明人： Umemoto, Yoshitaka ,  Takahashi, Kazuhiko

IPC分类号： B25J9/16 ,  G05B19/4062 ,  A61B1/005 ,  A61B5/06 ,  G01D5/244

CPC分类号： B25J9/1674 ,  A61B1/0051 ,  A61B5/065 ,  G05B19/4062 ,  G05B2219/37175 ,  G05B2219/37514 ,  G05B2219/37522 ,  G05B2219/42291 ,  G05B2219/42306 ,  G05B2219/42329 ,  G05B2219/45118

摘要： A manipulator includes: a drive section (41B) which electrically drives a joint (53a-53d); an instruction input section (44B) which executes instruction input; a control section (42B) which generates a driving signal in response to the instruction input (44B); a sensor (60a-60c) which detects an operation status of the joint (53a-53d) or the drive section in time series; a setting section (14B) which sets an allowable operation range of the drive section (41B); a determination section (12B) which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section (16B) which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.