公开(公告)号：US20080196533A1

公开(公告)日：2008-08-21

申请号：US10579475

申请日：2004-11-15

申请人： Massimo Bergamasco ,  Fabio Salsedo ,  Stefano Spinelli ,  Marco Fontana

发明人： Massimo Bergamasco ,  Fabio Salsedo ,  Stefano Spinelli ,  Marco Fontana

IPC分类号： B25J17/02 ,  A61B19/00

CPC分类号： B25J9/0078 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2034/304 ,  A61B2034/305 ,  B25J9/0072 ,  B25J17/0266 ,  Y10T74/20335

摘要： Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the support (2) about the central post (5) by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.

摘要翻译： 用于远程操作领域的远程操作机器手腕，例如用于微创手术操作，包括安装在能够相对于固定构件（5）瞬时旋转的支撑件（2）上的远侧元件（3），例如通过 允许三个旋转自由度的球形接头（10）。 特别地，支撑件（2）可以通过在偏心点中布置四个力（例如通过腱（8））而使冗余的致动系统相对于固定构件（5）定向，并且使得支撑件 （2）通过球窝接头（10）围绕中心柱（5）。 或者，支撑件（2）可以通过将属于支撑件的移动球体的滚动再现到与固定构件成一体的固定球体上而相对于固定构件（5）定向。