公开(公告)号：US07646161B2

公开(公告)日：2010-01-12

申请号：US11600959

申请日：2006-11-15

申请人： Alin Albu-Schäffer ,  Christian Ott ,  Ulrich Hagn ,  Tobias Ortmaier

发明人： Alin Albu-Schäffer ,  Christian Ott ,  Ulrich Hagn ,  Tobias Ortmaier

IPC分类号： G05B19/4061 ,  G05B19/33

CPC分类号： B25J9/1643 ,  A61B34/70 ,  A61B34/76 ,  A61B2090/064 ,  B25J9/1633 ,  B25J13/085 ,  G05B2219/40599

摘要： In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acting in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.

摘要翻译： 在特别适用于医疗应用的机器人臂的控制方法中，使用具有多个关节的机器人手臂（10）。 感测作用在至少一个接头（12a，12b）中的扭矩。 通过控制装置，作用在该接头（12a，12b）中的转矩被控制成基本上为0。

公开(公告)号：US08160743B2

公开(公告)日：2012-04-17

申请号：US11464940

申请日：2006-08-16

申请人： Rainer Birkenbach ,  Andreas Hartlep ,  Richard Wohlgemuth ,  Michael Bertram ,  Alin Albu-Schäffer ,  Markus Grebenstein ,  Ulrich Hagn ,  Klaus Jöhl ,  Mathias Nickl ,  Tobias Ortmaier ,  Franz Hacker ,  Rainer Konietschke ,  Stefan Jörg

发明人： Rainer Birkenbach ,  Andreas Hartlep ,  Richard Wohlgemuth ,  Michael Bertram ,  Alin Albu-Schäffer ,  Markus Grebenstein ,  Ulrich Hagn ,  Klaus Jöhl ,  Mathias Nickl ,  Tobias Ortmaier ,  Franz Hacker ,  Rainer Konietschke ,  Stefan Jörg

IPC分类号： G06F19/00 ,  B25J1/00 ,  B25J3/00 ,  B25J19/00 ,  H02P23/00

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B90/50 ,  A61B2034/2072 ,  A61B2034/305

摘要： An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

摘要翻译： 人造医疗机器人臂包括基端，第一臂元件，将基端连接到第一臂元件的基座接头，第二臂元件，将第二臂元件联接到第一臂元件的中间接头，远端功能 末端，将远端功能端连接到第二臂元件的远端接头以及可操作在基部接头，中间接头和/或远端接头上的至少一个可选择性操作的运动抑制器，以便限制机器人的功能上可能的移动范围 手臂到人类手臂的运动范围。

公开(公告)号：US20070120512A1

公开(公告)日：2007-05-31

申请号：US11600959

申请日：2006-11-15

申请人： Alin Albu-Schaffer ,  Christian Ott ,  Ulrich Hagn ,  Tobias Ortmaier

发明人： Alin Albu-Schaffer ,  Christian Ott ,  Ulrich Hagn ,  Tobias Ortmaier

IPC分类号： G05B19/04

CPC分类号： B25J9/1643 ,  A61B34/70 ,  A61B34/76 ,  A61B2090/064 ,  B25J9/1633 ,  B25J13/085 ,  G05B2219/40599

摘要： In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acing in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.

摘要翻译： 在特别适用于医疗应用的机器人臂的控制方法中，使用具有多个关节的机器人手臂（10）。 在至少一个接头（12 a，12 b）中检测到转矩。 通过控制装置，作用在该接头（12a，12b）中的扭矩被控制成基本上为0。

公开(公告)号：US20070129846A1

公开(公告)日：2007-06-07

申请号：US11464940

申请日：2006-08-16

申请人： Rainer Birkenbach ,  Andreas Hartlep ,  Richard Wohlgemuth ,  Michael Bertram ,  Alin Albu-Schaffer ,  Markus Grebenstein ,  Ulrich Hagn ,  Klaus Johl ,  Mathias Nickl ,  Tobias Ortmaier ,  Franz Hacker ,  Stefan Jorg ,  Rainer Konietschke

发明人： Rainer Birkenbach ,  Andreas Hartlep ,  Richard Wohlgemuth ,  Michael Bertram ,  Alin Albu-Schaffer ,  Markus Grebenstein ,  Ulrich Hagn ,  Klaus Johl ,  Mathias Nickl ,  Tobias Ortmaier ,  Franz Hacker ,  Stefan Jorg ,  Rainer Konietschke

IPC分类号： G06F19/00

CPC分类号： A61B34/70 ,  A61B34/30 ,  A61B90/50 ,  A61B2034/2072 ,  A61B2034/305

摘要： An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

摘要翻译： 人造医疗机器人臂包括基端，第一臂元件，将基端连接到第一臂元件的基座接头，第二臂元件，将第二臂元件联接到第一臂元件的中间接头，远端功能 末端，将远端功能端连接到第二臂元件的远端接头以及可操作在基部接头，中间接头和/或远端接头上的至少一个可选择性操作的运动抑制器，以便限制机器人的功能上可能的移动范围 手臂到人类手臂的运动范围。

公开(公告)号：US20060195070A1

公开(公告)日：2006-08-31

申请号：US11270987

申请日：2005-11-12

申请人： Ulrich Hagn

发明人： Ulrich Hagn

IPC分类号： A61B17/00

CPC分类号： A61B34/70 ,  A61B17/3421 ,  A61B34/30 ,  A61B2017/00482

摘要： To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.

摘要翻译： 为了将常规或腹腔镜仪器连接到可用于医疗应用的机器人，可以存在具有连续中心孔的第一和第二圆柱形段的装置，其与固定到 机器人手臂。 该连接可以通过可旋转180°的铰接接头。 在第二段的一个端面上，可以有凸缘形式的第三段，其具有与第二段中的连续中心孔同轴的孔。 还有一个滚动接头可以用于使设备旋转。 围绕法兰的孔，可以有供应技术和数据技术连接元件和用于连接端部执行器的锁定机构。

公开(公告)号：US08678009B2

公开(公告)日：2014-03-25

申请号：US13266691

申请日：2010-04-20

申请人： Ulrich Hagn

发明人： Ulrich Hagn

IPC分类号： A61B19/08 ,  A61B19/00 ,  A61B1/04

CPC分类号： A61B46/10 ,  A61B34/30 ,  A61B2090/0813 ,  Y10T428/13

摘要： The sterile cover system for sterilely covering a medical technical robot arm with a connecting element, having a receiving bore with an inner wall, for endoscopic devices, is provided with a sack-shaped drape for enclosing the connecting element. The drape comprises a film tube which is adapted to the receiving bore for covering the inner wall, and a guiding element which is removably attached to a first end of the film tube, adapted to the receiving bore and extends into the film tube in an initial state of the sterile cover system. The film tube can be inserted into and guided through the receiving bore by means of the guiding element such that a surface of the film tube, facing inward in an initial state of the sterile cover system, faces the inner wall of the receiving bore in a state in which the film tube is guided through the receiving bore.

摘要翻译： 用于无菌地覆盖具有连接元件的医疗技术机器人臂的无菌覆盖系统具有用于内窥镜装置的具有内壁的接收孔，其具有用于封闭连接元件的袋形悬垂布。 悬垂布包括一个适于接纳孔以覆盖内壁的薄膜管，以及引导元件，该导管元件可拆卸地连接到薄膜管的第一端，适于接纳孔并以初始的方式延伸到薄膜管中 无菌覆盖系统的状态。 薄膜管可以通过引导元件插入和引导通过接收孔，使得薄膜管的在无菌覆盖系统的初始状态下面向内的表面面向接收孔的内壁 其中胶片管被引导通过接收孔的状态。

公开(公告)号：US20130116707A1

公开(公告)日：2013-05-09

申请号：US13808871

申请日：2011-06-16

申请人： Ulrich Seibold ,  Bernhard Kuebler ,  Sophie Lantermann ,  Ulrich Hagn

发明人： Ulrich Seibold ,  Bernhard Kuebler ,  Sophie Lantermann ,  Ulrich Hagn

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B17/29 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/00367 ,  A61B2017/2936 ,  A61B2017/2939 ,  A61B2090/064 ,  B25J15/022

摘要： A robot structure, in particular for minimally invasive surgery, is provided with a first robot element and a second robot element that can be moved relative to the first robot element, said second robot element having two grasping and/or cutting elements which can be uniformly moved with respect to each other and which are connected to the first robot element via a hinge axis. The robot structure further has a force transmitting device for moving the grasping and/or cutting elements of the movable robot element and at least one sensor element comprising a sensitive end for receiving forces and/or torques that occur on the movable robot element and includes a base element that is fixed to the first robot element.

摘要翻译： 特别是用于微创手术的机器人结构设置有第一机器人元件和可相对于第一机器人元件移动的第二机器人元件，所述第二机器人元件具有可以均匀地具有两个抓握和/或切割元件 相对于彼此移动并且经由铰链轴连接到第一机器人元件。 机器人结构还具有用于移动可移动机器人元件的抓握和/或切割元件的力传递装置和至少一个传感器元件，该传感器元件包括用于在可移动机器人元件上发生的用于接收力和/或扭矩的敏感端，并且包括 固定在第一机器人元件上的基座元件。

公开(公告)号：US20070096673A1

公开(公告)日：2007-05-03

申请号：US11591805

申请日：2006-11-02

申请人： Ulrich Hagn

发明人： Ulrich Hagn

IPC分类号： B25J5/00

CPC分类号： B25J19/0054 ,  B25J9/0009

摘要： A robot arm comprises a plurality of joints (10) which are connected to each other by connection elements (12). The connection elements (12) carry heat-generating components (14), particularly electronic components comprising thermally critical parts. For cooling these components, at least one connection element (12) comprises a heat-dissipating element made from a ceramic material. Preferably, the whole connection element (12) is made from a ceramic material. Due to their low thermal expansion coefficient and their good thermal conductivity, ceramic materials offer considerable advantages in comparison with support structures made of aluminum.

摘要翻译： 机器人臂包括通过连接元件（12）彼此连接的多个接头（10）。 连接元件（12）携带发热部件（14），特别是包括热关键部件的电子部件。 为了冷却这些部件，至少一个连接元件（12）包括由陶瓷材料制成的散热元件。 优选地，整个连接元件（12）由陶瓷材料制成。 由于陶瓷材料的热膨胀系数低，导热性好，与铝制的支撑结构相比，具有很大的优势。

公开(公告)号：US06269997B1

公开(公告)日：2001-08-07

申请号：US09375516

申请日：1999-08-17

申请人： Matthias Balázs ,  Ulrich Hagn

发明人： Matthias Balázs ,  Ulrich Hagn

IPC分类号： A61B17068

CPC分类号： A61B17/115 ,  A61B17/1155 ,  A61B2017/0046 ,  A61B2017/2905 ,  A61B2017/2922 ,  A61B2017/2931

摘要： For actuating a variety of interchangeable surgical instruments, more particularly for hollow organ anastomosis, an apparatus comprises at the proximal end of a shank part a handle part (2) secured releasably and correctly positioned thereto. A pivotable toggle mechanism is fitted to the handle part, the pivotable toggle mechanism cooperating releasably with the proximal end of a flexible, force-transmitting reciprocating part guidingly accommodated in the shank part. The proximal end of the reciprocating part is connected to an adjusting mechanism in the handle part. At the distal end of the reciprocating part a connector for connecting a surgical instrument is provided. At the distal end of the shank part a connector is provided for connecting a housing of the surgical instrument. Fitted to the distal end of the flexible reciprocating part is a pusher transmitting an axial compression force to the body of the surgical instrument.

摘要翻译： 为了致动各种可互换的外科器械，更特别地用于中空器官吻合，装置包括在柄部的近端处的可释放地且正确地定位在其上的手柄部分（2）。 可枢转的肘节机构装配到手柄部分，可枢转肘节机构可释放地与导向地容纳在柄部分中的柔性的力传递往复运动部件的近端协作。 往复运动部分的近端连接到手柄部分中的调节机构。 在往复运动部件的远端设置用于连接外科器械的连接器。 在柄部分的远端设置有用于连接外科器械的壳体的连接器。 柔性往复运动部件的远端配置有向外科器械的身体传递轴向压力的推动器。

公开(公告)号：US09456876B2

公开(公告)日：2016-10-04

申请号：US11270987

申请日：2005-11-12

申请人： Ulrich Hagn

发明人： Ulrich Hagn

IPC分类号： A61B19/00 ,  A61B17/34 ,  A61B17/00

CPC分类号： A61B34/70 ,  A61B17/3421 ,  A61B34/30 ,  A61B2017/00482

摘要： To connect conventional or laparoscopic instruments to a robot that can be used for medical applications, there can be a device that has a first and a second circular cylinder segment having a continuous center bore is connected with the angled first segment affixed to the free end of a robot arm. This connection can be by way of an articulated joint that can be rotated by 180°. On one end surface of the second segment, there can be a third segment in the form of a flange, having a bore that is coaxial with the continuous center bore in the second segment. There is also a rolling joint which can be used to allow the device to rotate. Around the bore of the flange, there can be supply technology and data technology connection elements and a locking mechanism for coupling end effectors on and off.