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公开(公告)号：US09937012B2
公开(公告)日：2018-04-10
申请号：US15024291
申请日：2014-11-28
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/06
摘要： A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
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公开(公告)号：US20170245949A1
公开(公告)日：2017-08-31
申请号：US15519381
申请日：2015-09-29
发明人： Steven James Randle
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/305 , B25J17/0291
摘要： A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment for a surgical tool; a basal segment for attaching the terminal portion to the remainder of the surgical robotic component; and an intermediate compound joint between the distal segment and the basal segment, the intermediate compound joint permitting relative rotation of the distal segment and the basal segment about first, second and third axes; the terminal portion being arranged such that, in at least one configuration of the intermediate compound joint: (i) the axial direction of the basal segment is parallel to the axial direction of the distal segment, and (ii) the first, second and third axes are transverse to the axial directions of the basal and distal segments.
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公开(公告)号：US20170021506A1
公开(公告)日：2017-01-26
申请号：US15217061
申请日：2016-07-22
摘要： A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs on a first side of a plane containing the second rotation axis and extending through that plane to the second side of that plane; and an intermediate linkage that meshes with the second drive shaft on the second side of the plane and that couples the second shaft gear to the second drive gear.
摘要翻译： 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有第二旋转轴线的第二旋转接头，第一旋转轴线和第二腿部中的第二旋转轴线; 设置在所述第一旋转轴线周围的第一驱动齿轮，所述第一驱动齿轮与所述载体一起快速; 围绕所述第二旋转轴线设置的第二驱动齿轮，所述第二驱动齿轮与所述第二个所述四肢中的所述第二驱动齿轮快速连接; 第一驱动轴，用于驱动所述第一驱动齿轮围绕所述第一旋转轴线旋转，所述第一驱动轴沿着所述第一个臂延伸并且在其上具有第一轴齿轮，所述第一轴齿轮被布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮围绕所述第二旋转轴线旋转的第二驱动轴，所述第二驱动轴在包含所述第二旋转轴线的平面的第一侧上沿着所述第一臂部延伸并且延伸穿过所述第二旋转轴线到所述第二旋转轴线 那边的那边 以及在所述平面的第二侧与所述第二驱动轴啮合并且将所述第二轴齿轮联接到所述第二驱动齿轮的中间连杆。
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公开(公告)号：US20170020614A1
公开(公告)日：2017-01-26
申请号：US15217035
申请日：2016-07-22
CPC分类号： A61B34/30 , A61B2017/0069 , A61B2034/305 , B25J9/102 , B25J17/0258 , B25J17/0275 , B25J18/04 , F16H19/001 , Y10S901/25 , Y10S901/26
摘要： A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis; a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon; and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear.
摘要翻译： 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有偏转旋转轴线的第二旋转接头与俯仰旋转轴线连接到第二支腿; 围绕所述俯仰旋转轴设置的第一驱动齿轮，所述第一驱动齿轮与所述载体一起快速; 围绕所述偏转旋转轴线设置的第二驱动齿轮，所述第二驱动齿轮与所述第二个所述肢体快速连接; 第一驱动轴，用于驱动所述第一驱动齿轮围绕所述俯仰旋转轴线旋转，所述第一驱动轴沿着所述第一臂部延伸并且在其上具有第一轴齿轮，所述第一轴齿轮布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮绕所述偏转旋转轴线旋转的第二驱动轴，所述第二驱动轴沿着所述第一个所述肢体延伸并且在其上具有第二轴齿轮; 以及由所述载体承载并将所述第二轴齿轮联接到所述第二驱动齿轮的中间齿轮系。
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公开(公告)号：US20160270868A1
公开(公告)日：2016-09-22
申请号：US15075940
申请日：2016-03-21
发明人： Steven James Randle
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/0469 , A61B17/0483
摘要： A surgical instrument including an elongate shaft terminating in an end effector, the end effector including two pairs of opposable jaws, the pairs being spaced apart and independently operable to cause the jaws of that pair to grip or release an object located therebetween, wherein the jaws of each pair are movable to an open configuration in which the most distal point on each of those jaws is less distal than the mid-point of that pair of jaws when that pair of jaws is closed with its jaws in their most distally extended configuration.
摘要翻译： 一种手术器械，包括终止于末端执行器的细长轴，末端执行器包括两对可相对的夹爪，这些对间隔开并且可独立地操作以使该对夹爪夹持或释放位于其间的物体，其中夹爪 每对夹爪可以移动到打开构型，其中当这对夹爪以其最远端延伸构型的夹爪封闭时，其中每个钳口上的最远端点比该对钳口的中点更远。
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公开(公告)号：US20180209819A1
公开(公告)日：2018-07-26
申请号：US15746121
申请日：2016-07-22
IPC分类号： G01D5/245
CPC分类号： G01D5/2454 , G01D5/145
摘要： A device for sensing the relative rotary position of first and second parts about a rotation axis, the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part, the first track being linear and the second track comprising a plurality of circular arcs and at least one transition section connecting one of the circular arcs to another, the tracks being arranged so as to convert relative rotation of the parts into linear motion of the follower, wherein the second track is generally spiral, each circular arc is of constant radius about the rotation axis and the first track is perpendicular to the rotation axis.
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公开(公告)号：US20180008359A1
公开(公告)日：2018-01-11
申请号：US15545454
申请日：2016-01-21
发明人： Steven James Randle
CPC分类号： A61B34/32 , A61B34/30 , A61B34/70 , A61B2034/301 , A61B2034/302
摘要： A robot comprising: a base; a flexible arm extending from the base and having: a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, and an attachment structure for attaching a tool to the arm; and a control unit configured to control the drivers and to receive inputs from sensors, and operable in a mode in which, whilst a tool is attached to the attachment structure and captive in a port, it: (i) controls the drivers to permit the arm to be reconfigured by the action of an external force applied to the arm so as to cause the tool to be retracted from the port along a longitudinal axis of the tool; and (ii) on receiving sensor input indicating that the arm has been reconfigured so as to cause the tool to be retracted from the port along a longitudinal axis of the tool, controls the drivers to reconfigure the arm so as to agitate the tool transverse to the longitudinal axis of the tool.
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公开(公告)号：US20170021507A1
公开(公告)日：2017-01-26
申请号：US15217077
申请日：2016-07-22
摘要： A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon, the second shaft gear being arranged to engage the second drive gear; the second drive shaft comprising a prismatic joint whereby the length of the shaft can vary in response to motion of the carrier about the first axis.
摘要翻译： 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有第二旋转轴线的第二旋转接头，第一旋转轴线和第二腿部中的第二旋转轴线; 设置在所述第一旋转轴线周围的第一驱动齿轮，所述第一驱动齿轮与所述载体一起快速; 围绕所述第二旋转轴线设置的第二驱动齿轮，所述第二驱动齿轮与所述第二个所述四肢中的所述第二驱动齿轮快速连接; 第一驱动轴，用于驱动所述第一驱动齿轮围绕所述第一旋转轴线旋转，所述第一驱动轴沿着所述第一个臂延伸并且在其上具有第一轴齿轮，所述第一轴齿轮被布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮围绕所述第二旋转轴线旋转的第二驱动轴，所述第二驱动轴沿着所述第一个所述肢体延伸并且在其上具有第二轴齿轮，所述第二轴齿轮被布置成接合所述第二驱动齿轮 ; 所述第二驱动轴包括棱形接头，由此所述轴的长度可以响应于所述托架围绕所述第一轴线的运动而变化。
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公开(公告)号：US20200232825A1
公开(公告)日：2020-07-23
申请号：US16839287
申请日：2020-04-03
摘要： A device for sensing the relative rotary position of first and second parts about a rotation axis, the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part, the first track being linear and the second track comprising a plurality of circular arcs and at least one transition section connecting one of the circular arcs to another, the tracks being arranged so as to convert relative rotation of the parts into linear motion of the follower, wherein the second track is generally spiral, each circular arc is of constant radius about the rotation axis and the first track is perpendicular to the rotation axis.
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公开(公告)号：US20170021508A1
公开(公告)日：2017-01-26
申请号：US15217082
申请日：2016-07-22
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/102 , B25J17/0275 , Y10S901/25 , Y10S901/26 , Y10S901/41
摘要： A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
摘要翻译： 一种机器人手臂，包括用于将一个肢体相对于另一个肢体围绕两个不平行旋转轴线铰接的关节机构，该机构包括：通过具有第一旋转轴线的第一旋转接头附接到第一个四肢的中间载体， 具有第二旋转轴线的第二旋转接头的第二个四肢; 第一驱动齿轮围绕第一旋转轴线布置并且与载体快速地布置，由此可以驱动托架围绕第一旋转轴线相对于第一分支体的旋转; 第二驱动齿轮围绕第二旋转轴线设置并且与第二个四肢快速配合，由此可以驱动第二个四肢相对于托架围绕第二旋转轴线的旋转; 第一和第二驱动齿轮中的至少一个是扇形齿轮。
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