公开(公告)号：US20200147790A1

公开(公告)日：2020-05-14

申请号：US16188858

申请日：2018-11-13

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Ren-Jeng WANG ,  Cheng-Chin CHEN ,  Yu-Lin CHU

IPC: B25J9/10 ,  B25J9/12 ,  B25J9/04

Abstract: A robotic arm includes a first driving source and a second driving source mounted on a base frame, a first transmission link driven by the first driving source to turn around a first axis, a second transmission link driven by the second driving source to turn around a second axis that is parallel to the first axis, a third transmission link pivoted to the first transmission link, a first driven link pivoted to the second transmission link, a second driven link pivotally coupled between the first driven link and the base frame, a third driven link pivotally connected with the first and second driven link, and a fourth driven link pivotally coupled between the third driven link and the third transmission link. Thus, the robotic arm of the invention has a compact size and can achieve multi-degree of freedom motion.

公开(公告)号：US20180123424A1

公开(公告)日：2018-05-03

申请号：US15338903

申请日：2016-10-31

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Ren-Jeng WANG

IPC: H02K7/06 ,  H02K7/14

CPC classification number: H02K7/06 ,  A61F2/68 ,  H02K7/116 ,  H02K7/14

Abstract: An in-prosthesis linear drive system includes a holder frame, a power drive mounted on the holder frame, a screw nut mounted on the holder frame and coupled to the power drive and rotatable on the axis thereof by the power drive, a screw rod limiter including a center sliding guide rail mounted on the holder frame and a center sliding block slidable along the center sliding guide rail, and a screw rod threaded into the screw nut and connected with the center sliding block of the screw rod limiter and movable along the axial direction of the screw nut upon rotation of the screw nut. Thus, using the screw nut to drive the screw rod achieves the effect of minimizing the occupation of the prosthesis internal space.

公开(公告)号：US20180256182A1

公开(公告)日：2018-09-13

申请号：US15457241

申请日：2017-03-13

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chin-Hsing KUO ,  Ting-Hao LIU ,  Ren-Jeng WANG

IPC: A61B17/29 ,  A61B17/28

CPC classification number: A61B17/29 ,  A61B2017/2903 ,  A61B2017/2927 ,  A61B2017/2932 ,  A61B2017/2939

Abstract: A medical clamping instrument includes first and second tubular members pivotally connected together, a first rod member pivotally connected to the second tubular member, a second rod member pivotally connected to the first rod member, first and second claw arms respectively providing first and second clamping portions and first and second connecting portions and respectively pivotally connected to the second tubular member, third and fourth rod members respectively pivotally connected to the first and second connecting portions, a screw nut pivotally connected to the third and fourth rod members, a screw rod threaded into the screw nut and driven by a driving rod via the first universal joint, the fifth rod member and the second universal joint. Thus, operating the driving rod can move the first and second clamping portions, maintaining the clamping force stably.

公开(公告)号：US20140378994A1

公开(公告)日：2014-12-25

申请号：US13923670

申请日：2013-06-21

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Ren-Jeng WANG

IPC: A61B19/00

CPC classification number: B25J17/00 ,  A61B34/30 ,  F16H21/54 ,  Y10S901/21 ,  Y10S901/28

Abstract: In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation.

Abstract translation: 为了减少机器人手臂分配中的计算，本发明提供了一种球形联动型手术机器人臂，其包括具有第一轴心和第二轴中心的第一弯曲杆，第二弯曲杆等于第一弯曲杆 具有第三轴心和第四轴中心，第三轴中心与第一轴心一致，第三弯曲杆具有第五轴中心和第六轴中心并且枢转到第二弯曲杆，以及 具有第七轴中心和第八轴中心并且枢转到第三弯曲杆和第一弯曲杆的第四弯曲杆，由此减少了计算负担并且便于控制和分配。

公开(公告)号：US20170258548A1

公开(公告)日：2017-09-14

申请号：US15066149

申请日：2016-03-10

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Ren-Jeng WANG

IPC: A61B90/10

CPC classification number: A61B90/10 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00991 ,  A61B2017/3409 ,  A61B2090/506

Abstract: A telescoping control mechanism for controlling a medical instrument, the medical instrument includes a telescoping axis which intersects a patient at a work point, the telescoping control mechanism includes: a first rotary module disposed on a base, and including a first axis which extends through the work point; a second rotary module disposed on the base and including a second pivot which is pivoted to the base and has a second axis perpendicular to the first axis; a linkage module including a proximal linkage assembly disposed on the second pivot and parallel to the telescoping axis, and a distal linkage assembly for mounting of the medical instrument; and a telescoping module disposed on the proximal linkage assembly to drive the distal linkage assembly to reciprocate along the proximal linkage assembly, which consequently causes movements of the medical instrument along the telescoping axis.

公开(公告)号：US20160278618A1

公开(公告)日：2016-09-29

申请号：US14667176

申请日：2015-03-24

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Hung-Ju YANG ,  Kun-Jia HSU ,  Ren-Jeng WANG

IPC: A61B1/00 ,  A61B1/06 ,  A61M13/00 ,  B25J9/16 ,  F16M13/02

CPC classification number: A61B1/00149 ,  A61B1/00006 ,  A61B2018/00172 ,  A61B2034/301 ,  A61M13/003 ,  Y10S901/02

Abstract: A method for positioning an endoscope involves installing an auxiliary positioning device on a robot arm, coinciding a terminal of a docking member of the auxiliary positioning device with a remote center of motion defined by the robot arm, inserting and fixing the endoscope inside the auxiliary positioning device, removing the docking member of the auxiliary positioning device so that a terminal of the endoscope coincides with the remote center of motion of the robot arm, and then inserting the endoscope into a body cavity catheter for finalizing positioning. Thereby, the method helps to save time used for preoperative preparation and provides more precise positioning, without using any additional positioning tools to approach the body cavity, thereby reducing the risk of infection.

Abstract translation: 一种用于定位内窥镜的方法，包括将辅助定位装置安装在机器人手臂上，使辅助定位装置的对接构件的端子与由机器人臂限定的远程运动中心重合，将内窥镜插入和固定在辅助定位 移除辅助定位装置的对接部件，使得内窥镜的端子与机器人手臂的远程运动中心一致，然后将内窥镜插入体腔导管中以完成定位。 因此，该方法有助于节省用于术前准备的时间并且提供更精确的定位，而不使用任何额外的定位工具来接近体腔，从而降低感染的风险。

公开(公告)号：US20150202780A1

公开(公告)日：2015-07-23

申请号：US14257597

申请日：2014-04-21

Applicant: Hiwin Technologies Corp.

Inventor： Ren-Jeng WANG

IPC: B25J18/00 ,  B25J17/00

CPC classification number: B25J18/005 ,  A61B34/30 ,  A61B34/71 ,  B25J9/1045 ,  B25J17/00 ,  Y10S901/21 ,  Y10T74/20329

Abstract: A robotic arm includes first and second bent links and a tool link pivotally connected in order, first to third wheels, and first to fourth imaginary axes intersecting at a center of spherical rotation. The first bent link and wheel are driven to rotate about the first and third imaginary axes respectively. A first flexible rope is wound around the first and second wheels and fixed to the second bent link for driving the second wheel and bent link to rotate about the second imaginary axis when the first wheel rotates. A second flexible rope is wound around the second and third wheels and fixed to the first bent link for driving the third wheel and the tool link to rotate about the fourth imaginary axis when the second wheel rotates. The robotic arm is relatively smaller, obstructs the operator less and produces a wider sphere of action.

Abstract translation: 机器臂包括第一和第二弯曲连杆以及依次枢转地连接在第一至第三轮以及与球形旋转中心相交的第一至第四假想轴的工具连杆。 第一弯曲连杆和轮驱动分别围绕第一和第三虚轴旋转。 第一柔性绳索围绕第一和第二轮缠绕并固定到第二弯曲连杆，用于在第一轮旋转时驱动第二轮和弯曲连杆围绕第二假想轴转动。 第二柔性绳索围绕第二和第三轮缠绕并固定到第一弯曲连杆，用于驱动第三轮，并且当第二轮旋转时，工具连杆绕第四假想轴旋转。 机器人手臂相对较小，妨碍操作者较少并产生更宽的作用范围。

公开(公告)号：US20150174769A1

公开(公告)日：2015-06-25

申请号：US14257657

申请日：2014-04-21

Applicant: Hiwin Technologies Corp.

Inventor： Ren-Jeng WANG

IPC: B25J19/00 ,  F16D63/00

CPC classification number: B25J19/0004 ,  B25J9/1065 ,  B25J19/0016 ,  B60T13/748 ,  F16D63/008 ,  F16D2121/20 ,  F16M11/2092 ,  F16M11/24 ,  F16M2200/021 ,  F16M2200/041 ,  F16M2200/044 ,  F16M2200/063

Abstract: A Support arm with brake mechanism, characterized in that: a resilient component generates a resilient force acting in opposition to gravity, such that a supporting rod can move an object steadily; and, in the course of moving the object, a brake is started as needed to brake the supporting rod and fasten the supporting rod to a predetermined position.

Abstract translation: 具有制动机构的支撑臂，其特征在于：弹性部件产生与重力相反作用的弹力，使得支撑杆可以稳定地移动物体; 并且在移动物体的过程中，根据需要开始制动以制动支撑杆并将支撑杆固定到预定位置。

公开(公告)号：US20150173992A1

公开(公告)日：2015-06-25

申请号：US14257626

申请日：2014-04-21

Applicant: Hiwin Technologies Corp.

Inventor： Ren-Jeng WANG

IPC: A61H1/02

CPC classification number: A61H1/02 ,  A61H1/0277 ,  A61H2201/1215 ,  A61H2201/1481 ,  A61H2201/165 ,  A61H2201/5069 ,  A61H2201/5092 ,  A61H2230/605

Abstract: A Force feedback type compliant orthotic device includes a fixing base, driving unit, first limb supporting unit, and second limb supporting unit. The driving unit has a motor disposed at the fixing base and an output shaft connected to the motor. The output shaft is inserted into a joint base to connect with a resilience unit. The first limb supporting unit has a first supporting element fixed at the fixing base and a first electromyographic signal sensor disposed at the first supporting element. The second limb supporting unit has a second supporting element disposed at the joint base and a second electromyographic signal sensor disposed at the second supporting element. The motor generates appropriate auxiliary power according to the sensing result of the first and second electromyographic signal sensors, such that the first and second supporting elements move relative to each other precisely.

Abstract translation: 力反馈型适应矫正装置包括固定底座，驱动单元，第一支撑单元和第二支撑支撑单元。 驱动单元具有设置在固定基座上的马达和连接到马达的输出轴。 输出轴插入接头基座中以与弹性单元连接。 第一支撑单元具有固定在固定基座上的第一支撑元件和设置在第一支撑元件处的第一肌电信号传感器。 第二支撑单元具有设置在接合基部的第二支撑元件和设置在第二支撑元件处的第二肌电信号传感器。 电动机根据第一和第二肌电信号传感器的感测结果产生适当的辅助电力，使得第一和第二支撑元件相对于彼此精确地移动。