公开(公告)号：US20180243910A1

公开(公告)日：2018-08-30

申请号：US15755105

申请日：2016-05-27

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Masayuki KAMON ,  Yasushi KUROSAWA ,  Shigetsugu TANAKA

IPC: B25J9/16 ,  B25J13/06 ,  B25J3/00 ,  B25J19/02

Abstract: In a remote control robot system including a plurality of slave arms, slave arm has a plurality of control modes of an automatic mode in which slave arm is operated based on a task program, a manual mode in which slave arm is operated based on an operator's operation received by a master device, and correctable automatic mode in which slave arm is operated based on task program while operation is sequentially corrected by the operator's operation received by master device. Operation sequence information includes an automatic part in which slave arm performs a work in the automatic mode, and a selected part in which slave arm performs a work in one selected from plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.

公开(公告)号：US20250041008A1

公开(公告)日：2025-02-06

申请号：US18923816

申请日：2024-10-23

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Tsuyoshi TOJO ,  Nobuyasu SHIMOMURA ,  Tetsuo ICHII

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/30

Abstract: A surgical robot (10) includes robot arms (130), an arm base (120), and a control device (30). Each of the robot arms includes a base portion (138), a tip portion (137) that can hold a medical instrument (150), and links (131 to 136). The link (131) adjacent to the base portion is connected to the base portion through a rotational joint (JA1). The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion (134aa) of a first link (134) is located between a second portion (138a) of the base portion and a third portion (JA7a) of the tip portion.

公开(公告)号：US20180243901A1

公开(公告)日：2018-08-30

申请号：US15755304

申请日：2016-05-27

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Tsuyoshi MAEHARA ,  Masayuki KAMON ,  Yasushi KUROSAWA ,  Shigetsugu TANAKA

IPC: B25J9/16 ,  B25J3/00

Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.

公开(公告)号：US20180243897A1

公开(公告)日：2018-08-30

申请号：US15755115

申请日：2016-05-27

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Tsuyoshi MAEHARA ,  Masayuki KAMON

IPC: B25J3/00 ,  B25J13/06 ,  B23P19/04 ,  B25J19/04 ,  B25J13/08 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.

公开(公告)号：US20200206893A1

公开(公告)日：2020-07-02

申请号：US16615030

申请日：2018-05-17

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Nobuyasu SHIMOMURA ,  Masayuki KAMON ,  Jun FUJIMORI ,  Hiroki KINOSHITA ,  Takuya SHITAKA ,  Hiroki TAKAHASHI

IPC: B25J3/04 ,  B25J9/16

Abstract: A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.

公开(公告)号：US20180257238A1

公开(公告)日：2018-09-13

申请号：US15755135

申请日：2016-05-27

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Yasuhiko HASHIMOTO ,  Nobuyasu SHIMOMURA ,  Tsuyoshi MAEHARA ,  Masayuki KAMON ,  Shigetsugu TANAKA

IPC: B25J13/00 ,  B25J19/04 ,  B23P19/04

CPC classification number: A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

公开(公告)号：US20180243908A1

公开(公告)日：2018-08-30

申请号：US15755479

申请日：2016-06-24

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

Inventor： Tsuyoshi TOJO ,  Nobuyasu SHIMOMURA

IPC: B25J9/16 ,  B25J3/00 ,  B25J11/00

Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and operator operates, operating information according to operation, and motion controller controlling robot main body's operation according to operating information outputted from operating device.

公开(公告)号：US20230012535A1

公开(公告)日：2023-01-19

申请号：US17782209

申请日：2020-12-04

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

Inventor： Tsuyoshi TOJO ,  Nobuyasu SHIMOMURA ,  Tetsuo ICHII

IPC: A61B34/37

Abstract: A surgical robot includes robot arms, an arm base, and a control device. Each of the robot arms includes a base portion, a tip portion that can hold a medical instrument, and links. The link adjacent to the base portion is connected to the base portion through a rotational joint. The control device controls the robot arm having at least seven degrees of freedom among the robot arms such that when viewed from a direction parallel to an axial direction of a rotation axis of the rotational joint, a first portion of a first link is located between a second portion of the base portion and a third portion of the tip portion.

公开(公告)号：US20230000572A1

公开(公告)日：2023-01-05

申请号：US17782185

申请日：2020-12-03

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

Inventor： Tsuyoshi TOJO ,  Nobuyasu SHIMOMURA ,  Tetsuo ICHII

IPC: A61B34/30 ,  A61B90/00

Abstract: A controller of a surgical system is configured to: set a center point; set a reference point on a reference line that is an extension of a rotation axis of a proximal end roll joint or that is offset from the extension in a direction normal to the extension; and position joints of a manipulator arm such that a shaft passes through the center point and that a reference plane passes through the reference point, the reference plane including a rotation axis of a distal end roll joint that coincides with a central axis of the shaft and crossing a rotation axis of a pivotal joint.

公开(公告)号：US20220110702A1

公开(公告)日：2022-04-14

申请号：US17500150

申请日：2021-10-13

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

Inventor： Yuichi MIZOHATA ,  Nobuyasu SHIMOMURA ,  Ayataka KOBAYASHI

IPC: A61B34/00 ,  A61B34/37 ,  B25J9/16

Abstract: A robotic surgical system includes a controller configured or programmed to change a length between a first axis and a second axis in a direction in which a shaft extends, the length serving as a control parameter, according to a rotation speed of the shaft with respect to an amount of operation to control operation of a surgical instrument.