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公开(公告)号：US20090163948A1
公开(公告)日：2009-06-25
申请号：US12340818
申请日：2008-12-22
申请人： Takamitsu Sunaoshi , Makoto Jinno , Ryohei Katsuki
发明人： Takamitsu Sunaoshi , Makoto Jinno , Ryohei Katsuki
IPC分类号： A61B17/29
CPC分类号： A61B34/70 , A61B34/30 , A61B34/37 , A61B34/71 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2034/742
摘要： A medical manipulator system includes a manipulator including a working unit having a distal-end working unit, the attitude of which can be changed by a motor, and a controller for controlling the manipulator. When the controller performs an origin return process for moving a gripper of the distal-end working unit to an origin position at an end of an operating range thereof, the controller issues a first control target value to the motor indicative of a virtual position beyond the origin. Thereafter, the controller issues a second control target value to the motor indicative of the origin. The first control target value represents a position, which is over from the origin P0 by a distance greater than a value corresponding to an error ε between a control target position for the gripper and the actual position thereof.
摘要翻译： 医疗机械手系统包括操纵器，其包括具有远端工作单元的作业单元，其姿态可以由马达改变，以及用于控制操纵器的控制器。 当控制器执行用于将远端工作单元的夹持器移动到其工作范围的结束处的原点位置的原点返回处理时，控制器向指示虚拟位置的电动机发出第一控制目标值， 起源。 此后，控制器向指示原点的电动机发出第二控制目标值。 第一控制目标值表示从原点P0超过对应于用于夹持器的控制目标位置与其实际位置之间的误差ε的值的距离的位置。
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公开(公告)号：US10245058B2
公开(公告)日：2019-04-02
申请号：US11923159
申请日：2007-10-24
摘要： A manipulator comprises a hollow shaft, wires provided on the shaft and a working unit disposed on one end of the shaft and being driven by at least one wire of the wires, the working unit having a tip tool including a rolling mechanism which rotates about an axis Or directed to a distal end thereof. A tip side surface of a proximal end member and a cover of a distal end member are relatively rotated by the rolling mechanism. The cover has a rotation identifier for indicating a degree of relative rotation of the tip side surface. The tip side surface has an alignment indicator for indicating an initial position of the cover.
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公开(公告)号：US08512316B2
公开(公告)日：2013-08-20
申请号：US12432511
申请日：2009-04-29
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
CPC分类号： A61B34/70 , A61B34/71 , A61B2017/2927 , Y10T74/20335
摘要： A manipulator has a treating portion, a driving portion which are connected by a connecting portion, a first pulley on which a first wire which passes through inside of the connecting portion and is driven by the driving portion is hung for rotation, and a main shaft portion which rotatably supports the treating portion around a main shaft along a direction different from a first rotor axis that the first pulley rotates, one end portion of which is fixed to the first pulley.
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公开(公告)号：US08237388B2
公开(公告)日：2012-08-07
申请号：US12061092
申请日：2008-04-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： G05B11/01
CPC分类号： B25J9/1641 , A61B34/70 , A61B34/72 , A61B2017/2943 , G05B2219/39457 , G05B2219/41195 , G05B2219/41361 , G05B2219/45118 , Y10T74/20 , Y10T74/20207 , Y10T74/20305
摘要： A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.
摘要翻译： 操纵器具有工作单元，其包括末端执行器和用于改变操纵器的定向的姿势轴，设置在作业单元上的复合机构和用于分别致动夹持器轴线，偏转轴线和滚动轴线的控制器 控制三台电机的运动位置。 控制器包括用于检测在夹持器轴上产生扭矩的定时的转矩产生检测器。 当控制器检测到在给定电动机的操作下在夹具轴上产生转矩τg'的定时时，多个电动机的移动位置相对于相对于产生干扰转矩的方向被移位和设定 偏转轴和滚动轴线，以及相同方向的预定位置。
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公开(公告)号：US08137339B2
公开(公告)日：2012-03-20
申请号：US11832872
申请日：2007-08-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B17/00234 , A61B17/062 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/72 , A61B34/74 , A61B2017/2929 , A61B2017/2943 , A61B2034/305 , A61B2034/306
摘要： A working unit includes a gear body disposed forwardly of a tubular member around which a wire is wound and having a rotational axis disposed substantially parallel to the tubular member, and a first gear and a second gear for transmitting rotation of a gear body to another gear body. The numbers of turns of wires, the size of a main shaft, and the size of a gear body, which are positioned forwardly of the tubular member, have no adverse effect on the manner in which a wire is wound around the tubular member. The wire can be wound around the tubular member over a wide region thereof for increasing the angular displacement of the gear body. The increased angular displacement of the gear body makes it possible to increase the angular displacement and rotational torque of the gear body.
摘要翻译： 工作单元包括齿轮体，该齿轮体设置在管状构件的前方，线圈围绕该管状构件缠绕并且具有基本上平行于管状构件设置的旋转轴线;以及第一齿轮和第二齿轮，用于将齿轮体的旋转传递到另一齿轮 身体。 位于筒状构件前方的线的匝数，主轴的尺寸以及齿轮体的尺寸对于将线缠绕在筒状构件上的方式没有不利影响。 线可以在其宽的区域上缠绕在管状构件周围，以增加齿轮体的角位移。 齿轮体的增大的角位移使得可以增加齿轮体的角位移和旋转扭矩。
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公开(公告)号：US20080245175A1
公开(公告)日：2008-10-09
申请号：US12061092
申请日：2008-04-02
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shigeru Omori
IPC分类号： B25J11/00
CPC分类号： B25J9/1641 , A61B34/70 , A61B34/72 , A61B2017/2943 , G05B2219/39457 , G05B2219/41195 , G05B2219/41361 , G05B2219/45118 , Y10T74/20 , Y10T74/20207 , Y10T74/20305
摘要： A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.
摘要翻译： 操纵器具有工作单元，其包括末端执行器和用于改变操纵器的定向的姿势轴，设置在作业单元上的复合机构和用于分别致动夹持器轴线，偏转轴线和滚动轴线的控制器 控制三台电机的运动位置。 控制器包括用于检测在夹持器轴上产生扭矩的定时的转矩产生检测器。 当控制器检测到在给定电动机的操作下在夹持器轴上产生扭矩τ“g”的定时时，多个电动机的移动位置相应于 相对于偏转轴和滚动轴线产生干涉扭矩，并且产生相同方向的预定位置。
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公开(公告)号：US20080103491A1
公开(公告)日：2008-05-01
申请号：US11874522
申请日：2007-10-18
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B34/70 , A61B34/71 , A61B34/72 , A61B2017/00017 , A61B2017/00199 , A61B2017/00398 , A61B2017/0046 , A61B2017/00464 , A61B2017/00477 , A61B2034/742 , A61B2090/0811
摘要： In a manipulator, an actuator block contains motors and rotary shafts extending from the motors. A working unit of the manipulator contains a connecting portion, attachable to and detachable from the actuator block. The connecting portion has pulleys connectable to ends of the rotary shafts, and has a locking plate movable by alignment pins. The locking plate has slits, which are engaged with plate-shaped portions formed on the upper ends of the pulleys. A coil spring is placed between the locking plate and a top plate.
摘要翻译： 在机械手中，执行器块包含电动机和从电动机延伸的旋转轴。 操纵器的工作单元包含连接部分，该连接部分可附接到致动器块和从致动器块拆卸。 连接部具有可连接到旋转轴的端部的滑轮，并且具有可通过对准销移动的锁定板。 锁定板具有狭缝，其与形成在滑轮的上端的板状部分接合。 螺旋弹簧被放置在锁定板和顶板之间。
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公开(公告)号：US20060079866A1
公开(公告)日：2006-04-13
申请号：US11289334
申请日：2005-11-30
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B17/00
CPC分类号： A61B17/00234 , A61B34/70 , A61B34/72 , A61B90/50 , A61B2017/00017 , A61B2017/00477
摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than a back drive torque of the second power transmission unit.
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公开(公告)号：US20060074408A1
公开(公告)日：2006-04-06
申请号：US11289294
申请日：2005-11-30
申请人： Makoto Jinno , Takamitsu Sunaoshi
发明人： Makoto Jinno , Takamitsu Sunaoshi
IPC分类号： A61B17/00
CPC分类号： A61B17/00234 , A61B34/70 , A61B34/72 , A61B90/50 , A61B2017/00017 , A61B2017/00477
摘要： A medical manipulator comprises a working unit (10) that performs operations, an operating unit (20) that generates instructions, a drive unit (50) that drives the working unit on the basis of instructions given thereto by the operating unit, a power transmission mechanism (60) for transmitting driving force of the drive unit to the working unit, and a control unit (40) for controlling the power transmission mechanism on the basis of instructions given thereto by the operating unit. The power transmission mechanism includes a first power transmission unit (61) interlocked with the drive unit, and a second power transmission unit (63) interlocked with the working unit and capable of being detachably connected to the first power transmission unit. A back drive torque of the first power transmission unit is larger than aback drive torque of the second power transmission unit.
摘要翻译： 医疗机械手包括执行操作的工作单元（10），产生指令的操作单元（20），基于操作单元给出的指令驱动工作单元的驱动单元（50），动力传递 用于将驱动单元的驱动力发送到工作单元的机构（60），以及用于基于由操作单元给出的指令来控制动力传递机构的控制单元（40）。 动力传递机构包括与驱动单元互锁的第一动力传递单元（61）和与作业单元互锁且能够可拆卸地连接到第一动力传递单元的第二动力传递单元（63）。 第一动力传递单元的后驱动扭矩大于第二动力传递单元的驱动扭矩。
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公开(公告)号：US08118805B2
公开(公告)日：2012-02-21
申请号：US11511338
申请日：2006-08-29
申请人： Makoto Jinno , Takamitsu Sunaoshi , Shiro Tsukada
发明人： Makoto Jinno , Takamitsu Sunaoshi , Shiro Tsukada
IPC分类号： A61B17/00
CPC分类号： B25J9/104 , A61B34/30 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2090/031 , A61B2090/064
摘要： A robot has a flexible power transmission member, an input rotation axis rotated by a power generation source, a driving link connected at both ends of the flexible power transmission member, which transmits a rotation torque of the input rotation axis to the flexible power transmission member, and a driven pulley around which the flexible power transmission member is hung.
摘要翻译： 机器人具有柔性动力传递部件，由发电源旋转的输入旋转轴，连接在柔性动力传递部件的两端的驱动连杆，其将输入旋转轴的旋转扭矩传递到柔性动力传递部件 以及从动带轮，弹性动力传递部件悬挂在该从动皮带轮上。
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