公开(公告)号：US12128545B2

公开(公告)日：2024-10-29

申请号：US18024505

申请日：2021-08-29

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Ippei Shimizu ,  Hiroyuki Okada

IPC分类号： B25J17/02 ,  B25J11/00

CPC分类号： B25J11/0095 ,  B25J17/02

摘要： A robot is for transferring a substrate. The robot includes an arm, a hand, and a tilter. The arm is movable. The hand is installed to the arm to project from it and holds and transfers the substrate. The tilter tilts an orientation of the hand. The hand includes a holder. The holder contacts the top surface and the bottom surface of the substrate. With the tilter, the holder holds the substrate keeping in contact with the top surface and the bottom surface of the substrate and applying forces to only one of two halves of the substrate bisected.

公开(公告)号：US12121311B2

公开(公告)日：2024-10-22

申请号：US18207869

申请日：2023-06-09

申请人： Unik Orthopedics, Inc.

发明人： Charlie Wen-Ren Chi

IPC分类号： A61B34/30 ,  A61B17/15 ,  A61B17/17 ,  A61B34/10 ,  B25J17/02 ,  A61B17/00

CPC分类号： A61B34/30 ,  A61B17/1764 ,  A61B34/10 ,  B25J17/02 ,  A61B2017/00212 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B17/154 ,  A61B17/1742 ,  A61B17/1757 ,  A61B2034/105 ,  A61B2034/108 ,  A61B2034/301

摘要： Described within are systems, methods and apparatus for a bone mounted robotic-assisted orthopedic surgery system for precise implant position, soft tissue balancing and guidance of tools during a surgical procedure, particularly partial or total knee replacement procedure. The system features a bone mounted robotic arm with end-effector for precise positioning of surgical tool, position in of implants and balancing of soft tissues. The reconfigurable robotic system requires minimal training by surgeons, is intuitive to use similar to conventional instrumented surgery and has a small footprint. The system works with existing, conventional instruments, patient specific instruments, sensor-assisted systems and computer-assisted systems and does not require increased surgical time and safely provides the enhanced precision achievable by robotic-assisted systems and computer-assisted technologies.

公开(公告)号：US20240227207A9

公开(公告)日：2024-07-11

申请号：US18374886

申请日：2023-09-29

申请人： CORNING INCORPORATED

发明人： Justin Carl Fossum

IPC分类号： B25J15/04 ,  B25J17/02

CPC分类号： B25J15/0416 ,  B25J15/0441 ,  B25J17/02

摘要： Methods, systems, devices, and apparatuses that support techniques for material hand-off using a double-acting kinematic mount are described. A kinematic mount may be mounted between a flange of a robotic manipulator and with a tool for retrieval and placement of an object. The kinematic mount may include a first sub-component and a second sub-component, where a floating structure of the first sub-component may be coupled with a plate of the second sub-component by a preloading force (e.g., via one or more springs, magnets). The kinematic mount may be configured such that the floating structure may be decoupled from the plate of the second sub-component when a force greater than the preloading force is applied to a bottom plate of the first sub-component. The first sub-component may move independently of the second sub-component while decoupled, allowing the tool to align to the object during retrieval and placement.

公开(公告)号：US20240198541A1

公开(公告)日：2024-06-20

申请号：US18288927

申请日：2021-07-12

申请人： GOOGLE LLC

发明人： J. Chase Kew ,  James Lubin ,  Ken Caluwaerts ,  Stefano Saliceti ,  Brandon Kinman ,  Byron David ,  Claudio Fantacci

IPC分类号： B25J17/02 ,  B25J19/00

CPC分类号： B25J17/02 ,  B25J19/0025

摘要： In various implementations a removable appendage of a robot can allow for stable pitch and yaw, while mitigating interference with other movements of the robot. A neck of the robot can include at least two linear actuators, each coupled to a rod that is driven to move linearly from the linear actuators. An appendage of the robot can be coupled to the neck. The appendage can include a at least two tracks, where each track receives an end of the rods to slidably engage the rod.

公开(公告)号：US11964393B2

公开(公告)日：2024-04-23

申请号：US18221029

申请日：2023-07-12

申请人： REALTIME ROBOTICS, INC.

发明人： Daniel Sorin ,  George Konidaris ,  Sean Murray ,  William Floyd-Jones ,  Peter Howard ,  Xianchao Long

IPC分类号： B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B25J15/00 ,  B25J15/04 ,  B25J17/02

CPC分类号： B25J9/1666 ,  B25J9/0093 ,  B25J9/161 ,  B25J9/1697 ,  B25J13/088 ,  B25J15/0019 ,  B25J15/04 ,  B25J17/02

摘要： A robot control system determines which of a number of discretizations to use to generate discretized representations of robot swept volumes and to generate discretized representations of the environment in which the robot will operate. Obstacle voxels (or boxes) representing the environment and obstacles therein are streamed into the processor and stored in on-chip environment memory. At runtime, the robot control system may dynamically switch between multiple motion planning graphs stored in off-chip or on-chip memory. The dynamically switching between multiple motion planning graphs at runtime enables the robot to perform motion planning at a relatively low cost as characteristics of the robot itself change. Various aspects of such robot motion planning are implemented in particular systems and methods that facilitate motion planning of the robot for various environments and tasks.

公开(公告)号：US11957429B2

公开(公告)日：2024-04-16

申请号：US17332155

申请日：2021-05-27

申请人： Titan Medical Inc.

发明人： Brandon Michael Kelly ,  Michael Darter Collins ,  Zachary Kevin Durand ,  William Jacob Ward ,  Mark Curtis Rector

IPC分类号： A61B34/30 ,  A61B34/00 ,  B25J11/00 ,  B25J15/00 ,  B25J17/02 ,  A61B90/00

CPC分类号： A61B34/74 ,  A61B34/30 ,  B25J11/00 ,  B25J15/0028 ,  B25J17/02 ,  A61B2034/742 ,  A61B2090/067 ,  A61B2562/0223

摘要： In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body with a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can additionally include a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever.

公开(公告)号：US11945105B2

公开(公告)日：2024-04-02

申请号：US17765143

申请日：2019-09-30

申请人： RETHINK ROBOTICS GMBH

发明人： Yong Yang ,  Sheng Zhang ,  Chao Jiang

IPC分类号： B25J19/00 ,  B25J17/02 ,  F16D63/00 ,  F16D65/16 ,  F16D121/20

CPC分类号： B25J19/0004 ,  B25J17/02 ,  F16D63/006 ,  F16D65/16 ,  F16D2121/20

摘要： A toothed safe braking apparatus for use in robotic joint, comprising an electromagnetic telescoping apparatus (6) and a friction engagement component (10). The friction engagement component (10) is mounted on a shaft (C) of the robotic joint and comprises a brake lock ring gear (1) provided with a first center fitting hole (12), the brake lock ring gear (1) being provided with teeth (11) arranged on the outer circumferential surface thereof, a pretension ring (2) provided with a second center fitting hole (13), and a brake hub (4) provided with a first end surface (14), a second end surface (15), and an outer circumferential surface (16). On a locked position, a working bit (17) of the electromagnetic telescoping apparatus (6) can be engaged with the teeth (11) on the brake lock ring gear (1) of the friction engagement component (10); and, on an unlocked position, the working bit (17) of the electromagnetic telescoping apparatus (6) can be disengaged from the teeth (11) on the brake lock ring gear (1) of the friction engagement component (10). The brake lock ring gear (1) and the pretension ring (2) are arranged in parallel via the first fitting hole (12) and the second fitting hole (13) to be friction engaged on the outer circumferential surface (16) of the brake hub (4).

公开(公告)号：US20240025030A1

公开(公告)日：2024-01-25

申请号：US18375742

申请日：2023-10-02

申请人： Nimble Robotics, Inc.

发明人： Simon Kalouche

IPC分类号： B25J5/00 ,  B65G1/137 ,  B25J9/14 ,  B25J9/16 ,  B25J13/08 ,  B25J19/04 ,  B25J15/06 ,  B25J15/04 ,  B25J15/02 ,  B25J5/02 ,  B25J19/00 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02 ,  B65G1/04 ,  B65G1/06 ,  B25J9/04 ,  B25J17/02 ,  B60M1/30

CPC分类号： B25J5/007 ,  B65G1/1373 ,  B25J9/14 ,  B25J9/161 ,  B25J13/089 ,  B25J19/04 ,  B25J9/162 ,  B25J15/0625 ,  B25J15/0441 ,  B25J15/02 ,  B25J9/1689 ,  B25J5/02 ,  B25J19/0025 ,  B65G47/917 ,  B65G47/918 ,  B25J13/00 ,  B25J15/0061 ,  B25J15/0616 ,  B25J19/02 ,  B65G1/0464 ,  B65G1/065 ,  B65G1/1375 ,  B25J9/042 ,  B25J9/1612 ,  B25J9/163 ,  B25J9/1697 ,  B25J13/08 ,  B25J17/02 ,  B25J19/005 ,  B60M1/30 ,  B65G1/0478 ,  B25J13/006 ,  B25J19/021 ,  B65G2203/042 ,  B65G2203/041 ,  B65G2209/04

摘要： A robotic system including a storage structure provided with vertical members supporting a grid collectively defining grid spaces and a plurality of storage containers arranged in vertical stacks for storing inventory items, each one of the vertical stacks configured to be arranged within a respective one of the grid spaces. One or more load handling robots are installed upon the grid and include a lifting device extendable in a vertical direction to extract one or more storage containers from the vertical stacks and transport the extracted storage container to a station. The robotic system further includes one or more manipulator robots installed at the station and within a single grid space. The one or more manipulator robots include a picking arm provided with a pneumatic gripping tool arranged to pick an inventory item from the transported storage container and place the picked item into an order container.

公开(公告)号：US11865704B2

公开(公告)日：2024-01-09

申请号：US17921918

申请日：2021-05-10

申请人： OMRON Corporation

发明人： Yoshihisa Ijiri ,  Kazutoshi Tanaka ,  Felix Von Drigalski ,  Masashi Hamaya ,  Yoshiya Shibata ,  Chisato Nakashima

IPC分类号： B25J17/02

CPC分类号： B25J17/02

摘要： A joint structure includes a locking mechanism for switching a free state in which a second element is independent from a first element and capable of moving, and a locked state in which the second element is fixed to the first element. The locking mechanism includes a first member joined to the first element, a second member joined to the second element, and a flexible wire-shaped member in which one end thereof is attached to the second member and another end thereof is led out to the outside of the joint structure via a through hole provided in the first member. The joint structure enters the locked state by the wire-shaped member being pulled to bring the second member into contact with the first member, and enters the free state by the wire-shaped member being fed to separate the second member from the first member.

公开(公告)号：US20230414300A1

公开(公告)日：2023-12-28

申请号：US17852261

申请日：2022-06-28

申请人： Cilag GmbH International

发明人： Seth Daniel HOLDMEYER ,  Jeffrey L. CLARK ,  Eric William BRUNNER ,  Maria LUPP ,  Jalen Lee WIZE ,  Grant Wood NAIR

IPC分类号： A61B34/30 ,  B25J17/02 ,  B25J9/10

CPC分类号： A61B34/30 ,  B25J17/02 ,  B25J9/106 ,  A61B2034/306 ,  A61B2034/301 ,  A61B2034/715

摘要： A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing jaws, and an articulable wrist interposing the end effector and the shaft and comprising a plurality of articulation links arranged in series along a longitudinal length of the wrist. A closure redirect mechanism includes first and second rigid links arranged proximal to the wrist, first and second transfer mechanisms pivotably mounted to the first and second rigid links, respectively, first and second transfer links interposing the end effector and the wrist, and first and second tension members extending distally from the first and second transfer mechanisms, respectively, and being secured to the first and second transfer links, respectively. Moving the first rigid link relative to the second rigid link, and vice versa, causes the first and second transfer links to correspondingly move and thereby open or close the jaws.