公开(公告)号：US12076855B2

公开(公告)日：2024-09-03

申请号：US17926833

申请日：2021-01-28

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Yaoyao Wang ,  Hao Fu ,  Bai Chen

IPC: B25J9/00 ,  B25J9/10 ,  B25J13/08 ,  B25J17/02 ,  B25J18/04

CPC classification number: B25J9/0006 ,  B25J9/0087 ,  B25J9/1045 ,  B25J9/108 ,  B25J13/08 ,  B25J17/0258 ,  B25J18/04

Abstract: A wearable cable-driven robotic arm system includes a wearing mechanism, two robotic arms located on two sides of the wearing mechanism, cable driving devices, a load trolley, and a motor controller, where the cable driving devices are divided into driving portions and driven portions, heavy objects, such as electric motors, of the driving portions are arranged in the load trolley, thereby reducing loads born by the wearable robotic arms, the load trolley can travel with a person by means of sleeves or can be controlled by the motor controller to move by means of signals measured by following modules, the driven portions are combined with the robotic arms, and are double-cable driven, thereby reducing weight of the robotic arms, and a brain-computer interface module is used for controlling the driving devices, thereby controlling the robotic arms more accurately.

公开(公告)号：US11950872B2

公开(公告)日：2024-04-09

申请号：US17130496

申请日：2020-12-22

Applicant: Auris Health, Inc.

Inventor： Andre J. Castillo ,  Akira Bryan Ueda

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  B25J18/04

CPC classification number: A61B34/71 ,  A61B2034/2051 ,  A61B2034/301 ,  B25J18/04 ,  Y10T74/19819

Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.

公开(公告)号：US20240109187A1

公开(公告)日：2024-04-04

申请号：US18480212

申请日：2023-10-03

Applicant: BROOKS AUTOMATION US, LLC

Inventor： Robert T. CAVENEY

IPC: B25J9/12 ,  B25J11/00 ,  B25J18/04 ,  H01L21/677

CPC classification number: B25J9/126 ,  B25J11/0095 ,  B25J18/04 ,  H01L21/67742 ,  B25J9/0009 ,  Y10T74/20317

Abstract: A sealed actuator including stacked motor modules. Each motor module has a motor module housing, a motor stator attached to a respective motor module housing, a motor rotor in communication with a respective motor stator, and a stator seal disposed between the motor stator and motor rotor, surrounding the motor rotor and having a sealing surface interface, that interfaces with a respective sealing housing surface of the motor module housing, facing the motor rotor to seal the motor stator from the motor rotor. The motor module housings are stacked against each other and the sealing housing surface interfaced, at the sealing surface interface facing the rotors, to the respective stacked stator seals of the motor module housings forms a substantially continuous seal interface of the stacked motor modules sealed by the stacked stator seals to form a continuous barrier seal between the motor rotors and the motor stators.

公开(公告)号：US20240091963A1

公开(公告)日：2024-03-21

申请号：US17946698

申请日：2022-09-16

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Michael J. Myers

IPC: B25J18/04 ,  B25J9/00 ,  B25J17/00

CPC classification number: B25J18/04 ,  B25J9/0006 ,  B25J17/00

Abstract: A length adjustable robotic limb comprises a first joint assembly, a second joint assembly, and a structural member extending between the first joint assembly and the second joint assembly, the structural member defining a longitudinal axis. An adjustable interface can be provided between the structural member and one of the first and second joint assemblies. The adjustable interface can facilitate adjustment of a length between the first and second joint assemblies. A rotational interface between the structural member and one of the first and second joint assemblies can facilitate relative rotation between the first joint assembly and the second joint assembly about the longitudinal axis in a degree of freedom corresponding to medial/lateral rotation of a portion of a human limb.

公开(公告)号：US11911126B2

公开(公告)日：2024-02-27

申请号：US17130496

申请日：2020-12-22

Applicant: Auris Health, Inc.

Inventor： Andre J. Castillo ,  Akira Bryan Ueda

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/20 ,  B25J18/04

CPC classification number: A61B34/71 ,  A61B2034/2051 ,  A61B2034/301 ,  B25J18/04 ,  Y10T74/19819

Abstract: Certain aspects relate to systems and techniques for robotic medical instrument system. The medical system can include an elongated shaft configured for insertion into a patient. The system can also include a pull wire extending along the elongated shaft. The pull wire can be actuatable to articulate the elongated shaft. The medical system can include a dynamic pulley coupled to the pull wire, the dynamic pulley configured to collapse during rotation in a first direction and to expand during rotation in a second direction opposite the first direction.

公开(公告)号：US11896339B2

公开(公告)日：2024-02-13

申请号：US16946369

申请日：2020-06-18

Applicant: Cilag GmbH International

Inventor： Andrew T. Beckman ,  Charles J. Scheib ,  Aren Calder Hill ,  Yanan Huang

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/04 ,  B25J18/00 ,  B25J18/04 ,  A61B34/30 ,  B25J9/10 ,  A61B17/29

CPC classification number: A61B34/74 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  B25J9/04 ,  B25J9/108 ,  B25J9/1035 ,  B25J18/007 ,  B25J18/04 ,  A61B2017/2902 ,  A61B2017/2943 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305

Abstract: A robotic surgical system includes a surgical tool including a drive housing having first and second ends, a carriage movably mounted to the drive housing, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end. An instrument driver is arranged at an end of a robotic arm and includes a body having proximal and distal ends and defining a central aperture extending between the proximal and distal ends, the shaft and the end effector penetrate the instrument driver by extending through the central aperture, an outer housing extending between the proximal and distal ends, a tool drive assembly provided at the proximal end and extending into the outer housing, and a drive motor operatively coupled to the tool drive assembly and operable to cause the tool drive assembly to rotate relative to the outer housing.

公开(公告)号：US11742231B2

公开(公告)日：2023-08-29

申请号：US16657841

申请日：2019-10-18

Applicant: Taiwan Semiconductor Manufacturing Co., Ltd.

Inventor： Hsuan-Chih Chu ,  Wen-Hao Cheng ,  Yen-Yu Chen ,  Yi-Ming Dai

IPC: C23C14/00 ,  C23C14/54 ,  H01L21/673 ,  H01L21/67 ,  H01L21/66 ,  H01L21/687 ,  C23C14/50 ,  B25B11/00 ,  C30B25/12 ,  B25J11/00 ,  B29C64/241 ,  B25J18/04 ,  B25F5/02 ,  H01J37/20 ,  B05C13/00

CPC classification number: H01L21/673 ,  B05C13/00 ,  B25B11/00 ,  B25F5/02 ,  B25J11/0075 ,  B25J18/04 ,  B29C64/241 ,  C23C14/00 ,  C23C14/505 ,  C23C14/541 ,  C30B25/12 ,  H01J37/20 ,  H01L21/67098 ,  H01L21/67103 ,  H01L21/67115 ,  H01L21/67248 ,  H01L21/68764 ,  H01L21/68785 ,  H01L21/68792 ,  H01L22/12 ,  F16C2322/39 ,  H01J2237/20207 ,  H05B2203/002 ,  H05B2203/003 ,  H05B2203/037 ,  Y10S269/901

Abstract: The present disclosure provides a flexible workpiece pedestal capable of tilting a workpiece support surface. The workpiece pedestal further includes a heater mounted on the workpiece support surface. The heater includes a plurality of heating sources such as heating coils. The plurality of heating sources in the heater allows heating the workpiece at different temperatures for different zones of the workpiece. For example, the workpiece can have a central zone heated by a first heating coil, a first outer ring zone that is outside of the central zone heated by a second heating coil, a second outer ring zone that is outside of the first outer ring zone heated by a third heating coil. By using the tunable heating feature and the tilting feature of the workpiece pedestal, the present disclosure can reduce or eliminate the shadowing effect problem of the related workpiece pedestal in the art.

公开(公告)号：US20230191590A1

公开(公告)日：2023-06-22

申请号：US17926833

申请日：2021-01-28

Applicant: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

Inventor： Yaoyao WANG ,  Hao FU ,  Bai CHEN

IPC: B25J9/00 ,  B25J17/02 ,  B25J18/04 ,  B25J13/08 ,  B25J9/10

CPC classification number: B25J9/0006 ,  B25J17/0258 ,  B25J18/04 ,  B25J13/08 ,  B25J9/0087 ,  B25J9/1045 ,  B25J9/108

Abstract: A wearable cable-driven robotic arm system includes a wearing mechanism, two robotic arms located on two sides of the wearing mechanism, cable driving devices, a load trolley, and a motor controller, where the cable driving devices are divided into driving portions and driven portions, heavy objects, such as electric motors, of the driving portions are arranged in the load trolley, thereby reducing loads born by the wearable robotic arms, the load trolley can travel with a person by means of sleeves or can be controlled by the motor controller to move by means of signals measured by following modules, the driven portions are combined with the robotic arms, and are double-cable driven, thereby reducing weight of the robotic arms, and a brain-computer interface module is used for controlling the driving devices, thereby controlling the robotic arms more accurately.

公开(公告)号：US20190248002A1

公开(公告)日：2019-08-15

申请号：US16391305

申请日：2019-04-23

Applicant: Cobalt Robotics Inc.

Inventor： Travis J. Deyle ,  Erik Schluntz ,  Michael Ferguson ,  Peregrine Badger

IPC: B25J9/16 ,  B25J18/00 ,  B25J18/04 ,  B25J5/00 ,  B25J13/00 ,  B25J13/08

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1679 ,  B25J13/006 ,  B25J13/086 ,  B25J13/089 ,  B25J18/007 ,  B25J18/04

Abstract: A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The mobile robot can have a motorized base and a robot body on the motorized base, the robot body including a rotatable ring that rotates horizontally around the robot body. A mechanical arm that can contract and extend relative to the robot body is coupled to the rotatable ring and performs a plurality of actions. A controller of the mobile robot provides instructions to the rotatable ring and the mechanical arm and can cause the mechanical arm to open a door, take an elevator to move to a different floor, and test whether a door is locked properly.

公开(公告)号：US20190084149A1

公开(公告)日：2019-03-21

申请号：US16082460

申请日：2017-03-08

Applicant: igus GmbH

Inventor： Martin RAAK ,  Felix BERGER

IPC: B25J9/04 ,  B25J9/08 ,  B25J18/04

CPC classification number: B25J9/042 ,  B25J9/046 ,  B25J9/08 ,  B25J18/02 ,  B25J18/04

Abstract: The invention relates to a robot arm comprising at least two arm joints which are pivotally connected together and which are driven directly. The aim of the invention is to reduce the energy required to move the parts when pivoting the arm joint and allow an uncomplicated adaptation of the robot arm to changed use conditions. This is achieved in that at least one of the two arm joints has a motor part and a joint part, wherein the two parts are arranged in a mutually spaced manner via a spacer part, and the other arm joint is arranged so as to engage with the spacer part of the arm joint such that the position can be changed relative to the arm joint.