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公开(公告)号：WO2017013453A1
公开(公告)日：2017-01-26
申请号：PCT/GB2016/052264
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
CPC classification number: A61B34/30 , A61B2017/0069 , A61B2034/305 , B25J9/102 , B25J17/0258 , B25J17/0275 , B25J18/04 , F16H19/001 , Y10S901/25 , Y10S901/26
Abstract: A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a pitch rotation axis (20) and to a second one of the limbs by a second revolute joint having a yaw rotation axis (21); a first drive gear (33) disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear (37) disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft (26) for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear (32) thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft (27) for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear (34) thereon; and an intermediate gear train (35, 38, 39) borne by the carrier and coupling the second shaft gear to the second drive gear.
Abstract translation: 一种机器人手臂，包括用于将所述臂的一个肢体（310）相对于所述臂的另一个肢体（311）围绕两个不平行的旋转轴线铰接的联接机构，所述机构包括：中间载体（28），其附接到第一个 通过具有俯仰旋转轴线（20）的第一旋转接头和通过具有偏转旋转轴线（21）的第二旋转接头连接到所述肢体的第二旋转接头。 围绕所述俯仰旋转轴设置的第一驱动齿轮（33），所述第一驱动齿轮与所述载体一起快速; 围绕所述偏转旋转轴线设置的第二驱动齿轮（37），所述第二驱动齿轮与所述第二个所述肢体快速连接; 第一驱动轴（26），用于驱动第一驱动齿轮围绕俯仰旋转轴线旋转，第一驱动轴沿着第一个四肢延伸并且在其上具有第一轴齿轮（32），第一轴齿轮被布置 接合第一驱动齿轮; 用于驱动所述第二驱动齿轮围绕所述偏转旋转轴线旋转的第二驱动轴（27），所述第二驱动轴沿着所述第一个所述肢体延伸并且具有第二轴齿轮（34）; 以及由托架承载并将第二轴齿轮联接到第二驱动齿轮的中间齿轮系（35,38,39）。
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Patent Agency Ranking
公开(公告)号：WO2017013452A1
公开(公告)日：2017-01-26
申请号：PCT/GB2016/052263
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventor： MARSHALL, Keith , ROACH, Christopher James , ROBERTS, Paul Christopher , RANDLE, Steven James
CPC classification number: G01D5/145 , G01D5/2454
Abstract: A device for sensing the relative rotary position of first and second parts about a rotation axis, the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part, the first track being linear and the second track comprising a plurality of circular arcs and at least one transition section connecting one of the circular arcs to another, the tracks being arranged so as to convert relative rotation of the parts into linear motion of the follower, wherein the second track is generally spiral, each circular arc is of constant radius about the rotation axis and the first track is perpendicular to the rotation axis.
Abstract translation: 一种用于感测第一和第二部分围绕旋转轴线的相对旋转位置的装置，该装置包括被限制为在第一轨道上与第一部分快速移动并且在第二轨道上与第二部分快速移动的跟随器，第一轨道为 并且所述第二轨道包括多个圆弧和将所述圆弧中的一个连接到另一个的至少一个过渡部分，所述轨道被布置成将所述部件的相对旋转转换成所述从动件的线性运动，其中所述第二轨道 通常是螺旋形的，每个圆弧围绕旋转轴线具有恒定的半径，并且第一轨道垂直于旋转轴线。
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公开(公告)号：WO2017009604A1
公开(公告)日：2017-01-19
申请号：PCT/GB2016/052027
申请日：2016-07-06
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventor： RANDLE, Steven James , HARES, Luke David Ronald , MARSHALL, Keith
CPC classification number: A61B34/30 , A61B2017/003 , A61B2034/305 , A61B2034/306
Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.
Abstract translation: 一种机器人手术器械，包括轴，铰接部分和驱动机构。 铰接部分从轴延伸并在其末端终止于尖端。 尖端具有用于末端执行器的附件。 驱动机构通过柔性驱动元件驱动铰接部分，从而改变尖端相对于轴的角度取向。 控制驱动机构以便沿至少一个范围总是完全地压缩铰接部分，由此铰接部分将尖端和轴连接起来，同时将铰接部分从任何一种构型驱动到任何其它构型。 驱动机构约束铰接部分的运动，以便允许尖端以两个旋转自由度移动，并且相对于轴不具有平移自由度。
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公开(公告)号：WO2017013451A1
公开(公告)日：2017-01-26
申请号：PCT/GB2016/052262
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventor： MARSHALL, Keith , HARES, Luke David Ronald , JACKSON, Thomas Bates , RANDLE, Steven James , ROBERTS, Paul Christopher , MOTTRAM, Edward John , DA SILVA, Ricardo Michael Henderson , DEANE, Gordon Thomas
CPC classification number: B25J9/102 , A61B34/30 , A61B2034/305 , B25J9/046 , B25J9/126 , B25J17/0258 , F16H19/001 , G01D5/244 , Y10S901/09 , Y10S901/15 , Y10S901/23 , Y10S901/26 , Y10S901/29 , Y10S901/46
Abstract: A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear (33) disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear (37) disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
Abstract translation: 一种机器人手臂，包括用于将所述臂的一个肢体（310）相对于所述臂的另一个肢体（311）围绕两个非平行旋转轴线（20,21）铰接的关节机构，所述机构包括：中间载体（28） 通过具有第一旋转轴线的第一旋转接头和通过具有第二旋转轴线的第二旋转接头连接到第二个四肢的第一个四肢中; 第一驱动齿轮（33），其围绕第一旋转轴线布置并且与载体快速地布置，由此可以驱动托架围绕第一旋转轴线相对于第一分支体的旋转; 第二驱动齿轮（37）围绕第二旋转轴设置并且与第二个四肢快速配合，从而可以驱动第二个四肢相对于托架围绕第二旋转轴的旋转; 第一和第二驱动齿轮中的至少一个是扇形齿轮。
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公开(公告)号：WO2015107327A1
公开(公告)日：2015-07-23
申请号：PCT/GB2015/050021
申请日：2015-01-08
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventor： HARES, Luke David Ronald , RANDLE, Steven James
CPC classification number: A61B34/30 , A61B2034/305 , B25J17/0275 , B25J17/0283
Abstract: A robot comprising an arm extending between a base and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.
Abstract translation: 一种机器人，包括在底座和用于末端执行器的附件之间延伸的臂，所述臂包括：第一臂部分; 在第一臂部分的远侧的第二臂部分; 以及联接部，其中所述第一和第二臂部分联接在一起，所述关节允许所述第一和第二臂部分相对于彼此绕至少两个相互偏移的轴线旋转; 所述控制杆在与所述第一和第二轴线间隔开的位置处附接到所述臂的第二部分，所述控制杆沿着所述第一臂部分向远端延伸; 以及驱动机构，用于驱动控制杆相对于第一臂部移动，从而改变第二臂部相对于第一臂部的姿态。
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公开(公告)号：WO2015107326A1
公开(公告)日：2015-07-23
申请号：PCT/GB2015/050019
申请日：2015-01-08
Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD
Inventor： HARES, Luke David Ronald , RANDLE, Steven James
CPC classification number: A61B34/30 , A61B2034/305 , B25J17/0275 , B25J17/0283
Abstract: A robotic instrument comprising an arm extending between a robot arm connection and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.
Abstract translation: 一种机器人器械，其包括在机器人臂连接件和用于末端执行器的附件之间延伸的臂，所述臂包括：第一臂部分; 第一臂部分远端的第二臂部分; 以及接头，其中第一和第二臂部件联接在一起，接头允许第一和第二臂部件围绕至少两个相互偏置的轴线相对于彼此旋转; 控制杆，所述控制杆在与所述第一和第二轴线间隔开的位置处附接到所述臂的所述第二部分，所述控制杆沿着所述第一臂部分在所述位置的远侧延伸; 以及驱动机构，用于驱动控制杆相对于第一臂部件移动，从而改变第二臂部件相对于第一臂部件的姿态。
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