公开(公告)号：WO2017013451A4

公开(公告)日：2017-03-09

申请号：PCT/GB2016052262

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

IPC: B25J9/10 ,  B25J17/02

CPC classification number: B25J17/0258 ,  B25J9/102

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，包括一个关节机构，用于将手臂的一个肢体（310）相对于手臂的另一个肢体（311）绕两个不平行的旋转轴（20,21）铰接起来，该机构包括：中间支架（28） 通过具有第一旋转轴线的第一旋转关节连接到第一肢体并且通过具有第二旋转轴线的第二旋转关节连接到所述肢体中的第二个; 第一驱动齿轮（33），所述第一驱动齿轮围绕所述第一旋转轴线设置并且与所述托架固定，由此可以驱动所述托架相对于所述第一臂绕所述第一旋转轴线的旋转; 第二驱动齿轮（37），其围绕第二旋转轴线布置并且与第二分支快速啮合，由此可以驱动分支中的第二分支围绕第二旋转轴线相对于载体的旋转; 第一和第二驱动齿轮中的至少一个是扇形齿轮。

公开(公告)号：WO2015107326A4

公开(公告)日：2015-09-11

申请号：PCT/GB2015050019

申请日：2015-01-08

Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD

Inventor： HARES LUKE DAVID RONALD ,  RANDLE STEVEN JAMES

IPC: A61B19/00 ,  B25J9/06 ,  B25J17/02

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: 一种机器人仪器，包括在机器人手臂连接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。

公开(公告)号：WO2016059369A1

公开(公告)日：2016-04-21

申请号：PCT/GB2015052828

申请日：2015-09-29

Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD

Inventor： RANDLE STEVEN JAMES

IPC: B25J17/00 ,  B25J17/02

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2034/305 ,  B25J17/0291

Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment for a surgical tool;a basal segment for attaching the terminal portion to the remainder of the surgical robotic component; and an intermediate compound joint between the distal segment and the basal segment, the intermediate compound joint permitting relative rotation of the distal segment and the basal segment about first, second and third axes;the terminal portion being arranged such that, in at least one configuration of the intermediate compound joint: (i) the axial direction of the basal segment is parallel to the axial direction of the distal segment, and (ii) the first, second and third axes are transverse to the axial directions of the basal and distal segments.

Abstract translation: 1。一种手术机器人部件，包括铰接终端部分，所述终端部分包括：具有用于手术工具的附件的远端段;用于将所述终端部分附接到所述手术机器人部件的其余部分的基部段; 以及所述远侧段和所述基础段之间的中间复合关节，所述中间复合关节允许所述远侧段和所述基础段围绕第一轴线，第二轴线和第三轴线相对旋转;所述末端部分布置成使得在至少一个构型 （i）基部段的轴向方向平行于远侧段的轴向方向，并且（ii）第一轴线，第二轴线和第三轴线横向于基部段和远侧段的轴向方向 。

公开(公告)号：WO2015107327A4

公开(公告)日：2015-09-11

申请号：PCT/GB2015050021

申请日：2015-01-08

Applicant: CAMBRIDGE MEDICAL ROBOTICS LTD

Inventor： HARES LUKE DAVID RONALD ,  RANDLE STEVEN JAMES

IPC: A61B19/00 ,  B25J9/06 ,  B25J17/02

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，包括在基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; 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。