公开(公告)号：US20210045817A1

公开(公告)日：2021-02-18

申请号：US17085578

申请日：2020-10-30

申请人： SRI International

发明人： Karen Shakespear KOENIG ,  Pablo Eduardo GARCIA KILROY ,  Sina NIA KOSARI ,  Thomas D. EGAN

IPC分类号： A61B34/30 ,  A61B46/10 ,  B25J3/04 ,  A61B34/00 ,  A61B34/37 ,  B25J9/10 ,  B25J9/06 ,  B25J9/00 ,  B25J9/12 ,  B25J13/02 ,  B25J13/08 ,  B25J17/02

摘要： A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.

公开(公告)号：US20210015569A1

公开(公告)日：2021-01-21

申请号：US17060470

申请日：2020-10-01

申请人： Titan Medical Inc.

发明人： Joseph KRALICKY ,  Peter CAMERON

IPC分类号： A61B34/37 ,  B25J3/04 ,  A61B34/35 ,  B25J9/16 ,  A61B34/00 ,  A61B17/29 ,  B25J11/00

摘要： In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.

公开(公告)号：US10888439B2

公开(公告)日：2021-01-12

申请号：US16871722

申请日：2020-05-11

申请人： DEKA Products Limited Partnership

发明人： Dirk A. van der Merwe ,  Christopher C. Langenfeld ,  Stewart M. Coulter ,  Christopher M. Werner ,  Michael J. Slate ,  Ethan D. Stern

IPC分类号： G05B15/00 ,  G05B19/00 ,  A61F2/54 ,  A61F2/58 ,  A61F2/68 ,  B25J3/04 ,  B25J9/00 ,  A61F2/70 ,  A61F2/78 ,  A61F2/50 ,  A61F2/74 ,  A61F2/76

摘要： A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.

公开(公告)号：US10807248B2

公开(公告)日：2020-10-20

申请号：US15712047

申请日：2017-09-21

申请人： Systems, Machines, Automation Components Corporation

发明人： Edward A. Neff ,  Toan M. Vu ,  David D. Huang ,  Naoyuki Okada ,  Andrew Gladoch

IPC分类号： B25J15/00 ,  B25J3/04 ,  H02K11/21 ,  H02K21/04 ,  H02K41/035 ,  B25J9/12 ,  H02K21/22 ,  H02K26/00 ,  B25J19/06 ,  H02K1/17

摘要： A direct drive brushless motor including a plurality of rotational components and a plurality of non-rotational components. Ones of the pluralities of rotational and non-rotational components form a dual magnetic circuit. The plurality of rotational components includes a center rotation shaft circumscribed by a plurality of coils and a coil termination plate configured to support the plurality of coils. The plurality of non-rotational components includes a plurality of outer magnets arranged around the plurality of coils in a Halbach configuration and a plurality of inner magnets arranged in a Halbach configuration between the coils and the shaft. A flex cable having one or more leads provides electrical current to the plurality of coils without the use of brushes.

公开(公告)号：US10806534B2

公开(公告)日：2020-10-20

申请号：US15755139

申请日：2016-05-27

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko Hashimoto ,  Masayuki Kamon

IPC分类号： G05B19/418 ,  A61B34/37 ,  B25J9/00 ,  B23P19/04 ,  B25J13/00 ,  B25J19/04 ,  B25J9/16 ,  B25J13/08 ,  B25J3/00 ,  B25J13/06 ,  B25J18/00 ,  B25J19/02 ,  B25J3/04 ,  B23Q15/12 ,  B25J13/02 ,  B25J11/00 ,  G06F3/01 ,  H04N5/232 ,  H04N7/18 ,  A61B34/32 ,  G06T7/62 ,  G06T7/70 ,  B23P21/00

摘要： An information sharing system between a plurality of robot systems includes a plurality of robot systems, communicatably connected with each other through a network, and configured to be capable of presetting a given operation of a robot and repeating a correction of the operation, and a storage device, connected with the network and configured to store corrected information containing corrected operating information that is operating information for causing the robot to execute a given operation corrected in at least one of the robot systems. Each of the plurality of robot systems shares the corrected information stored in the storage device and operates the robot based on the sharing corrected information.

公开(公告)号：US20200298393A1

公开(公告)日：2020-09-24

申请号：US16766842

申请日：2018-11-21

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Masayuki KAMON ,  Kenji KITANI

IPC分类号： B25J3/04 ,  B25J13/06 ,  B25J13/02 ,  B25J13/08

摘要： A manipulating device is provided, which includes a first parallel linkage mechanism having a pair of first links and a pair of second links, a second parallel linkage mechanism having a pair of third links and a pair of fourth links, and a support member supporting one of the third links. The first parallel linkage mechanism and the second parallel linkage mechanism commonly use one of the second links and one of the fourth links and an armrest member to which a manipulating member is attached at a tip-end part thereof is disposed in a lower-end part of the first parallel linkage mechanism.

公开(公告)号：US10712732B2

公开(公告)日：2020-07-14

申请号：US16127255

申请日：2018-09-11

申请人： OMRON Corporation

发明人： Ziqiang Xu ,  Junji Shimamura ,  Hirohito Mizumoto

IPC分类号： G05B19/418 ,  B25J3/04 ,  G05B19/042

摘要： To reduce the working hours of a user in an operation and improve an operation rate in an industrial network system. A communication setting change part is provided which automatically changes, in a timing of an end effector replacement, the communication setting in a communication part according to the communication information that corresponds to an end effector.

公开(公告)号：US10702351B2

公开(公告)日：2020-07-07

申请号：US15755465

申请日：2016-06-24

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

发明人： Tsuyoshi Tojo

IPC分类号： A61B34/37 ,  G05B19/418 ,  B23P19/04 ,  B25J13/00 ,  B25J19/04 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  B25J3/00 ,  B25J13/06 ,  B25J18/00 ,  B25J19/02 ,  B25J3/04 ,  B23Q15/12 ,  B25J13/02 ,  B25J11/00 ,  G06F3/01 ,  H04N5/232 ,  H04N7/18 ,  A61B34/32 ,  G06T7/62 ,  G06T7/70 ,  B23P21/00

摘要： A robot system is provided, which includes a robot body including, robot arm and an end effector attached to robot arm, and operating device, having operating part and configured to output, when operating part is operated, operational information according to operation, a motion controller configured to control operation of robot body according to the operational information outputted from the operating device, a velocity detector configured to detect a velocity at a tip end of the end effector, a virtual reaction-force information generating module configured to output force information containing a first force component having a positive correlation to the velocity at the tip end of the end effector, as virtual reaction-force information, and a force applying device configured to give a force to the operating part in order to make an operator perceive a force according to the virtual reaction-force information outputted from the virtual reaction-force information generating module.

公开(公告)号：US10405934B2

公开(公告)日：2019-09-10

申请号：US15431752

申请日：2017-02-13

申请人： Intuitive Surgical Operations, Inc.

发明人： Giuseppe Maria Prisco ,  David J. Rosa

IPC分类号： A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B1/00

摘要： A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

公开(公告)号：US20190201147A1

公开(公告)日：2019-07-04

申请号：US16176221

申请日：2018-10-31

申请人： Titan Medical Inc.

发明人： Joseph Kralicky ,  Peter Cameron ,  Rene Robert

IPC分类号： A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  B25J3/04 ,  B25J9/16 ,  B25J13/02 ,  B25J19/06 ,  B25J13/06

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B2034/302 ,  A61B2034/742 ,  B25J3/04 ,  B25J9/1689 ,  B25J13/025 ,  B25J13/065 ,  B25J19/06 ,  G05B2219/35419 ,  G05B2219/36422 ,  G05B2219/39439 ,  G05B2219/40144 ,  G05B2219/45117 ,  G05B2219/45118

摘要： A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.