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公开(公告)号：US20180186005A1
公开(公告)日：2018-07-05
申请号：US15906568
申请日：2018-02-27
CPC分类号： B25J9/1692 , A61B34/30 , A61B34/32 , B25J9/1679 , B25J9/1682 , G05B2219/39021 , G05B2219/39024 , G05B2219/39026 , G05B2219/39047 , G05B2219/39051 , G05B2219/39135 , G05B2219/39399 , Y10S901/09 , Y10S901/15 , Y10S901/46
摘要： A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.
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公开(公告)号：US20180147017A1
公开(公告)日：2018-05-31
申请号：US15576551
申请日：2016-05-20
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/305
摘要： A surgical robot comprising a surgical robot arm and a surgical instrument. The surgical robot arm terminates at its distal end in a drive assembly comprising a first drive interface element. The surgical instrument comprises a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation is for articulating an end effector, the articulation driveable by at least a first driving element and a second driving element. The driving mechanism comprises a first instrument interface element to which the first driving element is connected and a second instrument interface element to which the second driving element is connected. The first drive interface element engages both the first and second instrument interface elements such that: when the first drive interface element moves linearly, both the first and second instrument interface elements move in the same linear direction thereby driving both the first and second driving elements in the same direction; and when the first drive interface element rotates, the first and second instrument interface elements move reciprocally in opposing linear directions thereby driving the first and second driving elements in opposing directions.
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公开(公告)号：US20180021960A1
公开(公告)日：2018-01-25
申请号：US15655310
申请日：2017-07-20
摘要： A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.
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公开(公告)号：US20170165010A1
公开(公告)日：2017-06-15
申请号：US15374150
申请日：2016-12-09
发明人： Ben Robert Chaplin , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Rebecca Anne Cuthbertson
摘要： A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
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公开(公告)号：US20160361123A1
公开(公告)日：2016-12-15
申请号：US15024291
申请日：2014-11-28
IPC分类号： A61B34/30
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/06
摘要： A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
摘要翻译： 一种外科手术机器人，其包括铰接臂，所述臂具有终端部分，所述终端部分包括：远侧段，其具有用于外科器械的附件; 中间段 以及基部段，其中端子部分附接到臂的其余部分; 所述远侧段和所述中间段之间的第一关节，所述第一关节允许所述远侧段和所述中间段围绕第一轴线相对旋转; 以及所述中间段和所述基部段之间的第二关节，所述第二关节允许所述中间段和所述基部段围绕第二轴线的相对旋转; 其中：所述中间段包括第三关节，允许所述远端段和所述基部段围绕第三和第四轴线的相对旋转; 并且第一，第二和第三关节被布置成使得在第三关节的至少一个构造中，第一和第二轴线是平行的，并且第三和第四轴线横向于第一轴线。
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公开(公告)号：US20160338788A1
公开(公告)日：2016-11-24
申请号：US15161345
申请日：2016-05-23
CPC分类号： A61B34/71 , A61B34/30 , A61B2034/715
摘要： A robotic surgical instrument comprising a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation comprises a plurality of joints for articulating an end effector, the plurality of joints driveable by at least first and second pairs of driving elements. The driving mechanism comprises a pulley arrangement and a pulley drive. The pulley arrangement comprises first and second pulleys attached together such that their separation is fixed, wherein the first pair of driving elements is constrained to move around the first pulley, and the second pair of driving elements is constrained to move around the second pulley. The pulley drive is configured to linearly displace the pulley arrangement, such that a linear displacement in one direction away from the distal end of the shaft causes the first pair of driving elements to be tensioned and the second pair of driving elements to be de-tensioned, and a linear displacement in an opposing direction towards the distal end of the shaft causes the second pair of driving elements to be tensioned and the first pair of driving elements to be de-tensioned.
摘要翻译： 一种机器人手术器械，包括轴，连接到所述轴的远端的关节，以及在所述轴的近端处的驱动机构。 铰接件包括用于铰接端部执行器的多个接头，所述多个接头可由至少第一和第二对驱动元件驱动。 驱动机构包括滑轮装置和皮带轮驱动装置。 滑轮装置包括附接在一起的第一和第二滑轮，使得它们的分离是固定的，其中第一对驱动元件被约束以围绕第一滑轮移动，并且第二对驱动元件被限制为围绕第二滑轮移动。 皮带轮驱动器构造成使皮带轮装置线性移位，使得远离轴的远端的一个方向上的线性位移导致第一对驱动元件被张紧并且第二对驱动元件被拉伸 并且朝向轴的远端的相反方向的线性位移导致第二对驱动元件被张紧并且第一对驱动元件被张开。
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公开(公告)号：US09937012B2
公开(公告)日：2018-04-10
申请号：US15024291
申请日：2014-11-28
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/06
摘要： A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
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公开(公告)号：US20170274530A1
公开(公告)日：2017-09-28
申请号：US15466984
申请日：2017-03-23
发明人： Edward John Mottram , Gordon Thomas Deane , Edward Tucker , Graham Veitch , Paul Christopher Roberts
CPC分类号： B25J9/1638 , B25J9/1628 , B25J9/1633 , B25J13/085 , G05B2219/37357 , G05B2219/39188 , G05B2219/39338 , G05B2219/39342 , G05B2219/39343 , G05B2219/39346 , G05B2219/39347 , G05B2219/39348 , G05B2219/39351 , G05B2219/42016
摘要： A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.
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公开(公告)号：US20170245949A1
公开(公告)日：2017-08-31
申请号：US15519381
申请日：2015-09-29
发明人： Steven James Randle
CPC分类号： A61B34/30 , A61B34/71 , A61B2034/305 , B25J17/0291
摘要： 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.
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公开(公告)号：US20170165016A1
公开(公告)日：2017-06-15
申请号：US15374121
申请日：2016-12-09
摘要： A robotic surgical instrument comprising an articulation connecting an end effector to a distal end of a shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. An instrument interface connects to a proximal end of the shaft. Pairs of driving elements drive the joints. The driving elements extend from the instrument interface to the joints. Each driving element comprises a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface. In a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.
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