公开(公告)号：US09027431B2

公开(公告)日：2015-05-12

申请号：US13320582

申请日：2010-05-12

Applicant: Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

Inventor： Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

IPC: B25J17/00 ,  A61B19/00

CPC classification number: A61B19/22 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2090/506 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/21 ,  Y10T74/18056 ,  Y10T74/18088 ,  Y10T74/18848 ,  Y10T74/20323

Abstract: An apparatus having a member that revolves about a remote center of motion (RCM) and a base link coupled to a mounting fixture. A first and second link are pivotably coupled to the member at respective distances from the RCM and are translatable relative to the base link along a first direction, at a fixed ratio of displacement. The ratio of respective distances equals a fixed ratio of displacement. The apparatus has a translational motion generator for a first and second element along parallel opposing directions. The translational motion generator is disposed on the first link and enables motion parallel to the first direction. The base link is fixed in position, the first element is fixed to the base link and the second element is fixed to the second link, such that the first and second link may translate relative to the base link with fixed ratio of displacement.

Abstract translation: 具有围绕远程运动中心（RCM）旋转的构件和联接到安装夹具的基座连杆的装置。 第一和第二连杆以相对于RCM的距离枢转地联接到构件，并且可以以固定的位移比例沿着第一方向相对于基座连杆平移。 各距离的比例等于固定的位移比例。 该装置具有沿着平行的相对方向的第一和第二元件的平移运动发生器。 平移运动发生器设置在第一连杆上并且能够平行于第一方向运动。 基座固定在位置上，第一元件固定在基座连杆上，第二元件固定在第二连杆上，使得第一和第二连杆可相对于底座连杆以固定的位移比例平移。

公开(公告)号：US20120132018A1

公开(公告)日：2012-05-31

申请号：US13320582

申请日：2010-05-12

Applicant: Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

Inventor： Hsiao-Wei Tang ,  Hendrik Van Brussel ,  Jan Peirs ,  Thierry Janssens

IPC: F16H19/04 ,  F16H21/16

CPC classification number: A61B19/22 ,  A61B34/30 ,  A61B34/70 ,  A61B34/71 ,  A61B2090/506 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/21 ,  Y10T74/18056 ,  Y10T74/18088 ,  Y10T74/18848 ,  Y10T74/20323

Abstract: Apparatus comprising a member (6) arranged to revolve about a remote centre of motion (O) and a base link (3) coupled to a mounting fixture (1). A first link (4) and a second link (5) are pivotably coupled to the member at respective distances (L1, L2) from the remote centre of motion (O) and are translatable relative to the base link (3) along a first direction and at a fixed ratio of displacement. The ratio of said respective distances equals said fixed ratio of displacement, enabling the member (6) to revolve about the remote centre of motion. The apparatus is characterised in that it comprises means (7) for generating translational motion of a first element (37) and of a second element (57) along parallel but opposite directions. The means for generating translational motion is provided on the first link (4) and is arranged to provide motion parallel to the first direction. The base link is fixed in a position, the first element (37) is fixed to the base link (3) and the second element (57) is fixed to the second link (5), such that generation of said translational motion of the first element (37) and of the second element (57) enables the first link (4) and the second link (5) to translate relative to the base link (3) with said fixed ratio of displacement.

Abstract translation: 设备包括被布置成围绕远程运动中心（O）旋转的构件（6）和联接到安装夹具（1）的基座连杆（3）。 第一连杆（4）和第二连杆（5）在距远离运动中心（O）的相应距离（L1，L2）处可枢转地联接到构件，并且可相对于基座连杆（3）沿着第一 方向和固定比例的位移。 所述各个距离的比例等于所述固定的位移比，使得构件（6）能够围绕远程运动中心旋转。 该装置的特征在于它包括用于沿着平行但相反的方向产生第一元件（37）和第二元件（57）的平移运动的装置（7）。 用于产生平移运动的装置设置在第一连杆（4）上并且被布置成提供平行于第一方向的运动。 基座固定在一个位置上，第一元件（37）固定在基座连杆（3）上，第二元件（57）固定在第二连杆（5）上，以便产生 第一元件（37）和第二元件（57）使得第一连杆（4）和第二连杆（5）能够以所述固定的位移比相对于基座连杆（3）平移。