-
公开(公告)号：US20170143435A1
公开(公告)日：2017-05-25
申请号：US15355850
申请日：2016-11-18
Applicant: Cambridge Medical Robotics Limited
Inventor： Andrew Murray Scholan , Ben Robert Chaplin , Keith Marshall , Luke David Ronald Hares , Nikki Priyam Su-Ling Phoolchund , Thomas Bates Jackson
CPC classification number: A61B34/30 , A61B17/3421 , A61B17/3423 , A61B90/50 , A61B2017/3409 , A61B2034/302 , A61B2090/061 , B25J9/1615 , B25J15/0019 , Y10S901/41
Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.
-
公开(公告)号：US20170023423A1
公开(公告)日：2017-01-26
申请号：US15217038
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Inventor： Thomas Bates Jackson , Keith Marshall
IPC: G01L3/10
CPC classification number: G01L3/1478 , B25J13/085
Abstract: A torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising: an interface member having on its exterior an engagement configuration configured to rotationally engage the first part; a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to rotationally engage the second part; and a deflection sensor attached to the deflectable body; wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.
Abstract translation: 扭矩传感器装置被配置为附接在第一部分和第二部分之间以在其间检测扭矩，所述扭矩传感器装置包括：接口部件，其外部具有配置成旋转地接合所述第一部分的接合构造; 扭转构件包括在其一端附接到所述接口构件的可偏转体，并且在所述可偏转体的另一端处包括构造成旋转地接合所述第二部分的接合构造; 以及附接到所述可偏转体的偏转传感器; 其中所述接口构件限定围绕所述可偏转主体延伸的刚性套筒，并且所述扭矩传感器装置还包括位于所述套筒和所述可偏转主体之间并且与所述套筒和所述可偏转主体接触的衬套。
-
公开(公告)号：US20170021506A1
公开(公告)日：2017-01-26
申请号：US15217061
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Inventor： Thomas Bates Jackson , Luke David Ronald Hares , Keith Marshall , Steven James Randle
Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier 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 disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs on a first side of a plane containing the second rotation axis and extending through that plane to the second side of that plane; and an intermediate linkage that meshes with the second drive shaft on the second side of the plane and that couples the second shaft gear to the second drive gear.
Abstract translation: 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有第二旋转轴线的第二旋转接头，第一旋转轴线和第二腿部中的第二旋转轴线; 设置在所述第一旋转轴线周围的第一驱动齿轮，所述第一驱动齿轮与所述载体一起快速; 围绕所述第二旋转轴线设置的第二驱动齿轮，所述第二驱动齿轮与所述第二个所述四肢中的所述第二驱动齿轮快速连接; 第一驱动轴，用于驱动所述第一驱动齿轮围绕所述第一旋转轴线旋转，所述第一驱动轴沿着所述第一个臂延伸并且在其上具有第一轴齿轮，所述第一轴齿轮被布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮围绕所述第二旋转轴线旋转的第二驱动轴，所述第二驱动轴在包含所述第二旋转轴线的平面的第一侧上沿着所述第一臂部延伸并且延伸穿过所述第二旋转轴线到所述第二旋转轴线 那边的那边 以及在所述平面的第二侧与所述第二驱动轴啮合并且将所述第二轴齿轮联接到所述第二驱动齿轮的中间连杆。
-
公开(公告)号：US20170020614A1
公开(公告)日：2017-01-26
申请号：US15217035
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Inventor： Thomas Bates Jackson , Luke David Ronald Hares , Keith Marshall , Steven James Randle
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 of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis; a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft 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 thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft 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 thereon; and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear.
Abstract translation: 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有偏转旋转轴线的第二旋转接头与俯仰旋转轴线连接到第二支腿; 围绕所述俯仰旋转轴设置的第一驱动齿轮，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，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，用于驱动所述第一驱动齿轮围绕所述俯仰旋转轴线旋转，所述第一驱动轴沿着所述第一臂部延伸并且在其上具有第一轴齿轮，所述第一轴齿轮布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮绕所述偏转旋转轴线旋转的第二驱动轴，所述第二驱动轴沿着所述第一个所述肢体延伸并且在其上具有第二轴齿轮; 以及由所述载体承载并将所述第二轴齿轮联接到所述第二驱动齿轮的中间齿轮系。
-
公开(公告)号：US20180209819A1
公开(公告)日：2018-07-26
申请号：US15746121
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
IPC: G01D5/245
CPC classification number: G01D5/2454 , G01D5/145
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.
-
Patent Agency Ranking
公开(公告)号：US20180194003A1
公开(公告)日：2018-07-12
申请号：US15743406
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Inventor： Thomas Bates Jackson , Edward John Mottram , Gordon Thomas Deane , Keith Marshall , Paul Christopher Roberts , Ricardo Michael Henderson Da Silva
CPC classification number: B25J9/102 , A61B34/30 , A61B2034/305 , B25J9/046 , B25J9/126 , B25J13/085 , B25J17/0258 , F16H19/001 , G01D5/244 , G01L3/108 , G01L5/226 , 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.
-
公开(公告)号：US20170165012A1
公开(公告)日：2017-06-15
申请号：US15373934
申请日：2016-12-09
Applicant: Cambridge Medical Robotics Limited
Inventor： Ben Robert Chaplin , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Rebecca Anne Cuthbertson
CPC classification number: A61B34/32 , A61B17/32 , A61B34/20 , A61B34/30 , A61B34/71 , A61B2017/00207 , A61B2017/00477 , A61B2018/00172 , A61B2034/2055 , A61B2034/305 , A61B2034/306 , A61B2034/715 , A61B2090/066 , A61B2090/0811 , B25J9/104 , B25J15/00 , B25J17/00 , Y10S901/21 , Y10S901/28
Abstract: A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.
-
公开(公告)号：US20170021507A1
公开(公告)日：2017-01-26
申请号：US15217077
申请日：2016-07-22
Applicant: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Inventor： Thomas Bates Jackson , Luke David Ronald Hares , Keith Marshall , Steven James Randle
Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier 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 disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon, the second shaft gear being arranged to engage the second drive gear; the second drive shaft comprising a prismatic joint whereby the length of the shaft can vary in response to motion of the carrier about the first axis.
Abstract translation: 一种机器人手臂，包括用于将臂的一个肢体相对于臂的另一个肢体围绕两个不平行的旋转轴线铰接的关节机构，该机构包括：通过第一旋转接头连接到第一个四肢的中间载体， 通过具有第二旋转轴线的第二旋转接头，第一旋转轴线和第二腿部中的第二旋转轴线; 设置在所述第一旋转轴线周围的第一驱动齿轮，所述第一驱动齿轮与所述载体一起快速; 围绕所述第二旋转轴线设置的第二驱动齿轮，所述第二驱动齿轮与所述第二个所述四肢中的所述第二驱动齿轮快速连接; 第一驱动轴，用于驱动所述第一驱动齿轮围绕所述第一旋转轴线旋转，所述第一驱动轴沿着所述第一个臂延伸并且在其上具有第一轴齿轮，所述第一轴齿轮被布置成接合所述第一驱动齿轮 ; 用于驱动所述第二驱动齿轮围绕所述第二旋转轴线旋转的第二驱动轴，所述第二驱动轴沿着所述第一个所述肢体延伸并且在其上具有第二轴齿轮，所述第二轴齿轮被布置成接合所述第二驱动齿轮 ; 所述第二驱动轴包括棱形接头，由此所述轴的长度可以响应于所述托架围绕所述第一轴线的运动而变化。
-
公开(公告)号：US20180147017A1
公开(公告)日：2018-05-31
申请号：US15576551
申请日：2016-05-20
Applicant: Cambridge Medical Robotics Limited
Inventor： Keith Marshall , Steven James Randle
CPC classification number: A61B34/30 , A61B34/71 , A61B2034/305
Abstract: 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.
-
公开(公告)号：US20170165010A1
公开(公告)日：2017-06-15
申请号：US15374150
申请日：2016-12-09
Applicant: Cambridge Medical Robotics Limited
Inventor： Ben Robert Chaplin , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Rebecca Anne Cuthbertson
Abstract: 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.
-
-
-
-
-
-
-
-
-
Search Results
17
records
(took 0.028 seconds)
