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公开(公告)号：US11662270B2
公开(公告)日：2023-05-30
申请号：US16640610
申请日：2018-08-22
发明人： Nicola Diolaiti , Benjamin S. Flamm
IPC分类号： A61B34/35 , G01M13/00 , A61B90/00 , A61B17/29 , B25J19/00 , A61B34/30 , A61B34/00 , B25J15/04 , A61B17/00 , B25J9/16
CPC分类号： G01M13/00 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/06 , B25J15/0466 , B25J19/0095 , A61B2017/00022 , A61B2017/00725 , A61B2034/301 , A61B2090/065 , A61B2090/066 , A61B2090/0808 , B25J9/1692
摘要： Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.
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公开(公告)号：US20180147731A1
公开(公告)日：2018-05-31
申请号：US15878921
申请日：2018-01-24
发明人： Akitaka Yoshizawa
CPC分类号： B25J15/0466 , B25J15/04 , B25J19/0025
摘要： The present invention provides a robot apparatus which can determine a contact state at a contact point without increasing the contact point, can be miniaturized, and also can decrease the cost. Contact points are provided in a hand device. Contact points are provided in a tool device, which come in contact with the contact points, respectively, when the tool device has been mounted on the hand device. A voltage detecting circuit is provided in the tool device, which detects a voltage between the contact points. The controlling circuit determines contact states between the contact points and the contact points, by using a value of the voltage which has been detected by the voltage detecting circuit.
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公开(公告)号：US20160279806A1
公开(公告)日：2016-09-29
申请号：US15081107
申请日：2016-03-25
申请人： Nitta Corporation
IPC分类号： B25J15/04
CPC分类号： B25J15/0425 , B25J15/04 , B25J15/0466
摘要： A male member and tool changer for downsizing and preventing damage to proximity sensors; a male member includes a cam adapted to pivot between an engagement position at which the cam engages with a lock pin of a female member and a disengagement position at which the cam moves out of the engagement, and a cylinder unit adapted to pivot the cam between the engagement position and the disengagement position. A first proximity sensor and the second proximity sensor are assembled onto a cylinder sidewall of the cylinder unit and first and second detection surfaces of the proximity sensors are revealed in a cylinder chamber. The first detection surface is placed at a position facing on a piston when the cam is located at the disengagement position and the second detection surface is placed at a position facing on the piston when the cam is located at the engagement position.
摘要翻译： 一种用于小型化和防止对接近传感器的损坏的公件和换刀器; 阳构件包括凸轮，其适于在凸轮与阴构件的锁定销接合的接合位置与凸轮移出配合的分离位置之间枢转;以及气缸单元，其适于使凸轮在 接合位置和脱离位置。 第一接近传感器和第二接近传感器被组装到气缸单元的气缸侧壁上，并且在气缸室中露出接近传感器的第一和第二检测表面。 当凸轮位于分离位置时，第一检测表面被放置在面向活塞的位置处，并且当凸轮位于接合位置时，第二检测表面被放置在面向活塞的位置。
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公开(公告)号：US11678948B2
公开(公告)日：2023-06-20
申请号：US17370487
申请日：2021-07-08
申请人： Verb Surgical Inc.
发明人： Matthew Colin Vargas , Charles J. Scheib , Andrea Bajo , Koray Sahin , Jaime Hernandez , Robert Elliott DeCou
IPC分类号： A61B46/10 , A61B90/00 , B25J15/04 , A61B34/35 , A61B34/30 , A61B34/00 , A61B90/40 , A61B17/00 , A61B46/00 , B29C45/00 , B29C65/02 , G01V8/16 , B29L31/00
CPC分类号： A61B46/10 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/70 , A61B46/40 , A61B90/06 , A61B90/40 , B25J15/0466 , B29C45/0053 , B29C65/02 , A61B34/25 , A61B34/74 , A61B34/76 , A61B90/361 , A61B2017/00115 , A61B2017/00199 , A61B2017/00203 , A61B2017/00207 , A61B2017/00216 , A61B2017/00221 , A61B2017/00477 , A61B2017/00486 , A61B2017/00876 , A61B2034/302 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/0811 , A61B2090/0812 , A61B2090/0813 , B29L2031/7546 , G01V8/16 , Y10S901/41 , Y10S901/46 , Y10S901/47 , Y10S901/49
摘要： Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.
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公开(公告)号：US09642295B2
公开(公告)日：2017-05-02
申请号：US15034769
申请日：2013-11-11
发明人： Chikashi Teshima
CPC分类号： H05K13/0469 , B05C5/0208 , B25J9/026 , B25J15/0433 , B25J15/0466 , H05K13/041 , H05K13/08 , H05K13/0812
摘要： In a component mounting device, a head held by a head holding section is automatically exchanged from one of a pickup head attached with a suction nozzle that holds and releases component, and a dispensing head with a dispensing tool that dispenses adhesive, to the other of the heads. When the pickup head is held, a nozzle camera images the suction nozzles at nozzle positions attached to the pickup head from the side using an optical system unit and acquires suction nozzle image data. When the dispensing head is held, the nozzle camera images a dispensing nozzle positioned at the center axis of the head holding body from the side using the optical system unit and acquires dispensing nozzle image data. Component related inspection is performed based on the suction nozzle image data and dispensing related inspection is performed based on the dispensing nozzle image data.
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公开(公告)号：US20160302336A1
公开(公告)日：2016-10-13
申请号：US15034769
申请日：2013-11-11
发明人： Chikashi TESHIMA
CPC分类号： H05K13/0469 , B05C5/0208 , B25J9/026 , B25J15/0433 , B25J15/0466 , H05K13/041 , H05K13/08 , H05K13/0812
摘要： In a component mounting device, a head held by a head holding section is automatically exchanged from one of a pickup head attached with a suction nozzle that holds and releases component, and a dispensing head with a dispensing tool that dispenses adhesive, to the other of the heads. When the pickup head is held, a nozzle camera images the suction nozzles at nozzle positions attached to the pickup head from the side using an optical system unit and acquires suction nozzle image data. When the dispensing head is held, the nozzle camera images a dispensing nozzle positioned at the center axis of the head holding body from the side using the optical system unit and acquires dispensing nozzle image data. Component related inspection is performed based on the suction nozzle image data and dispensing related inspection is performed based on the dispensing nozzle image data.
摘要翻译： 在部件安装装置中，由头部保持部保持的头部从附接有保持和释放部件的吸嘴的拾取头中的一个自动更换，以及具有分配粘合剂的分配工具的分配头，另一个 头脑。 当拾取头被保持时，喷嘴相机使用光学系统单元从侧面附接到拾取头的喷嘴位置对吸嘴进行成像，并获取吸嘴图像数据。 当分配头保持时，喷嘴相机使用光学系统单元从位于头保持体的中心轴处的分配喷嘴成像，并获取分配喷嘴图像数据。 基于吸嘴图像数据进行部件相关检查，并且基于分注喷嘴图像数据执行分配相关检查。
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公开(公告)号：US20240255377A1
公开(公告)日：2024-08-01
申请号：US18635735
申请日：2024-04-15
发明人： Nicola Diolaiti , Benjamin S. Flamm
IPC分类号： G01M13/00 , A61B17/00 , A61B17/29 , A61B34/00 , A61B34/30 , A61B34/35 , A61B90/00 , B25J9/16 , B25J15/04 , B25J19/00 , G05B19/042 , G05F1/66 , H02J3/16 , H02J3/18 , H02J3/38
CPC分类号： G01M13/00 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/70 , A61B90/06 , B25J15/0466 , B25J19/0095 , G05B19/0426 , G05F1/66 , H02J3/16 , H02J3/1842 , H02J3/381 , A61B2017/00022 , A61B2017/00725 , A61B2034/301 , A61B2090/065 , A61B2090/066 , A61B2090/0808 , B25J9/1692 , G05B2219/40458 , G05B2219/50083 , H02J3/38 , H02J2300/24 , H02J2300/28 , Y02E10/56 , Y02E10/76 , Y02E40/10 , Y02E40/20 , Y02E40/30
摘要： Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.
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公开(公告)号：US20230355341A1
公开(公告)日：2023-11-09
申请号：US18313936
申请日：2023-05-08
申请人： Verb Surgical Inc.
发明人： Matthew Colin Vargas , Charles J. Scheib , Andrea Bajo , Koray Sahin , Jaime Hernandez , Robert Elliott DeCou
IPC分类号： A61B46/10 , A61B90/00 , B25J15/04 , A61B34/35 , A61B34/30 , A61B34/00 , A61B90/40 , A61B17/00 , A61B46/00 , B29C45/00 , B29C65/02
CPC分类号： A61B46/10 , A61B90/06 , B25J15/0466 , A61B34/35 , A61B34/30 , A61B34/70 , A61B90/40 , A61B17/00234 , A61B46/40 , B29C45/0053 , B29C65/02 , Y10S901/49 , A61B34/76 , A61B34/74 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2017/00477 , A61B2017/00115 , A61B2017/00199 , Y10S901/41 , Y10S901/46 , A61B2090/0811 , A61B2017/00876 , A61B2090/0812 , G01V8/16
摘要： Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.
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公开(公告)号：US20230346498A1
公开(公告)日：2023-11-02
申请号：US18313213
申请日：2023-05-05
申请人： Verb Surgical Inc.
发明人： Charles J. SCHEIB , Jaime HERNANDEZ
IPC分类号： A61B46/10 , A61B90/00 , B25J15/04 , A61B34/35 , A61B34/30 , A61B34/00 , A61B90/40 , A61B17/00 , A61B46/00 , B29C45/00 , B29C65/02
CPC分类号： A61B46/10 , A61B90/06 , B25J15/0466 , A61B34/35 , A61B34/30 , A61B34/70 , A61B90/40 , A61B17/00234 , A61B46/40 , B29C45/0053 , B29C65/02 , Y10S901/49 , A61B34/76 , A61B34/74 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2017/00477 , A61B2017/00115 , A61B2017/00199 , Y10S901/41 , Y10S901/46 , A61B2090/0811 , A61B2017/00876 , A61B2090/0812 , G01V8/16
摘要： Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.
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公开(公告)号：US09914225B2
公开(公告)日：2018-03-13
申请号：US15044834
申请日：2016-02-16
发明人： Akitaka Yoshizawa
CPC分类号： B25J15/0466 , B25J15/04 , B25J19/0025
摘要： The present invention provides a robot apparatus which can determine a contact state at a contact point without increasing the contact point, can be miniaturized, and also can decrease the cost. Contact points are provided in a hand device. Contact points are provided in a tool device, which come in contact with the contact points, respectively, when the tool device has been mounted on the hand device. A voltage detecting circuit is provided in the tool device, which detects a voltage between the contact points. The controlling circuit determines contact states between the contact points and the contact points, by using a value of the voltage which has been detected by the voltage detecting circuit.
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