[특허]Remote manipulator

Remote manipulator 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B25J-003/00 G21C-019/00
출원번호	US-0056423 (1987-06-01)
발명자 / 주소	Coughlan Joel B. (Knox County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN)
출원인 / 주소	Remote Technology Corporation (Oak Ridge TN 02)
인용정보	피인용 횟수 : 225 인용 특허 : 0

초록 ▼

A remote manipulator for radiation cells and the like. This device is an all electric manipulator for hazardous environments to follow the basic movements of the operator but to provide features to provide extended use of the manipulator beyond the capabilities of the operator when necessary or desired. Identical arm units are removably positioned on opposite sides of a torso to make up the slave unit. Joints in the arms are enclosed in rotable boots. By being identical, the arms may be attached to either side of the torso as well as necessitating fewer replacement parts. The motion of each of the arms is sufficient such that essentially any position of one arm relative to the other arm can be achieved. Many components are interchangeable. Electrically controlled pan/tilt heads mounted on the torso support video cameras to permit remote viewing. A unique control system is utilized to interact between the slave unit and the master unit to accomplish the range of motions to the slave unit that may be desired for any particular application. The subcomponents of each of the arms may be removed for replacement and/or maintenance operations. Electrical connection between each major component attached to the torso is made as part of the junction of the components. Thus, the only exterior cable is that between the torso and the control system.

대표청구항 ▼

An all electric remote manipulator system characterized by being remotely maintainable and repairable, comprising: a master unit operable by a user, said master unit being provided with a. a frame; b. a pair of articulated master arms for positioning one at each side of said user, each of said articulated master arms having a hand unit, a forearm unit, a wrist joining said hand unit to said forearm unit, an upper arm unit attached to said forearm unit with an elbow unit, and a shoulder unit connecting said upper arm unit to said frame, whereby said user grasping said hand units of said master arms can impart rotary and angular motions to selected portions of said articulated master arms in relation to movement of said user, each of said wrist, elbow and shoulder joint units being provided with potentiometer means for generating electrical signals proportional to positions of said joint units; a slave unit operable by signals derived from said master unit, said slave unit being provided with a. a torso element having at least rotary positional adjustment about a vertical axis; b. a pair of pan/tilt units releasably attached to said torso, said pan/tilt units each carrying a video camera, said pan/tilt units provided with drive means for effecting aim of said camera and with means to produce signals as to directions of said aim; c. a pair of identical and interchangeable articulated slave arms each releasably attached to opposite sides of said torso, each of said articulated slave arms having a shoulder joint portion adapted for rotation about a horizontal axis, an upper arm portion having a first end releasably and rotatably attached to said shoulder joint portion and adapted for rotation about its own axis, a forearm portion releasably and pivotally attached at a first end to a further end of said upper arm with an elbow joint portion, said forearm portion adapted for rotation about its own axis, a hand portion, including at least a pair of fingers adapted for movement toward and away from each other, said hand being releasably and pivotally attached by a wrist joint portion at a further end of said forearm portion and adapted for full rotation about its own axis, said elbow joint portion and said wrist joint encased in a flexible boot, said articulated slave arms each provided with electrically operated reversable motor and gear train drive assemblies for carrying out pivotal and rotary motions of portions thereof at said joints portions, each of said drive assemblies being provided with potentiometer means for producing electrical signals corresponding to operation of said drive assemblies; and d. electrical connecting means associated with junctions of said slave arms with said torso, said electrical connecting means each having a first pair of half connectors attached to said torso and a second pair of complimentary half connectors attached to said slave arm whereby attachment of each said slave arms to said torso interconnects said first halves with said second halves, and separation of said slave arms from said torso separates said connector means; and a control circuit electrically connected with said master unit and said slave unit, said control circuit adapted to receive said position signals from said master unit and drive assembly movement signals from said slave unit and selectively generate movement initiating signals to said drive assemblies when selected differences exist between said position signals and said drive assembly movement signals to null said differences, said control circuit further providing signals for moving said pan/tilt unit to effect said aim of said camera mounted thereto.

이 특허를 인용한 특허 (225)

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Guthart, Gary S.; Mintz, David S.; Niemeyer, Gunter D.; Salisbury, Jr., J. Kenneth; Younge, Robert G., Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system.
상세보기
Guthart, Gary S.; Niemeyer, Gunter D.; Younge, Robert G.; Salisbury, J. Kenneth; Cooper, Thomas G., Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system.
상세보기
Kim, Kiho; Lee, Jong Kwang; Yu, Seung-Nam; Park, Byung Suk; Cho, Il-Je; Lee, Hansoo, Remote attaching and detaching device including cell camera.
상세보기
Itkowitz, Brandon D.; Halabe, Daniel J.; Zhao, Tao; DiMaio, Simon P.; Hasser, Christopher J.; Mohr, Catherine J.; Mohr, Paul W.; Larkin, David Q.; Hoffman, Brian David; Zhao, Wenyi, Rendering tool information as graphic overlays on displayed images of tools.
상세보기
Grace, Kenneth, Rigidly-linked articulating wrist with decoupled motion transmission.
상세보기
Grace, Kenneth, Rigidly-linked articulating wrist with decoupled motion transmission.
상세보기
Yamazaki, Takema; Nagate, Takashi, Robot.
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Miyauchi, Kohei, Robot system, container opening method, and manufacturing method of object to be processed.
상세보기
Jacobsen, Stephen C.; Smith, Fraser M.; McCullough, John; Olivier, Marc X.; Colvin, Glenn; Scroggin, Wayco, Robotic lift device with human interface operation.
상세보기
Jacobsen, Stephen C.; Olivier, Marc X.; McCullough, John; Smith, Fraser M., Robotic mobile low-profile transport vehicle.
상세보기
Jacobsen, Stephen C.; Olivier, Marc X.; McCullough, John; Smith, Fraser M., Robotic mobile low-profile transport vehicle.
상세보기
Alcaraz Alfonso (Coronado CA) Aguilar Gerardo (Coronado CA) Gonzalez Mauricio (Coronado CA) Elizarraraz Antonio (San Diego CA), Robotic product server and system.
상세보기
Ramos de la Peña, Alejandro, Robotic surgical device.
상세보기
Ota, Yasuhiro; Kim, Junggon; Kuffner, James J., Robots, computer program products, and methods for trajectory plan optimization.
상세보기
Morley, Tracey A.; Wallace, Daniel T., Roll-pitch-roll surgical tool.
상세보기
Morley, Tracey A.; Wallace, Daniel T., Roll-pitch-roll surgical tool.
상세보기
Morley, Tracey A.; Wallace, Daniel T., Roll-pitch-roll surgical tool.
상세보기
Morley, Tracey A.; Wallace, Daniel T., Roll-pitch-roll surgical tool.
상세보기
Morley,Tracey A.; Wallace,Daniel T., Roll-pitch-roll surgical tool.
상세보기
Green,Philip S., Roll-pitch-roll wrist methods for minimally invasive robotic surgery.
상세보기
Green,Philip S., Roll-pitch-roll wrist methods for minimally invasive robotic surgery.
상세보기
Morley, Tracey A.; Wallace, Daniel T., Roll-pitch-roll-yaw surgical tool.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers and similar light sources for imaging applications.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for detecting counterfeit or illicit drugs and pharmaceutical process control.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for detecting counterfeit or illicit drugs and pharmaceutical process control.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for early detection of dental caries.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for early detection of dental caries.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for early detection of dental caries.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for natural gas leak detection, exploration, and other active remote sensing applications.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for natural gas leak detection, exploration, and other active remote sensing applications.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for natural gas leak detection, exploration, and other active remote sensing applications.
상세보기
Islam, Mohammed N., Short-wave infrared super-continuum lasers for natural gas leak detection, exploration, and other active remote sensing applications.
상세보기
Mondry, Jack; Farritor, Shane; Markvicka, Eric; Frederick, Thomas; Bartels, Joe, Single site robotic device and related systems and methods.
상세보기
Wang,Yulun; Uecker,Darrin, Speech interface for an automated endoscope system.
상세보기
Wang, Yulun; Uecker, Darrin, Speech interface for an automated endoscopic system.
상세보기
Yulun Wang ; Darrin Uecker, Speech interface for an automated endoscopic system.
상세보기
Ramans, Andris D.; Rosa, David J.; Falk, Volkmar, Stabilizer for robotic beating-heart surgery.
상세보기
Stefanchik, David; Vakharia, Omar J., Surgical devices with intracorporeal elbow joint.
상세보기
Stefanchik, David; Vakharia, Omar J., Surgical devices with intracorporeal elbow joint.
상세보기
Green, Philip S.; Jensen, Joel F., Surgical manipulator for a telerobotic system.
상세보기
Green, Philip S.; Jensen, Joel F., Surgical manipulator for a telerobotic system.
상세보기
Green, Philip S.; Jensen, Joel F., Surgical manipulator for a telerobotic system.
상세보기
Green, Philip S.; Jensen, Joel F., Surgical manipulator for a telerobotic system.
상세보기
Jensen, Joel F.; Hill, John W., Surgical manipulator for a telerobotic system.
상세보기
Joel F. Jensen ; John W. Hill, Surgical manipulator for a telerobotic system.
상세보기
Green, Philip S., Surgical method.
상세보기
Stefanchik, David; Vakharia, Omar J., Surgical methods using a surgical device having a fixed angular orientation.
상세보기
Green, Philip S., Surgical system.
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Green, Philip S., Surgical system.
상세보기
Stefanchik, David; Stokes, Michael J., Surgical system and methods for mimicked motion.
상세보기
Stefanchik, David; Stokes, Michael J., Surgical system and methods for mimicked motion.
상세보기
Stefanchik, David; Stokes, Michael J., Surgical system and methods for mimicked motion.
상세보기
Larkin, David Q.; Hoffman, Brian D.; Mohr, Paul W., Synthetic representation of a surgical instrument.
상세보기
Larkin, David Q.; Hoffman, Brian D.; Mohr, Paul W., Synthetic representation of a surgical instrument.
상세보기
Itkowitz, Brandon D.; DiMaio, Simon P.; Halabe, Daniel J.; Hasser, Christopher J.; Hoffman, Brian D.; Larkin, David Q.; Mohr, Catherine J.; Mohr, Paul W.; Zhao, Tao; Zhao, Wenyi, Synthetic representation of a surgical robot.
상세보기
Itkowitz, Brandon D.; Halabe, Daniel J.; Zhao, Tao; Dimaio, Simon; Hasser, Christopher J.; Mohr, Catherine J.; Mohr, Paul W.; Larkin, David Q.; Zhao, Wenyi; Hoffman, Brian D., Synthetic representation of a surgical robot.
상세보기
Jacobsen, Stephen C.; Smith, Fraser M.; Olivier, Marc X.; Stilson, Shane, System and method for controlling a teleoperated robotic agile lift system.
상세보기
Jacobsen, Stephen C.; Smith, Fraser M.; Olivier, Marc X.; Stilson, Shane, System and method for controlling a teleoperated robotic agile lift system.
상세보기
Islam, Mohammed N., System and method for generating infrared light for use in medical procedures.
상세보기
Jensen Joel F. ; Hill John W., System and method for releasably holding a surgical instrument.
상세보기
Jensen Joel F. ; Hill John W., System and method for releasably holding a surgical instrument.
상세보기
Jensen, Joel F.; Green, Philip S., System and method for releasably holding a surgical instrument.
상세보기
Jensen, Joel F.; Green, Philip S., System and method for releasably holding a surgical instrument.
상세보기
Jensen,Joel F.; Green,Philip S., System and method for releasably holding a surgical instrument.
상세보기
Joel F. Jensen ; John W. Hill, System and method for releasably holding a surgical instrument.
상세보기
Green, Philip S., System and method for remote endoscopic surgery.
상세보기
Islam, Mohammed N., System and method for voice control of measurement apparatus.
상세보기
Islam, Mohammed N., System and method for voice control of medical devices.
상세보기
Islam, Mohammed N., System and method for voice control of medical devices.
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Islam, Mohammed N., System and method for voice control of medical devices.
상세보기
Islam, Mohammed N., System and method for voice control of medical devices.
상세보기
Islam, Mohammed N., System and method for voice control of medical devices.
상세보기
Islam, Mohammed N., System and method for voice control of medical devices.
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Islam, Mohammed N., System and method for voice control of medical devices.
상세보기
Islam, Mohammed N., System configured for measuring physiological parameters.
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Islam, Mohammed N., System configured for measuring physiological parameters.
상세보기
Ghodoussi, Modjtaba; Butner, Steve E., Tele-medicine system that transmits an entire state of a subsystem.
상세보기
Ghodoussi, Modjtaba; Butner, Steve E., Tele-medicine system that transmits an entire state of a subsystem.
상세보기
Jacobsen, Stephen C.; Smith, Fraser M.; McCullough, John; Colvin, Jr., Glenn; Scroggin, Wayco; Olivier, Marc X., Teleoperated robotic system.
상세보기
Nixon, Thomas R., Tool grip calibration for robotic surgery.
상세보기
Nixon, Tom, Tool grip calibration for robotic surgery.
상세보기
Nixon, Tom, Tool grip calibration for robotic surgery.
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Nixon, Tom, Tool grip calibration for robotic surgery.
상세보기
Nixon, Tom, Tool grip calibration for robotic surgery.
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Nixon,Tom, Tool grip calibration for robotic surgery.
상세보기
Larkin, David Q.; Nixon, Thomas Robert; Mintz, David Stephen, Tool position and identification indicator displayed in a boundary area of a computer display screen.
상세보기
Izhikevich, Eugene; Fisher, Dimitry; Passot, Jean-Baptiste; Hatcher, Heathcliff; Polonichko, Vadim, Trainable modular robotic apparatus.
상세보기
Izhikevich, Eugene; Fisher, Dimitry; Passot, Jean-Baptiste, Trainable modular robotic apparatus and methods.
상세보기
Jacobsen, Stephen C.; Smith, Fraser M.; Colvin, Jr., Glenn; McCullough, John, Variable strength magnetic end effector for lift systems.
상세보기
Islam, Mohammed N., Wearable devices using near-infrared light sources.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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