Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05G-011/00
출원번호
US-0302564
(1994-09-08)
발명자
/ 주소
Hannaford Blake (5634-12th Ave. NE. Seattle WA 98105) Moreyra Manuel R. (6050-6th Ave. NW.
Apt. 1 Seattle WA 98107) Marbot Pierre-Henry M. J. (4742-22nd Ave. NE. Seattle WA 98105)
인용정보
피인용 횟수 :
52인용 특허 :
0
초록▼
A substantially balanced, five-axis, direct drive mini-robot provides repeatable micro-manipulation to micron precision. Dynamic forces of each link are nearly decoupled from the dynamic forces of remaining links. The robot is generally formed as a shoulder, arm and wrist assembly. At the shoulder a
A substantially balanced, five-axis, direct drive mini-robot provides repeatable micro-manipulation to micron precision. Dynamic forces of each link are nearly decoupled from the dynamic forces of remaining links. The robot is generally formed as a shoulder, arm and wrist assembly. At the shoulder a linear actuator drives the robot in a linear horizontal movement along a first axis (e.g., z axis). Two additional actuators at the shoulder provide revolute motion to rotate the arm in an xz plane (e.g., for lateral motion) and a yz plane (e.g., for vertical motion), respectively. A fourth actuator provides rotational motion to move an end-effector (manipulator) at the wrist through a yaw motion. A fifth actuator, positioned at the shoulder and linked to the wrist, provides rotational motion to move the end-effector through a pitch motion.
대표청구항▼
A mini-robot apparatus, comprising five joints respectively connected by first, second, third and fourth links in a kinematic chain, each joint movable in one degree of freedom, the first four joints in the chain directly driven by four respective actuators, the last joint in the chain indirectly dr
A mini-robot apparatus, comprising five joints respectively connected by first, second, third and fourth links in a kinematic chain, each joint movable in one degree of freedom, the first four joints in the chain directly driven by four respective actuators, the last joint in the chain indirectly driven by a fifth actuator positioned at a non-adjacent link; and in which the kinematic chain is formed by a shoulder assembly, arm assembly and wrist assembly which together have a center of gravity in vicinity of the shoulder assembly; the shoulder assembly comprising the first link, second link and third link and a first actuator, second actuator and third actuator, the first actuator for directly driving manipulation of said first joint to define a first degree of freedom, the second actuator directly driving manipulation of said second joint to define a second degree of freedom, the third actuator for directly driving manipulation of the third joint to define a third degree of freedom; the arm assembly comprising a fourth link and a fourth actuator, the fourth actuator for directly driving the wrist assembly to rotate, said rotation of the wrist assembly defining a fourth degree of freedom; the wrist assembly comprising a first pulley having a fixed orientation relative to the wrist assembly; the shoulder assembly further comprising the fifth actuator and a second pulley, the second pulley having a fixed orientation at the shoulder assembly relative to the third link, the second pulley having a drive axis coaxial with a drive axis of the third actuator, the first and second pulley mechanically coupled by an elastic drive belt, the fifth actuator driving the wrist assembly relative to the arm assembly via the pulleys and belt to define a fifth degree of freedom, wherein length of the drive belt varies as the first pulley and wrist assembly rotate relative to the second pulley and the shoulder assembly.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허를 인용한 특허 (52)
Diolaiti, Nicola; Lilagan, Paul E., Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose.
Akhil J. Madhani ; J. Kenneth Salisbury, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani, Akhil J.; Salisbury, J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani, Akhil J.; Salisbury, J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani, Akhil J.; Salisbury, J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani, Akhil J.; Salisbury, J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani, Akhil J.; Salisbury, J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani,Akhil J.; Salisbury,J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani,Akhil J.; Salisbury,J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Gomez, Daniel H.; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustufa, Tabish, Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide.
Gomez, Daniel; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustafa, Tabish, Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide.
Smith Kevin W. ; Kortenbach Juergen Andrew ; Slater Charles R. ; Mazzeo Anthony I. ; Slack ; Jr. Theodore C. ; Bales Thomas O., Endoscopic robotic surgical tools and methods.
Smith Kevin W. ; Kortenbach Juergen Andrew ; Slater Charles R. ; Mazzeo Anthony I. ; Slack ; Jr. Theodore C. ; Bales Thomas O., Endoscopic robotic surgical tools and methods.
Tognaccini, Marc E.; Gomez, Daniel H.; Diolaiti, Nicola; Mustufa, Tabish; Mitra, Probal; Liligan, Paul E., Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide.
Tognaccini, Marc E.; Gomez, Daniel H.; Diolaiti, Nicola; Mustufa, Tabish; Mitra, Probal; Lilagan, Paul E., Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide.
Mustufa, Tabish; Diolaiti, Nicola; Larkin, David Q., Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide.
Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel H.; Mustufa, Tabish; Mohr, Paul W.; Lilagan, Paul E., Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip.
Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel; Mustafa, Tabish; Mohr, Paul W.; Lilagan, Paul, Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip.
Diolaiti, Nicola; Lilagan, Paul E., Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument.
Diolaiti, Nicola; Lilagan, Paul E., Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument.
Diolaiti, Nicola, Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide.
Guthart, Gary S.; Larkin, David Q.; Rosa, David J.; Mohr, Paul W.; Prisco, Giuseppe, Non-force reflecting method for providing tool force information to a user of a telesurgical system.
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.
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.
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.
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.
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.
Larkin, David Q.; Nixon, Thomas Robert; Mintz, David Stephen, Tool position and identification indicator displayed in a boundary area of a computer display screen.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.