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DE69115444D1 - Gelenkroboter - Google Patents

Gelenkroboter

Info

Publication number
DE69115444D1
DE69115444D1 DE69115444T DE69115444T DE69115444D1 DE 69115444 D1 DE69115444 D1 DE 69115444D1 DE 69115444 T DE69115444 T DE 69115444T DE 69115444 T DE69115444 T DE 69115444T DE 69115444 D1 DE69115444 D1 DE 69115444D1
Authority
DE
Germany
Prior art keywords
articulated robot
articulated
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69115444T
Other languages
English (en)
Other versions
DE69115444T2 (de
Inventor
Mauro Zona
Marco Bettinardi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Comau SpA
Original Assignee
Comau SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau SpA filed Critical Comau SpA
Publication of DE69115444D1 publication Critical patent/DE69115444D1/de
Application granted granted Critical
Publication of DE69115444T2 publication Critical patent/DE69115444T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/70—Interfitted members
    • Y10T403/7062—Clamped members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Invalid Beds And Related Equipment (AREA)
DE69115444T 1990-10-04 1991-10-02 Gelenkroboter Expired - Fee Related DE69115444T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT67763A IT1241621B (it) 1990-10-04 1990-10-04 Robot articolato

Publications (2)

Publication Number Publication Date
DE69115444D1 true DE69115444D1 (de) 1996-01-25
DE69115444T2 DE69115444T2 (de) 1996-05-02

Family

ID=11305109

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69115444T Expired - Fee Related DE69115444T2 (de) 1990-10-04 1991-10-02 Gelenkroboter

Country Status (6)

Country Link
US (1) US5195388A (de)
EP (1) EP0484284B1 (de)
JP (1) JPH04226882A (de)
DE (1) DE69115444T2 (de)
ES (1) ES2082184T3 (de)
IT (1) IT1241621B (de)

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US6557235B1 (en) * 2002-03-06 2003-05-06 The Regents Of The University Of Michigan Bi-axial coplanar apparatus
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US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
JP4457794B2 (ja) * 2004-07-22 2010-04-28 トヨタ自動車株式会社 ロボット
AT502058B1 (de) * 2005-06-20 2007-11-15 Voest Alpine Ind Anlagen Stranggiessanlage mit mindestens einem multifunktions-roboter
US8679096B2 (en) * 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP2034922B1 (de) 2006-06-22 2017-03-15 Board of Regents of the University of Nebraska Magnetisch koppelbare Robotervorrichtungen
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
WO2009014917A2 (en) 2007-07-12 2009-01-29 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
JP2010536435A (ja) * 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ 医療用膨張、取り付けおよび送達装置、ならびに関連する方法
EP2178456B1 (de) * 2007-08-15 2018-10-31 Board of Regents of the University of Nebraska Modulare und kooperative medizinische system
US8176808B2 (en) * 2007-09-13 2012-05-15 Foster-Miller, Inc. Robot arm assembly
FR2931092B1 (fr) * 2008-05-19 2010-09-10 Commissariat Energie Atomique Bras manipulateur ayant une extremite amovible incorporant des moteurs
US8414043B2 (en) 2008-10-21 2013-04-09 Foster-Miller, Inc. End effector for mobile remotely controlled robot
US20100101356A1 (en) * 2008-10-24 2010-04-29 Albin Scott R Remotely controlled mobile robot in-line robot arm and end effector mechanism
US8322249B2 (en) * 2008-12-18 2012-12-04 Foster-Miller, Inc. Robot arm assembly
US8141924B2 (en) * 2008-12-29 2012-03-27 Foster-Miller, Inc. Gripper system
EP2512754A4 (de) * 2009-12-17 2016-11-30 Univ Nebraska Modulare und kooperative medizinische vorrichtungen sowie entsprechende systeme und verfahren
EP2600758A1 (de) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Verfahren und systeme zur handhabung oder abgabe von materialien für natürliche körperöffnungschirurgie
EP2717796B1 (de) 2011-06-10 2020-02-26 Board of Regents of the University of Nebraska In vivo gefässabdichtender endeffektor
EP2732344B1 (de) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotisches chirurgisches system
JP6502848B2 (ja) 2011-10-03 2019-04-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式手術用ロボットシステム
EP3970784A1 (de) 2012-01-10 2022-03-23 Board of Regents of the University of Nebraska Systeme und vorrichtungen für chirurgischen zugriff und einsatz
EP3845190B1 (de) 2012-05-01 2023-07-12 Board of Regents of the University of Nebraska Robotische einzelstandortvorrichtung sowie entsprechende systeme
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CA2876846C (en) 2012-06-22 2021-04-06 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
JP2015526171A (ja) 2012-08-08 2015-09-10 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボット手術用デバイス、システム及び関連の方法
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
DE102012110193B4 (de) * 2012-10-25 2023-03-30 Abb Schweiz Ag Haltevorrichtung zum lösbaren Befestigen eines Roboters
US10372115B2 (en) * 2012-10-26 2019-08-06 Board Of Regents, The University Of Texas System Modular and reconfigurable manufacturing systems
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
CA2906772C (en) 2013-03-15 2021-09-21 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP3021779A4 (de) 2013-07-17 2017-08-23 Board of Regents of the University of Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
EP3191009B1 (de) 2014-09-12 2021-03-31 Board of Regents of the University of Nebraska Schnelllösbare endeffektoren sowie entsprechende systeme
US10376322B2 (en) 2014-11-11 2019-08-13 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
CN105818160A (zh) * 2015-01-08 2016-08-03 中国科学院上海微系统与信息技术研究所 机器人通用关节及机器人手臂
WO2017024081A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices systems and related methods
DE202015009616U1 (de) 2015-08-14 2018-08-30 Franka Emika Gmbh Robotersystem und Gehäuseteil für ein solches Robotersystem
US20190061143A1 (en) * 2015-10-09 2019-02-28 Suryansh CHANDRA Robot arm
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
CN116269696A (zh) 2016-08-25 2023-06-23 内布拉斯加大学董事会 快速释放工具耦接器以及相关系统和方法
JP7090615B2 (ja) 2016-08-30 2022-06-24 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ ロボットデバイス
CN110139620B (zh) 2016-11-22 2022-09-20 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
EP3548773A4 (de) 2016-11-29 2020-08-05 Virtual Incision Corporation Benutzersteuergerät mit benutzerpräsensdetektion sowie zugehörige systeme und verfahren
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
CN111417333B (zh) 2017-09-27 2023-08-29 虚拟切割有限公司 具有跟踪相机技术的机器人手术设备及相关系统和方法
CA3087672A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
US10109517B1 (en) 2018-01-10 2018-10-23 Lam Research Corporation Rotational indexer with additional rotational axes
WO2020042124A1 (en) * 2018-08-30 2020-03-05 Abb Schweiz Ag Structural member of robot, robot, and associated manufacturing method
EP3908171A4 (de) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotisiertes assistiertes chirurgisches system und zugehörige vorrichtungen und verfahren
US20220381374A1 (en) * 2020-01-20 2022-12-01 Techreo LCC Tubular structures
DE102019102075B4 (de) * 2019-01-28 2022-08-18 Avateramedical Digital Solutions Gmbh Aktuierte Kinematik zur Montage an einer vertikalen Position
EP3785863A1 (de) * 2019-08-28 2021-03-03 Horstkemper Maschinenbau GmbH Handhabungsgerät mit zwei gelenkarmteilen
EP4046756A4 (de) * 2019-10-17 2022-10-26 Fuji Corporation Mehrgelenk-roboter
CN115843233A (zh) 2020-07-06 2023-03-24 虚拟切割有限公司 手术机器人定位系统及相关装置和方法

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Also Published As

Publication number Publication date
ES2082184T3 (es) 1996-03-16
JPH04226882A (ja) 1992-08-17
IT9067763A0 (it) 1990-10-04
EP0484284B1 (de) 1995-12-13
EP0484284A3 (en) 1992-07-01
US5195388A (en) 1993-03-23
IT9067763A1 (it) 1992-04-04
DE69115444T2 (de) 1996-05-02
IT1241621B (it) 1994-01-25
EP0484284A2 (de) 1992-05-06

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee