Abstract: Described herein is an articulated robot wrist, comprising: a first support, which is to be mounted on a robot component that is rotatable about a first axis; a second support, mounted on said first support in a rotatable way about a second axis inclined with respect to said first axis; a first motor, carried by said first support, the shaft of which is connected in rotation to said second support via a first gear transmission; a third support, mounted on said second support in a rotatable way about a third axis, inclined with respect to said second axis; and a second motor, carried by the second support, the shaft of which is connected in rotation to said third support via a second gear transmission.

Abstract: A horizontal articulated robot has a plurality of horizontal arms coupled by joint shafts, and a working shaft disposed at the extreme end of an extreme end arm among the horizontal arms has mounting portions of an end effector formed to both the upper and lower ends thereof. With this arrangement, there can be provided a horizontal articulated robot that can cope with various work transport forms and various types of works by one type of a robot by selectively using the upper and lower sides of a working shaft.

Abstract: Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the support (2) about the central post (5) by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.

Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.

Abstract: This controller, between a fixed base (1) and a control handle (4), comprises three similar arms (2) of which each comprises three links (5,6,7) jointed between the base and the handle platform by a pivot (8), two rotation joints (9 and 10) and a ball-joint (11). This controller with six degrees of freedom includes force feedback motors at the first and second joints (8 and 9) of which the first is fixed to the base (1) and the second to the first link (5), so that the first is immobile and the other has scarce movement; the third joint (10) is free. The resulting structure is simple and light not requiring any parallelogram, and kinematic singularities are greatly reduced.

Abstract: A joint structure includes a rotating guide pulley, a fixed guide, and a rotating guide pulley. The rotating guide pulley is coaxial with a rotating shaft of a revolute joint, and is arranged so as to be rotatable about the rotating shaft. The fixed guide is arranged in a first structure, and has an arc portion. The arc portion has the same radius as the rotating guide pulley and is coaxial with the rotating guide pulley. The rotating guide pulley is arranged in a second structure so as to be relatively movable. A wire is put round the rotating guide pulley, the movable rotating guide pulley, and the fixed guide in the order of them.

Abstract: A parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism has various limbs designed as elbow-linkages, at least some of which are actuatable, for moving an end component with multiple degrees of freedom. The mechanism advantageously facilitates an improved workspace-to-footprint ratio and a closed-form solution for the forward kinematics. The mechanism comprises a joint assembly having a plurality of revolute joints for connecting to at least three limbs. In various embodiments of the invention, the end component has three, four, five and six degrees of freedom.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: In a multi-axis articulated arm robot for transferring workpieces, there is a robot base, on which a movement unit is able to be pivoted about a first axis, which is vertical in an operational state. The movement unit has a pivoting part adjacent to the base, an articulated arm constituted by a top arm and a bottom arm, such top arm being connected for pivoting at one end about a horizontal second axis with the pivoting part at the other end is connected with the adjacent end of the bottom arm for pivoting about a horizontal third axis, a rotary member arranged at the bottom arm's end opposite to the top arm, such rotary member being able to be rotated about a fourth axis extending in the longitudinal direction of the bottom arm, a pivoting member connected with the rotary member for pivoting about a fifth axis extending athwart the fourth axis, and a supporting part rotatingly connected with the pivoting member, such supporting part extending athwart the fifth axis.

Abstract: An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.

Abstract: Provided is a forceps tip assembly capable of supporting a forceps tip with high rigidity in order to realize a laparoscopic surgery requiring a significant power with the forceps tip, such as an organ removal surgery which has been heretofore difficult to be performed by a robot for medical use.

Abstract: Disclosed is a robot which is compact in structure and may be movable in a large working range, wherein move members 1, 1 may be moved by drive devices 4, 4 respectively along a straight line and in parallel with each other, the drive devices 4, 4 including motors 40, 40 respectively which are individually controlled by a control device 9, so that the move members 1, 1 may be moved at a different speed and may be stopped at different relative positions. The move members 1, 1 are connected to a work holder 3 by means of arms 2, 2, the arms having one end pivotally connected to the move members 1, 1 at the pivots 10, 10 thereof respectively, the arms 2, 2 having the opposite end pivotally connected to the work holder 3 at the pivots 30, 30 thereof respectively. The work holder 3 may hold an optional jig and may be moved in a horizontal plane and in a vertical plane enabling the jig to work in the working plane.

Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.

Abstract: A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

Abstract: According to this invention, there is provided a manipulator which can be suitably used as a compact manipulator apparatus which manipulates a minute target object. A manipulator of this invention includes, for example, a plurality of arm members whose attitudes can be changed and a manipulation target object manipulating hand mounted on the plurality of arm members through a connecting portion. Rotation of the hand or similar motion is caused by changing the attitudes of the plurality of arm members.

Abstract: The present invention provides parallel, cable based robotic manipulators, for use in different applications such as ultra high-speed robots or positioning devices with between three to six degrees of freedom. The manipulators provide more options for the number of degrees of freedom and also more simplicity compared to the current cable-based robots. The general structure of these manipulators includes a base platform, a moving platform or end effector, an extensible or telescoping central post connecting the base to moving platform to apply a pushing force to the platforms. The central post can apply the force by an actuator (active), or spring or air pressure (passive) using telescoping cylinders. The robotic manipulators use a combination of active and passive tensile (cable) members, and collapsible and rigid links to maximize the benefits of both pure cable and conventional parallel mechanisms.

Abstract: Provision of a 3-DOF micro manipulator easy to operate and capable of executing accurate positioning, wherein the link mechanisms of the micro manipulator whose main operation is parallel 3-DOF operation are implemented by cutting, folding, and moding a sheet of metal plate. Base and end effector are connected by three link mechanisms. The three link mechanisms are manufactured by cutting and folding a flexible plate material, and are equipped with plate-like arm portions each having a spread in the axially peripheral direction of the end effector, with hinge portions that are formed longitudinally across each arm portion in order to function as revolving joints R, and with a hinge portion also formed at the middle position of the arm portion in order to function as revolving joints R. Also, a parallelogrammatic link is formed between one longitudinal end of the arm portion and the middle portion thereof in order to function as a prismatic joint pair P.

Abstract: A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.

Abstract: The invention relates to a displacement and/or positioning device for the displacement and/or positioning of an object in five axes, comprising an object support and five coupling members which support the object support in a frame, whereby four of the five coupling members are each connected to the object support by means of a first joint arrangement each with two degrees of freedom and the remaining one of the five coupling members is connected to the object support by means of a second joint arrangement with one degree of freedom.

Abstract: The robot arm is composed of two parallel branches (2, 3) formed from a reduced number of segments (5, 6, 7) and connected to each other by a wrist (5) through a wrist holder (8), the directions of which are kept approximately constant by transmissions (12 to 16). The working space of this control arm is large and it is free of any kinetic singularities except at the end positions, and good decoupling of translation and rotation movements is achieved.

Abstract: The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle. The robotic surgical tool may also include provisions for roll movement.

Abstract: A link mechanism to establish the position of a spherical bearing and the direction of an arm extending from the bearing is provided, which mechanism has a high precision of position and direction determination, does not require strong actuators, and is mechanically easy to accommodate MR compatibility, to be cleanable and to be sterilizable. The link mechanism has: an axial rod; and two spherical bearings to support the axial rod, the two spherical bearings being capable of changing relative positions, wherein the motion of one of the two spherical bearings relative to the axial rod along the axis is constrained, and the other of the spherical bearings can travel along the axial rod.

Abstract: A method for transferring a thin plate is provided, in which three or more grasping claws of a transfer arm grasp the periphery of the thin plate in order to transfer it to a predetermined transfer position, and three or more holding claws hold the periphery of the thin plate in the transfer position. The transfer arm rotates about a shaft which is in a direction of a vector sum of a first vector perpendicular to a surface of the thin plate before transfer, and a second vector perpendicular to the surface of the thin plate after the transfer, to transfer the thin plate with changing the posture thereof.

Abstract: A unit for constructing a robot with units, wherein a joint unit comprises joint means and is organized in a joint casing having a surface profile of a dice-like cube, or a uniaxial cylindrical body, or an orthogonal dual-axis cylinder-like cubic with a uniform joint means separation distance. The joint means comprises N positioning projections disposed about the center axis thereof at equal intervals and equal angles and N connecting screw holes respectively disposed at positions rotated from these projections by 360°/2N about the center axis thereof. Also, a zero-degree joint power transmission unit converts and transmits the rotations of the joint unit rotated, by itself, relative to an input joint fixed shaft fixed to the joint casing, to the rotations of an output rotating shaft disposed a joint unit separation distance away thereform.

Abstract: An industrial robot for movement of an object in space comprising a stationary platform, a movable platform adapted for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and rotatable around a third axis, and a third linkage. The second supporting arm is freely mounted around a cross-beam that is arranged at right angles to the second axis.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: In a device for the translatory positioning of a platform (1), in particular a tool mount, with articulated rods (2a, 2?a9 of invariable length, whose first ends are hinged to he platform (1), and whose second ends are coupled with respectively independent rail-mounted slide blocks (3), wherein the coupling points (9) on the platform (1) and coupling points (11) on the sliding blocks (3) respectively do not lie on a straight line, and the articulated rods (2a, 2?a) do not run parallel to either each other or a shared plane, only three independent sliding blocks (3) and accompanying initial articulated rods (2a, 2?a) are present. In a first variant, at least one of the coupling points (11) on the sliding blocks (3) is offset relative to the rail axis (4a), and all sliding blocks (3) are arranged on the same rail (4). In a second variant, all sliding block (3) are arranged on the same side horizontally next to the space provided for postioning the platform (1), and essentially run parallel to each other.

Abstract: An industrial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator.

Abstract: In a gear, particularly for a robot, with a drive shaft and at least two parts rotatable relative thereto and to one another, in which a movement of one part is removable on its side remote from the other part, at least one of the rotary parts has a shaft connected in non-rotary manner thereto and which projects at least to the other part.

Abstract: 3-degrees-of-freedom universal joints UJ1 and UJ2 for allowing the hand H1 to make up-down swing motions D1 and side-to-side swing motions D2 are joined to the top right and left parts, respectively, of the wrist portion of the hand H1, and a 2-degrees-of-freedom universal joint UJ3 for allowing the hand H1 to make twisting rotations D3 is joined to the wrist portion of the hand H1 so as to serve as the center of 3-degrees-of-freedom.

Abstract: The invention relates to a rotation joint, especially for medical instruments, with a proximal and a distal part that are coupled to one another by means of a gear work and can be adjusted in relation to one another between a non-deflected starting position and an angled end position, where the gear work is housed in an intermediate part situated between the proximal and the distal parts and all three parts have at least one hollow center channel. In order to create a rotation joint that can be actuated by a non-angled position and can be secured in the deflected position, the invention proposes that the proximal part consists of two tubes that are arranged coaxially inside one another and can rotate in opposite directions around their longitudinal axis, where at least the outer tube is connected with a handle on its proximal side.

Abstract: The present invention concerns an industrial robot (1) comprising an upper arm (2) that can be rotated around a first axis (A), a wrist (6) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device (3, 30) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk (8, 33) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device (3, 30) comprises a collar section (10, 36) with a conical envelope surface (12, 45) attached to the turning disk (8, 33), through which at least one opening (14,40) is arranged for the reception of supply lines (K) that pass through the turning device, whereby the opening has an axial extension along a normal (16) perpendicular to the envelope surface (12), where the supply lines are arranged to run through the opening in a direction that has a component parallel to the third axis (C), which opening is arranged to control in a transverse di

Abstract: A flexible tool for handling small objects, as well as a method for handling small objects using the flexible tool. The flexible tool comprises one or more mini robots, such as a free arm robot and one or more hexapod(s) working in an internal workspace when performing operations on small objects. Furthermore, an external space can be used for storing the objects during non-operation. The hexapods are to engage with a small object and to move a small object between the internal workspace and the external space, and the free arm robot is to move one or more hexapod(s). Fast measurements of robot positions are included, the measurements being feed back to a computer system controlling the mini robots. The computer system further comprises vision and motion planning.

Abstract: A substrate processing apparatus comprising a frame, a drive section, an articulated arm, and at least one pair of end effectors. The drive section is connected to the frame. The articulated arm is connected to the drive section. The articulated arm has a shoulder and a wrist. The arm is pivotally mounted to the drive section at the shoulder. The drive section is adapted to rotate the articulated arm relative to the frame about an axis of rotation at the shoulder, and to displace the wrist relative the shoulder. The pair of end effectors is connected to the articulated arm. The pair of end effectors is pivotally jointed to the wrist of the articulated arm to rotate relative to the articulated arm about a common axis of rotation at the wrist. Each end effector is independently pivotable relative to each other about the common axis of rotation at the wrist. At least one end effector is independently pivotable about the common axis of rotation of the wrist relative to the articulated arm.

Abstract: Disclosed herein is a gantry type hybrid parallel linkage five-axis machine tool composed of a machine framework a parallel spatial linkage mechanism, a feeding shaft mechanism, and a controller unit. The parallel spatial linkage mechanism is formed of three straight feeding molding dies rotatably hinged together with a base so that enabling this rotatable base to perform uni-dimensional linear motion and two-dimensional swiveling. Besides by controlling the operation of the feeding shaft mechanism with the controller unit, the parallel spatial linkage mechanism fixed to the machine framework is able to perform two-dimensional planar motion so as to operate the machine tools more accurately and efficiently in refining work.

Abstract: The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. The distal member has a base to which the rods are rotatably connected by orthogonal linkage assemblies. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction, such as to provide pitch.

Abstract: A parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism has various limbs, at least some of which are actuatable, for moving an end component with multiple degrees of freedom. The mechanism advantageously facilitates a closed-form solution for the forward kinematics. A joint assembly is provided for use in the parallel kinematics mechanism, the joint assembly having a plurality of revolute joints for connecting to at least three limbs, the joints having non-parallel axes, which intersect at a common point. In various embodiments of the invention, the end component has three, four, five and six degrees of freedom.

Abstract: Pipes and/or wires extend in a bundle from a hollow portion of a second wrist element to a hollow portion of first wrist element of a robot. The first wrist element can rotate relatively to the second wrist element around an axis that passes through the two hollow portions. This bundle is divided into a plurality of split bundles in the hollow portion of the first wrist element. The split bundles are led out individually through a plurality of openings in the sidewall of the first wrist element and are connected to a working unit on a flange portion of the first wrist element.

Abstract: A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M4, M5 and M6, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element supported rotatably around the first axis B1. The second and third drive shafts are arranged eccentrically with the first axis B1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M5 to a second wrist element supported rotatably around the second axis B2, and the third drive shaft transmits a rotational force from the motor M6 to a third wrist element supported rotatably around the third axis B3.

Abstract: A parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism has various limbs, at least some of which are actuatable, for moving an end component with multiple degrees of freedom. The mechanism advantageously facilitates a closed-form solution for the forward kinematics. A joint assembly is provided for use in the parallel kinematics mechanism, the joint assembly having a plurality of revolute joints for connecting to at least three limbs, the joints having non-parallel axes, which intersect at a common point. In various embodiments of the invention, the end component has three, four, five and six degrees of freedom.

Abstract: A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers.

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6dof parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: Device comprising two linkage mechanisms each having at least three bars (B11, 21, 51) of which a first and a second bar with the same length extend parallel to each other and are pivotably interconnected by at least a third bar. The two first and two third bars of both mechanisms are pivotably connected at a common main pivot (MP). Hinge point (HP1, HP2) of the first bars lying away from the main pivot are independently movable along linear paths. The device is further provided with a tool (T) comprising the main pivot. The first and second bars of each mechanism are pivotably connected by a fourth bar (B41, 42), lying parallel to and having the same length as the third bar. The fourth bar is rotatable about the hinge point of the first bar.

Abstract: A plurality of clamp devices for clamping a cable or a pipe connected to an end effector of a robot are mounted to a robot wrist portion. A first clamp device has a base and a clamp portion configured to slide linearly with respect to the base and be also capable of turning about an axis perpendicular to the slide direction. A second clamp device has a base and a clamp portion configured to be capable of turning about an axis perpendicular to the installation surface of the base. A third clamp device has a revolving unit fitted to the circumference of the arm and configured to be capable of pivotal motion in the circumferential direction of the arm and a clamp portion provided on the circumference of the revolving unit to be capable of turning about an axis in the radial direction of the revolving unit. The clamp portions of these clamp devices are adapted to clamp the cable or the pipe extending to the end effector.

Abstract: A controlled relative motion system comprising a base support, a manipulable support, a group of link end constrainers each having a first portion movably connected to a second portion thereof so that ends of the first and second portions can be selectively separated from one another in a selected direction so as to have a selected distance therebetween, and two groups of pivoting links. With at least four link end constrainers in the group thereof, the first group of pivoting links has corresponding links each rotatably coupled to force imparting means or to the base support so as to be rotatable about a corresponding base link axis where each of said base link axes extend into regions between adjacent ones of said first group of pivoting links into which regions said base link axes of said adjacent ones also extend, and each coupled to a first portion end of a corresponding one of the group of link end constrainers.

Abstract: A wrist mechanism of an industrial robot is described which comprise first, second and third wrist elements rotatably supported relative to each other around respective rotation axes which are mutually inclined, which leaves a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist. The second and third wrist elements carries first and second ring-shaped hollow reduction units, and their respective output shafts rotates the second and third wrist elements, respectively, thereby the amounts of backlashes and flank wears in the transmitting gears as well as the amounts of reflected rotational movements of the second and third wrist elements affected by the rotational movements of the first and second wrist elements are reduced within fractions of the reduction ratios of each of the reduction units, which result the controllings of the positionings of the wrist elements become easy and accuracies thereof are increased.

Abstract: This invention provides surgical tools or instruments for use in minimally invasive telesurgical applications. The instruments typically include a base whereby the instrument is removably mountable on a robotically controlled articulated arm. An elongate shaft extends from the base. A working end of the shaft is disposed at an end of the shaft remote from the base. A wrist member is pivotally mounted on the working end. At least one end effector element mounting formation is pivotally mounted on an opposed end of the wrist member. A plurality of elongate elements, e.g., cables, extend from the end effector element mounting formation and the wrist member to cause selective angular displacement of the wrist member and end effector mounting formation in response to selective pulling of the elongate elements.

Abstract: A wrist mechanism of an industrial robot is described which have a first ring-shaped hollow reduction unit secured to an arm of the robot, and a first hollow drive tube and a second ring-shaped hollow reduction unit secured to an output shaft of the first reduction unit, respectively. The wrist mechanism further have a second hollow drive tube and a third ring-shaped hollow reduction unit secured to an output shaft of the second reduction unit, respectively, and a third hollow drive tube secured to an output shaft of the third hollow reduction unit rotatably around a first axis. The first, second and third hollow drive tubes are connected to first, second and third wrist elements, respectively, to rotate each of the wrist elements relative to each other, which leave a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: A tripod bearing device featuring a stationary frame and a carrier moveable relative to it, which are connected together via three braces that are adjustable in their lengths. Each brace is coupled to the frame and to the carrier via a joint each with two rotational degrees of freedom. Moreover, a torsion drive is assigned to each brace for twisting the carrier-end joint of the relevant brace relative to the frame-end joint of this brace about its longitudinal axis. Consequently, a constructively simple parallel structure with three machining axes can be realized which, with its high dynamic stiffness, enables an accurate positioning of the carrier. Furthermore, a method for torsion compensation in the braces is given.