Articulated device for robotic systems
Inventors
Donella, Nicolò • PANSINI, Alberto Giovanni • IOVINE, Federica • JAUVTIS, Louis Judah • ZALTIERI, Renzo • FORGIONE, Antonello • RIGHETTO, Filippo
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-10583569-B2
Publication Date
2020-03-10
Expiration Date
Abstract
An articulated device for robotic systems includes three rigid bodies.The first rigid body is configured to rotate about a first rotation axis with respect to a rigid base body.The second rigid body is configured to rotate about a second rotation axis with respect to the first rigid body.The third rigid body is configured to rotate about a third rotation axis with respect to the second rigid body.The first, second, and third rotation axes coincide in at least one point which defines the center of rotation of the articulated device.
Core Innovation
The articulated robotic device comprises a first rigid body, a second rigid body, and a third rigid body that rotate about a respective first rotation axis, second rotation axis, and third rotation axis with respect to the preceding rigid body. The first rotation axis is defined with respect to a rigid base body, the second rotation axis is defined with respect to the first rigid body, and the third rotation axis is defined with respect to the second rigid body.
The first rotation axis, the second rotation axis, and the third rotation axis coincide in at least one point, which defines a center of rotation of the articulated device. This center of rotation provides a spherical-joint-like workspace described as a spherical dome workspace. The second rotation axis is inclined relative to the first rotation axis by an angle in the interval between 30° and 40°.
The articulated device further comprises first means for the rotation of the first rigid body, second means for the rotation of the second rigid body, and third means for the rotation of the third rigid body. The disclosed drive arrangements include actuation mechanisms using gear components such as pinions and ring gears, bevel gear pairs, and rotation transmission using flexible hollow shaft features. The device is connectable to a terminal operating instrument and is associated with instrument actuation means within the third rigid body.
Claims Coverage
The disclosed claim set includes one independent claim that defines the articulated device with three rigid bodies and three rotation axes whose axes coincide at a center of rotation, together with separate rotation actuation means for each rigid body. Dependent claims refine the geometry and specify rotation actuation mechanisms using additional mechanical components, and further relate the device to a terminal operating instrument and to a robotic system.
Three-rigid-body rotational kinematics with coincident rotation axes at a center of rotation
An articulated device for robotic systems comprising a first rigid body configured to rotate about a first rotation axis with respect to a rigid base body, a second rigid body configured to rotate about a second rotation axis with respect to said first rigid body, and a third rigid body configured to rotate about a third rotation axis with respect to said second rigid body, wherein said first rotation axis, said second rotation axis, and said third rotation axis coincide in at least one point, which defines the center of rotation of said articulated device.
Separate rotation actuation means for each rigid body
The articulated device further comprising first means for the rotation of said first rigid body with respect to said first rotation axis, second means for the rotation of said second rigid body with respect to said second rotation axis, and third means for the rotation of said third rigid body with respect to said third rotation axis.
Inclined second rotation axis relative to the first rotation axis
The articulated device wherein said second rotation axis is inclined relative to said first rotation axis by an angle in the interval between 30° and 40°.
First rotation means using a first actuator with a first pinion and first ring gear
The articulated device wherein said first rotation means comprises a first actuator, a first pinion, and a first ring gear that drive rotation of said first rigid body relative to said rigid base body about said first rotation axis.
Second rotation means with a second actuator and a flexible hollow shaft
The articulated device wherein said second rotation means includes a second actuator rigidly coupled to a first rigid body and a flexible hollow shaft whose first end is driven by said second actuator and whose second end rotates integrally with said second rigid body about said second rotation axis.
Third rigid body connected to a terminal operating instrument with actuation means
The articulated device including a third rigid body connectable to a terminal operating instrument and including means to actuate that instrument.
Robotic system including the defined articulated device
A robotic system including an articulated device as defined in claim 1.
The claim coverage centers on a three-rigid-body articulated device with three rotation axes that coincide at a center of rotation, using separate first, second, and third rotation means. Additional dependent features refine axis geometry via an inclined second rotation axis range and specify rotation mechanisms for the first and second rotation axes using particular actuator/gear components and a flexible hollow shaft, while also covering association of the third rigid body with a terminal operating instrument and extending the scope to a robotic system including the articulated device.
Stated Advantages
Miniaturization.
High dexterity.
Suitability for minimally invasive robotic surgery in confined workspaces.
Reliability and safety.
Economic/technical competitiveness.
Documented Applications
Minimally invasive robotic surgery in confined workspaces, using the articulated device and a terminal operating instrument.
Interested in licensing this patent?