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公开(公告)号：DE2542052A1
公开(公告)日：1976-07-08
申请号：DE2542052
申请日：1975-09-20
Applicant: IBM
Inventor： GRIFFITH JOHN EMMETT , GROSSMAN DAVID DANIEL , WILL PETER MILNE
Abstract: A quasi-liquid vise is provided for clamping irregularly shaped workpieces which comprises an open-topped vessel into which a workpiece may be inserted, a particulate fluidizable material located within and, substantially filling said vessel, pressure means connected to said vessel for introducing a gas or fluid therein to fluidize said particulate material, and means for applying a vacuum to said vessel and the particulate material to substantially solidify said particulate material when it is desired to clamp a workpiece therein. The solidifying effect of said vacuum applied to said particulate material may be enhanced by utilizing alternate layers of different sized particulate material wherein smaller particles fill voids and enhance the vacuum effect and hence the rigidity of the particulate material when it is desired to solidify same. Two additional approaches to improving the vacuum solidification effect include coating relatively dense particles with a somewhat resilient deformable material whereby better sealing action will be effected. Also, uniquely shaped particles may be utilized wherein a more rigid interlocking particle effect will be obtained upon application of the vacuum.
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公开(公告)号：AT152026T
公开(公告)日：1997-05-15
申请号：AT93117400
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：ES2102577T3
公开(公告)日：1997-08-01
申请号：ES93117400
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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Patent Agency Ranking
公开(公告)号：DE2256112A1
公开(公告)日：1973-05-24
申请号：DE2256112
申请日：1972-11-16
Applicant: IBM
Inventor： FRANASZEK PETER ANTHONY , GROSSMAN DAVID DANIEL , WILL PETER MILNE
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公开(公告)号：DE2253064A1
公开(公告)日：1973-05-10
申请号：DE2253064
申请日：1972-10-28
Applicant: IBM
Inventor： FRANASZEK PETER ANTHONY , GROSSMAN DAVID DANIEL , WILL PETER MILNE
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公开(公告)号：DE69310085T2
公开(公告)日：1997-10-16
申请号：DE69310085
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：DE69310085D1
公开(公告)日：1997-05-28
申请号：DE69310085
申请日：1993-10-27
Applicant: IBM
Inventor： TAYLOR RUSSELL HIGHSMITH , FUNDA JANEZ , GROSSMAN DAVID DANIEL , KARIDIS JOHN PETER , LAROSE DAVID ARTHUR
Abstract: An apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal. The apparatus has a number of rigid links (1 - 4) which rotate about pivots (A - L) to position and re-position an instrument (11), like a surgical instrument, at a work point (Cmot) proximal to a patient but remote from the apparatus. The links cooperate in a way to move the manipulator about a center-of-motion (Cmot) with orthogonally decoupled degrees of freedom resolved at the work point. The proximal part (26) of the apparatus is adjustably fixed to a stationary object, like an operating table (22), while the distal part (25) of the apparatus holds the instrument (11). Certain links which can be adjusted in length, move the distal part with respect to the proximal part of the apparatus. In this manner, the work point of the manipulator and the working radius of the apparatus are changed without moving the proximal part. Actuators, manual or remotely (computer) controlled, both rotate the links about their pivots and adjust the length of the adjustable links. All the actuators can be mounted on the proximal part of the apparatus and electrically isolated from the manipulator in order to reduce the shock hazard to the patient.
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公开(公告)号：DE3167160D1
公开(公告)日：1984-12-20
申请号：DE3167160
申请日：1981-05-15
Applicant: IBM
Inventor： EVANS ROGER CLINTON , GRIFFITH JOHN EMMETT , GROSSMAN DAVID DANIEL , KUTCHER MYRON MARTIN , WILL PETER MILNE
Abstract: A method and apparatus for calibrating a robot and using the results of this calibration to compensate for inaccuracies of the robot and also to diagnose robot deterioration. The method includes moving the robot to a set of nominal positions, commanded by the robot controller or measured by position encoders built into the robot, and determining the associated actual positions by measuring the robot position with an independent accurate measuring means or by aligning the robot end effector with an accurate calibration mask. The calibration results are stored and subsequently used to compensate for robot inaccuracy so that the robot moves to the actual desired positions.
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