公开(公告)号：US20210197400A1

公开(公告)日：2021-07-01

申请号：US16756878

申请日：2018-10-19

Applicant: KINOVA INC.

Inventor： Sebastien MESSIER ,  Philippe FAUTEUX ,  Sebastien BOISVERT ,  Eric LAVIGNE ,  Jean-Luc BOUCHARD

IPC: B25J15/02 ,  F16H37/04 ,  G01D5/14 ,  G01D5/26 ,  G01J5/00 ,  H02K7/116 ,  H02K11/00 ,  H02K11/22

Abstract: An instrument drive mechanism comprises an outer shell having an open-ended receptacle. An internal gear is secured inside the open-ended receptacle and immovable relative to the outer shell. An interface cover is rotatably mounted to the open-ended receptacle, the interface cover configured to be connected to an instrument, the interface cover rotatably supporting at least one cover shaft with an output adapted to be rotatingly coupled to the instrument. A drive system is rotatably mounted to the open-ended receptacle and connected to the interface cover to rotate with the interface cover, the drive system having at least two motor units, a coupling assembly between each of the at least one cover shaft and a corresponding one of the motor units for releasably coupling a motor unit shaft to the cover shaft, for the at least one said motor unit coupled to each said at least one cover shaft to transmit a degree of actuation thereto, and one said motor unit having a gear coupled to internal gear to drive a rotation of the interface cover and drive system relative to the outer shell.

公开(公告)号：US20210197366A1

公开(公告)日：2021-07-01

申请号：US16756880

申请日：2018-10-19

Applicant: KINOVA INC.

Inventor： Eric LAVIGNE ,  Sebastien MESSIER ,  Sebastien BOISVERT ,  Jean-Luc BOUCHARD

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/00

Abstract: An admittance mode control system for a robotic arm comprises an admittance switch adapted to be mounted to the robotic arm. A rotary contact connects a control circuitry to the admittance switch. The control circuitry is adapted to be mounted to the robotic arm, rotational degree(s) of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation. The control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.