Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J7/00—Micromanipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
  • B25J9/123—Linear actuators

Definitions

• Manipulator with serial and parallel kinematics Description The invention relates to a manipulator according to the preamble of claim 1.
• Nanometer range are positioned.
• manipulators for high-precision movements are subject to increased requirements in terms of rigidity of the mechanism, the installed drive technology and control technology.
• such precise manipulators have much smaller work spaces than the industrial robots mentioned, i. usually only movements of a few centimeters are possible.
• Biotechnology relevant such as microinjections.
• laser technology or micromechanics should be mentioned, in which it also depends on the most accurate movements of manipulators.
• the prior art already has a multitude of high-precision manipulators that are used for micro- and nanopositioning. These can be individual
• Linear tables, rotary tables, cross tables or Hexapoden act as they are sold, for example, by the company Physik Instrumente GmbH and Co. KG in Düsseldorf.
• the step sizes of the positioning movements are of the order of magnitude depending on the drive technology used, which may include DC motors or piezomotors
• PCT application WO 2009/140688 A2 describes a manipulator which is used especially for eye surgery for the purpose of minimally invasive procedures can be and has a predetermined pivot point, ie a so-called remote center of motion (RCM), around which the entire mechanism can move around or rotate.
• the mechanism is driven by DC motors arranged serially one behind the other.
• the parallel robot here consists of a hexapod according to the prior art with 6 axes controlled in parallel.
• PCT application WO 2010/127109 A1 also describes a manipulator provided in particular for medical purposes, which is parallel to one another from FIG.
• axle subsystems with a total of 7 to 9 degrees of freedom
• the individual axle subsystems are constructed of serially arranged one behind the other joints.
• the end effector can thus be moved in 6 degrees of freedom in a redundant manner, for which a complex control is necessary. Due to the high number of joints and the arrangement of parallel axis subsystems, which in turn
• the invention has for its object to provide a manipulator with serial and parallel kinematics powered by electric actuators, which is very compact, has low weight with high rigidity and high load capacity while allowing a very precise and flexible control and thus enables safe operation ,
• the manipulator according to the invention provides for a combination of serial and parallel kinematics and is thereby driven by as compact as possible and compact electrical actuators or electric motors, preferably piezoelectric actuators.
• electrical actuators or electric motors preferably piezoelectric actuators.
• the first pair of push joints is preferably connected to a stationary base, said stationary base can also be designed adjustable. Further, the first pair of pusher hinges are aligned in a first direction and provide the ability to translate the associated second pair of pusher hinges oriented in a second direction, both rotationally and translationally.
• the second pair of push joints in turn offers either the connected in a third direction further single shear joint as the last joint the ability to move both rotationally and translatorily.
• Push joints and the individual sliding joint are integrated as the last joint. It is advantageous in terms of achievable precision when actually linearly acting electrical actuators are installed within the sliding joints. Although it is equally possible to use rotationally acting actuators which indirectly generate, for example via spindle drives a linear positioning movement, however, the precision is expected to be slightly lower here. It is also advantageous if the electrical actuators are each integrated directly within the sliding joints. Another possibility is to move the push joints about by cables, rod connections or drive shafts of externally placed electric drives, but also here the achievable precision is slightly lower than in a direct integration. An external placement could be realized either by mounting on a base of the manipulator or even by mounting it outside the manipulator on an external fixture.
• Stellzinen in the range of about 50mm significantly smaller push joints with about 10mm travel are possible.
• the manipulator can also be equipped with much larger push joints, which adjusting movements For example, in the area of Im be accomplished, which would then preferably be used electric adjusting cylinder or electric motors with spindle drives.
• piezoelectric actuators By preferably used by drive technology piezoelectric actuators has the
• the low volume of construction of the preferably used piezoelectric actuators means that application areas can be covered in which space-saving or slim design is necessary, for example, if within medical environments of the manipulator with other medical instruments, such as microscopes must be integrated in a common environment.
• the preferred piezoelectric actuators as drives results in terms of manual movement of the manipulator a decisive advantage. Since the piezoelectric actuators to be used in the first place are based on a frictional transmission of the movement, it is possible, if necessary, to manually generate movements of the manipulator by hand.
• RCM remote center of motion
• Manipulator only a very small number of joints active, which allows the manipulator with minimal tendency to swing very stiff move. For movements purely in the x-, y-, or z-direction or for rotations around these axes, only one pair is active at a time
• Push joints active In contrast to the arrangement of drives such as e.g. at
• 1 shows a perspective view of a manipulator with serial and parallel kinematics.
• 2 shows a perspective view of a piezoactuator of the manipulator.
• FIG. 3 shows a perspective view of a manipulator with an additional manually movable sliding joint on the base
• FIG. 4 shows a perspective view of a manipulator according to FIG. 3 with additional spectacles and adjustable linkage
• FIG. 5 shows a perspective view of a manipulator according to FIG. 4 with mounting on an operating table.
• FIG. 6 shows a perspective view of an overall system for use in a medical environment
• Fig. 1 is a perspective view of a manipulator with serial and parallel kinematics is shown, which is driven by electrical actuators, in particular piezoelectric actuators.
• the manipulator 10 in this case has a first pair of sliding joints 20, which consists of two mutually parallel linear piezoelectric actuators.
• the piezo actuators have step sizes that can go into the nanometer range and are limited from a control point of view only by the resolution of high-precision position measuring systems, for example in the range of micrometers.
• the first piezoelectric actuator consists of a static housing 21 and a movable carriage 22, wherein the movable carriage 22 along the first axis 23 can move back and forth.
• a connection part 24 is connected, which via a bearing 25, for example a
• Deep groove ball bearing rotatably connected to the movable carriage 22 is connected.
• Piezoelectric actuator as well as the first consists of a static housing 26 and a
• the sliding bearing 29 can in this case consist of a deep groove ball bearing, which is mounted on a linear rail.
• the deep groove ball bearing provides the necessary rotational degree of freedom, the linear rail provides the necessary translatory
• the manipulator 10 a second pair of push joints 30, which is preferably in an orthogonal arrangement relative to the first pair of push joints 20 and connected to this serially.
• the second pair of push joints 30 has a first piezo actuator with a static housing 31 and a movable slide 32 which can move back and forth along the third axis 33.
• the second piezoelectric actuator of this unit which is parallel to the first piezoelectric actuator, accordingly consists of a static housing 36 and a movable carriage 37, which can move back and forth along the fourth axis 38.
• the second pair of push joints 30 has a fitting
• the connecting part 34 is followed by another single sliding joint 40, the
• Push joints 30 is connected and connected in series to this.
• This single sliding joint 40 consists of a piezoelectric actuator with a static housing 42 and a movable
• movable carriage 44 of the individual sliding joint 40 is also a
• Receiving device 50 for fixing a tool such as a medical surgical instrument such as an inserted within vitreoretinalen ophthalmology injection needle.
• a tool such as a medical surgical instrument such as an inserted within vitreoretinalen ophthalmology injection needle.
• the receiving device 50 via a not
• the manipulator 10 according to FIG. 1 therefore has five independent piezoactuators, which are connected both serially and parallel to one another and accordingly result in a combination of serial and parallel kinematics.
• the ratio of translational and rotational component of the movement can hereby be arbitrarily realized by correspondingly pronounced synchronous or asynchronous control.
• Mechanism has 5 degrees of freedom in total.
• the manipulator 10 is surrounded by a sterilizable sheath, for example a plastic sheath, which in medical applications can always be changed after an operation.
• a sterilizable sheath for example a plastic sheath
• a variant of the manipulator 10 derived from FIG. 1 could be such that instead of the receiving device 50 mounted directly on the individual sliding joint 40 or the movable slide 44, a further rotary joint is interposed, advantageously in the form of a rotary piezoactuator, so that the receiving device 50 itself in turn can perform an additional rotational movement coaxial with the translational movement of the individual sliding joint 40 along axis 45.
• this variant would have 6
• a further alternative to the embodiment of the manipulator 10 presented in FIG. 1 or as an additional supplement to the abovementioned derived variant with further rotary piezoactuator may be the individual thrust joint 40 or its movable carriage 44 via an additional force sensor which is aligned coaxially with this joint is and can detect the forces along the axis 45.
• an additional force sensor which is aligned coaxially with this joint is and can detect the forces along the axis 45.
• FIG. 2 shows a perspective, more detailed view of an exemplary piezoactuator of the manipulator. All of the piezoactuators already described in FIG. 1 are fundamentally constructed analogously to the piezoelectric actuator explained here, but may also have different travel ranges, actuating forces or mechanical dimensions.
• the piezoelectric actuator which in each case represents a single part of a pair of push joints, consists, as mentioned in FIG. 1, of a static housing 21. This static housing 21 provides with its
• the linear bearing guides the movable carriage 22, which can move back and forth along the axis 23.
• the operating principle of the piezoelectric actuator itself can be based for example on an inertial drive, preferably on a stick-slip drive, as described, for example, in WO 2008/052785 A1.
• the movable carriage 22 can be moved stepwise in nanoscale, about 50 nanometers step.
• the piezoactuator includes a linear position sensing system 60, which is preferably an optical incremental encoder of at least microns resolution, ideally located directly between the static housing 21 and the movable carriage 22, and the linear motion between the static housing 21 and the movable carriage 22 detected.
• the linear position measuring system 60 can be embodied by way of example as a sine-cosine encoder.
• a piezoelectric actuator in the form of a linear positioning unit is commercially available, for example from the company SmarAct GmbH, for example with a
• FIG. 3 shows a perspective view of a manipulator 10 with an additional manually movable sliding joint 70 at the base of the manipulator 10.
• the manually movable sliding joint 70 consists of a static rail 72 on which a
• Carriage element 74 runs, which can be locked via a locking element 76.
• the entire manipulator 10 can be adjusted along the axis 78, which is particularly for purposes of coarse positioning of the manipulator 10 of advantage.
• the manually movable sliding joint 70 can also be driven automatically by a small electric motor, in which case preferably an additional linear position measuring system (cf., 60 in FIG. 2) should be installed between the static rail 72 and the slide element 74 the position of the
• FIG. 3 shows a perspective view of a manipulator 10 according to FIG. 3 with additional eyeglasses 80 and adjustable linkage 90 and 92.
• This construction is particularly advantageous when it comes to medical applications, in particular eye surgery.
• the glasses 80 which is stabilized by the adjustable linkage 90 and 92, a firm fixation of the manipulator 10 on the head of a patient is possible, so that the Manipulator 10 can no longer move relative to the patient's head.
• the head of the patient himself is stabilized with this structure, ie held in its position or position, since the glasses 80 firmly rests on the head of the patient.
• the manually movable sliding joint 70 is in this case mounted on a pair of glasses 80 which can be placed on the head or on the face of a patient.
• the glasses 80 has a non-slip support 82 which prevents slipping of the glasses 80 on the face of the patient.
• the glasses 80 at the location of the nose of the patient has a recess for the nose 84.
• the glasses 80 is therefore constructed largely analogous to a ski goggles or goggles.
• On the two side surfaces of the glasses 80 each adjustable linkage 90 and 10 92 are attached, which allow a fixation of the glasses 80 on an external element, such as an operating table or hospital bed.
• the adjustable linkages 90 and 92 preferably have joints that can be adjusted and locked by hand.
• FIG. 5 shows a perspective view of a manipulator 10 according to FIG. 4 with mounting on an operating table 100. This structure is for applications within
• the manipulator 10 is seated on a manually movable sliding joint 70, which is fixed via a pair of glasses 80 and adjustable rods 90 and 92 to a head portion 110 of a surgical table 100.
• a patient not shown here, whose head rests in accordance with the head part 110.
• FIG. 6 shows, as an expanded form of expression of the manipulator 10 according to the invention, a perspective view of an overall system for use in a medical environment.
• the elements already described in FIGS. 4 and 5 are combined with further components within the overall system shown in FIG.
• the manipulator 10 is 5 by an operator, not shown, at least from an input consoles 120,
• Input consoles 120 and 130 are to be understood as haptic input consoles, as they are sold in the prior art, for example, by the company Sensable of Willmington, Massachusetts, USA. In addition, there is the possibility of these input consoles 120 and 130
• Input consoles can not only be moved passively, but are actively moved by a controller.
• the overall structure further comprises a microscope, not shown in FIG. 6, which stands for the operator while working with the manipulator 10 Feedback on the position of the tool located on the manipulator 10 and on the state of the work space to be manipulated are.
• a microscope not shown in FIG. 6, which stands for the operator while working with the manipulator 10 Feedback on the position of the tool located on the manipulator 10 and on the state of the work space to be manipulated are.
• the manipulator 10 is directly connected to an amplifier unit 140, which the
• Piezo actuators of the manipulator 10 power supplied or evaluates the position sensors of these piezo actuators signal technology.
• the amplifier unit 140 is itself with a
• Microcontroller 150 connected, which performs the control of the manipulator 10 and its piezoelectric actuators at the lowest level.
• the microcontroller 150 is also connected to a higher-level control unit 160, which takes over an upper level control.
• the upper level control includes the integration of the input signals of the input panels 120 and 130 and the corresponding path planning of the individual piezoactuators of the manipulator 10.
• the control unit 160 can be used to derive control signals for the input consoles 120 and 130 to be actively moved in the input console Meaning of a force feedback control. For this purpose, it is particularly advantageous if the manipulator 10 near it
• FIG. 1 Another embodiment without its own figure represents a manipulator, wherein the push joints via suitable transmission means, optionally via ropes, drive shafts or Rod connections are moved by remote from the joints of the manipulator electrical drives.
• This arrangement has the advantage that the manipulator manages itself without the actual drives and therefore can be made more compact. However, due to the plurality of components for transmitting the movements a smaller
• the electric drives can either be fixed to a base of the manipulator or mounted at a further distance on its own holding device.
• the push joints themselves must each have one
• a linear adjusting movement of a rope can be transferred into a rotational movement of a spindle, which in turn imparts a translatory movement to a spindle nut within the sliding joint.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)

Priority Applications (2)

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Publications (1)

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Citations (8)

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• 2012
  • 2012-07-06 DE DE201210013511 patent/DE102012013511A1/de not_active Withdrawn
• 2013
  • 2013-07-05 DE DE212013000250.5U patent/DE212013000250U1/de not_active Expired - Lifetime
  • 2013-07-05 WO PCT/DE2013/100249 patent/WO2014005583A1/fr not_active Ceased
  • 2013-07-05 DE DE112013003468.9T patent/DE112013003468A5/de not_active Withdrawn

Patent Citations (8)

Non-Patent Citations (2)

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