Robot

Patent metadata

Field	Value
Publication number	US-9895559-B2
Application number	US-201414541124-A
Country	US
Kind code	B2
Filing date	Nov 13, 2014
Priority date	Apr 7, 2014
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A robot includes a link portion including a plurality of link members and a drive portion to rotate the link members, and axes of rotation of the drive portion extending from end portions of the link members is positioned at an identical point.

First claim

What is claimed is:

1. A robot comprising:
a link portion comprising a plurality of link members; and
a drive portion to rotate the plurality of link members,
wherein axes of rotation of the drive portion extending from end portions of the plurality of link members are positioned at an identical point;
wherein the plurality of link members comprise:
a first link member; and
a second link member connected to an end portion of the first link member; and
wherein the first link member and the second link member are provided in a form of arcs and disposed on concentric spheres, respectively.

2. The robot of claim 1 , wherein the axes of rotation of the drive portion are positioned at a center of the concentric spheres.

3. The robot of claim 1 , wherein the first link member and the second link member are disposed away from a location at which the first link member and the second link member are radially spaced with respect to each other.

4. The robot of claim 1 , wherein the first link member and the second link member are provided in different lengths, and between the first link member and the second link member, an externally disposed link member is provided to have a greater length than an internally disposed link member.

5. The robot of claim 1 , wherein the drive portion comprises:
a first drive member disposed at one end of the first link member to rotate the first link member on a first axis of rotation; and
a second drive member disposed at another end of the first link member to rotate the second link member on a second axis of rotation.

6. The robot of claim 5 , wherein the first axis of rotation and the second axis of rotation are positioned at the identical point, and a length of the first link member is determined based on an angle between the first axis of rotation and the second axis of rotation.

7. The robot of claim 5 , wherein the first axis of rotation is perpendicular to a tangential direction of the one end of the first link member, and the second axis of rotation is perpendicular to a tangential direction of the another end of the first link member.

8. The robot of claim 1 , and further comprising an emitting member disposed at another end of the second link member to face a target, and wherein the emitting member comprises a linear accelerator to emit radiation for radiation therapy.

9. The robot of claim 8 , wherein the emitting member is disposed to be perpendicular to a tangential direction of an end portion of the second link member.

10. The robot of claim 8 , wherein the emitting member is moved spherically around the target along a trajectory of rotation of the second link member.

11. The robot of claim 8 , and further comprising an angle adjustment element disposed at the second link member or the emitting member to adjust an angle at which the emitting member faces the target.

12. A robot comprising:
a first link member;
a first drive member disposed at one end of the first link member to rotate the first link member on a first axis of rotation;
a second link member connected to another end of the first link member;
a second drive member disposed between the another end of the first link member and one end of the second link member to rotate the second link member on a second axis of rotation; and
an emitting member disposed at another end of the second link member,
wherein the first axis of rotation and the second axis of rotation are positioned at an identical location of a target,
wherein the first link member and the second link member are provided in a form of arcs and disposed on concentric spheres on which the target is centered, respectively.

13. The robot of claim 12 , wherein a length of the first link member is determined based on an angle between the first axis of rotation and the second axis of rotation.

14. The robot of claim 12 , wherein the first axis of rotation is perpendicular to a tangential direction of the one end of the first link member, and the second axis of rotation is perpendicular to a tangential direction of the one end of the second link member.

15. The robot of claim 12 , wherein a third axis is formed in a direction extending from the emitting member to the target, and a length of the second link member is determined based on an angle between the second axis of rotation and the third axis.

16. The robot of claim 12 , and further comprising an angle adjustment element disposed at the second link member or the emitting member to adjust an angle at which the emitting member faces the target.

17. A robot comprising:
a first link member;
a first drive member disposed at one end of the first link member to rotate the first link member on a first axis of rotation;
a second link member connected to another end of the first link member;
a second drive member disposed between the another of the first link member and one end of the second link member to rotate the second link member on a second axis of rotation; and
an emitting member disposed at another end of the second link member;
wherein the first axis of rotation and the second axis of rotation are positioned at an identical location of a target; and
wherein the first link member and the second link member are disposed away from a location at which the first link member and the second link member are radially spaced with respect to each other.

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Chang Pyung Hun
• Erkin Gezgin

Classifications

• A61B34/35

  for telesurgery · CPC title

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title

• Y10T74/20317

  including electric motor · CPC title

• A61B34/77

  Manipulators with motion or force scaling · CPC title

• B25J18/005

  having a curved shape · CPC title