Engineering Services Inc.

The Consumer's Gas Company Ltd.

Northern Telecom Limited

Her Majesty the Queen in Right of Canada, as Represented by the Minister

University Health Network

University of Toronto

The Hospital for Sick Children

Consolidated Edison Company of New York, Inc.

Virtek Vision International Inc.

Pinhas Ben-Tzvi

Virtek Engineering Sciences Inc.

Li, Yi

Nenad Kircanski

Andrew a. Goldenberg

Manja Kircanski

Andrew A Goldenberg

Pawel Kuzan

Jacek A Wiercienski

Jun Lin

Nenad M Kircanski

Yi Yang

Xiaojia He

Ziren Lu

Daniel Meidan

Liang Ma

Brent Andrew Bailey

Bruce L Godkin

Philip S Farrell

Landy Toth

Matthew Gryniewski

Alex Kapps

Thomas Looi

Marshall Stephen Sussman

James M Drake

Lawrence Gryniewski

Robert Weersink

John Trachtenberg

Masoom A Haider

Krzystof F Szymczyk

Chin Zhou

Raymond Hui

John Trachenberg

Walter Kucharczyk

Joao Guilherme Amaral

Uri Lindner

Jean W Zu

Gordon D Scott

Sasan Raghibizadeh

Yi Li

Prakash Naidu

Ananth Seshan

Krzysztof F Szymczyk

Masoom Haider

Robert Anthonie Weersink

Url Lindner

A tooling arm includes a housing, a drive system, a lead screw and nut assembly, and a scoop assembly. The lead screw and nut assembly is operably connected to the drive system such that rotation of the nut drives the lead screw upwardly and downwardly relative to the housing. The scoop assembly is operably connected to the lead screw. The scoop assembly has an open position and a closed position and movement of the lead screw downwardly responsively moves the scoop assembly from the open position to the closed position.

Tooling arm

A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.

Two joint module and arm using same

A modular reconfigurable surgical robot for use in association with a surgical tool is disclosed. The surgical robot includes a linear module for linear movement; a turret module for rotational movement, and elbow roll module for rotational movement, and a wrist tilt module for rotational movement. The turret module has a turret rotational axis. The elbow roll module for rotational has an elbow roll rotational axis at an angle to the turret rotational axis. The wrist tilt module has a wrist tilt rotational axis at an angle to the turret rotational axis and the elbow roll rotational axis. The linear module, turret module, elbow roll module and wrist tilt module are operably connectable together to form the surgical robot and one of the modules is operably connectable to the surgical tool. The surgical robot may include an arch device unit attachable to one of the other modules.

Surgical robot

Robotic joint

Robotic arm

A mobile robot system includes a plurality of mobile robots. Each robot has a predetermined size of large, medium, small or back-packable. The mobile robot includes a chassis, drive system components, power components, a main processor, a communication system and a power and data distribution system. The chassis has a predetermined size of large, medium, small or back-packable. Drive system components are operably attached to the chassis and power components are operably connected to the drive system components and the power and data distribution system. The main processor, the communication system and the power and data distribution system are all operably connected together and operably connected to the traction components and the power components. The main processor, the communication system, and the power and data distribution system are all configured for use with the predetermined size of the chassis and at least one other size.

Modular mobile robot

A mobile vehicle includes a platform, a pair of track assemblies and a pair of wheel assemblies. The pair of track assemblies is attached to opposing sides of the platform. The pair of wheel assemblies is attached to opposing sides of the platform. Each wheel assembly has at least a first and second wheel and a track-wheel interchange mechanism operably connected to the first and second wheel. The track-wheel interchange mechanism rotatably moves the first and second wheel from wheel mode wherein the wheels drive the mobile vehicle to a track mode wherein the track assemblies drive the mobile vehicle.

Dual mode vehicle

A robotic arm includes a first link and a first joint. The first link has internal link cables extending from one end to an opposed end thereof. The first joint is operably connected to the first link at one end thereof. The first joint has a hollow drive shaft, an off axis driveand a first joint motor and first joint internal cables extending through the hollow drive shaft. The link cables and the first joint cables are operably connected. The robotic arm may further include a second joint operably connected to the first link. The second joint module has an active side, a passive side with electronic connectors, second joint internal cables, and a second joint motor and the active side is mechanically connected to the link and the electronic connectors of the passive side are operably connected to the link cables.

A dual mode mobile robot includes a platform and a pair of track wheel driving modules. The pair of track wheel driving modules are attached to opposing sides of the platform. Each of the track wheel driving modules has a track assembly; and a wheel assembly. Each of the track wheel drive modules is moveable from a track position to a wheel position.

Dual mode mobile robot

A two joint module includes a module housing, a first joint and a second joint. The module housing has a structural support portion. The first joint has a first motor and a first motor axis and a first joint axis. The second joint has a second motor and a second motor axis and a second joint axis. The second joint axis is not parallel to the first joint axis. The first joint is attached to the structural support portion and the second joint is attached to the structural support portion.

Two joint module

The mobile robot includes a chassis, a pair of drive system, a manipulator arm with a turret. The pair of drive systems is operably connected to opposed sides of the chassis. The turret is rotationally attached to the platform. The first link of the manipulator arm is attached to the turret at a first joint. The manipulator arm has at least a first link, and the first link is adapted to function as a traction device.

Mobile robot

A medical robot for use inside a magnetic resonance imager includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the horizontal motion assembly. The vertical motion assembly is operably connected to the horizontal motion assembly and it includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the vertical motion assembly. The controller is operably connected thereto and is adapted to be powered off when the magnetic resonance imager is being used to collect images. A medical instrument assembly is connectable to the medical robot.

Medical robot for use in a MRI

A medical robot for use inside an MRI includes a horizontal motion assembly, a vertical motion assembly and a controller. The horizontal motion assembly and the vertical assembly each includes a motion joint, an ultrasonic motor operably connected to the motion joint and an encoder operably connected to the ultrasonic motor. The motor and encoder are positioned proximate to the joint of the respective horizontal motion assembly and vertical motion assembly. Each motor has a cross section positioned in one of the axial and sagittal plane of the MRI. A medical instrument assembly is operably connectable to one of the moving joint of the vertical motion assembly. The controller is operably connected to the horizontal motion joint and the vertical motion joint and it is adapted to be powered off when the magnetic resonance imager is being used to collect images.

MRI compatible robot with calibration phantom and phantom

A hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

Hybrid mobile robot

A variable configuration articulated tracked vehicle comprises a chassis, a pair of right and left drive pulleys, a right and left planetary wheel, a right and left track, a right and left arm mechanism, and a right and left drive motor. The drive pulleys are rotatably attached to the chassis and each pair of drive pulleys is in the same plane. The planetary wheels are movable relative to the chassis such that each planetary wheel is in the same plane as its respective drive pulleys. The tracks extend around the pair of drive pulleys and the planetary wheel on the respective sides. The arm mechanisms connect the respective planetary wheel to the chassis. Each arm mechanism is rotatably attached to the chassis with a cam. The cam defines a motion path of one end of the arm whereby the motion of the planetary wheel provides a path for the planetary wheel such that the track path defined by the respective drive pulleys and the planetary wheel is a constant track length. The motors are each operably connected to the respective pair of drive pulleys for driving the track.

Variable configuration articulated tracked vehicle

Growing community of inventors

Toronto, Canada

Andrew A Goldenberg