A surgical tool including a socket having a housing and an aperture within the housing, the socket configured to receive a ball and a pin at least partially in the aperture. The ball is positioned at least partially in the socket and configured to rotate within the socket, the ball comprising an elongated opening extending through the ball. The pin is coupled to the socket and disposed at least partially in the socket on opposite sides of the socket, the pin including a first longitudinal axis and extending through the elongated opening of the ball between opposite sides of the socket. The ball is configured to partially rotate about the first longitudinal axis of the pin, and partially rotate, about a second axis perpendicular to the first longitudinal axis of the pin, in a plane aligned with the elongated opening.

A coordinate measuring machine based on a delta robot structure comprising a base plate, arms, a movable platform with a probe, and a control unit for controlling the movement of the movable platform. The base plate is configured to accommodate a first workpiece and the probe is arranged the movable platform so as to utilize the free inside space of the delta robot structure between the arms as measuring volume.

A surgical tool including a socket having a housing and an aperture within the housing, the socket configured to receive a ball and a pin at least partially in the aperture. The ball is positioned at least partially in the socket and configured to rotate within the socket, the ball comprising an elongated opening extending through the ball. The pin is coupled to the socket and disposed at least partially in the socket on opposite sides of the socket, the pin including a first longitudinal axis and extending through the elongated opening of the ball between opposite sides of the socket. The ball is configured to partially rotate about the first longitudinal axis of the pin, and partially rotate, about a second axis perpendicular to the first longitudinal axis of the pin, in a plane aligned with the elongated opening.

A five-degree-of-freedom parallel mechanism and a series-parallel multi-degree-of-freedom equipment having the parallel mechanism are disclosed, and can machine complex components and parts as well as large structural parts and implement multi-degree-of-freedom numerical control machining, such as offsite maintenance of large equipment. The parallel mechanism includes: a rack; a movable platform; a first chain connected with the rack by at least two revolute pairs with axes intersecting with each other perpendicularly, and connected with the movable platform by at least two revolute pairs with axes intersecting with one another perpendicularly; a second chain having the same structure as the first chain; and a third chain including a main branch chain and two auxiliary branch chains, wherein the first chain, the second chain, and the third chain are separately connected between the rack and the movable platform.

A system enables teleoperation of a robot based on a pose of a subject. The system includes an image capturing device and an operator system controller that are remotely located from a robotic system controller and a robot. The image capturing device captures images of the subject. The operator system controller maps a processed version of the captured image to a three-dimensional skeleton model of the subject and generates body pose information of the subject in the captured image. The robotic system controller communicates with the operator system controller over a network. The robotic system controller generates a plurality of kinematic parameters for the robot and causes the robot to take a pose corresponding to the pose of the subject in the captured image.

A system enables teleoperation of a robot based on a pose of a subject. The system includes an image capturing device and an operator system controller that are remotely located from a robotic system controller and a robot. The image capturing device captures images of the subject. The operator system controller maps a processed version of the captured image to a three-dimensional skeleton model of the subject and generates body pose information of the subject in the captured image. The robotic system controller communicates with the operator system controller over a network. The robotic system controller generates a plurality of kinematic parameters for the robot and causes the robot to take a pose corresponding to the pose of the subject in the captured image.

A surgical tool including a socket having a housing and an aperture within the housing, the socket configured to receive a ball and a pin at least partially in the aperture. The ball is positioned at least partially in the socket and configured to rotate within the socket, the ball comprising an elongated opening extending through the ball. The pin is coupled to the socket and disposed at least partially in the socket on opposite sides of the socket, the pin including a first longitudinal axis and extending through the elongated opening of the ball between opposite sides of the socket. The ball is configured to partially rotate about the first longitudinal axis of the pin, and partially rotate, about a second axis perpendicular to the first longitudinal axis of the pin, in a plane aligned with the elongated opening.

A five-degree-of-freedom parallel mechanism and a series-parallel multi-degree-of-freedom equipment having the parallel mechanism are disclosed, and can machine complex components and parts as well as large structural parts and implement multi-degree-of-freedom numerical control machining, such as offsite maintenance of large equipment. The parallel mechanism includes: a rack; a movable platform; a first chain connected with the rack by at least two revolute pairs with axes intersecting with each other perpendicularly, and connected with the movable platform by at least two revolute pairs with axes intersecting with one another perpendicularly; a second chain having the same structure as the first chain; and a third chain including a main branch chain and two auxiliary branch chains, wherein the first chain, the second chain, and the third chain are separately connected between the rack and the movable platform.

A parallel-type micro robot capable of precise control while minimizing size thereof and a surgical robot system having the same are disclosed. The parallel-type micro robot includes a base plate, a work plate, a main fixing shaft module, a horizontal movement module and at least one angle-controlling module. The base plate includes a base body portion and at least one base connecting portion connected to the base body portion. The work plate includes a work body portion corresponding to the base body portion and at least one work connecting portion connecting to the work body portion to correspond to the base connecting portion. The main fixing shaft module is disposed between the base body portion and the work body portion, and coupled to the work body portion such that the work body portion is rotatable. The horizontal movement module is disposed between the main fixing shaft module and the base body portion, and moves the main fixing shaft module along first and second directions intersecting each other. The angle-controlling module is coupled to the base connecting portion such that the base connecting portion is rotatable, is coupled to the work connecting portion such that the work connecting portion is rotatable, and allows translational motion between the base connecting portion and the work connecting portion. Thus, a size of a robot may be minimized while improving the structural stability and precise control.

A coordinate measuring machine based on a delta robot structure comprising a base plate, arms, a movable platform with a probe, and a control unit for controlling the movement of the movable platform. The base plate is configured to accommodate a first workpiece and the probe is arranged the movable platform so as to utilize the free inside space of the delta robot structure between the arms as measuring volume.