Manipulator

• US 20040024385A1
• Filed: 03/27/2003
• Published: 02/05/2004
• Est. Priority Date: 11/12/1999
• Status: Abandoned Application

• Current Assignee: Microdexterity Systems Incorporated (Stryker Corporation)
• Original Assignee: Microdexterity Systems Incorporated (Stryker Corporation)
• Inventors: Stuart, J. Michael
• Application Number:
  US10/400,359
• Publication Number:
  US 20040024385A1
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/0814 Preventing re-use
• CPC Class Codes: A61B 2090/506 using a parallelogram linkage, e.g. panthograph
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints
• CPC Class Codes: B25J 17/0266 comprising more than two actuating or connecting rods
• CPC Class Codes: B25J 9/0072 of the hybrid type, i.e. having different kinematics chains
• CPC Class Codes: B25J 9/1065 with parallelograms

Abstract

A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link. The first and second connector links are parallel to each other and parallel to the first and second axes such that the first and second planes remain parallel as the first and second links respectively rotate about the third and fourth axes. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held therein is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.

Claims

1. A tool holding apparatus for use with a manipulator comprising:

a cartridge including a carriage for engaging a tool and a guide on which the carriage is movably mounted for translation along a path; and

a drive unit on which the cartridge is detachably mounted and which includes a drive mechanism drivably engageable with the carriage to move the carriage along the path.

2. The tool holding apparatus according to claim 31 wherein the path is a linear path.

3. The tool holding apparatus according to claim 31 wherein the carriage is adapted for engagement with a biopsy needle.

4. The tool holding apparatus according to claim 31 wherein the drive mechanism comprises a lead screw, a nut movable along the lead screw and engageable with the carriage of the carriage of the cartridge, and a motor which can rotate the lead screw to translate the nut along the lead screw.

5. The tool holding apparatus according to claim 31 including a support which supports the drive unit for rotation about an axis transverse to the path of the carriage.

6. The tool holding apparatus according to claim 35 wherein the axis is perpendicular to the path.

7. The tool holding apparatus according to claim 35 including a drive mechanism coupled to the drive unit to rotate the drive unit about the axis.

8. The tool holding apparatus according to claim 37 wherein the support is adapted for engagement with a manipulator for supporting the tool holding apparatus.

9. The tool holding apparatus according to claim 31 wherein the carriage includes a recess for receiving an enlarged engagement portion of a tool.

10. The tool holding apparatus according to claim 39 wherein the recess is adapted to receive a head of a needle.

11. The tool holding apparatus according to claim 39 including a retainer which fits over the recess to restrain the engagement portion in the recess.

12. The tool holding apparatus according to claim 31 wherein the cartridge includes a guide spaced from the carriage for guiding a shank of a needle as the needle is translated by the carriage.

13. The tool holding apparatus according to claim 31 wherein the cartridge includes a dispenser for dispensing a fluid to a patient during the medical procedure.

14. The tool holding apparatus according to claim 43 wherein the dispenser includes a reservoir for the fluid and a wick extending from the reservoir for transferring fluid from the reservoir to a patient.

15. The tool holding apparatus according to claim 43 wherein the dispenser comprises a percutaneous injector.

16. The tool holding apparatus according to claim 31 wherein the cartridge is adapted to release a tool after positioning.