Remotely Actuated Robotic Wrist
First Claim
1. Remotely actuated robotic wrist, characterized in that it comprises:
- at least a distal element;
an orientable support integral to said distal element;
a fixed member having a pivot about which said support is capable instantaneously to rotate;
remote means with respect to said distal element for creating at least two independent forces suitable for causing said support to move with respect to said pivot according to at least two independent directions;
deviating means said at least two forces so that they are applied to said support according to two predetermined positions.
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Accused Products
Abstract
Remotely actuated robotic wrist for applications in the field of teleoperation, for example for mininvasive surgical operations, comprising a distal element (3) mounted on a support (2) capable instantaneously to rotate with respect to a fixed member (5), for example by a ball joint (10) that allows three rotational degrees of freedom. In particular, the support (2) can be oriented with respect to the fixed member (5) with a redundant actuating system by arranging four forces in eccentric points, for example by means of tendons (8), and causing the rotation of the support (2) about the central post (5) by the ball joint (10). Alternatively, the support (2) can be oriented with respect to the fixed member (5) by a mechanism that reproduces the rolling of a mobile sphere, which belongs to the support, on a fixed sphere, integral to the fixed member.
111 Citations
23 Claims
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1. Remotely actuated robotic wrist, characterized in that it comprises:
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at least a distal element; an orientable support integral to said distal element; a fixed member having a pivot about which said support is capable instantaneously to rotate; remote means with respect to said distal element for creating at least two independent forces suitable for causing said support to move with respect to said pivot according to at least two independent directions; deviating means said at least two forces so that they are applied to said support according to two predetermined positions. - View Dependent Claims (2, 3, 4, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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- 5. Robotic wrist according to claim 5, in which said three degrees of freedom of the support are obtained in a redundant way, with four pulling elements for applying four respective forces.
Specification