ROBOTIC APPARATUS
1 Assignment
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Accused Products
Abstract
A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
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Citations
29 Claims
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1-4. -4. (canceled)
- 5. The apparatus of claim 5, said instrument further comprising a second end effector element movably coupled to said third distal joint, such that said first and second end effector elements are movable relative to, and independently of, one another.
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15. A robotic surgical system comprising:
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an articulate robotic arm; and a robotic surgical instrument releasably coupleable to a distal portion of said articulate arm, said instrument comprising; at least a first end effector element movably coupled to a wrist portion, and a proximal portion coupled to an elongate shaft, said proximal portion coupleable to said articulate arm, said elongate shaft having a longitudinal axis and a distal end coupled to said wrist portion, said wrist portion having at least two segments, each of said segments having a segment axis, said segments movably coupled together in such a way that at least one of said segment axes can be positioned substantially parallel to said longitudinal axis of said elongate shaft.
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- 16. The system of claim 26, wherein the end effector element is capable of traveling along an arcuate path while said at least one of said segment axes remains substantially parallel to said longitudinal axis and without said elongate shaft of said instrument translating along, or rotating about, said longitudinal axis.
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17. The instrument of claim 26, wherein said wrist segments and said end effector are operatively coupled to a remote input control device, wherein an operator manipulating the remote input device can cause the wrist segments and end effector to move relative to a surgical site.
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19-25. -25. (canceled)
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29-37. -37. (canceled)
Specification