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Surgical manipulator

  • US 20090163929A1
  • Filed: 12/22/2008
  • Published: 06/25/2009
  • Est. Priority Date: 06/14/2007
  • Status: Active Grant
First Claim
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1. A surgical manipulator, comprising:

  • a) a base and a first right angle drive mechanism mounted on said base, a shoulder-roll drive mechanism located in said base for rotating said first right-angle drive mechanism about a shoulder-roll axis,said first right-angle drive mechanism including a first input pulley and a first output pulley mounted substantially perpendicular to said first input pulley, said first right-angle drive mechanism including a first bi-directional coupling mechanism for coupling said first input pulley and said first output pulley, a first drive mechanism coupled to said first input pulley for rotating said first input pulley about a first input axis wherein rotation of said first input pulley is translated into rotation of said first output pulley by said first bi-directional coupling mechanism about a shoulder-yaw axis which is substantially perpendicular to said first input axis;

    a second right-angle drive mechanism coupled to said first output pulley of said first right angle drive mechanism, said second right-angle drive mechanism including a second input pulley and a second output pulley mounted substantially perpendicular to said second input pulley, said second right-angle drive mechanism including a second bi-directional coupling mechanism for coupling said second input pulley and said second output pulley,a second drive mechanism coupled to said second input pulley for rotating said second input pulley about a second input axis wherein rotation of said second input pulley is translated into rotation of said second output pulley by said bi-directional coupling mechanism about a shoulder-pitch axis which is substantially perpendicular to said first input axis;

    b) a robotic upper arm being mounted at one end thereof to said second output pulley so that when said second output pulley is rotated, said robotic upper arm rotates about said shoulder-pitch axis, a third right-angle drive mechanism mounted in said robotic upper arm, said third right-angle drive mechanism including a third input pulley and a third output pulley mounted substantially perpendicular to said third input pulley, said third right-angle drive mechanism including a third bi-directional coupling mechanism for coupling said third input pulley and said third output pulley said third right-angle drive mechanism including a third drive mechanism coupled to said third input pulley for rotating said third input pulley about a third input axis, wherein rotation of said third input pulley about said third input axis is translated into rotation of said third output pulley by said bi-directional coupling mechanism about an elbow-pitch axis substantially perpendicular to said third input axis;

    c) a robotic fore arm mounted on said third output pulley of said third right-angle drive mechanism so that when said third output pulley is rotated, said robotic fore arm rotates about said elbow-pitch axis, a fourth right-angle drive mechanism mounted in said robotic fore arm, said fourth right-angle drive mechanism including a fourth input pulley and a fourth output pulley mounted substantially perpendicular to said fourth input pulley, a fourth bi-directional coupling mechanism for coupling said fourth input pulley and said fourth output pulley, said fourth right-angle drive mechanism including a fourth drive mechanism coupled to said fourth input pulley for rotating the fourth input pulley about a fourth input axis, wherein rotation of said fourth input pulley about said fourth input axis is translated into rotation of said fourth output pulley by said bi-directional coupling mechanism about a wrist-pitch axis substantially perpendicular to said fourth input axis;

    d) a robotic wrist mounted on said fourth output pulley of said fourth right-angle drive mechanism so that when said fourth output pulley is rotated, said robotic wrist rotates about said wrist-pitch axis, said robotic wrist including an actuation mechanism coupled to a wrist output shaft for rotating said robotic wrist output shaft about a wrist-roll axis; and

    e) an end-effector mounted to said wrist output shaft, said end-effector including gripping means for releasably gripping a surgical tool wherein when said actuation mechanism is engaged said end-effector is rotated about said wrist-roll axis.

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