MANIPULATOR

• US 20100275718A1
• Filed: 04/29/2009
• Published: 11/04/2010
• Est. Priority Date: 04/29/2009
• Status: Abandoned Application

• Current Assignee: Microdexterity Systems Incorporated (Stryker Corporation)
• Original Assignee: Microdexterity Systems Incorporated (Stryker Corporation)
• Inventors: Beer, Joel N., Bowling, David G., Ketchel, John S., Stuart, J. Michael
• Application Number:
  US12/432,344
• Publication Number:
  US 20100275718A1
• Time in Patent Office: Days
• US Class Current: 74/490.01
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• 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: Y10T 74/20305 Robotic arm

Abstract

A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and is capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and is capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is connected to the body at a third attachment point and is capable of moving the third attachment point with at least one degree of freedom.

Claims

1. A manipulator comprising:

a body;

a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom;

a second actuator system connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom; and

a third actuator system connected to the body at a third attachment point and capable of moving the third attachment point with at least one degree of freedom.

2. The manipulator of claim 1 wherein the first, second and third attachment points are arranged in a common plane.

3. The manipulator of claim 1 wherein the first, second and third actuator systems are respectively supported on solid mounts.

4. The manipulator of claim 1 wherein the first and second attachment points each comprises a respective three degree of freedom joint.

5. The manipulator of claim 1 wherein the third attachment point comprises a three degree of freedom joint.

6. The manipulator of claim 1 wherein the third actuator system is capable of moving the third attachment point with at least three degrees of freedom.

7. The manipulator of claim 1 wherein the third actuator system is capable of moving the third attachment point with at least two degrees of freedom.

8. The manipulator of claim 1 wherein each of the first, second and third actuator systems comprises a serial actuator system.

9. The manipulator of claim 8 wherein each of the first, second and third actuator systems employs at least three linear joints/actuators.

10. The manipulator of claim 8 wherein each of the first, second and third actuator systems employs at least three rotary joints/actuators.

11. The manipulator of claim 8 wherein at least one of the first, second and third actuator systems employs a combination of rotary and linear joints/actuators.

12. The manipulator of claim 1 wherein the first, second and third actuator systems comprise parallel actuator systems.

13. The manipulator of claim 12 wherein each of the first, second and third actuator systems employs at least three linear joints/actuators.

14. The manipulator of claim 12 wherein each of the first, second and third actuator systems employs at least three rotary joints/actuators.

15. The manipulator of claim 12 wherein at least one of the first, second and third actuator systems employs a combination of rotary and linear joints/actuators.

16. The manipulator of claim 1 wherein the first actuator system comprises a serial actuator system and the second actuator system comprises a parallel actuator system.

17. The manipulator of claim 1 wherein the body includes a tool mount.

18. The manipulator of claim 1 wherein the body comprises a plate.