Microsurgical Robot System

• US 20140135794A1
• Filed: 07/12/2012
• Published: 05/15/2014
• Est. Priority Date: 07/13/2011
• Status: Active Grant

• Current Assignee: Technische Universiteit Eindhoven
• Original Assignee: Technische Universiteit Eindhoven
• Inventors: Cau, Raimondo
• Granted Patent: US 9,351,796 B2
• Time in Patent Office: Days
• US Class Current: 606/130
• 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 34/75 Manipulators having means for prevention or compensation of hand tremors
• CPC Class Codes: Y10S 901/25 Gearing
• CPC Class Codes: Y10S 901/41 Tool

Abstract

Designs for modular microsurgical robotic devices and systems are provided, which could include one or multiple master-slave units coupled to a central microscope-based suspension structure. One of the main objectives is to provide robotic assistance during tasks which require long-term user concentration and high precision. The microsurgical robotic devices pay attention to motion scaling and tremor filtration in a 6 Degrees-of-Freedom (DOF) master-slave setup with force feedback. An extra DOF is included to actuate a 1-DOF instrument tip. Embodiments of this invention can be used in the medical environment as well as in other areas such as printed circuit board repair, watch and jewelry making, laboratory tasks, or other areas which require high precision over extended periods of time.

Claims

1. A robotic instrument manipulation device, comprising:

(a) a first module, wherein a top portion of said first module comprises a first differential gear, wherein a bottom portion of said first module comprises a universal joint, wherein said first differential gear comprises a first driven gear and a first pair of driving gears disposed on opposite sides of said first driven gear, wherein said first pair of driving gears are disposed along a first common axis, wherein said first driven gear comprises a first drive shaft that is fixedly suspended, wherein said first module rotates about an axis of said first drive shaft when said first pair of driving gears counter rotate, wherein said first driven gear rotates said first module about said first common axis when said first pair of driving gears co-rotate;

(b) a second module, wherein a top portion of said first module is pivotably connected to a top portion of said second module, wherein said pivotable connection comprises a first module pivotable connection and a second module pivotable connection, wherein a bottom portion of said second module comprises a second differential gear, wherein said second differential gear comprises a second driven gear and a second pair of driving gears disposed on opposite sides of said second driven gear, wherein said second pair of driving gears are disposed along a second common axis, wherein said second driven gear comprises a second drive shaft that rotates about an axis of said second drive shaft when said second pair of driving gears counter rotate, wherein said second drive shaft rotates about said second common axis when said second pair of driving gears co-rotate; and

(c) a third module, wherein said third module comprises a third differential gear disposed at a distal end of said third module, wherein a distal end of said second drive shaft is fixedly connected to a proximal end of said third module, wherein a mid-portion of said second drive shaft is universally connected to said universal joint, wherein said third differential gear comprises a third driven gear and a third pair of driving gears disposed on opposite sides of said third driven gear, wherein said third pair of driving gears are disposed along a third common axis, wherein said third driven gear comprises an instrument, wherein said instrument rotates about an instrument longitudinal axis when said third pair of driving gears counter rotate, wherein said instrument rotates about said third common axis when said third pair of driving gears co-rotate, wherein said first module pivotable connection, said second module pivotable connection, said second common axis and said universal joint form a parallelogram.

2. The robotic instrument manipulation device as set forth in claim 1, wherein said instrument comprises an actuator, wherein said actuator operates a tool disposed at a distal end of said instrument.

3. The robotic instrument manipulation device as set forth in claim 1, wherein said robotic instrument manipulation device comprises a center of gravity that is proximal to said universal joint.

4. The robotic instrument manipulation device as set forth in claim 1, wherein said robotic instrument manipulation device is remotely controlled according to a master-slave system.

5. The robotic instrument manipulation device as set forth in claim 4, wherein a master device in said master-slave system comprises a second robotic instrument manipulation device that is operated using a tool on said instrument.

6. The robotic instrument manipulation device as set forth in claim 1, wherein said pivotal connection between said top portion of said first module and said top portion of said second module comprises a rigid link of said parallelogram.

7. The robotic instrument manipulation device as set forth in claim 1, wherein said first module pivotal connection comprises said first common axis of said first differential gear.

8. The robotic instrument manipulation device as set forth in claim 7, wherein said pivotal connection between said top portion of said first module and said top portion of said second module comprises a rigid link of said parallelogram, wherein said rigid parallelogram link is perpendicular to said first shaft.

9. The robotic instrument manipulation device as set forth in claim 1, wherein said first common axis is perpendicular to said first drive shaft.

10. The robotic instrument manipulation device as set forth in claim 1, wherein said second common axis is perpendicular to said second drive shaft.

11. The robotic instrument manipulation device as set forth in claim 1, wherein said third common axis is perpendicular to said third drive shaft.