ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS
First Claim
1. A minimal access tool that mounts to a user so that the tool may roll about the user'"'"'s forearm, the tool comprising:
- a frame comprising an elongate tool shaft having a tool axis;
a cuff having a passage therethrough that is configured to hold a wrist or forearm of the user;
a first gimbal rotationally coupled between the frame and the cuff so that there is a first rotational degree of freedom between the frame and the cuff about a first axis;
a bearing between the frame and the cuff and configured to slide or roll so that there is a roll rotational degree of freedom between the frame and the cuff about the tool axis;
wherein, when the cuff is attached to the user'"'"'s wrist or forearm, the tool axis and the first axis intersect within the passage through the cuff.
1 Assignment
0 Petitions
Accused Products
Abstract
Apparatuses and methods for attaching a minimal access tool to a user'"'"'s boy (e.g., wrist or forearm) so that movements of the user'"'"'s forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user'"'"'s forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom.
15 Citations
29 Claims
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1. A minimal access tool that mounts to a user so that the tool may roll about the user'"'"'s forearm, the tool comprising:
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a frame comprising an elongate tool shaft having a tool axis; a cuff having a passage therethrough that is configured to hold a wrist or forearm of the user; a first gimbal rotationally coupled between the frame and the cuff so that there is a first rotational degree of freedom between the frame and the cuff about a first axis; a bearing between the frame and the cuff and configured to slide or roll so that there is a roll rotational degree of freedom between the frame and the cuff about the tool axis; wherein, when the cuff is attached to the user'"'"'s wrist or forearm, the tool axis and the first axis intersect within the passage through the cuff. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A minimal access tool that mounts to a so that the tool may roll about the user'"'"'s forearm, the tool comprising:
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a frame comprising an elongate tool shaft having a tool axis; a cuff that is configured to attach to the user'"'"'s wrist or forearm; a first gimbal rotationally coupled between the cuff and the frame so that there is a pitch rotational degree of freedom between the frame and the cuff about a first axis; a second gimbal rotationally coupled between the cuff and the frame so that there is a yaw rotational degree of freedom between the frame and the cuff about a second axis; a bearing between the cuff and the frame and configured to slide or roll so that there is a roll rotational degree of freedom between the frame and the cuff about the tool axis, wherein, when the cuff is attached to the user'"'"'s wrist or forearm, the tool axis, the first axis and the second axis intersect at a point within the user'"'"'s wrist or forearm; and a securement configured to hold the user'"'"'s wrist or forearm in the cuff so that the user'"'"'s hand extends through the first gimbal and the second gimbal and the cuff moves with the user'"'"'s wrist or forearm. - View Dependent Claims (19)
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20. A method of operating a minimal access tool, wherein the minimal access tool includes a frame comprising an elongate tool shaft having a tool axis, the method comprising:
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securing a user'"'"'s forearm or wrist within a cuff so that the user'"'"'s wrist or forearm extends through a first gimbal and is retained in the cuff wherein there is a roll rotational degree of freedom about the tool axis between the cuff and the frame through a bearing that rolls or slides and wherein there is a second rotational degree of freedom between the cuff and the frame through the first gimbal; changing either or both of an angle or a roll position of the user'"'"'s wrist or forearm relative to the tool axis as the user moves the user'"'"'s arm, by one or both of;
rotating the first gimbal about a second rotational axis, and sliding the bearing to roll about the tool axis,wherein the second rotational axis and the tool axis intersect at a point of intersection that is within the user'"'"'s wrist or forearm. - View Dependent Claims (21, 22, 23, 24, 25)
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26. A minimal access tool for mounting to a user'"'"'s arm comprising:
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a frame having an elongate tool shaft; a cuff configured to attach to the user'"'"'s wrist or forearm; a coupling joint between the cuff and the frame that provides at least one rotational or translational motion between the cuff and the frame; a handle configured to receive the user'"'"'s hand, the handle connected to the frame via an input joint that provides at least one degree of freedom; an end-effector connected to the tool shaft via an output joint; and a transmission system to transmit the at least one degree of freedom of the input joint to a corresponding at least one degree of freedom of the output joint. - View Dependent Claims (27, 28, 29)
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Specification