Surgical robotic system and hydraulic actuator therefor
First Claim
1. A layered hydraulic actuator comprising a top plate, a middle plate, a bottom plate, a piston, and means for conducting hydraulic fluid;
- wherein the middle plate comprises at least one chamber adapted to receive the piston and permit the piston to move up and down the length of the chamber;
wherein the means for conducting hydraulic fluid empties into the chamber housing the piston such that the piston is displaced up and down the length of the chamber when the hydraulic fluid flows into and out of the chamber; and
wherein the top plate and the bottom plate are attached to the top and bottom, respectively, of the middle plate, thereby enclosing the chamber containing the piston.
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Accused Products
Abstract
A hydraulic actuator is described which has a layered structure and a flattened piston assembly to enhance production speed and reduce the costs of assembly. A system for performing surgery is also described incorporating the hydraulic actuator, having a sensory glove, a computer, and a slender robot manipulator which can be inserted into the human body through a small incision. The robot manipulator has a layered structure with integrated hydraulic pistons. This design allows the use of a novel manufacturing process in which all of the parts are formed from laminated sheets of material. Seals are formed to prevent leakage of hydraulic fluid by introducing castable rubber into enclosed channels in the structure.
1091 Citations
14 Claims
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1. A layered hydraulic actuator comprising a top plate, a middle plate, a bottom plate, a piston, and means for conducting hydraulic fluid;
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wherein the middle plate comprises at least one chamber adapted to receive the piston and permit the piston to move up and down the length of the chamber; wherein the means for conducting hydraulic fluid empties into the chamber housing the piston such that the piston is displaced up and down the length of the chamber when the hydraulic fluid flows into and out of the chamber; and wherein the top plate and the bottom plate are attached to the top and bottom, respectively, of the middle plate, thereby enclosing the chamber containing the piston. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of producing a layered hydraulic actuator comprising the steps of
(a) forming top, bottom, and middle plates, wherein the middle plate has a cut-out first chamber and an adjoining second smaller chamber, (b) inserting a piston having a head and a shaft into the chambers of the middle plate such that it can slide back and forth within the chambers, the head of the piston being housed in the first chamber and the shaft being housed in the second chamber, (c) forming at least one channel in the middle plate to conduct hydraulic fluid into said first chamber, and (d) joining said lower, middle, and upper plates in a stacked arrangement, such that the first chamber of the middle plate is enclosed to form a cavity containing the piston.
Specification