Articulated apparatus for telemanipulator system

• US 6,197,017 B1
• Filed: 08/17/1999
• Issued: 03/06/2001
• Est. Priority Date: 02/24/1998
• Status: Expired due to Fees

• Current Assignee: Hansen Medical Incorporated (Johnson & Johnson)
• Original Assignee: endoVia Medical, Inc. (Johnson & Johnson)
• Inventors: Brock, David L., Lee, Woojin
• Primary Examiner(s): Philogene, Pedro
• Application Number:
  US09/375,666
• Time in Patent Office: 567 Days
• Field of Search: 606/1, 606/630, 606/88, 606/130, 414/729, 414/730, 414/732, 414/737, 414/5, 414/7, 744/69, 74/892.2, 901/9, 901/21, 901/15, 901/27, 901/25, 901/48, 318/658.19, 318/567, 318/571, 254/256, 254/393
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 17/3462 with means for changing the diameter or the orientation of the entrance port of the cannula, e.g. for use with different-sized instruments, reduction ports, adapter seals expandable cannulas A61B17/3417
• CPC Class Codes: A61B 2017/2939 Details of linkages or pivot points
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons

Abstract

An articulated apparatus is disclosed including a plurality of link members each in communication with and rotatably moveable with respect to at least one other adjacent link member about an associated joint between the adjacent link members. The plurality of link members include a first link member that extends in a first direction and is associated with a first joint having an axis of rotation in a second direction that is different than the first direction, and a second link member that extends in a third direction and is associated with a second joint having an axis of rotation in a fourth direction that is substantially coplanar with the third direction. The apparatus also includes a base portion including a drive assembly for controlling the movement of each of the link members with respect to other link members about the joints via tendons that control the rotational movement of the link members about the joints responsive to the drive assembly. At least some of the tendons extend through at least some of the joints including the first and second joints such that the movement of the link members about the joints through which the tendons extend, does not cause significant attendant movement of the tendons extending through the joints.

Claims

1. An articulated apparatus comprising:

a first link member;

a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation; and

a third link member coupled to a distal end of said second link member by a second joint, the movement of said second link member being governed by at least one tendon that passes through said first axis of rotation of said first joint such that movement of said second member with respect to said third member does not cause movement of said third member with respect to said second member.

2. An articulated apparatus as claimed in claim 1, wherein said apparatus further includes a second tendon that passes through said first axis of said first joint such that movement of said second member with respect to said third member does not cause movement of said third member with respect to said second member.

3. An articulated apparatus as claimed in claim 1, wherein said apparatus further includes a base portion including drive means for controlling the movement of each said link member with respect to other link members.

4. An articulated apparatus comprising:

a first link member;

a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation; and

at least one tendon extending through said first axis of rotation of said first joint such that movement of said second link member with respect to said first link member is independent of movement of said at least one tendon with respect to said first joint.

5. An articulated apparatus as claimed in claim 4, wherein said apparatus further includes a second tendon that extends through said first axis of rotation of said first joint such that movement of said second link member with respect to said first link member is independent of movement of said tendons with respect to said first joint.

6. An articulated apparatus as claimed in claim 4, wherein said apparatus further includes a base portion including drive means for controlling the movement of each said link member with respect to other link members.