Surgical manipulator
First Claim
1. A manipulator for use in medical procedures comprising:
- first and second arms; and
a medical tool pivotably supported by the first and second arms, the arms being movable independently of each other to manipulate the tool with at least one degree of freedom wherein each of the arms comprises first and second links connected to each other by a linear actuator for translating the second link with respect to the first link in a lengthwise direction of the second link.
1 Assignment
0 Petitions
Accused Products
Abstract
A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.
752 Citations
46 Claims
-
1. A manipulator for use in medical procedures comprising:
-
first and second arms; and
a medical tool pivotably supported by the first and second arms, the arms being movable independently of each other to manipulate the tool with at least one degree of freedom wherein each of the arms comprises first and second links connected to each other by a linear actuator for translating the second link with respect to the first link in a lengthwise direction of the second link.
-
-
2. A manipulator for use in medical procedures comprising:
-
first and second arms;
a medical tool pivotably supported by the first and second arms, and a linear actuator pivotably supported by the arms and supporting the medical tool for movement along a linear path transverse to the arms;
the arms being movable independently of each other to manipulate the tool with at least one degree of freedom.
-
-
3. A manipulator for use in medical procedures comprising:
-
first and second arms; and
a medical tool pivotably supported by the first and second arms;
the arms being movable independently of each other to manipulate the tool with at least one degree of freedom wherein one of the arms has a first end and a second end capable of movement in three dimensions with respect to the first end.
-
-
4. A method of performing a medical procedure comprising:
-
pivotably supporting an elongated tool support having a tool mounted thereon by first and second independently movable arms;
inserting the tool support into an opening in a body wall of a patient; and
moving the arms so as to pivot the tool support about a virtual pivot point located in the body wall. - View Dependent Claims (5, 6, 7, 8, 9)
-
-
10. An apparatus for manipulating a medical tool within a patient'"'"'s body comprising:
-
a tube capable of insertion into a patient'"'"'s body;
a gimbals joint supported by the tube and having first and second axes of rotation;
a tool supported by the gimbals joint for pivoting about the first and second axes;
first and second elongated connectors extending through the tube to the gimbals joint; and
first and second actuators operatively connected to the first and second connectors, respectively, so as to exert force on the gimbals through the first and second connectors to pivot the tool about at least one of the first and second axes and wherein at least one of the first and second connectors can be rotated by the one of the first and second actuators to which it is operatively connected.
-
-
11. A manipulator for use in medical procedures comprising:
-
first and second arms; and
a medical tool pivotably supported by the first and second arms with each arm supporting the medical tool at a different location, each arm having an associated first actuator for effecting longitudinal movement of the respective arm and an associated second actuator for effecting pivotal movement of the respective arm such that the arms are movable independently of each other in a longitudinal direction and a pivotal direction to manipulate the tool with at least three degrees of freedom. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
-
-
33. An apparatus for manipulating a medical tool within a patient'"'"'s body comprising:
-
a tube capable of insertion into a patient'"'"'s body;
a gimbals joint supported by the tube and having first and second axes of rotation;
a tool supported by the gimbals joint for pivoting about the first and second axes;
first and second elongated connectors extending through the tube to the gimbals joint; and
first and second actuators operatively connected to the first and second connectors, respectively, so as to exert force on the gimbals through the first and second connectors to pivot the tool about at least one of the first and second axes and wherein the first and second connectors are capable of acting in compression and tension. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46)
-
Specification