Surgical manipulator
First Claim
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1. A manipulator for use in performing medical procedures on a portion of a body of a patient, comprising:
- a medical tool;
a positioning mechanism which carries the medical tool, the positioning mechanism being capable of moving the tool with at least one degree of freedom;
a movable haptic interface that is adapted to receive manually input position information from an operator and which communicates with a manipulator controller that directs movement of the positioning mechanism;
a remote position tracking system including an electromagnetic field generator for producing a multidimensional electromagnetic field in three mutually distinguishable dimensions, the position tracking system being capable of tracking the position of the medical tool and the body of the patient relative to a predetermined frame of reference in three dimensions as the tool is moved by the positioning mechanism, at least a portion of the remote position tracking system being arranged remotely from the positioning mechanism.
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Abstract
The present invention provides a surgical manipulator which capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a relatively lightweight, compact design as a result of the use of high force to mass ratio actuators. The manipulator includes a mounting fixture which permits the manipulator to be fixed relative to a portion of a body of a patient.
161 Citations
6 Claims
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1. A manipulator for use in performing medical procedures on a portion of a body of a patient, comprising:
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a medical tool; a positioning mechanism which carries the medical tool, the positioning mechanism being capable of moving the tool with at least one degree of freedom; a movable haptic interface that is adapted to receive manually input position information from an operator and which communicates with a manipulator controller that directs movement of the positioning mechanism; a remote position tracking system including an electromagnetic field generator for producing a multidimensional electromagnetic field in three mutually distinguishable dimensions, the position tracking system being capable of tracking the position of the medical tool and the body of the patient relative to a predetermined frame of reference in three dimensions as the tool is moved by the positioning mechanism, at least a portion of the remote position tracking system being arranged remotely from the positioning mechanism. - View Dependent Claims (2, 3)
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4. A manipulator for use in performing medical procedures on a portion of a body of a patient, comprising:
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a medical tool; a positioning mechanism which carries the medical tool, the positioning mechanism being capable of moving the tool with at least one degree of freedom; a movable haptic interface that is adapted to receive manually input position information from an operator and which communicates with a manipulator controller that directs movement of the positioning mechanism; a remote position tracking system including an electromagnetic field generator for producing a multidimensional electromagnetic field in three mutually distinguishable dimensions, the position tracking system being capable of tracking the position of the medical tool relative to a predetermined frame of reference in three dimensions as the tool is moved by the positioning mechanism, at least a portion of the remote position tracking system being arranged remotely from the positioning mechanism; a first remote field sensor carried by the tool for detecting the multidimensional electromagnetic field; and a second remote field sensor carried by the positioning mechanism or the body of the patient for detecting the multidimensional electromagnetic field. - View Dependent Claims (5, 6)
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Specification