Surgical robotic system

• US 7,988,215 B2
• Filed: 05/05/2008
• Issued: 08/02/2011
• Est. Priority Date: 05/11/2007
• Status: Active Grant

• Current Assignee: Deutsches Zentrum Fã¼R Luft- Und Raumfahrt E.V.
• Original Assignee: Deutsches Zentrum Fã¼R Luft- Und Raumfahrt E.V.
• Inventors: Seibold, Ulrich
• Primary Examiner(s): Rodríguez; Saúl J
• Assistant Examiner(s): VU, STEPHEN A
• Application Number:
  US12/151,251
• Publication Number:
  US 20080276746A1
• Time in Patent Office: 1,184 Days
• Field of Search: 294/88, 294/907, 254/134.3 FT, 254/134.3 R, 483/901, 606205-208, 414/5, 414/6, 414/730, 414/739, 901/32, 901/33, 901/34, 901/41, 744/900.5
• US Class Current: N/A
• CPC Class Codes: A61B 2017/00539 hydraulically
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: F15B 15/10 the motor being of diaphragm type
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A surgical robotic system includes a robotic arm, an end effector movably connected thereto and provided with a movable end effector element driven by an actuator, and a force sensor arranged between the robotic arm and the end effector. The actuator is formed by a hydraulic cylinder. The robotic arm is provided with a hydraulic line connected to said hydraulic cylinder of the end effector.

Claims

1. A surgical robotic system comprising:

a robotic arm, an end effector movably connected to the robotic arm and provided with at least one movable end effector element driven by an actuator, and

a force sensor arranged between the robotic arm and the end effector,

wherein

said actuator is formed by a hydraulic cylinder, and

said robotic arm is provided with a hydraulic line connected to said hydraulic cylinder,

wherein the cross-sectional area of the hydraulic cylinder is at least ten times the cross-sectional area of the hydraulic line.

2. The surgical robotic system according to claim 1, wherein the hydraulic cylinder is formed by a closed bellows.

3. The surgical robotic system according to claim 1, wherein the hydraulic line is operated by a hydraulic fluid, and wherein the hydraulic fluid is a saline solution.

4. The surgical robotic system according to claim 1, wherein the force sensor is formed as a force/moment sensor.

5. The surgical robotic system according to claim 1, wherein the hydraulic cylinder is arranged to symmetrically drive two of said movable end effector elements forming a gripping means.

6. The surgical robotic system according to claim 1, wherein the coupling of the hydraulic cylinder to the end effector element is formed in such a manner that an expansion of the hydraulic cylinder is to cause a closing movement of the end effector element.