Robotic apparatus
First Claim
1. A robotic surgical system, comprising:
- a slave articulate arm having a plurality of linkages and joints and a distal portion; and
a slave surgical instrument releasably coupleable to said distal portion of said articulate arm, said instrument comprising a wrist portion and at least a first end effector element coupled to the wrist portion, and a proximal portion coupled to an elongate shaft, said elongate shaft having a longitudinal axis and a distal end coupled to said wrist portion, said wrist portion of said instrument comprising;
at least three distal axes of rotation relative to said distal end of said shaft, each of said axes offset from one another, at least two of said axes of rotation being substantially parallel to one another, said end effector element movable about the most distal of said three distal axes.
1 Assignment
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Accused Products
Abstract
A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
79 Citations
25 Claims
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1. A robotic surgical system, comprising:
- a slave articulate arm having a plurality of linkages and joints and a distal portion; and
a slave surgical instrument releasably coupleable to said distal portion of said articulate arm, said instrument comprising a wrist portion and at least a first end effector element coupled to the wrist portion, and a proximal portion coupled to an elongate shaft, said elongate shaft having a longitudinal axis and a distal end coupled to said wrist portion, said wrist portion of said instrument comprising; at least three distal axes of rotation relative to said distal end of said shaft, each of said axes offset from one another, at least two of said axes of rotation being substantially parallel to one another, said end effector element movable about the most distal of said three distal axes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
- a slave articulate arm having a plurality of linkages and joints and a distal portion; and
Specification