Coupler to transfer controller motion from a robotic manipulator to an attached instrument
First Claim
1. A coupler to transfer controller motion from a robotic manipulator, the coupler comprising:
- a pin having a tip with a spherical bearing surface; and
a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.
2 Assignments
0 Petitions
Accused Products
Abstract
A coupler to provide controller motion from a robotic manipulator includes a pin having a tip with a spherical bearing surface and a plate supported on the spherical bearing surface of the pin with two degrees of rotational freedom about the center of the spherical bearing surface. The plate has a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device. The plate includes a pin receiving portion that extends outwardly from the driving surface and away from the back surface. The pin receiving portion includes a spherical receiving surface to receive the spherical bearing surface of the pin. The spherical bearing surface is located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device.
-
Citations
24 Claims
-
1. A coupler to transfer controller motion from a robotic manipulator, the coupler comprising:
-
a pin having a tip with a spherical bearing surface; and a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of a gimbal assembly of a driven device, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the driven device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A coupler system comprising:
-
a first housing; an outer gimbal rotatably coupled to the first housing, the outer gimbal rotatable about a first axis; an inner gimbal rotatably coupled to the outer gimbal, the inner gimbal rotatable about a second axis that intersects the first axis; a second housing; a pin connected to the second housing, the pin having a tip with a spherical bearing surface; and a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of the inner gimbal when the second housing is connected to the first housing, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with the intersection of the first and second axes. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
-
-
16. A robotic surgical system comprising:
-
a surgical instrument, the surgical instrument including a gimbal assembly at a first end operatively coupled to a surgical tool at a second end opposite the first end; a robotic manipulator detachably connected to the surgical instrument, the robotic manipulator including a coupler to transfer controller motion from the robotic manipulator to the surgical instrument, the coupler including a pin having a tip with a spherical bearing surface, and a plate supported on the spherical bearing surface of the pin with two degrees of freedom about the center of the spherical bearing surface, the plate having a back surface and an opposing driving surface that bears against a first surface of an inner gimbal of the gimbal assembly of the surgical instrument, the plate including a pin receiving portion that extends outwardly from the driving surface and away from the back surface, the pin receiving portion including a spherical receiving surface to receive the spherical bearing surface of the pin, the spherical bearing surface being located at a distance above the driving surface such that the center of the spherical bearing surface coincides with an intersection of the gimbal assembly axes of the surgical instrument. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
-
-
24. A coupler to provide controller motion from a robotic manipulator to a driven device, the coupler comprising:
-
first means for transferring controller motion from the robotic manipulator to a gimbal assembly of the driven device; second means for supporting the first means; and third means for providing two degrees of rotational freedom about a center of motion for the first means that coincides with an intersection of gimbal assembly axes of the driven device.
-
Specification