Robotic surgical system for performing minimally invasive medical procedures
First Claim
1. Robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist, wherein:
- said manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning said wrist;
said manipulator wrist provides two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for robotically setting a yaw angle and a pitch angle of said effector unit respectively;
said effector unit comprises a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting a roll angle of said laparoscopic instrument actuator;
said laparoscopic instrument actuator comprises a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit, and an actuation mechanism cooperating with said instrument stem adaptor for actuating a laparoscopic instrument connected to said adaptor;
said effector unit is configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor; and
said effector unit comprises a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint;
wherein said seat comprises an elongated essentially semi-cylindrical recess arranged essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the effector unit, and an actuation mechanism cooperating with the instrument stem adaptor for actuating a laparoscopic instrument connected to the adaptor. The effector unit is configured such that the rotation axis of the revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument mounted to the effector unit and the effector unit includes a sensor assembly having a 6 degree-of-freedom (DOF) force/torque sensor and a 6 DOF accelerometer. The sensor assembly connects the LIA to the sixth revolute joint.
1355 Citations
25 Claims
-
1. Robotic surgical system for performing minimally invasive medical procedures comprising a robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator having a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist, wherein:
-
said manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning said wrist; said manipulator wrist provides two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for robotically setting a yaw angle and a pitch angle of said effector unit respectively; said effector unit comprises a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting a roll angle of said laparoscopic instrument actuator; said laparoscopic instrument actuator comprises a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit, and an actuation mechanism cooperating with said instrument stem adaptor for actuating a laparoscopic instrument connected to said adaptor; said effector unit is configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor; and said effector unit comprises a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint; wherein said seat comprises an elongated essentially semi-cylindrical recess arranged essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. A robot manipulator for robotically assisted handling of a laparoscopic instrument, said robot manipulator comprising a manipulator arm, a manipulator wrist supported by said manipulator arm and an effector unit supported by said manipulator wrist,
said manipulator arm providing three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for positioning said wrist; -
said manipulator wrist providing two degrees-of-freedom by means of a fourth joint and a fifth joint, said fourth and fifth joints being revolute joints and each having an associated actuator, for setting a yaw angle and a pitch angle of said effector unit respectively; said effector unit comprising a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for setting a roll angle of said laparoscopic instrument actuator; said laparoscopic instrument actuator comprising a seat and an associated coupling mechanism for mounting an instrument stem adaptor to said effector unit; said effector unit being configured such that the rotation axis of said revolute sixth joint coincides with the longitudinal axis of a laparoscopic instrument when mounted to said effector unit by means of said instrument stem adaptor; and said effector unit comprising a sensor assembly including a six degree-of-freedom force/torque sensor and a six degree-of-freedom accelerometer, said sensor assembly connecting said laparoscopic instrument actuator to said sixth revolute joint; wherein said seat comprises an elongated essentially semi-cylindrical recess arranged, essentially coaxial to the rotation axis of said sixth joint, in an access surface of said laparoscopic instrument actuator, said seat and said coupling mechanism being configured for mounting and removing an instrument stem adaptor perpendicularly to the axis of rotation of said sixth joint. - View Dependent Claims (20, 21, 22, 23, 24, 25)
-
Specification