Robotic device for use in image-guided robot assisted surgical training

• US 8,764,448 B2
• Filed: 09/01/2011
• Issued: 07/01/2014
• Est. Priority Date: 09/01/2010
• Status: Active Grant

• Current Assignee: Agency For Science Technology and Research, National University of Singapore
• Original Assignee: Agency For Science Technology and Research, National University of Singapore, National University Hospital Pte Limited (Temasek Holdings Pte Ltd. (Investment Management))
• Inventors: Yang, Liangjing, Liu, Jiang, Chui, Chee Kong, Huang, Weimin, Zhang, Jing, Zhou, Jiayin, Lee, Beng Hai, Tan, Ngan Meng, Wong, Wing Kee Damon, Yin, Fengshou, Chang, Kin Yong, Su, Yi, Yang, Tao
• Primary Examiner(s): Thai, Xuan
• Assistant Examiner(s): Fletcher, Jerry-Daryl
• Application Number:
  US13/820,065
• Publication Number:
  US 20130224710A1
• Time in Patent Office: 1,034 Days
• Field of Search: 434/262, 606/1, 703/11
• US Class Current: 434/262
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B25J 3/04 involving servo mechanisms servo-actuated heads B25J15/02
• CPC Class Codes: B25J 7/00 Micromanipulators specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

Claims

1. A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising:

a manual interface structure configured to simulate handling of a surgical tool;

a translational mechanism for translational motion of the manual interface structure;

a rotational mechanism for rotational motion of the manual interface structure; and

a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates,

wherein a linkage and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism, wherein the linkage is a link between the rotational mechanism, the translational mechanism and the spherical mechanism.

2. The robotic device according to claim 1, wherein the spherical mechanism comprises first and second substantially orthogonal rotatable spherical arches, wherein movement of the manual interface structure drives the first and second spherical arches.

3. The robotic device according to claims 2, wherein the spherical mechanism comprises first and second pairs of an actuator and a sensor for each of the first and second arches.

4. The robotic device according to claim 1, wherein the translational mechanism comprises a third pair of an actuator and a sensor.

5. The robotic device according to claim 1, wherein the rotational mechanism comprises a fourth pair of an actuator and a sensor.

6. The robotic device according to claim 1, wherein the manual user interface comprises an open-and-close mechanism to simulate opening and closing of the surgical tool.

7. The robotic device according to claim 6, wherein the open-and-close mechanism comprises a fifth pair of an actuator and a sensor.

8. The robotic device according to claim 3, wherein the sensors are configured to record operation of the manual interface structure by a user.

9. The robotic device according to claim 3, wherein the actuators are configured to drive the manual interface to reproduce a recorded operation of the manual interface structure.

10. The robotic device according to claim 1, wherein the manual interface structure comprises a shaft coupled to each of the translational, rotational, and spherical mechanisms.

11. The robotic device as claimed in claim 10, wherein the linkage comprises a slider moveable within a first and a second spherical arch and configured to couple the shaft to the first and second spherical arches.

12. The robotic device according to claim 11, wherein the slider is configured to enable rotational and translational movement of the shaft relative to the first and second spherical arches.

13. The robotic device as claimed in claim 10, wherein the shaft is coupled to the translational mechanism by way of a track and gear coupling.

14. The robotic device as claimed in claim 10, wherein the shaft is coupled to a rotational axis of the rotational mechanism.

15. The robotic device according to claim 1, wherein the spherical mechanism comprises a base of the robotic device supporting a first and a second spherical arch, the manual interface structure and the translational and rotational mechanisms.