ARRANGEMENT FOR MANIPULATING A MEDICAL DEVICE

• US 20090036740A1
• Filed: 07/31/2008
• Published: 02/05/2009
• Est. Priority Date: 07/31/2007
• Status: Active Grant

• Current Assignee: Freehand 2010 Limited (Or Productivity Ltd.)
• Original Assignee: Prosurgics Limited (Or Productivity Ltd.)
• Inventors: FINLAY, Patrick
• Granted Patent: US 8,734,326 B2
• Time in Patent Office: Days
• US Class Current: 600/146
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

There is a drive element to be driven by a motor. There is also a control element for controlling at least one motion of the medical device. A transmission arrangement transmits motion from the drive element to the control element, the transmission arrangement having first and second members which are frictionally engaged with one another so that motion may be transmitted from one to the other. There is a manual manipulation control, which may be grasped by a user to move the medical device manually while the first and second members remain in frictional engagement with one another.

Claims

1. An arrangement for manipulating a medical device to be inserted into the body of a patient, the arrangement comprising:

a drive means driven by a motor;

a control means for controlling at least one motion of the medical device;

a transmission arrangement means for transmitting motion from the drive means to the control means, the transmission arrangement comprising first and second members being frictionally engaged with one another with motion being transmitted from one to another; and

a manual manipulation control means being grasped by a user to move the medical device manually while the first and second members remain in frictional engagement with one another, wherein said control means is driven by the manual movement, substantially none of the manual movement being transmitted to the drive means.

2. An arrangement according to claim 1, wherein said frictional engagement between the first and second members has adjustable strength.

3. An arrangement according to claim 2, further comprising:

an adjustment means to adjust the strength of the frictional engagement between the first and second members.

4. An arrangement according to claim 1, wherein the first member comprises a rotatable shaft and wherein a second member is mounted on the shaft.

5. An arrangement according to claim 4, wherein the second member is disposed between a pair of components, each component exerting frictional forces on the second member.

6. An arrangement according to claim 5, wherein at least one of the components is a spring, bearing against a part of the second member.

7. An arrangement according to claim 6, wherein said spring has an adjustable force bearing against the second member.

8. An arrangement according to claim 7, further comprising:

an adjustment means having an alterable distance from the second member, said spring being provided in compression between the adjustment means and the second member.

9. An arrangement according to claim 1, wherein the first and second members comprise opposing plates frictionally engaged with one another.

10. An arrangement according to claim 1, wherein the second member comprises a belt, passing around at least a part of the first member.

11. An arrangement according to claim 1, wherein the first and second members form part of a viscous fluid drive.

12. A surgical robot comprising:

an arrangement means for manipulating a medical device to be inserted into the body of a patient the arrangement means comprising;

a drive means driven by a motor;

a control means for controlling at least one motion of the medical device;

a transmission arrangement means for transmitting motion from the drive means to the control means, the transmission arrangement comprising first and second members being frictionally engaged with one another with motion being transmitted from one to another; and

a manual manipulation control means being grasped by a user to move the medical device manually while the first and second members remain in frictional engagement with one another, wherein said control means is driven by the manual movement, substantially none of the manual movement being transmitted to the drive means.

13. A surgical robot according to claim 12, further comprising:

a plurality of said arrangements means.

14. A method of manipulating a medical device to be inserted into the body of a patient, the method comprising the steps of:

driving a drive element by a motor;

controlling at least one motion of the medical device by a control element;

transmitting motion from the drive element to the control element by a transmission arrangement, the transmission arrangement comprising first and second members which are frictionally engaged with one another so that motion may be transmitted from one to the other; and

grasping a manual manipulation control by a user to move the medical device manually while the first and second members remain in frictional engagement with one another, wherein the control element is driven by the manual movement, substantially none of the manual movement being transmitted to the drive element.