Tool actuation and force feedback on robot-assisted microsurgery system

  • US 6,233,504 B1
  • Filed: 04/14/1999
  • Issued: 05/15/2001
  • Est. Priority Date: 04/16/1998
  • Status: Active Grant
First Claim
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1. A robot-assisted microsurgery system comprising:

  • (a) an input control device having force sensors and a handle, where the force sensors are configured to sense hand movements of an operator holding the handle;

    (b) at least one robot manipulator coupled to the input control device, the at least one robot manipulator including;

    (1) a plurality of joints with mechanically decoupled axes for transferring input commands from the input control device, through one joint in order to actuate another joint, without affecting the motion of any other joints; and

    (2) an end effector having at least one microsurgical manipulator configured to manipulate objects to perform microsurgical tasks;

    (c) a force-feedback element coupled to at least one robot manipulator and the input control device, the force-feedback element configured to provide the input control device with an exaggerated sense of touch in the microsurgical manipulator.

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