최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0944362 (1997-10-06) |
발명자 / 주소 |
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출원인 / 주소 |
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대리인 / 주소 |
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인용정보 | 피인용 횟수 : 545 인용 특허 : 0 |
The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movab
The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) fixable by passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.
[ What is claimed is:] [2.] An instrument holder adapted to be driven by a drive assembly coupled to a robotic control mechanism for manipulation of a surgical instrument of the type having a shaft with an axially fixed mounting means, an end effector and a movable end effector actuator, the instrum
[ What is claimed is:] [2.] An instrument holder adapted to be driven by a drive assembly coupled to a robotic control mechanism for manipulation of a surgical instrument of the type having a shaft with an axially fixed mounting means, an end effector and a movable end effector actuator, the instrument holder comprising:a body having an axial passage for receiving said instrument and at least one mount for movably coupling said body to the drive assembly;an instrument support having an axial passage for receiving said instrument and a first interface engageable with the axially fixed mounting means of the instrument for releasably mounting the instrument to said instrument holder, said instrument support being rotatably coupled to said body and having a first coupling structured and arranged to connect said instrument support to the drive assembly for rotating said instrument;an actuator driver having an axial passage for receiving said instrument, a second interface engageable with the end effector actuator of the instrument and a second coupling for connecting said actuator driver to the drive assembly, said actuator driver further comprising means for translating rotational movement of the second coupling into axial displacement of the second interface relative to said body to actuate the end effector of the instrument.
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