|국가/구분||United States(US) Patent 등록|
|미국특허분류(USC)||700/260 ; 700/245 ; 700/248 ; 700/262 ; 700/263 ; 700/257 ; 901/027 ; 901/028 ; 901/030 ; 901/034 ; 901/036 ; 600/595 ; 606/130 ; 414/004|
|발명자 / 주소|
|출원인 / 주소|
|대리인 / 주소||
|인용정보||피인용 횟수 : 215 인용 특허 : 8|
An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
[ What is claimed is:] [1.]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 o...