The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each ve
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.
대표청구항▼
1. An apparatus comprising: a mount;a gimbal ring coupled to the mount to rotate about a first axis;an actuator plate mounted to the gimbal ring to rotate about a second axis orthogonal to the first axis, the actuator plate comprising a first actuator connection and a second actuator connection;firs
1. An apparatus comprising: a mount;a gimbal ring coupled to the mount to rotate about a first axis;an actuator plate mounted to the gimbal ring to rotate about a second axis orthogonal to the first axis, the actuator plate comprising a first actuator connection and a second actuator connection;first and second actuator links rotatably coupled to the first and second actuator connections, respectively, to produce pitch and yaw rotations of the actuator plate; anda first gear section rotatably coupled to the first actuator link to longitudinally move the first actuator link and a second gear section rotatably coupled to the second actuator link to longitudinally move the second actuator link, the first gear section comprising a first gear quadrant and a first drive gear, the second gear section comprising a second gear quadrant and a second drive gear, the apparatus further comprising first and second drive spools configured to actuate the first and second drive gears, respectively. 2. The apparatus of claim 1, the actuator plate further comprising a first plurality of apertures having a first radius from the center of the actuator plate and a second plurality of apertures having a second radius from the center of the actuator plate, the second radius larger than the first radius, the apparatus further comprising: a shaft having a proximal end and a distal end, the proximal end coupled to the actuator plate;a flexible wrist coupled to the distal end of the shaft, the flexible wrist comprising at least one medial disk and at least one distal disk;a first plurality of cables extending from the actuator plate through the first plurality of apertures to the at least one medial disk of the flexible wrist; anda second plurality of cables extending from the actuator plate through the second plurality of apertures to the at least one distal disk of the flexible wrist. 3. The apparatus of claim 2, further comprising a lock plate coupled to the actuator plate, the lock plate comprising at least one wedge configured to mate with at least one corresponding wedge in the actuator plate to lock the first and second plurality of cables in place. 4. The apparatus of claim 2, further comprising a helical drive gear and a follower gear coupled to the shaft to produce roll rotation of the shaft about a longitudinal axis. 5. The apparatus of claim 1, the first and second gear quadrants configured to rotate around a common pivot axis. 6. The apparatus of claim 1, further comprising a surgical instrument comprising a shaft having a proximal end and a distal working end actuatable by a plurality of tendon elements coupled to the proximal end, the actuator plate including a plurality of apertures, each aperture being drivingly coupleable to at least one of the plurality of tendons. 7. The apparatus of claim 6, the actuator plate being pivotable about at least one pivot axis, each aperture being spaced apart from at least one of the pivot axes. 8. The apparatus of claim 7, wherein at least one of the plurality of apertures is spaced apart from at least a first pivot axis and at least one of the plurality of apertures is space apart from at least a second pivot axis; the first and second actuator links configured to controllably pivot the actuator plate selectably about each of the pivot axes, so that movement of the actuator plate about either of the first and second pivot axes moves at least one tendon to actuate the distal working end. 9. The apparatus of claim 8, wherein the actuator plate has a central axis, each of the first and second pivot axes intersect the central axis, and the plurality of apertures includes a first set of apertures spaced apart from the central axis at a first radial distance. 10. The apparatus of claim 6, wherein different ones of the plurality of apertures are spaced at different distances from the at least one pivot axis, so that selectable pivoting of the actuator plate about the at least one pivot axis moves different ones of the respective coupled tendons by different amounts relative to the shaft. 11. The apparatus of claim 6, the shaft comprising a plurality of adjacent segment vertebrae, at least two tendon elements passing through at least two apertures in each adjacent vertebrae, wherein the at least two apertures in each of the vertebra are spaced apart on opposite sides of a neutral axis of the shaft to define an aperture plane. 12. The apparatus of claim 11, further comprising at least one inter-vertebral engagement element coupled to each of the vertebrae, the engagement element pivotally engaging adjacent vertebrae so as to define at least two spaced-apart parallel cooperating pivot axes, each one of the pivot axes being aligned generally within the aperture plane of a respective one of the adjacent vertebra, such that each vertebra is pivotally movable about its respective pivot axes, so as to balance the motion of the tendons on opposite sides of the neutral axis when the flexible member is deflected in a bending direction. 13. The apparatus of claim 12, wherein the pivot axes are virtual axes, the at least one engagement element is a cooperating opposed pair of elements each having a contour in movable contact with the other, and the engagement contours are shaped to produce the virtual axes as the vertebrae are moved relative to one another in a bending direction. 14. The apparatus of claim 12, wherein the at least one engagement element is an engagement strut having at least one opposed space-apart pair of bearing portions, each bearing portion engaging a respective one of the vertebrae at an engagement point generally within the aperture plane of the vertebra, so as to define a pivot axis in each aperture plane. 15. The apparatus of claim 1, wherein the first and second actuator links are controllable by a robotic surgical system.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (260)
Delson Nathan J. ; Houston John S, Actuator with repulsive magnetic forces.
Slater Charles R. (Fort Lauderdale FL) Bales Thomas O. (Miami FL) Kortenbach Jurgen A. (Miami Springs FL) Nunez George (Miami FL) Turkel David (Miami FL), Apparatus for counting the number of times a medical instrument has been used.
Kortenbach Jurgen A. (Miami Springs FL) Nunez George (Miami FL) Slater Charles R. (Fort Lauderdale FL), Apparatus for counting the number of times a surgical instrument has been used.
Williamson Warren P. (Loveland OH) Burnett Steven (W. Chester OH) Smith Jack E. (Dayton OH) Fogelberg Mark (Loveland OH) Allen E. David (Okeana OH), Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Bone imobilization device.
Gunter D. Niemeyer ; Gary S. Guthart ; William C. Nowlin ; Nitish Swarup ; Gregory K. Toth ; Robert G. Younge, Camera referenced control in a minimally invasive surgical apparatus.
Frosch Robert A. Administrator of the National Aeronautics and Space Administration ; with respect to an invention of ( Arcadia CA) Wiker Gordon A. (Arcadia CA) Mann Wolfgang A. (Arcadia CA), Compact artificial hand.
Diner Daniel B. (Pasadena CA) Venema Steven C. (Seattle WA), Composite video and graphics display for camera viewing systems in robotics and teleoperation.
Smith Kevin W. (Miami FL) Murphy Gregory J. (Sunrise FL) Box John W. (Miami FL) Scarfone Frank A. (Boca Raton FL) Bales ; Jr. Thomas O. (Coral Gables FL), Connecting elements for connecting push rod to end effectors in a disposable laparoscopic surgical instrument.
Ohm Timothy ; Das Hari ; Guillermo Rodriguez ; Boswell Curtis ; Paljug Eric ; Schenker Paul ; Barlow Ed ; Steve Charles, Decoupled six degree-of-freedom teleoperated robot system.
Takahashi Nagashige (Tokiwadai Green Haitsu 602 ; No. 28-10 ; Tokiwadai 3-chome Itabashi-ku ; Tokyo JPX), Device for controlling curvature of an end section in an endoscope.
Salisbury, Jr., J. Kenneth; Niemeyer, Gunter D.; Younge, Robert G.; Guthart, Gary S.; Mintz, David S.; Cooper, Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Hori Koichiro (Framingham MA) Thaler Herbert A. (Framingham MA) Hunt Scott E. (Franklin MA) Lichtman Philip R. (Newton MA), Electronic endoscope with zoom lens system.
Bruce Douglas M. (Santa Cruz CA) Cooper Thomas G. (Menlo Park CA) Phetteplace James E. (Westfield MA) Rosewarne Joseph F. (Turners Falls MA), Endoscope with overload protective device.
Smith Kevin W. (Coral Gables FL) Kortenbach Juergen A. (Miami Springs FL) Slater Charles R. (Fort Lauderdale FL) Mazzeo Anthony I. (Fort Lauderdale FL) Slack ; Jr. Theodore C. (Miami FL) Bales Thomas, Endoscopic robotic surgical tools and methods.
Smith Kevin W. ; Kortenbach Juergen Andrew ; Slater Charles R. ; Mazzeo Anthony I. ; Slack ; Jr. Theodore C. ; Bales Thomas O., Endoscopic robotic surgical tools and methods.
Bales Thomas O. (Coral Gables FL) Murphy Gregory J. (Sunrise FL) Scarfone Frank A. (Boca Raton FL) Slater Charles R. (Fort Lauderdale FL) Smith Kevin W. (Miami FL), Endoscopic surgical instruments having rotatable end effectors.
Schwartz Robert S. (Rochester MN) Holmes David R. (Rochester MN) Halverson Frederick S. (North Oaks MN) Donadio ; III James V. (Chaska MN) Berry David (Longmont CO), Flexible tubular device for use in medical applications.
McCown William R. E. (Montclair CA) Stammreich John C. (Rancho Palos Verdes CA) Bourne ; Jr. William R. (Redondo Beach CA), Hold down device with extended capture pawl mechanism.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) Ta, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Yokoyama Masaaki (Toyonaka JPX) Kakui Mikio (Minoo JPX), Information recording medium including an organic polysilane and an oxo metallic phthalocyaning.
Allen George S. (628 Westview Ave. Nashville TN 37205) Galloway ; Jr. Robert L. (7736 Indian Springs Dr. Nashville TN 37221) Maciunas Robert J. (6320 Chickering Woods La. Nashville TN 37215) Edwards , Interactive image-guided surgical system.
Denen Dennis J. (Columbus OH) Eggers Philip E. (Dublin OH) Shaw Robert F. (San Francisco CA) Weller ; III Albert E. (Columbus OH), Local in-device memory feature for electrically powered medical equipment.
Teubner Joachim (Schwetzingen DEX) DiBartolomeo Jean-Yves (Paris FRX) Rouchy Didier (Les Clayes Sous Bois FRX), Mammograph provided with an improved needle carrier.
Michael J. Tierney ; Thomas Cooper ; Chris Julian ; Stephen J. Blumenkranz ; Gary S. Guthart ; Robert G. Younge, Mechanical actuator interface system for robotic surgical tools.
Kami Kuniaki (Hachioji JPX) Adachi Hideyuki (Hachioji JPX) Umeyama Koichi (Kasukabe JPX) Kosaka Yoshihiro (Hachioji JPX) Yamaguchi Seiji (Hachioji JPX) Fuse Eiichi (Hachioji JPX) Sato Michio (Hino JP, Medical system for reproducing a state of contact of the treatment section in the operation unit.
Wang Yulun ; Uecker Darrin R. ; Jordan Charles S. ; Wright James W. ; Laby Keith Phillip ; Wilson Jeff D., Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Yulun Wang ; Darrin Uecker ; Keith Laby ; Jeff Wilson ; Charles Jordan ; James Wright ; Modjtaba Ghodoussi, Method and apparatus for performing minimally invasive surgical procedures.
McGee H. Dean (Rochester Hills MI) Krause Kenneth W. (Rochester MI) Coldren Bruce E. (Troy MI), Method and system for automatically determining the position and orientation of an object in 3-D space.
Akeel Hadi A. (Rochester Hills MI) Reed Chris K. (Oxford MI), Method and system for quickly and efficiently transferring a workpiece from a first station to a second station.
Silverstein Fred E. (Seattle WA) Martin Roy W. (Redmond WA) Gilbert David A. (Seattle WA), Method for endoscopic blood flow detection by the use of ultrasonic energy.
Michael David J. ; Wallack Aaron, Nonfeedback-based machine vision method for determining a calibration relationship between a camera and a moveable obje.
Hutchinson James (Doylestown PA) Hoffman Brian (Somerville NJ) Pollack Steven (Washington Crossing PA), Novel means for mounting a tool to a robot arm.
Evans, Philip C.; Moll, Frederic H.; Guthart, Gary S.; Nowlin, William C.; Pendleton, Rand P.; Wilson, Christopher P.; Ramans, Andris D.; Rosa, David J.; Falk, Volkmar; Younge, Robert G., Performing cardiac surgery without cardioplegia.
Lathrop ; Jr. Robert L. (San Jose CA) Emerson Rick E. (San Jose CA) Wiley James E. (Los Gatos CA) Sklenar James M. (Santa Cruz CA) Chin Albert K. (Palo Alto CA) Moll Frederick H. (San Francisco CA) F, Peritoneal distension robotic arm.
McEwen James A. (10551 Bamberton Drive Richmond ; B.C. CAX V7A 1K6) Auchinleck Geoffrey F. (#5 - 1182 West 7th Ave. Vancouver ; B.C. CAX V6H 1B4) Bussani Carlo R. (3884 West 15th Avenue Vancouver ; B, Powered surgical retractor.
Roberts David W. (Hanover NH) Strohbehn John W. (Norwich VT) Hatch John F. (Shrewsbury MA), Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope.
Taylor Russell H. (Yorktown NY) Funda Janez (Valhalla NY) Grossman David D. (Chappaqua NY) Karidis John P. (Ossining NY) LaRose David A. (Croton on Hudson NY), Remote center-of-motion robot for surgery.
Coughlan Joel B. (Knox County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN), Remote manipulator.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Kohli Dilip (16615 W. Dane Ct. Brookfield WI 53005) Sandor George N. (1717 NW. 23rd Ave. ; Apt. 3C Gainesville FL 32605), Rotary linear actuator for use in robotic manipulators.
Alesi Thomas W. (New Fairfield CT) Young Wayne P. (Brewster NY) Bolanos Henry (East Norwalk CT) Mililli Carlo A. (Huntington CT) Mastri Dominick L. (Bridgeport CT) Stern Leonard (Southington CT), Self-contained powered surgical apparatus.
Guittet Jack (Les Ulis FRX) Marchal Paul (Gif sur Yvette FRX) Micaelli Alain (Arcueil FRX) Vertut Jean (Issy-les Moulineaux FRX), Servosystem between a master actuator and a slave actuator.
Canfield Stephen L. (Newport VA) Reinholtz Charles F. (Blacksburg VA) Salerno Robert J. (Radford VA) Ganino Anthony J. (Blacksburg VA), Spatial, parallel-architecture robotic carpal wrist.
Slotman Gus J. (705 Mill St. Moorestown NJ 08057) Stein Sherman (310 Spruce St. Phila. PA 19106) Green David T. (Westport CT) Castro Salvatore (Seymour CT) Mililli Carlo A. (Huntington CT) Ratcliff K, Surgical instruments useful for endoscopic spinal procedures.
Fujiwara Hiroshi (Hachiohji JPX) Tokunaga Shigeo (Hino JPX), Surgical microscope apparatus having a function to display coordinates of observation point.
Tierney Michael J. ; Cooper Thomas G. ; Julian Chris A. ; Blumenkranz Stephen J. ; Guthart Gary S. ; Younge Robert G., Surgical robotic tools, data architecture, and use.
Cooper, Thomas G.; Wallace, Daniel T.; Chang, Stacey; Anderson, S. Christopher; Williams, Dustin; Manzo, Scott E., Surgical tool having positively positionable tendon-actuated multi-disk wrist joint.
Funda Janez (Valhalla NY) LaRose David A. (Croton on Hudson NY) Taylor Russell H. (Ossining NY), System and method for augmentation of endoscopic surgery.
Taylor Russell Highsmith (Ossining NY) Kim Yong-yil (Seoul KRX), System for manipulating movement of a surgical instrument with computer controlled brake.
Conway Lynn A. (Ann Arbor MI) Volz Richard A. (Saline MI) Walker Michael W. (Ann Arbor MI), Tele-autonomous system and method employing time/position synchrony/desynchrony.
Hardy Tyrone L. (Albuquerque NM) Brynildson Laura D. (Albuquerque NM), Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic ty.
Wang Yulun (Goleta CA) Srinivasan Partha (Goleta CA), Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units.
Gruner George P. (Mukilteo WA) Doidge ; Jr. John A. (Mill Creek WA), Ultrasonic transesophageal probe with articulation control for the imaging and diagnosis of multiple scan planes.
Madhani Akhil J. ; Salisbury J. Kenneth, Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitiv.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.