EP1440363B1 - Dispositif d'entree selon le principe cinematique parallele et a retour haptique - Google Patents

Dispositif d'entree selon le principe cinematique parallele et a retour haptique Download PDF

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Publication number
EP1440363B1
EP1440363B1 EP02787352A EP02787352A EP1440363B1 EP 1440363 B1 EP1440363 B1 EP 1440363B1 EP 02787352 A EP02787352 A EP 02787352A EP 02787352 A EP02787352 A EP 02787352A EP 1440363 B1 EP1440363 B1 EP 1440363B1
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EP
European Patent Office
Prior art keywords
input device
articulation
frame
carrier element
grip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02787352A
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German (de)
English (en)
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EP1440363A2 (fr
Inventor
Albert Schaeffer
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Individual
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Individual
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the present invention relates to an input device according to a parallel kinematic principle and with haptic feedback for a computer, in particular for medical teleoperation with instruments, according to the preamble of claim 1.
  • Such input devices are preferably required for difficult manipulations of objects, which a person should not make directly on them by hand, but remotely via an auxiliary machine or a robot with feeling. For the most part, these are complex activities that require flexible, manual intervention by the operator and in which a purely visual control of the robot activity is not sufficient.
  • the operator who is usually locally separate from the work site, receives important additional information independent of the visual sense channel via a haptic feedback of the input device.
  • the haptic sense channel which conveys both tactile and kinesthetic impressions, the operator, for example, the position, orientation, weight and inertia of the robot and a possibly placed tool made tangible or palpable.
  • the operator can obtain information about the object to be manipulated itself, such as its size, shape, strength and surface texture.
  • the operator can thus, with the help of the robot and the input device, fully feel the working environment and feel the effect of its remote action - with or without additional visual control.
  • Typical applications for such a telenavigation or operation are working in hostile environments such as in nuclear power plants, under water or in space.
  • Control of construction machinery, defusing bombs and in particular the telesurgery are other application examples in which the haptic feedback of a (fem) input device is desired or even essential.
  • Such input devices can also be used for the computer assisted simulation of manipulations of objects or human bodies described above, such as for experimental, educational and training purposes.
  • both the manipulating tool, possibly without a robot, and the object to be processed are only present virtually in a computer or on its screen. In the simplest case, this may be a mouse pointer or an illustrated finger on a push button graphical user interface.
  • such input devices can also be used in combinations of real and virtual manipulation or haptic feedback.
  • the linear actuators or their pull / push rods essentially form a two- and a tripod, the foot-side ends are articulated individually movable on a common frame and the tip-side ends are coupled in each case via multiple hinges with a likewise rod-shaped support member movable. Further, a pin-like handle is arranged on the support element.
  • five mechanical degrees of freedom with haptic feedback and two on the handle arranged on / off keys are available with this input device, with actuators and buttons are connected to a computer.
  • a major disadvantage of this device is that it must be intervened to operate in the graceful structure of the five linear actuators and the handle, which may conflict with the hand or the forearm of the operator with the actuators. This may cause undesirable control effects, damage the device, or even cause forearm injuries.
  • stand Only five active degrees of freedom are available and the buttons on the handle of the support element allow only the input of Boolean information.
  • the drive comprises six spindles driven by stepping motors which, arranged in pairs, form the shape of a tripod, one leg in each case consisting of two spindles guided approximately parallel to one another.
  • the control knob At the top of the tripod is the control knob, which is coupled to the spindle via a triangular plate.
  • the device has a power back transmission capability in six degrees of freedom, with the control knob itself being passive. Due to the sluggish and coarse motor operation, the device is not suitable for delicate manipulations, such as e.g. are required for handling or remote control of surgical instruments. In addition, the range of action of the device is very limited, so that a larger area can only be processed with the aid of corresponding image scales greater than one. Additional tool functions with corresponding haptic feedback are not available in addition to the mere navigation of a connected robot in this device.
  • the mobility of the handle pair forms the fifth degree of freedom.
  • a disadvantage of this input device is the complex and essentially serial structure of the kinematics with the known vulnerabilities.
  • only for the gimbal suspension and for the displacement axis corresponding force feedback functions are provided.
  • the limited in practice to a few degrees pivoting range allows a realistic laparoscopy to unsatisfactory extent.
  • the invention has for its object to provide a parallel kinematic input device with haptic feedback, which provides an active actuation function for a real or virtual tool and allows intuitive, realistic manipulation in a simple manner for many applications.
  • any handles can be modeled with a second handle part, which forms a corresponding pair of handle parts with the first.
  • these are handles of hand-operated tools and instruments, such as scissors, forceps, ferrules, syringes or any other tools or instruments with comparable gripping surfaces intended for hands or fingers.
  • handle part pair of the invention is advantageous in that the operator no longer has to adjust to unergonomic controls or unfamiliar handles.
  • surgeons who have to acquire the handles for the precise operation of the medical instrumentation in a year-long and continuous training, benefit from the described solution with two handle parts.
  • the actuating direction of the handle parts is preferably aligned parallel to the longitudinal extent of the support member, but may also be perpendicular or at any other angle thereto.
  • tools that do not have their own operating mechanism such as a screwdriver or a scalpel.
  • this is also possible for tools or machines that are not operated directly by hand.
  • Another significant advantage of the input device according to the invention is that the mutually movable grip parts also have a haptic feedback by means of an intermediate, force-sensitive grip actuator.
  • handle actuators known drives, such as electromagnetic linear or stepper motors can be used. Also pneumatic or hydraulic drives are conceivable for this purpose.
  • the handle actuator used may have any degrees of freedom, preferably the same or the same as the handle parts themselves. It is advantageous if the handle actuator simultaneously carries and / or guides at least one of the handle parts with corresponding joints. In this case, the handle actuator may be mounted on or on the carrier element and partially on the handle parts or only on the handle parts.
  • the parallel kinematic design principle often used in the prior art for processing machines with several, preferably identical linear actuators, is generally poorly known for input devices or for input / output devices. Nevertheless, even with these devices comparable advantages with respect to those with serial kinematics, such as, for example, lower component and maintenance requirements, higher precision and dynamics as well as easier control can be achieved.
  • variable-length linear actuators used may preferably be electromagnetic linear direct drives, but also pneumatic or hydraulic linear direct drives.
  • spindle and rack drives are conceivable, with only the distance of the linkages variable and the spindle or the rack itself is constant in length.
  • force-sensitive actuators these drives also allow control of deflection and counteracting load.
  • the linear actuators of the input device according to the invention are connected in a conventional manner by means of linkages, such as cardan, spherical head or ball joint or an alternative joint, both with the frame and with the support element in two rotational degrees of freedom or pivotally, the linear actuators or whose actuators and stators together form a tripod.
  • the frame itself can be made multi-level or, for example, be a simple holder or a flat mounting plate.
  • the carrier element itself is preferably designed as a straight rod, eg as a tube or square profile. Further, it is possible to perform the support element arcuate.
  • three additional linkages are provided on the frame in addition to the three already existing.
  • the further articulation of the carrier element is designed as a second multiple articulation with three individual or combined articulations. It is essential that in addition three further force-sensitive linear actuators are provided, which each act on the second multiple articulation of the carrier element and on the three other linkages of the frame.
  • the three linear actuators or their actuators and stators essentially form a second tripod.
  • the first multiple articulation is movable relative to the second multiple articulation. This means that the two tips of the tripods are also movable relative to each other, whereas the six frame-side linkages and the feet of the tripods remain stationary with respect to each other.
  • the six linear actuators or the two tripods functionally form the grip actuator and the two grip parts are each structurally associated with one of the tripods.
  • the locations of the six frame-side linkages are constant relative to one another.
  • the multiple articulations on the carrier element and the linear actuators of the one tripod coupled thereto are movable relative to those of the other tripod.
  • the carrier element can thus consist essentially of two mutually movable parts, wherein each part of the carrier element is assigned a handle part and the multiple articulation of a tripod or attached thereto. It is advantageous for one that the degree of freedom of the multi-part support member for the handle parts to be moved can be used as a wrist joint.
  • the grip actuator no longer has to guide the grip parts and can be made correspondingly simpler.
  • a special advantage proves to be others that the linear actuators split into two tripods can completely replace the grip actuator. There are enough degrees of freedom available with six linear actuators. In mutually stationary multiple articulations of the carrier element, only five degrees of freedom are required for the mathematical definition of the position / load of the input device.
  • the missing information for the grip position / load is obtained from the position / load of the sixth linear actuator. If the handle position / load remains constant during operation, the sixth linear actuator has a positive effect on precision and reliability due to the mathematical overdetermination. In addition, the stability and reliability of the input device according to the invention is increased in this case.
  • the mathematical calculations in the control or evaluation of the position / load are particularly simple if each three of the linear actuators form an ideal tripod, at the tips of the support member is articulated. If, in the tips, the axes of the linear actuators coincide at least fictitiously in a single point of intersection, and if this point of intersection lies in the axis of the carrier element, it is possible to use trivial calculation methods.
  • the linear actuators of the tripods but also skewed converge, for example, if the linkages on the support element as in the prior art are arranged side by side or do not intersect the axes of rotation of a linkage.
  • the linkages on the support element as in the prior art are arranged side by side or do not intersect the axes of rotation of a linkage.
  • the structure of the input device according to the invention consisting of frame, linear actuators and support element, depending on the circumstances at the installation site can be variably configured.
  • the section of the carrier element located between the two multiple articulations outside both tripods, outside the one and inside the other tripod, or inside both tripods.
  • the first configuration is preferably the first configuration to choose.
  • the latter two can provide more benefits.
  • the respective frame-side articulation of the two tripods can each span a frame plane, which are preferably spaced parallel to each other.
  • the two frame levels can for example be designed as rings and fixedly connected to each other via spacers.
  • the mathematical calculations are simplified considerably if the respective frame-side linkages of the tripods are the vertices of two equilateral triangles, especially if the triangles are spaced parallel to each other, and the connecting line of the triangle centers to the triangles is perpendicular and the two triangles to the connecting line one sixth full circle, ie about 60 degrees, are pivoted against each other.
  • the further articulation on the carrier element is likewise designed here as a second multiple or double articulation.
  • two further force-sensitive linear actuators are provided, each of which acts on the second multiple articulation and on the two further articulations of the frame, wherein the linear actuators essentially form a bipod and the distance between the two multiple articulations is constant. Grouping into a tripod and a tripod again has mathematical advantages.
  • the support element itself is lijnskonstant and preferably made in one piece.
  • the handle actuator is kinematically independent of the linear actuators arranged on or on the carrier element, so that in addition to the mobility of the handle parts are also five degrees of freedom for general navigation available.
  • the further articulation of the support element therefore also represents the articulation on the frame.
  • the multiple articulation is movable relative to the further articulation, preferably displaceable relative to one another in the axial direction of the carrier element.
  • two rotational degrees of freedom ie pivoting about the further articulation of the support member, preferably at a point available.
  • the portion of the support element, which is located between the multiple articulation and the further (frame-side) articulation, is preferably variable in length, for example by means of a cylinder / piston combination.
  • the carrier element can also be constant in length, wherein it is then necessary for it to be displaceable relative to the further (frame-side) articulation, for example as a rack pivotable in the pivot point. Accordingly, with this additional linear degree of freedom in the axial direction of the carrier element, the distance of the two gripping parts to the pivot point, ie to the further (frame-side) articulation of the carrier element, can be changed. This variability can be described as "immersion" of the handles or the instrument in the object to be processed. If the grip actuator is arranged directly between the grip parts, ie kinematically independently of the tripod, then the three linear actuators are also sufficient for the mathematical certainty of this additional degree of freedom. This simple input device with only three linear actuators is ideal for less complex tasks. Thus, for example, in a simpler laparoscopic procedure in an abdominal wall, longitudinal mobility limited to a given pivot point is no longer a hindrance.
  • the tripod and the handle actuator are each assigned one of the grip parts.
  • the support member may be formed as a slide / guide combination, wherein the first part of this combination with the first handle part and the multiple articulation of the support member is firmly connected, while the second part relative to the first is displaceable and with the second handle part and the other ( frame side) articulation of the support element is connected.
  • the first handle actuator can hereby at a be arranged anywhere between the other (frame-side) articulation of the support member and the second handle part. For example, this can be the case when using a rack as a second part of the slide / guide combination directly in the other (frame-side) linkage.
  • the grip actuator can also be interposed or integrated into the carrier element at its engagement points, with the carrier element then virtually representing a fourth active leg in this section.
  • the calculation method and design complexity are also simplified when the three linear actuators form an ideal tripod, at the tip of which the carrier element is at least fictitiously articulated.
  • a further simplification results when the three linkages of the frame and the further (frame-side) articulation of the carrier element lie in one plane.
  • the three linkages of the frame are the corner points of an equilateral triangle, in the center of gravity of the further (frame-side) articulation of the support element is arranged.
  • the plane or the triangle can also be frame plane.
  • the two handle parts are arranged rotatably about the support member, wherein a force-sensitive Grifffitaktuator is provided, is coupled via the at least one of the handle parts with the support member.
  • the two grip parts are connected to each other in a rotationally fixed manner, so that it is sufficient to couple only one grip part to the grip actuator.
  • the second With a corresponding rotational movement of the first handle part, the second follows the first positively guided in the direction of rotation about the carrier element.
  • rotary motion such as a screwdriver, possible.
  • complex tasks such as cutting and rolling a thread with a pair of scissors, can be performed under haptic feedback.
  • a force-sensitive Grifffitaktuator a stepper motor can be used.
  • the carrier element is designed in at least three parts, wherein two of the parts in the multiple articulation are rotatably movable and are coupled via a force-sensitive Grifffitaktuator with the third part.
  • the gripping parts can each be fixed in a rotationally fixed manner to the first two parts of the carrier element.
  • the carrier element is in this case preferably designed as a slide / guide combination, slide and guide being non-rotatable relative to one another and acting as a combination in the multiple articulation and in the axial direction of the carrier element, e.g. by means of a turntable, are rotatable.
  • a force-sensitive Grifffitaktuator turn a stepper motor can be used. This is turned on between the rotatable parts and the third part, wherein the third part is rotationally fixed to the second multiple articulation or to the further articulation.
  • the carrier element projects out of the region which the multiple articulation and the further articulation of the carrier element form, in the axial direction of the carrier element.
  • At least one handle part is arranged outside this area. It is both possible to extend the carrier element on one side beyond this area and to extend both gripping parts on this one extension, ie on one side outside, and to extend the carrier element on both sides and one of the gripping parts on each one of the opposite extension, ie on both sides outside to arrange.
  • the handle parts can be arranged outside the range of motion of the linear actuators. Of significant advantage is that the hand or the fingers of the operator can no longer collide with the actuators.
  • the linear actuators and the frame can be clearly spaced from the handle parts.
  • the frame and linear actuators in a compact design below and the handle parts above a desk, wherein the support element protrudes through the frame plane and / or table surface.
  • At least one of the two grip parts has at least one gripping opening, e.g. for at least one finger similar to a pair of scissors.
  • the operator can work very ergonomically depending on the preference and the tool used. Furthermore, it is possible to install the individual handle parts firmly and neutral. In the latter case, it is preferably possible to switch or change between a plurality of real or virtual tools and / or different tool functions at the push of a button.
  • a real or virtual laparoscopic instrument can be remotely controlled, wherein the handle parts are modeled on those of a laparoscopic instrument.
  • FIG. 1 shows the basic structure of a particularly preferred embodiment of the input device according to the invention with a fixed frame 10 and a relatively movable rod-shaped support member 30.
  • the frame 10 and the support member 30 via six independent, adjustable in length and similarly executed linear actuators 20 and 21 with each other connected.
  • the frame 10 has a lower and an upper frame ring 11 and 12. These are spaced from each other in a parallel or congruent manner by three spacers 13 which are arranged regularly and perpendicularly in the circumferential direction.
  • the frame rings 11 and 12 are respectively connected to the first ends of the three linear actuators 20 and 21 via only schematically illustrated linkages 41 and 40, of which FIG.
  • the three linkages 40 and the three links 41 on the frame rings 11 and 12 form two equilateral triangle, which are pivoted against each other by 60 degrees.
  • the three linear actuators 20 form a first and the three linear actuators 21 form a second group of three, each in the form of a substantially tapered tripod with a regular base surface, wherein the two tripods are opposed to each other and regularly interlocked.
  • the linear actuators 20 and 21 with their second ends via not shown Mehrfachanlenkungen 51 and 50 to the lower end of a Anlenkelements 33 and the lower end of a slide member 31 of the support member 30 in two rotational degrees of freedom, such as with a ball or universal joint, pivotally connected.
  • the articulation element 33 is in this case opposite the multiple articulation 51 or the second ends of the linear actuators 20 in its own axial direction or carrier element direction rotatably provided, whereas at the lower end of the slide member 31 additionally an unillustrated pivot is interposed, which allows the slide member 31 to rotate about its own axis or in sensibleelementides against the Mehrfachanlenk Institute 50 and the second ends of the linear actuators 21.
  • the rotary joint such as a turntable, is preferably structurally combined with the multiple articulation 50.
  • the carrier element 30 also has a guide element 32, which is guided in sections in the rotatable manner in the tubular slide element 31 and is provided so as to be displaceable relative thereto.
  • a Grifffitaktuator or stepper motor 80 Between the lower end of the guide member 32 and the upper end of the hinge member 33 is a Grifffitaktuator or stepper motor 80, respectively.
  • This stepping motor 80 rotatably couples the guide element 32 and the slide element 31 with the articulation element 33 about the carrier element axis.
  • the slider element 31 and the portion of the guide element 32 which is located outside of the two tripods forms an extension projecting on one side from the region or section of the multiple linkages 50 and 51.
  • the extension penetrates the upper frame ring 11.
  • a first handle portion 70 and the upper end of the guide member 32 a second handle portion 71 is attached, which form a mutually displaceable handle part pair.
  • Both handle parts have from the support member 30 laterally spaced gripping openings, wherein the gripping opening of the first handle portion 70 is provided for a thumb and the gripping opening of the second handle portion 71 for the index and middle finger of a hand of an operator.
  • the two gripping parts 70 and 71 are compressed by manual actuation, for example, the multiple articulations 50 and 51 move away from one another. If this is done by pressing down the first handle part 70 on the second handle part 71, without spatially changing position and orientation of the second case, so the guide member 32 is moved a little way through the stationary slide member 31 and caused by the multiple link 51 a length and Orientation change of the linear actuators 20. Is the compression of handle parts 70 and 71 by a drawing on of the second to thereby stationary first, the slider element 31 is pulled along the guide member with the multi-linkage 50 upwards, and as a result, the length and orientation of the linear actuators 21 change accordingly.
  • this embodiment with the six linear actuators 20 and 21 and the stepper motor 80 has six, ie three translational and three rotary active space degrees of freedom and an active translational Betrelifacts shockedsgrad, the handle actuator replaced by combination of linear actuators and therefore not separately represented ,
  • FIG. 2 is the first embodiment according to FIG. 1 shown schematically.
  • the common frame 10 is merely indicated. However, there are all six frame-side linkages 40 and 41 on the upper frame ring 11 and the lower frame ring 12 can be seen.
  • the two tripods of the linear actuators 20 and 21 are located approximately in a symmetrical starting position, wherein the support member 30 points vertically upwards.
  • the multiple articulation 50 and 51 are respectively associated with the second ends of the linear actuators 20 and 21 together.
  • the central axis of the carrier element and the axes of the linear actuators 20 and 21 intersect ideally there in each case in a single point.
  • Each of the linear actuators 20 and 21 is pivotable at the respective point in two rotational degrees of freedom.
  • the slide element 31 is displaceably guided in the guide element 32, and that both the slide element 31 and the guide element 32 project through the multiple articulation 50.
  • FIG. 3 also shows the first embodiment according to FIG. 1
  • the tripods of the linear actuators 20 and 21 and the support member 30 are opposite to the position in FIG. 2 clearly distracted. It can be seen that the linear actuators 20 have greatly different lengths, and that the second multiple articulation 51 is located outside the tripod volume of the linear actuators 21.
  • FIG. 4 a second embodiment is shown with two tripods in an alternative configuration, wherein it can be seen that the region of the support member 30 between the two Mehrfachanlenkitch 50 and 51 is arranged outside of both tripods.
  • the orientation of the two tripods is the same as in the first embodiment; aligned with each other.
  • FIG. 5 a third embodiment is shown with two tripods in an alternative configuration, it being understood that the region of the support member 30 between the two multiple hinges 50 and 51 is again arranged outside of both tripods.
  • the two tripods are the same orientation this time; the tips of the tripods point upwards.
  • FIG. 6 shows the basic structure of a fourth advantageous embodiment of the input device according to the invention, again with a fixed frame 10 and a relatively movable rod-shaped support member 30.
  • the frame 10 and the support member 30 are only three independent, adjustable in length and similarly executed linear actuators 21 interconnected.
  • the frame 10 is executed in this embodiment as a triangular plate.
  • the lower ends of the linear actuators 20 are in this case pivotally movable about three only schematically illustrated linkages 40 in two rotational degrees of freedom connected to the frame 10.
  • the linkages 40 define an equilateral triangle.
  • the three linear actuators 21 form a triad in the form of a substantially tapered tripod with a regular base.
  • the linear actuators 21 are pivotably connected at their upper end via a multiple articulation 50, not shown, to the lower end of a slide element 31 of the carrier element 30 in two rotational degrees of freedom.
  • a multiple articulation 50 not shown
  • FIG. 1 is also interposed at the lower end of the slider element 31 additionally an unillustrated pivot, which allows the slider member 31 to rotate about its own axis against the Mehrfachanlekung 50 and the upper ends of the linear actuators 21.
  • the support member 30 has as in FIG. 1 a guide member 32 which is partially guided in rotation in the tubular sliding element 31 and is provided relative to this displaceable.
  • FIG. 1 a guide member 32 which is partially guided in rotation in the tubular sliding element 31 and is provided relative to this displaceable.
  • the carrier element additionally comprises an intermediate element 34, wherein between the lower end of the guide element 32 and the upper end of the intermediate element 34, a handle actuator 90 is turned on with a translatory degree of freedom in carrier element axis.
  • the handle actuator 90 itself can be designed like a linear actuator, wherein the latter changes or detects the total length of the carrier element 30 between the guide part 32 and the intermediate part 34.
  • a stepping motor 80 is turned on between the lower end of the intermediate member 34 and the upper end of a link 33 is, as in FIG. 1 .
  • the lower end of the coupling element 33 is pivotally connected via a further (frame-side) articulation 60 of the support member directly to the frame 10 in two rotational degrees of freedom.
  • the coupling element 33 is again provided in a rotationally fixed manner relative to the frame 10.
  • the articulation 60 is arranged in the centroid of the equilateral triangle of the linkages 40.
  • FIG. 1 forms the slider element 31 and the portion of the guide member 32 which is located outside of the tripod, a one-sided out of the region or portion of the multiple link 50 and the linkage 60 protruding Renewal.
  • On the extension grip parts 70 and 71 are arranged in the same way, the rotational movement together with the slider element 31 and the guide member 32 relative to the articulation element 33 and the Mehrfachanlenkung 50 and the upper ends of the linear actuators 21 as in FIG. 1 is designed.
  • the slide member 31 moves along the guide member 32 down and the distance between the Multiple articulation 50 and the articulation 60 decreases, with both the length of the handle actuator 90 and that of the linear actuators 21 correspondingly shortened. In this case, the orientation of the linear actuators 21 changes as well.
  • the handle actuator 90 can therefore also be referred to as the fourth leg of the input device.
  • the Drehbewegberry is as in the embodiment in the FIG. 1 provided via a handle rotary actuator 80, wherein the handle actuator 90 and the intermediate member 34 are coupled to the rotational movement.
  • the order of handle actuator and handle rotary actuator along the support member could also be swapped.
  • This in FIG. 1 illustrated embodiment has the three linear actuators 21, the Griffcardaktuator or stepping motor 80 and the handle actuator 90th over three, ie via a translatory and two rotary active space degrees of freedom as well as an active translatory Betrelifacts horrsgrad.
  • the actuators in the FIGS. 1 and 6 Input devices shown are connected to a computer, not shown and beyond optionally with a motorized tool.
  • FIGS. 7 and 8 a fifth embodiment of an input device with a bipod.
  • a frame 10 has an upper frame ring 11, on which two frame-side linkages 40 are provided.
  • a carrier element 30 On a carrier element 30, a first multiple articulation 50 and a further (frame-side) articulation 60 are provided.
  • the frame 10 and the support member 30 are movably connected to each other via two force-sensitive linear actuators 21, wherein the linear actuators respectively between the linkages 40 and the Mehrfachanlenkung 50, forming a bipod are formed.
  • an additional force-sensitive linear actuator 21 ' is arranged, which takes over the function of the third linear actuator in the fourth embodiment.

Claims (18)

  1. Appareil d'entrée suivant le principe cinématique parallèle et ayant une réaction haptique pour un ordinateur, notamment pour la téléopération médicale avec des instruments,
    - comprenant un bâti (10) qui a trois articulations (40),
    - comprenant un élément (30) de support en forme de barre, qui a une articulation (50) multiple et une autre articulation (51, 60),
    - dans lequel l'élément (30) de support est couplé au bâti (10) de manière à être mobile par trois actionneurs (21) linéaires sensibles à la force qui attaquent en formant un tripode respectivement sur l'articulation (50) multiple et sur les articulations (40) du bâti (10) et,
    - dans lequel l'élément (30) de support en forme de barre est couplé en outre de manière mobile au bâti (20) également par l'autre articulation (51, 60),
    - et comprenant une partie (70) de préhension disposée sur l'élément de support,
    caractérisé,
    - en ce que l'élément (30) de support a une autre partie (71) de préhension, qui est mobile par rapport à la première partie (70) de préhension,
    - en ce qu'il est prévu un actionneur (20, 21, 90) de préhension sensible à la force,
    - en ce que au moins l'une des parties (70, 71) de préhension est couplée à l'actionneur (20, 21, 90) de préhension sensible à la force.
  2. Appareil d'entrée suivant la revendication 1,
    caractérisé,
    - en ce que le bâti (10) a trois autres articulations (41),
    - en ce que l'autre articulation de l'élément (30) de support a une deuxième articulation (51) multiple,
    - en ce qu'il est prévu trois autres actionneurs (20) linéaires sensibles à la force, qui attaquent en formant un deuxième tripode respectivement sur la deuxième articulation (51) multiple et sur l'autre articulation (41) du bâti (10),
    - en ce que la première articulation (50) multiple est mobile par rapport à la deuxième articulation (51) multiple,
    - en ce que les deux tripodes forment le premier actionneur (20, 21) de préhension et,
    - en ce que les deux parties (70, 71) de préhension sont associées respectivement à un tripode.
  3. Appareil d'entrée suivant la revendication 2,
    caractérisé,
    en ce que le tronçon de l'élément (30) de support se trouvant entre les deux articulations (50, 51) multiples est disposé à l'extérieur des deux tripodes ou à l'extérieur de l'un des tripodes et à l'intérieur de l'autre ou à l'intérieur des deux tripodes.
  4. Appareil d'entrée suivant la revendication 2,
    caractérisé,
    en ce que les articulations (40, 41) du côté du bâti des deux tripodes déterminent respectivement un plan de bâti.
  5. Appareil d'entrée suivant la revendication 4,
    caractérisé,
    en ce que les articulations (40, 41) respectives du côté du bâti des deux tripodes sont les sommets de deux triangles équilatéraux.
  6. Appareil d'entrée suivant la revendication 5,
    caractérisé,
    en ce que les triangles équilatéraux, sont à distance en étant parallèles entre eux, la droite de liaison des centres de gravité des triangles est perpendiculaire au triangle et les deux triangles sont basculés l'un par rapport à l'autre autour de la droite de liaison d'un sixième des cercle plein.
  7. Appareil d'entrée suivant la revendication 1.
    caractérisé,
    - en ce que le bâti a deux autres articulations,
    - en ce que l'autre articulation d'élément de support a une deuxième articulation multiple,
    - en ce qu'il est prévu deux autres actionneurs linéaires sensibles à la force, qui attaquent en formant un bipode respectivement sur la deuxième articulation multiple et sur les autres articulations du bâti et,
    - en ce que la première articulation multiple est à une distance constante de la deuxième articulation multiple.
  8. Appareil d'entrée suivant la revendication 1,
    caractérisé,
    en ce que l'élément (30) dé support est couplé par son autre articulation (60) directement au bâti (10) et en ce que l'articulation (50) multiple est mobile par rapport à l'autre articulation (60).
  9. Appareil d'entrée suivant la revendication 8,
    caractérisé,
    en ce que respectivement l'une des parties (70, 71) de préhension est associée au tripode et à l'actionneur (90) de préhension.
  10. Appareil d'entrée suivant la revendication 8,
    caractérisé,
    en ce que les articulation (40) du côté du bâti et l'autre articulation (60) sont dans un plan de bâti.
  11. Appareil d'entrée suivant la revendication 8,
    caractérisé,
    en ce que les articulations (40) du côté du bâti sont les sommets d'un triangle équilatéral et l'autre articulation (60) est au centre de gravité du triangle.
  12. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé,
    en ce que les deux parties (70, 71) de préhension et l'élément (30) de support sont montés mobiles en rotation et en ce qui est prévu un actionneur (80) en rotation de préhension sensible à la force, et par lequel au moins l'une des parties (70, 71) est couplée à l'élément (30) de support.
  13. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé,
    en ce que l'élément (30) de support est au moins en trois parties, deux des parties (31, 32) étant mobiles en rotation dans l'articulation (50) multiple et étant couplées à une troisième partie (33) par un actionneur en rotation de préhension sensible à une force.
  14. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé,
    en ce que l'élément (30) de support a, dans sa direction axiale, seulement un prolongement ou deux prolongements opposés qui font saillie sur la distance comprise entre l'articulation (50) multiple et l'autre articulation (51, 60), et en ce que le seulement un prolongement a les deux parties (70, 71) de préhension ou les deux prolongements ont respectivement l'une des deux parties (70, 71) de préhension.
  15. Appareil d'entrée suivant au moins l'une des revendications 4 ou 10,
    caractérisé,
    en ce que l'élément (30) de support traverse au moins un plan du bâti.
  16. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé,
    en ce qu'au moins l'une des deux parties (70, 71) de préhension a au moins une ouverture de préhension.
  17. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé
    en ce qu'au moins l'une des deux parties (70, 71) de préhension peut être remplacée par une autre.
  18. Appareil d'entrée suivant au moins l'une des revendications précédentes,
    caractérisé
    en ce que les deux parties (70, 71),due préhension reproduisent celles d'un instrument laparoscopique et en ce que l'appareil d'entrée peut être utilisé pour la télécommande d'un instrument laparoscopique réel ou virtuel.
EP02787352A 2001-10-29 2002-10-29 Dispositif d'entree selon le principe cinematique parallele et a retour haptique Expired - Lifetime EP1440363B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10152779 2001-10-29
DE10152779 2001-10-29
PCT/DE2002/004037 WO2003038541A2 (fr) 2001-10-29 2002-10-29 Dispositif d'entree selon le principe cinematique parallele et a retour haptique

Publications (2)

Publication Number Publication Date
EP1440363A2 EP1440363A2 (fr) 2004-07-28
EP1440363B1 true EP1440363B1 (fr) 2008-12-17

Family

ID=7703742

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Application Number Title Priority Date Filing Date
EP02787352A Expired - Lifetime EP1440363B1 (fr) 2001-10-29 2002-10-29 Dispositif d'entree selon le principe cinematique parallele et a retour haptique

Country Status (6)

Country Link
US (1) US7356448B2 (fr)
EP (1) EP1440363B1 (fr)
AT (1) ATE418096T1 (fr)
AU (1) AU2002351663A1 (fr)
DE (3) DE10295032D2 (fr)
WO (1) WO2003038541A2 (fr)

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WO2007031071A1 (fr) 2005-09-15 2007-03-22 Albert Schaeffer Dispositif articule pour l'articulation de plusieurs elements articules, en particulier en forme de barres
EP1981407A4 (fr) * 2006-01-19 2012-10-10 Spineology Inc Systeme de dissipation de force non invasif sans ancre pour instrumentation orthopedique
EP1876504B1 (fr) 2006-07-03 2011-09-21 Force Dimension Technologies Sàrl Préhenseur actif pour dispositifs haptiques
ES2433437T3 (es) 2006-12-19 2013-12-11 Deakin University Método y aparato para control háptico
JP2010514512A (ja) 2006-12-27 2010-05-06 マコ サージカル コーポレーション 空間内に調節可能なポジティブストップを設ける装置および方法
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Also Published As

Publication number Publication date
US7356448B2 (en) 2008-04-08
DE10250496A1 (de) 2003-06-05
WO2003038541A2 (fr) 2003-05-08
ATE418096T1 (de) 2009-01-15
DE50213135D1 (de) 2009-01-29
DE10295032D2 (de) 2004-09-23
AU2002351663A1 (en) 2003-05-12
WO2003038541A3 (fr) 2003-10-30
EP1440363A2 (fr) 2004-07-28
US20050156877A1 (en) 2005-07-21

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