WO2001034017A3 - Manipulator - Google Patents

Manipulator Download PDF

Info

Publication number
WO2001034017A3
WO2001034017A3 PCT/US2000/030885 US0030885W WO0134017A3 WO 2001034017 A3 WO2001034017 A3 WO 2001034017A3 US 0030885 W US0030885 W US 0030885W WO 0134017 A3 WO0134017 A3 WO 0134017A3
Authority
WO
WIPO (PCT)
Prior art keywords
remote
pivot
pivoting
axes
manipulator
Prior art date
Application number
PCT/US2000/030885
Other languages
French (fr)
Other versions
WO2001034017A2 (en
Inventor
J Michael Stuart
Original Assignee
Microdexterity Systems Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Microdexterity Systems Inc filed Critical Microdexterity Systems Inc
Priority to AU15946/01A priority Critical patent/AU1594601A/en
Publication of WO2001034017A2 publication Critical patent/WO2001034017A2/en
Publication of WO2001034017A3 publication Critical patent/WO2001034017A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

A manipulator for producing a remote center of revolute motion is provided. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held therein is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.
PCT/US2000/030885 1999-11-12 2000-11-09 Manipulator WO2001034017A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU15946/01A AU1594601A (en) 1999-11-12 2000-11-09 Manipulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16504699P 1999-11-12 1999-11-12
US60/165,046 1999-11-12

Publications (2)

Publication Number Publication Date
WO2001034017A2 WO2001034017A2 (en) 2001-05-17
WO2001034017A3 true WO2001034017A3 (en) 2001-11-22

Family

ID=22597193

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/030885 WO2001034017A2 (en) 1999-11-12 2000-11-09 Manipulator

Country Status (2)

Country Link
AU (1) AU1594601A (en)
WO (1) WO2001034017A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102438540A (en) * 2009-05-15 2012-05-02 勒芬天主教大学 Remote centre of motion positioner

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE521539C2 (en) * 2002-03-18 2003-11-11 Abb Ab Manipulator and method involving manipulator for moving an object, comprising at least two driving parallel kinematic connection chains
DE10340151A1 (en) * 2003-08-26 2005-04-21 Aesculap Ag & Co Kg Surgical holding device
DE202004003646U1 (en) * 2004-03-06 2005-09-01 Medical Intelligence Medizintechnik Gmbh Device for controlling physical structures
US7955322B2 (en) * 2005-12-20 2011-06-07 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
US8182470B2 (en) 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
US10335236B1 (en) 2007-11-01 2019-07-02 Stephen B. Murphy Surgical system using a registration device
US8986309B1 (en) 2007-11-01 2015-03-24 Stephen B. Murphy Acetabular template component and method of using same during hip arthrosplasty
US8267938B2 (en) 2007-11-01 2012-09-18 Murphy Stephen B Method and apparatus for determining acetabular component positioning
US9101431B2 (en) 2007-11-01 2015-08-11 Stephen B. Murphy Guide for acetabular component positioning
US20160346940A1 (en) * 2014-02-07 2016-12-01 Centre For Imaging Technology Commercialization (Cimtec) Modular base link for a counterbalancing arm
DE102017111289B3 (en) 2017-05-23 2018-08-23 Medineering Gmbh Passive surgical manipulator with hand-held drive unit
DE102017111296B3 (en) * 2017-05-23 2018-08-02 Medineering Gmbh Robotic manipulator for guiding an endoscope with parallel kinematics
CN111544199B (en) * 2020-05-15 2022-01-11 北京航空航天大学 High-precision virtual remote motion center mechanism
WO2022151223A1 (en) * 2021-01-14 2022-07-21 苏州迈澜医疗科技有限公司 Mechanism having remote center of rotation and working device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0489168A1 (en) * 1990-06-22 1992-06-10 Fanuc Ltd. Arm driving mechanism in industrial articulated robot
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5528782A (en) * 1994-07-04 1996-06-25 Stierlen-Maquet Ag Support column for holding a patient support means
US5800423A (en) * 1993-05-14 1998-09-01 Sri International Remote center positioner with channel shaped linkage element

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0489168A1 (en) * 1990-06-22 1992-06-10 Fanuc Ltd. Arm driving mechanism in industrial articulated robot
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5800423A (en) * 1993-05-14 1998-09-01 Sri International Remote center positioner with channel shaped linkage element
US5528782A (en) * 1994-07-04 1996-06-25 Stierlen-Maquet Ag Support column for holding a patient support means

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102438540A (en) * 2009-05-15 2012-05-02 勒芬天主教大学 Remote centre of motion positioner
CN102438540B (en) * 2009-05-15 2014-06-18 勒芬天主教大学 Remote centre of motion positioner

Also Published As

Publication number Publication date
WO2001034017A2 (en) 2001-05-17
AU1594601A (en) 2001-06-06

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