CA2860487A1 - Serially jointed manipulator arm - Google Patents

Serially jointed manipulator arm Download PDF

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Publication number
CA2860487A1
CA2860487A1 CA2860487A CA2860487A CA2860487A1 CA 2860487 A1 CA2860487 A1 CA 2860487A1 CA 2860487 A CA2860487 A CA 2860487A CA 2860487 A CA2860487 A CA 2860487A CA 2860487 A1 CA2860487 A1 CA 2860487A1
Authority
CA
Canada
Prior art keywords
tool
surgical
pulley
manipulator
axis
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.)
Granted
Application number
CA2860487A
Other languages
French (fr)
Other versions
CA2860487C (en
Inventor
Benny Hon Bun Yeung
Dennis Gregoris
Bronislaw Bednarz
Michael A. Gray
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MacDonald Dettwiler and Associates Corp
Original Assignee
MacDonald Dettwiler and Associates Corp
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 MacDonald Dettwiler and Associates Corp filed Critical MacDonald Dettwiler and Associates Corp
Publication of CA2860487A1 publication Critical patent/CA2860487A1/en
Application granted granted Critical
Publication of CA2860487C publication Critical patent/CA2860487C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/20—Surgical drapes specially adapted for patients
    • A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
    • 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
    • A61B34/30—Surgical robots
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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
    • A61B34/77—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
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Abstract

The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis to provide a compact and light weight surgical manipulator.

Description

THEREFORE WHAT IS CLAIMED IS:
1. A serially jointed manipulator arm, comprising;
three or more consecutively coupled right-angle drive mechanisms;
each right-angle drive mechanism including an input pulley having an input axis and an output pulley having an output axis, said input axis being perpendicular and intersecting with said input axis, and including a bi-directional coupling mechanism for coupling said input pulley and said output pulley; and a drive mechanism coupled to said input pulley for rotating said input pulley about said input axis wherein rotation of said input pulley is translated into rotation of said output pulley by said bi-directional coupling mechanism about said output axis.
2. A surgical manipulator, comprising:
a) said serially jointed manipulator arm according to claim 28;
b) a robotic wrist mounted on a last of said three or more consecutively coupled right-angle drive mechanisms so that when said last of said three or more consecutively coupled right-angle drive mechanisms output pulley is rotated, said robotic wrist rotates about said last mechanisms output axis, said robotic wrist including a wrist output shaft and a wrist-roll axis; and c) an end-effector mounted to said wrist output shaft, said end-effector including gripping means for releasibly gripping a surgical tool wherein said end-effector is rotatable about said wrist-roll axis.
3. The surgical manipulator according to claim 2 wherein said end-effector includes a) an assembly including an interface configured to be attached to said serially jointed manipulator, a tool-yaw motor, a tool-actuation motor;
b) a magnetic tool holder mounted to said assembly and being detachable therefrom, said magnetic tool holder being configured to automatically engage and release a surgical tool;
c) a tool-actuation mechanism mounted to said assembly and being detachable therefrom, said tool-actuation mechanism being configured to automatically engage and release a piston on the surgical tool, said tool-actuation mechanism being coupled to said tool-actuation motor; and d) a tool-yaw drive mechanism mounted to said assembly and being detachable therefrom, said tool-yaw drive mechanism being coupled to said tool-yaw motor, wherein upon activation of said tool-yaw drive mechanism the surgical tool engaged by said magnetic tool holder rotates about a tool-yaw axis and wherein upon activation of said tool-actuation mechanism the piston of the engaged surgical tool is linearly retracted or linearly extended with respect to said end-effector thereby activating a tool portion of the surgical tool.
4. The surgical manipulator according to claim 3 wherein said interface includes a base block which interfaces to a wrist of a robotic arm, including a motor-support bracket on which the tool-actuation motor and the tool-yaw motor are mounted, and wherein said assembly includes a tool-tip force-moment sensor which is a single mechanical linkage between said motor-support bracket and said base block.
5. The surgical manipulator according to claim 3 wherein said tool-actuation motor is a linear actuator having an output shaft which moves up and down along a major axis of said tool-actuation motor and, at a distal end portion of said output shaft, an actuator bar is connected at a first end portion thereof, said actuator bar having a second end portion supported by a vertical guide rod and including an interface which couples to said tool-actuation mechanism, wherein said actuator bar transmits vertical motion of said output shaft to said tool-actuation mechanism which is mounted at said second end of the bar such that said vertical motion provides a tool-actuation axis of motion for said end-effector.
6. The surgical manipulator according to claim 5 including a tool-actuation force sensor mounted on said actuator bar between a point where said actuator bar is supported by said vertical guide rod and said interface with the tool-actuation mechanism.
7. The surgical manipulator according to claim 6 wherein said tool-actuation force sensor is a strain gauge, at which point on the bar on which said force sensor is mounted, any elastic vertical deflection due to actuation of the surgical tool can be measured.
8. The surgical manipulator according to claim 3 wherein said tool-yaw mechanism includes a frame, on which is mounted a pair of idler pulleys, a middle idler pulley and a drive pulley, including a toothed belt being routed on said idler pulleys, said middle idler pulley and said drive pulley, said toothed belt being configured to engage a toothed pulley on the surgical tool, on two opposite ends of a diameter of said toothed pulley, and wherein bi-directional rotation of the toothed belt driven by said drive pulley converts tangential forces to rotary motion of the surgical tool.
9. The surgical manipulator according to claim 8 wherein said frame has an open front-framed architecture and a toothed belt routing configuration on said idler pulleys and said middle idler pulley configured to allow the surgical tool to be ejected/replaced from said end-effector.
10. The surgical manipulator according to claim 3 wherein said magnetic tool holder, said tool-actuation mechanism, and said tool-yaw mechanism are sterile subassemblies, with quick release and attachment features for quickly attaching and detaching them to and from said assembly.
11. The surgical manipulator according to claim 3 wherein, when in operation, said end-effector is coupled to a robotic wrist, which is connected to a robotic lower arm, which is connected to a robotic fore arm, which is connected to a surgical manipulator base, and wherein said assembly, said tool-yaw mechanism and said tool-actuation mechanism, are encapsulated in a protective drape bag which covers from the base of the surgical manipulator all the way through the entire length of the robotic fore arm, the robotic lower arm and the robotic wrist and up to a front face of said assembly.
12. The surgical manipulator according to claim 2 wherein said surgical manipulator is a first surgical manipulator, including at least a second surgical manipulators and configured to be structural mirror images of each other, said first surgical manipulator being configured for left handed operation and said at least a second surgical manipulator being configured for right handed operation to allow the surgical tools attached to respective end-effectors to be brought into closest proximity with each other in a surgical site on a patient.
13. The surgical manipulator according to claim 2 wherein said at least first, second and third right-angle drive mechanisms each include a) a housing and wherein said first drive mechanism includes a harmonic drive mounted on said housing being connected to said input pulley for rotation about said input axis;
b) an output drive shaft having an output axis of rotation, said output shaft being connected to said output pulley, said output pulley being mounted in said housing for rotation about said output axis, said input and output pulleys being mounted in said housing and positioned with respect to each other such that said input axis is perpendicular to, and intersecting, said output axis;
c) said bi-directional coupling mechanism for coupling said first input pulley and said first output pulley comprising a cable drive mounted in said housing, said cable drive including, at least one flexible cable, said input and output pulleys each including at least one cable guide for receiving therein said at least one flexible cable, idler means for guiding said at least one flexible cable between said input and output pulleys, wherein when the input pulley rotates in one direction about said input axis, said at least one flexible cable pulls the output pulley and output shaft to rotate in one direction about said output axis of rotation, and when the input pulley rotates in the other direction about said input axis, said at least one flexible cable pulls the output pulley and output shaft to rotate in an opposite direction about said output axis.
14. A surgical manipulator system, comprising:
a) at least first and second surgical manipulators according to claim 12;
b) left and right hand controllers with the right hand controller being associated with the first surgical manipulator and the left hand controller being associated with the second surgical manipulator, said at least first and second hand controllers being configured to be operated by a surgeon; and c) communication system coupling said left and right hand controllers to said at least first and second surgical manipulators for translating movement of said left and right hand controllers to scaled movement of said at least first and second surgical manipulators.
15. The surgical manipulator system according to claim 14 including a vision system focused on a work area including an area of a patient to be operated on and focused on the end-effectors and associated surgical tools attached to said at least two surgical manipulators, said vision system including display means for displaying images of said work area to a surgeon.
16. The surgical manipulator system according to claim 15 including a vision system focused on a work area including an area of a patient to be operated on and focused on the end-effectors and associated surgical tools attached to said at least two surgical manipulators, said vision system including display means for displaying images of said work area to a surgeon.
17. The surgical manipulator system according to claim 15 configured for teleoperation wherein said surgeon is located remotely from said patient.
18. The surgical manipulator system according to claim 14 wherein said end-effector includes a tool-tip force-moment sensor mounted to said end-effector and configured to sense tool tip force and moment at a tip of the surgical tool, and wherein said end-effector includes a tool-actuation force sensor mounted thereon configured to measure actuation forces on a tip of the surgical tool, and wherein said communication system coupling said left and right hand controllers to said at least first and second surgical manipulators is configured to communicate said forces and moments to said left and right handed controllers providing haptic feedback to said surgeon.
19. The surgical manipulator system according to claim 18 wherein said tool-actuation force sensor is a strain gauge.
CA2860487A 2006-06-14 2007-06-14 Serially jointed manipulator arm Active CA2860487C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US81335306P 2006-06-14 2006-06-14
US60/813,353 2006-06-14
CA2655431A CA2655431C (en) 2006-06-14 2007-06-14 Surgical manipulator

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA2655431A Division CA2655431C (en) 2006-06-14 2007-06-14 Surgical manipulator

Publications (2)

Publication Number Publication Date
CA2860487A1 true CA2860487A1 (en) 2007-12-21
CA2860487C CA2860487C (en) 2019-03-26

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CA2655431A Active CA2655431C (en) 2006-06-14 2007-06-14 Surgical manipulator
CA2860487A Active CA2860487C (en) 2006-06-14 2007-06-14 Serially jointed manipulator arm

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Country Status (6)

Country Link
US (1) US8491603B2 (en)
EP (1) EP2040635A1 (en)
JP (1) JP2009539509A (en)
KR (1) KR20090051029A (en)
CA (2) CA2655431C (en)
WO (1) WO2007143859A1 (en)

Cited By (2)

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CN113100946A (en) * 2021-03-30 2021-07-13 北京科迈启元科技有限公司 Highly integrated surgical robot actuator and surgical robot system
CN113440256A (en) * 2021-06-28 2021-09-28 哈尔滨工业大学 Ultrasonic osteotome clamping device of spinal surgery robot

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US8491603B2 (en) 2013-07-23
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KR20090051029A (en) 2009-05-20
US20070299427A1 (en) 2007-12-27

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