WO2003001987A3 - Platform link wrist mechanism - Google Patents

Platform link wrist mechanism Download PDF

Info

Publication number
WO2003001987A3
WO2003001987A3 PCT/US2002/020921 US0220921W WO03001987A3 WO 2003001987 A3 WO2003001987 A3 WO 2003001987A3 US 0220921 W US0220921 W US 0220921W WO 03001987 A3 WO03001987 A3 WO 03001987A3
Authority
WO
WIPO (PCT)
Prior art keywords
wrist mechanism
shaft
end effector
robotic surgical
distal member
Prior art date
Application number
PCT/US2002/020921
Other languages
French (fr)
Other versions
WO2003001987A9 (en
WO2003001987A2 (en
Inventor
Daniel T Wallace
S Christopher Anderson
Scott Manzo
Original Assignee
Intuitive Surgical Inc
Daniel T Wallace
S Christopher Anderson
Scott Manzo
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=26972691&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2003001987(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Intuitive Surgical Inc, Daniel T Wallace, S Christopher Anderson, Scott Manzo filed Critical Intuitive Surgical Inc
Priority to AU2002322374A priority Critical patent/AU2002322374B2/en
Priority to JP2003508234A priority patent/JP4347043B2/en
Priority to CA2451824A priority patent/CA2451824C/en
Priority to AT02756362T priority patent/ATE547992T1/en
Priority to EP02756362A priority patent/EP1408846B1/en
Publication of WO2003001987A2 publication Critical patent/WO2003001987A2/en
Publication of WO2003001987A3 publication Critical patent/WO2003001987A3/en
Publication of WO2003001987A9 publication Critical patent/WO2003001987A9/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/72Micromanipulators
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2927Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
    • A61B2017/2929Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2932Transmission of forces to jaw members
    • A61B2017/2933Transmission of forces to jaw members camming or guiding means
    • A61B2017/2934Transmission of forces to jaw members camming or guiding means arcuate shaped guiding means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/304Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S606/00Surgery
    • Y10S606/914Toolkit for installing or removing spinal positioner or stabilizer
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20317Robotic arm including electric motor
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/20Control lever and linkage systems
    • Y10T74/20207Multiple controlling elements for single controlled element
    • Y10T74/20305Robotic arm
    • Y10T74/20329Joint between elements
    • Y10T74/20335Wrist

Abstract

The present invention provides a robotic surgical tool (50) for use in a robotic surgical system. The robotic surgical tool (50) includes a wrist mechanism (10) disposed near the distal end of a shaft (52) that connects with an end effector (66). The wrist mechanism (10) includes a distal member (12) configured to support the end effector (66), and a plurality of rods (14) extending generally along an axial direction within the shaft (52) and moveable generally along this axial direction to adjust the orientation of the distal member (12) with respect to the shaft (52). The distal member (12) has a base to which the rods are rotatably connected by orthogonal linkage assemblies (16). This configuration allows for movement of the end effector (66) in pitch, yaw, and roll directions.
PCT/US2002/020921 2001-06-29 2002-06-28 Platform link wrist mechanism WO2003001987A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2002322374A AU2002322374B2 (en) 2001-06-29 2002-06-28 Platform link wrist mechanism
JP2003508234A JP4347043B2 (en) 2001-06-29 2002-06-28 Platform joint wrist
CA2451824A CA2451824C (en) 2001-06-29 2002-06-28 Platform link wrist mechanism
AT02756362T ATE547992T1 (en) 2001-06-29 2002-06-28 JOINT MECHANISM FOR PLATFORM CONNECTION
EP02756362A EP1408846B1 (en) 2001-06-29 2002-06-28 Platform link wrist mechanism

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US30196701P 2001-06-29 2001-06-29
US60/301,967 2001-06-29
US32770201P 2001-10-05 2001-10-05
US60/327,702 2001-10-05

Publications (3)

Publication Number Publication Date
WO2003001987A2 WO2003001987A2 (en) 2003-01-09
WO2003001987A3 true WO2003001987A3 (en) 2003-11-20
WO2003001987A9 WO2003001987A9 (en) 2004-05-13

Family

ID=26972691

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/020921 WO2003001987A2 (en) 2001-06-29 2002-06-28 Platform link wrist mechanism

Country Status (7)

Country Link
US (3) US6699235B2 (en)
EP (1) EP1408846B1 (en)
JP (1) JP4347043B2 (en)
AT (1) ATE547992T1 (en)
AU (1) AU2002322374B2 (en)
CA (2) CA2451824C (en)
WO (1) WO2003001987A2 (en)

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* Cited by examiner, † Cited by third party
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