WO2007143859A8 - Surgical manipulator with right-angle pulley drive mechanisms - Google Patents

Surgical manipulator with right-angle pulley drive mechanisms

Info

Publication number
WO2007143859A8
WO2007143859A8 PCT/CA2007/001088 CA2007001088W WO2007143859A8 WO 2007143859 A8 WO2007143859 A8 WO 2007143859A8 CA 2007001088 W CA2007001088 W CA 2007001088W WO 2007143859 A8 WO2007143859 A8 WO 2007143859A8
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
surgical manipulator
drive mechanisms
pulley drive
angle pulley
Prior art date
Application number
PCT/CA2007/001088
Other languages
French (fr)
Other versions
WO2007143859A1 (en
Inventor
Benny Hon Bun Yeung
Dennis Gregoris
Bronislaw Bednarz
Michael A Gray
Original Assignee
Macdonald Dettwiler & Associat
Benny Hon Bun Yeung
Dennis Gregoris
Bronislaw Bednarz
Michael A Gray
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 & Associat, Benny Hon Bun Yeung, Dennis Gregoris, Bronislaw Bednarz, Michael A Gray filed Critical Macdonald Dettwiler & Associat
Priority to CA2655431A priority Critical patent/CA2655431C/en
Priority to EP07720004A priority patent/EP2040635A1/en
Priority to JP2009514604A priority patent/JP2009539509A/en
Publication of WO2007143859A1 publication Critical patent/WO2007143859A1/en
Publication of WO2007143859A8 publication Critical patent/WO2007143859A8/en

Links

Classifications

    • 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
    • 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
    • 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 (400) including a manipulator arm (408), an end-effector (428) held by the robotic arm, surgical tools (430, 560, 630, 700) held by the end-effector (428) and manipulator joints, particularly right-angle drive devices (10) for transmitting rotational motion in one axis to a perpendicular axis to provide a compact and light weight surgical manipulator.
PCT/CA2007/001088 2006-06-14 2007-06-14 Surgical manipulator with right-angle pulley drive mechanisms WO2007143859A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CA2655431A CA2655431C (en) 2006-06-14 2007-06-14 Surgical manipulator
EP07720004A EP2040635A1 (en) 2006-06-14 2007-06-14 Surgical manipulator with right-angle pulley drive mechanisms
JP2009514604A JP2009539509A (en) 2006-06-14 2007-06-14 Surgical manipulator with right angle pulley drive mechanism

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US81335306P 2006-06-14 2006-06-14
US60/813,353 2006-06-14

Publications (2)

Publication Number Publication Date
WO2007143859A1 WO2007143859A1 (en) 2007-12-21
WO2007143859A8 true WO2007143859A8 (en) 2008-07-17

Family

ID=38831381

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2007/001088 WO2007143859A1 (en) 2006-06-14 2007-06-14 Surgical manipulator with right-angle pulley drive mechanisms

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)

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CA2860487A1 (en) 2007-12-21
CA2860487C (en) 2019-03-26
JP2009539509A (en) 2009-11-19
EP2040635A1 (en) 2009-04-01
US20070299427A1 (en) 2007-12-27
CA2655431C (en) 2014-10-21
CA2655431A1 (en) 2007-12-21
US8491603B2 (en) 2013-07-23
WO2007143859A1 (en) 2007-12-21

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