Motion scaling tele-operating system with force feedback suitable for ...

United States Patent m

Salcudean et al.

[ii]

[45]

Patent Number: Date of Patent:

5,382,885 Jan. 17,1995

[54] MOTION SCALING TELE-OPERATING SYSTEM WITH FORCE FEEDBACK SUITABLE FOR MICROSURGERY

[75] Inventors: Septimiu E. Salcudean; Joseph Yan, both of Vancouver, Canada

[73] Assignee: The UniTersity of British Columbia,

Vancouver, Canada

[21] Appl. No.: 103,653
[22] Filed: Aug. 9,1993

[51] Int. CL« G05B 11/00

[52] U.S. CI 318/568.11; 318/568.1;

318/568.21; 901/9; 395/99

[58] Field of Search 318/560-646;

901/1, 3, 5, 7, 9, 12, 13, 15, 18, 20, 23;

395/80-99; 414/730-735

[56] References Cited

U.S. PATENT DOCUMENTS

4,661,032 4/1987 Arai 318/568

4,874,998 10/1989 Hollis, Jr 318/568.21

4,887,222 12/1989 Miyake et al 901/2

4,897,586 1/1990 Nakataetal 318/568.1

5,023,533 6/1991 Ishikawa et al 318/568.21

5,105,367 4/1992 Tsuchihashi et al 395/99

5,116,180 5/1992 Fung et al 901/9

5,146,566 9/1992 Hollis, Jr. et al 395/275

5,266,875 11/1993 Slotine et al 318/568.11

OTHER PUBLICATIONS

J. W. Hunter "A Microrobot for Manipulation and Dynamical Testing of Single Living Cells" Proc. IEE Microelectro Mechanical System pp. 102-106 Feb. 1989.

R. L. Hollis et al. "Towards a Telenano Robotic Manipulation System with Atomic Scale Force Feedback and Motion Resolution" Proc. 3rd IEEE Microelectro Mechanical Systems pp. 115-119 Feb. 1990. Mastogaa-Sharzewski "A Master Slave Manipulator for Exclavation and Construction Tasks" Robotics and Autonomous System 4.333-337, 1989. Lavellee "Image Guided Operating Robot, a Clinical

Application in Stereotactic Neuro Surgery" IEEE International Conference on Robotics & Automation, pp. 618-624 May 10-15, 1992.

Paul "A Surgical Robot for Total Hip Replacement Surgery" IEEE International Conference on Robotics and Automation pp. 606-611 May 10-15, 1992. Kozanzides "Force Sensing and Control of a Surgical Robot" IEEE International Conference on Robotics & Automation pp. 612-617 May 10-15, 1992. Hollis "Six Degree of Freedom Magnetically Levitated Variable Compliance Fine Motion Wrist" Design, Modeling, and Control, IEEE Transaction on Robotics & Automation 7(3) 320-322 Jun. 1991. Sacludean "A Force Reflecting Teleoperation System with Magnetically Levitated Master and Wrist" Proceeding IEEE International Conference on Robotics & Automation May 10-15, 1992.

McEwen "Solo Surgery with Automated Positioning Platforms" New Frontiers in Minimally Invasive and Interventional Surgery Oct. 13, 1992.

Primary Examiner—Paul Ip

Attorney, Agent, or Firm—C. A. Rowley

A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.

19 Claims, 4 Drawing Sheets