Patent ID: 9498297
Filing Date: 2016-11-22
CPC Classification: A61B

Claim Text:
1. A manipulator apparatus for assisting surgery comprising: a first arcuate link including a curved portion having a first center of curvature and a first degree of curvature and extending from a first extremity defined at an end of the first arcuate link to a second extremity defined at an opposite end of the first arcuate link, the curved portion of the first arcuate link defining a first arcuate path defined along the curved portion of the first arcuate link; a hub having a longitudinal axis and adapted to receive and securely hold a surgical tool having a longitudinal axis defined along a length of the surgical tool and a pivot point defined on the longitudinal axis of the surgical tool about which the surgical tool pivots in use, the hub being adapted to be mounted to and engage with the first actuate link to move between the first and second extremities in a first movement route along the first arcuate path such that the first center of curvature coincides with the pivot point of the surgical tool at any point within the first movement route for enabling manipulation of the surgical tool about the pivot point in a first degree of freedom along the first arcuate path; a second arcuate link including a curved portion having a second center of curvature and a second degree of curvature and extending from a first extremity defined at an end of the second arcuate link to a second extremity defined at an opposite end of the second arcuate link, the curved portion of the second arcuate link defining a second arcuate path defined along the curved portion of the second arcuate link; the hub being further adapted to be mounted to and engage with the second arcuate link and to move between the first and second extremities of the second arcuate link in a second movement route along the second arcuate path perpendicularly to the first arcuate path such that the second center of curvature coincides with the pivot point of the surgical tool at any point within the second arcuate path for enabling manipulation of the surgical tool about the pivot point in a second degree of freedom along the second arcuate path, the second degree of freedom being perpendicular to the first degree of freedom; a frame having a lateral wall for supporting the extremities of the arcuate links; a first motor, a first rotary encoder and a first cable, wherein the hub, the first motor and the first rotary encoder are connected to one another via the first cable, with the first motor and the first rotary encoder being mounted to the first arcuate link in an arrangement wherein the first motor displaces the first cable for actuating non-linear movement of the hub along the second movement route and wherein the first rotary encoder measures the displacement of the first cable for enabling determination of a position of the hub along the first arcuate link; a second motor, a second rotary encoder and a second cable, wherein the hub, the second motor and the second rotary encoder are connected to one another via the second cable, with the second motor and the second rotary encoder being mounted to the second arcuate link in an arrangement wherein the second motor displaces the second cable for actuating non-linear movement of the hub along the first movement route and wherein the second rotary encoder measures the displacement of the second cable for enabling determination of a position of the hub along the second arcuate link; and guiding means for enabling movement of both the first and second arcuate links along the lateral wall of the frame, wherein the guiding means and the arcuate links are adapted for enabling movement of the hub along a third movement route for enabling displacement of the surgical tool about the pivot point in two degrees of freedom defined by the first and second degrees of freedom, the guiding means including: