Patent ID: 9696700
Date: 2017-07-04
CPC Classifications: A61B,B25J,G05B,G16H

Claim:
1. A mechanical teleoperated device for remote manipulation comprising: at least one mechanical teleoperated device using fully mechanical motion transmission comprising: a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to a distal end of the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; a handle connected to a distal end of the master unit for operating the mechanical teleoperated device; at least one first mechanical transmission device arranged to kinematically connect the slave unit with the master unit such that movement applied on each of the plurality of master joints of the master unit is reproduced by a corresponding respective one of the plurality of slave joints of the slave unit; at least one second mechanical transmission device arranged to kinematically connect the end-effector with the handle such that movements applied on the handle are reproduced by the end-effector; and mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that a corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of a guided master link in a vicinity of the remote manipulation when the mechanical teleoperated device is operated; wherein the mechanical teleoperated device is configured to enable the guided master link of the master unit to rotate about its longitudinal axis, and about a second and a third axis, which longitudinal axis of the guided master link and which second and third axis always intersect each other at a stationary single point independently of an orientation of the guided master link to enable the corresponding slave link of the slave unit to rotate about its longitudinal axis, and about a fifth and sixth virtual axis which are parallel respectively to the second and third axis; wherein a longitudinal axis of the corresponding slave link and the fifth and sixth virtual axes always intersect each other at a remote-center-of-motion in the vicinity of the remote manipulation; and wherein a kinematic model of a chain formed by the number of slave links and corresponding respective slave joints of the slave unit is identical to the kinematic model of the chain formed by the corresponding number of master links and corresponding respective master joints of the master unit.