Patent ID: 8444631
Filing Date: 2013-05-21
Classification: A61B,B25J

Abstract:
1. A surgical manipulator, comprising: a) a base and a first right angle drive mechanism mounted on said base, a shoulder-roll drive mechanism located in said base for rotating said first right-angle drive mechanism about a shoulder-roll axis, said first right-angle drive mechanism including a first input pulley and a first output pulley and a first bi-directional coupling mechanism, a first drive mechanism, having a first rotational drive axis, coupled to said first input pulley for rotating said first input pulley about a first input axis, said first input axis being coincident with said first rotational drive axis, wherein rotation of said first input pulley is translated into rotation of said first output pulley by said first bi-directional coupling mechanism about a shoulder-yaw axis which is perpendicular to, and intersecting with, said first input axis; b) a second right-angle drive mechanism coupled to said first right-angle drive mechanism including a second input pulley and a second output pulley and second bi-directional coupling mechanism, a second drive mechanism, having a second rotational drive axis, coupled to said second input pulley for rotating said second input pulley about a second input axis, said second input axis being coincident with said second rotational drive axis, wherein rotation of said second input pulley is translated into rotation of said second output pulley by said bi-directional coupling mechanism about a shoulder-pitch axis which is perpendicular to, and intersecting with, said second input axis; c) a robotic lower arm being mounted at one end thereof to said second output pulley so that when said second output pulley is rotated, said robotic lower arm rotates about said shoulder-pitch axis, a third right-angle drive mechanism mounted in said robotic lower arm, said third right-angle drive mechanism including a third input pulley and a third output pulley and a third bi-directional coupling mechanism, a third drive mechanism, having a third rotational drive axis, coupled to said third input pulley for rotating said third input pulley about a third input axis, said third input axis being coincident with said third rotational drive axis, wherein rotation of said third input pulley about said third input axis is translated into rotation of said third output pulley by said bi-directional coupling mechanism about an elbow-pitch axis perpendicular to, and intersecting with, said third input axis; d) a robotic fore arm mounted on said third output pulley of said third right-angle drive mechanism so that when said third output pulley is rotated, said robotic fore arm rotates about said elbow-pitch axis, a fourth right-angle drive mechanism mounted in said robotic fore arm, said fourth right-angle drive mechanism including a fourth input pulley and a fourth output pulley, and a fourth bi-directional coupling mechanism, a fourth drive mechanism, having a fourth rotational drive axis, coupled to said fourth input pulley for rotating the fourth input pulley about a fourth input axis, said fourth input axis being coincident with said fourth rotational drive axis, wherein rotation of said fourth input pulley about said fourth input axis is translated into rotation of said fourth output pulley by said bi-directional coupling mechanism about a wrist-pitch axis perpendicular to, and intersecting with, said fourth input axis; e) a robotic wrist mounted on said fourth output pulley of said fourth right-angle drive mechanism so that when said fourth output pulley is rotated, said robotic wrist rotates about said wrist-pitch axis, said robotic wrist including an actuation mechanism coupled to a wrist output shaft for rotating said robotic wrist output shaft about a wrist-roll axis; and f) an end-effector mounted to said wrist output shaft, said end-effector including gripping means for releasibly gripping a surgical tool wherein, when said actuation mechanism is engaged, said end-effector is rotated about said wrist-roll axis.