Source: https://patents.google.com/patent/DE69918569T2/en
Timestamp: 2020-02-26 14:52:39
Document Index: 348256371

Matched Legal Cases: ['art 51', 'art 53', 'art 53', 'art 51', 'art 55', 'art 56', 'art 61', 'arts 51', 'art 61', 'art 60', 'art 56', 'art 56', 'arts 55', 'art 56', 'arts 55', 'art 56', 'arts 55', 'art 56', 'art 56', 'art 56', 'art 56', 'art 56', 'art 56', 'art 56', 'art 65', 'art 56', 'art 56', 'arts 53', 'arts 55', 'arts 51', 'arts 51', 'art 65', 'art 71', 'art 74', 'art 76', 'art 77', 'art 80', 'art 72', 'art 71', 'art 82', 'arts 73', 'art 84', 'art 77', 'art 77', 'art 77', 'art 77', 'arts 76', 'art 77', 'arts 76', 'arts 101', 'art 103', 'art 103', 'arts 104', 'art 106', 'art 107', 'art 108', 'art 106', 'art 110', 'art 107', 'art 110', 'art 113', 'art 108', 'art 110', 'art 110', 'arts 104', 'art 121', 'art 113', 'arts 114', 'art 113', 'arts 110', 'art 113', 'arts 110', 'art 113', 'art 113', 'art 113', 'art 113', 'art 113', 'art 113', 'art 113', 'art 113', 'arts 104', 'art 101', 'arts 104', 'art 101', 'art 123', 'art 125', 'art 126', 'art 125', 'art 126', 'art 113', 'art 113', 'art 126', 'arts 110', 'art 113', 'art 124', 'art 128', 'art 113', 'art 113', 'arts 125', 'art 128', 'art 126', 'arts 109', 'arts 114', 'art 128', 'art 124', 'art 124', 'art 113', 'arts 101', 'art 103', 'arts 104', 'art 121', 'art 141', 'art 142', 'art 143', 'art 143', 'art 145', 'art 147', 'art 147', 'arts 141', 'art 151', 'art 145', 'art 145', 'art 160', 'arts 141', 'art 161', 'art 163', 'art 160', 'art 163', 'art 147', 'art 147', 'art 147', 'art 147', 'art 147', 'art 147', 'art 145', 'art 147', 'arts 145', 'art 147', 'art 147', 'art 147', 'art 143', 'art 143', 'art 143', 'art 150', 'arts 149', 'arts 141', 'art 163', 'arts 125', 'art 147', 'art 181', 'art 181', 'art 181', 'art 181', 'art 181', 'art 181', 'art 181', 'art 181', 'art 181', 'arts 185', 'arts 187', 'art 190', 'art 190', 'art 191', 'art 191', 'art 190', 'art 192', 'art 191', 'art 194', 'art 194', 'art 192', 'art 194', 'art 205', 'art 206', 'art 206', 'arts 187', 'arts 198', 'arts 194', 'arts 198', 'arts 194', 'arts 190', 'arts 185', 'arts 185', 'art 181', 'art 181', 'arts 187', 'arts 187', 'arts 190', 'arts 187', 'art 194', 'art 191', 'art 191', 'art 191', 'art 191', 'art 191', 'art 191', 'art 191', 'art 191', 'art 191', 'art 221', 'art 221', 'art 221', 'art 211', 'art 230', 'art 235', 'art 238', 'art 255', 'art 258', 'art 230', 'art 238', 'art 258', 'arts 238', 'arts 235', 'arts 238', 'art 238', 'art 238', 'art 258', 'art 291', 'art 310', 'arts 291', 'art 291', 'arts 292', 'arts 296', 'art 296', 'art 300', 'arts 292', 'art 300', 'arts 292', 'art 292', 'art 292', 'art 296', 'art 296', 'art 298', 'art 300', 'art 298', 'art 298', 'art 310', 'arts 292', 'art 313', 'art 313', 'arts 302', 'art 298', 'arts 355', 'arts 355', 'arts 355', 'arts 355', 'arts 355', 'arts 355', 'art 366', 'art 368', 'arts 355', 'art 368', 'arts 380', 'art 390', 'arts 380', 'art 387', 'art 386', 'art 351', 'art 352', 'art 351', 'arts 380', 'arts 404', 'Application No. 60', 'arts 404', 'arts 404']

DE69918569T2 - Surgical manipulator - Google Patents
DE69918569T2
DE69918569T2 DE69918569T DE69918569T DE69918569T2 DE 69918569 T2 DE69918569 T2 DE 69918569T2 DE 69918569 T DE69918569 T DE 69918569T DE 69918569 T DE69918569 T DE 69918569T DE 69918569 T2 DE69918569 T2 DE 69918569T2
DE69918569T
DE69918569D1 (en
T. Steve CHARLES
1998-11-23 Priority to US10960898P priority Critical
1998-11-23 Priority to US109608P priority
1999-11-22 Application filed by Microdexterity Systems Inc filed Critical Microdexterity Systems Inc
1999-11-22 Priority to PCT/US1999/027560 priority patent/WO2000030557A1/en
2004-08-12 Publication of DE69918569D1 publication Critical patent/DE69918569D1/en
2005-03-24 Publication of DE69918569T2 publication Critical patent/DE69918569T2/en
These The invention relates to a device for handling a medical Tool inside the body a patient, wherein the device is for use in medical Operations including minimally invasive surgical operations.
2. Description of the technical relationship
at the conventional one open surgery inside the human body requires a surgeon sufficiently large Make an incision, to be able to access the area of interest and to allow a direct line of sight to the area. Along with the development of endoscopes, surgical tools, from outside of the body of the patient, and various imaging techniques such as B. ultrasound imaging, computed tomography and magnetic resonance imaging, it is possible, however become, surgical interventions by very small incisions or orifices through, their size for the traditional open surgery would be inappropriate. Such surgical procedures are generally considered minimally invasive Called surgery.
A typical surgical device for use in the minimally invasive Surgery has an oblong Pipe with a first end that over a cut or an opening in the body of the patient insertable is, and with a second end on, which is the body of the Patients out and that is seized by the surgeon. The first end is equipped with a surgical tool, z. As a stapler, a forceps, a pair of scissors, a Needle holder or a scalpel, while the second end with a Handle or another part is provided by the surgeon and that through the middle of the pipe mechanically with the tool connected is. The surgeon can manipulate the tool by manipulating the handle actuate, and he can change the position of the tool by adjusting the orientation of the tube relative to the body the patient changed.
The Minimally invasive surgery is applicable in cases where it is opposite very beneficial to the patient as it causes less trauma as the open surgery. Often leads it also reduces the cost of treatment and shortens the Hospitalizations. The conventional ones however, minimally invasive surgical devices are associated with multiple Disadvantages. A disadvantage is a slight fatigue of the surgeon due to the need for minimally invasive surgical Device during manual use of their use. Another disadvantage is in that the minimally invasive surgical devices the Surgeons demand his hands to keep in a very uncomfortable position. In addition, conventional minimally invasive surgical devices angled enlargement of Cause incorrect movements. Consequently, the surgeon can do an operation when using minimally invasive surgical devices only with considerable less handling precision and precision carry out as when performing an operation by means of conventional Techniques in which the surgeon grasps the tool directly. Therefore Minimally invasive surgery only occurs in those surgical Intervened application requiring a low level of handling precision from Surgeons demand.
US-A-4,688,983 describes an industrial robot in which both a column, the pivoting is arranged on a rotatable base part, as well as a boom, which is pivotally angeord net at the upper end of the boom, hollow are formed to form a solid lightweight structure, which is capable of considerable To carry loads.
US-A-5,784,542 describes one for multiple degrees of freedom designed microsurgical robotic handling device, having a slave handling unit connected to a master handling unit each of the handling units decoupled a plurality of miniaturized Robot connecting parts, which has several arm-connecting parts each having a first Keilschluss-wheel, the is held for rotation about a second Keilschluss-wheel, whereby an immediate turning center is defined to be a movement with one degree of freedom, and with a miniaturized one Articulated connection part are provided with one of the arm-connecting parts is connected and has one end and three degrees of freedom. Further Several miniaturized drive cables are provided, each one Drive cable with an actuation drive device on whose proximal end is connected, which at the distal end with a the connecting parts is connected. Between the master and slave handling units is a computer system arranged to allow the movement of the master handling unit can be precisely emulated by the slave handling unit.
There will be a according to claim 1 te device for handling a medical tool created within the body of a patient.
Further advantageous embodiments are in the dependent claims listed.
The The present invention provides an apparatus for handling a medical tool, the device for surgical procedures and especially for minimally invasive surgical procedures is appropriate.
The The present invention further provides a device suitable for diagnostic or therapeutic medical procedures can be used.
The The present invention further provides an apparatus in which the fatigability of the surgeon during a surgical operation is reduced while its handling precision and Precision improved are.
The The present invention further provides a high-level device mechanical bandwidth.
The The present invention further provides a device comprising a has small diameter, making it into a small incision or a small body opening of the Patients introduced can be.
A The handling device described below has first and second independently movable Arms and a medical tool that swiveling from both Poor is kept. The arms are movable so that the tool with one or more degrees of freedom can be handled. For example can the arms the tool with five Degrees of freedom.
The Arms manipulate the tool by means of various types of movements the arms, such as B. by rotation of the arms as a whole to appropriate Axes, or by translating or pivoting parts of each Arms relative to each other part to extend or retract the poor or a change to effect the shape of the arms.
The Handling device may have a hinge that is capable is to handle the tool relative to the arms to the tool with additional To provide degrees of freedom. According to one preferred embodiment are the hinge and the tool from the other parts of the handling device removable, easy to sterilize and replace the tool to allow.
A Handling device according to the present The invention can be operated in various modes, including one Master-slave mode, in which their movements are controlled by a master controller, a robotic mode, or a semi-robotic mode in which some Operation is done robotically and other operations by a master controller to be controlled.
A Handling device according to the present Invention offers numerous advantages over conventional minimally invasive surgical Devices. First, the surgeon needs while with the handling device conducted Operation to support any part of the handling device, so that the handling device for the surgeon in particular for a long time Operations less tiring is. The handling device may further comprise a medical device hold in a position that is difficult to achieve by hand would. at the conventional minimally invasive Surgery must be the body wall, through which a minimally invasive surgical tool is inserted, typically be substantially planar and facing upward. In one according to the present Invention designed handling device, however, subject the body wall, through which a minimally invasive surgical procedure is performed should, no restrictions. For example, the body wall be placed vertically or face down if the patient can be placed on a table with an opening is, by which the handling device for access to the body wall can pass through. Thus, a patient can be positioned in a manner be that for the patient and the surgeon comfortably and for safety and recovery the patient is beneficial.
One another significant advantage of the handling device according to the present invention Invention is that the device the handling precision of User can improve. While a conventional one minimally invasive surgical device unavoidably the handling precision of the Surgeons opposite its handling precision reduced at a manually made operation, one according to the present Invention trained handling device the surgeon a handling precision comparable to the handling precision achievable with the unsupported hand or even superior is.
A handling device according to the present invention is particularly suitable for minimally invasive surgical operations or other medical procedures performed through small incisions in the body wall of a patient. However, a handling device according to the present invention can be used in addition to the use in minimally invasive surgery for other medical procedures, such. For example, for external surgery or traditional open surgery, in which large incisions are made in the body wall. The device is also suitable for non-medical applications. For example, it is suitable as a multipurpose handling device for use in the manufacture, repair, installation or mounting of various objects.
1 shows a schematic side view illustrating the concept of a surgical handling device.
2 shows a schematic side view of the lower end of the tool holding shaft according to 1 to illustrate the manner in which the tool support shaft can be handled within a cone angle.
3 shows a schematic representation of a form of a handling device, are used in the rotary actuating parts in combination with linear actuator parts.
4 shows a schematic representation of a modification of the arrangement according to 3 ,
5 shows a schematic representation of another form of handling device, in which only linear actuation parts are used.
6 and 7 shows schematic representations of two other forms of handling device, are used in the rotary actuating parts in combination with linear actuator parts.
8th shows a schematic representation of another form of handling device.
9 shows a schematic side view of an embodiment of a handling device, the geometry according to 7 having.
10 shows an isometric view of another embodiment of a handling device, the geometry according to 5 having.
11 shows a schematic side view of the embodiment according to 10 ,
12 shows an enlarged view of the linear actuator parts according to the embodiment according to 10 ,
13 shows an enlarged isometric view of the shaft insertion actuating member according to the embodiment according to 10 ,
14 shows an isometric view of another embodiment of a handling device according to the present invention, the geometry according to 8th having.
15 shows a schematic sectional side view of a tool holding shaft for use in a handling device according to the present invention.
16 shows a cross-sectional view of the tool holding shaft according to 15 looking down on the wrist mechanism, with the tool and the tool rolling motion shaft omitted.
17 shows a schematic cross-sectional view of the tool holding shaft, wherein the arranged for a wrist mechanism connectors are shown.
18 Figure 12 is a schematic vertical sectional view of another example of a wrist mechanism for use with the present invention.
19 shows a schematic plan view of three actuating parts for use with a removable tool holding shaft.
20 shows a schematic side view of one of the actuating parts according to 19 ,
21 shows a schematic side view of an actuating part for a tool roll shaft.
22 Fig. 12 shows a block diagram of a control system for use with a handling device according to the present invention.
23 shows an isometric view of part of the embodiment according to 9 ,
24 shows an exploded isometric view of one of the fasteners of the part according to FIG 23 ,
25 shows an exploded isometric view of the part as viewed from another angle 23 ,
26 shows a side view from the rear, wherein the position of the voltmeter on the frame of the part according to 23 are shown.
27 and 28 show side views of another example of a Handge steering mechanism according to the present invention.
29 and 30 show side views of two other examples of a Handge steering mechanism according to the present invention.
31 shows an exploded side view of another example of a wrist mechanism according to the present invention.
32 shows an exploded side view of another example of a wrist mechanism according to the present invention.
33 and 34 show side views of the wrist mechanism according to 32 , wherein the holding tube is in two different rotational positions.
in the Below are several preferred embodiments of a handling device according to the present invention Invention described in conjunction with the accompanying drawings. The The present invention is not limited to those shown in the drawings Structures limited, and features of one embodiment can free with features of one or more other embodiments be combined, so that numerous arrangements in addition to The arrangements shown are formed, all under the scope of present invention.
1 shows a schematic side view for conceptual representation of the overall structure of a handling device 10 , The handling device 10 is shown in the situation in which they perform a minimally invasive surgical operation on a human patient 30 However, as mentioned above, the usability of the device extends beyond minimally invasive surgery to other medical procedures as well. Furthermore, the device is not limited to use in human patients, but may, for. B. also be used in veterinary medicine.
The handling device shown 10 has a tool holding shaft 11 on, at one end (the lower end in the figure) a medical device 12 such as B. carries a medical tool. In the following description, the medical device 12 regardless of their specific design simply referred to as a tool. The type of tool 12 is not subject to restrictions. At the tool 12 For example, it may be a cutting device, a needle holder, a stapler, a forceps, a clamp, a probe, an imaging device, a laser, a needle or other biopsy device, a device for delivering medication or other substances, or other device for surgical, therapeutic or diagnostic purposes. The tool holding shaft 11 is held and managed by a shaft retaining structure 20 that have two or more independently movable arms 21 and 22 each arm having the tool holding shaft 11 via one or more joints pivotally holds at a different location. In this example, the arm is 21 with a pivoting joint 23 provided, and the arm 22 is with another pivoting joint 24 Mistake. Every arm 21 . 22 can the corresponding joint 23 . 24 move in space to the tool holding shaft 11 to be positioned in the space so that it reaches a desired position and / or such movement of the lower end of the tool holding shaft 11 running that tool 12 is moved to a desired position relative to the patient. In the present embodiment allows a single joint 23 or 24 the desired number of rotational degrees of freedom of the tool support shaft 11 in relation to each arm 21 or 22 However, a single joint that allows multiple degrees of freedom can be replaced by its functional equivalent in the form of multiple joints, each of which allows for less degrees of freedom than the simple joint, but together allow the same number of degrees of freedom as the single joint. The joints 23 . 24 are typically passive joints instead of active joints, which means that changing the orientation of the tool holding shaft 11 in terms of arms 21 and 22 simply by changing the position of one or both joints 23 . 24 instead of with the joints 23 . 24 connected operating parts a torque on the tool holding shaft 11 exercise.
The wave holding structure 20 forms a parallel mechanism, ie a mechanism in which the weight of the tool holding shaft 11 along several parallel paths through the arms 21 and 22 are transferred to a base or other holding member, as opposed to a serial mechanism in which a load being held is transferred along a single path to a base. A parallel path is inherently stronger, faster, more precise, and capable of carrying a higher load than a serial mechanism, which features are particularly advantageous for a surgical manipulator.
The poor 21 and 22 can the joints 23 and 24 using many different types of actions, such as: B. extension or collapse of the arms, or by translation or pivoting of the entire arms or parts of the arms.
The tool holding shaft 11 is not limited to any particular form. Often, its lower end is rectilinear to facilitate insertion into the patient's body, and for ease of manufacture, it may be convenient for the tool support shaft 11 is straight along its entire length. However, the tool holding shaft may have a wide variety of other shapes, e.g. B. an angled or curved shape. The tool support shaft in its embodiment shown has a constant cross-sectional shape over its entire length, but this cross-sectional shape is also not critical and may vary over the length of the shaft. The tool holding shaft shown 11 is an elongated part whose length is large compared to its diameter; however, the ratio between the length of the tool support shaft 11 and their diameter is not important. Thus, the tool holding shaft 11 be provided in the form of any part that is suitable, the tool 12 to hold and be handled in the desired manner.
The weight of the tool holding shaft 11 can in any way between the joints 23 . 24 be distributed. In some orientations of the tool holding shaft 11 Your weight may be primary or complete by just one of your joints 23 held in other orientations, the weight of both joints can be maintained. The positions of the joints 23 . 24 in the room can be varied, however, the alignment of a line, which remains the center of rotation of the joint 23 interconnects, with respect to the tool support shaft 11 constant. Two passive joints are sufficient to align the joints of the tool support shaft 11 in space, however, a larger number of hinges and arms can be used if needed to increase the weight of the tool support shaft 11 distribute among a larger number of parts.
In some configurations of the shaft support structure 20 can the arms 21 . 22 be coplanar with each other, in which case the shaft support structure 20 defines a two-dimensional connection. The wave holding structure 20 However, it can also assume other configurations where the arms 21 . 22 are not planar, in which case the wave-holding structure 20 a so-called space mechanism or a so-called three-dimensional connection can form. The ability of the wave-holding structure 20 Acting as a space mechanism increases the freedom of movement of the tool support shaft 11 and allows movements that are not possible with a two-dimensional connection.
In 1 are the rotational centers of the joints 23 . 24 schematically as with the longitudinal axis of the tool support shaft 11 However, the positions of the rotational centers of the joints relative to the tool holding shaft 11 be chosen arbitrarily. For example, the joints of the tool holding shaft 11 by an intermediate part such. B. hold a frame and thus of the tool holder shaft 11 be spaced.
The wave holding structure 20 can handle the tool holding shaft 11 be formed with any desired number of degrees of freedom in translation and / or rotation. For some simple medical procedures, a single degree of freedom may be sufficient, but it is often convenient if the tool holding shaft 11 is manageable with several degrees of freedom. For example, when the tool holding shaft 11 with the tool 12 is handled outside the patient's body, be desirable that the wave-holding structure 20 is capable of the tool holding shaft 11 with up to six degrees of freedom to handle. However, if the lower end of the tool holding shaft 11 is inserted into an incision or other opening in the body of the patient, it is generally desirable to have the number of degrees of freedom of the tool holding shaft 11 to minimize the size of the notch used to accommodate the movements of the tool support shaft 11 is required. In particular, as in 2 indicated schematically, the movements of the tool holding shaft 11 if this through an incision 32 in the body wall 31 of the patient 30 is introduced into the patient's body, preferably limited to those movements which the longitudinal axis of the lower end of the tool holding shaft 11 within an imaginary cone that is at a virtual pivot point 13 which is centered in the incision 32 is arranged. By a virtual pivot is meant a point in the space surrounding the tool support shaft 11 can be rotated with one or more degrees of freedom without requiring any support structure at the virtual pivot point. The tool holding shaft 11 can be rotated in such a way as if in fact a hinge at the virtual pivot point 13 but without the structural limitations that such a hinge could cause. In 2 can the tool holding shaft 11 about an x-axis and a y-axis extending at right angles to the x-axis, both axes being rotated through the virtual pivot point 13 run. Furthermore, the tool holding shaft 11 along a Z axis are translationally moved, the longitudinal axis of the tool holding shaft 11 equivalent. The size of the cone (measured as an angle), in which the tool holding shaft 11 Can move on the basis of factors such as the size of the incision 32 and the extent to which the body wall 31 can withstand stretching when coming from the outer surface of the tool holding shaft 11 will be contacted. Within this cone, the tool holding shaft 11 be designed such that it performs any combination of rotations about the x- and / or y-axis and translations along the z-axis and thereby the longitudinal axis of the tool holding shaft 11 aligned with the virtual pivot point. The tool holding shaft 11 If necessary, it can also be designed for rotation about the z-axis. To the size of the incision 32 , which is required to accommodate a given cone angle, is the virtual pivot point 13 preferably midway through the thickness of the body wall 31 of the patient 30 arranged where the incision 32 or another opening is formed. Thickness can vary considerably from patient to patient. It can be less than a half inch in a child and 4 to 5 inches in an obese adult.
By appropriately coordinating the movements of the arms 21 . 22 can the virtual point 13 around which the tool holding shaft 11 is pivotable, can be arranged at any desired point in space. For example, it may be at any position along the length of the tool support shaft 11 be provided. The variability of the position of the virtual pivot 13 along the length of the tool support shaft 11 is convenient because it allows the degree to which the tool holding shaft 11 extends into the body of the patient to adjust to a desired value. Thus, if the part of the patient's body on which the tool 12 to access, close to the body wall 31 located, the virtual pivot point 13 near the lower end of the tool support shaft 11 lie, while, if the access area deeper within the patient's body or further from the incision 32 is removed, the virtual pivot point 13 farther from the lower end of the tool support shaft 11 may be away to a greater length of the inserted into the body of the patient tool holding shaft 11 to allow.
The tool holding shaft 11 can be stored in any way. In 1 she is on a ground 35 next to the table 36 shown arranged on which the patient 30 during the surgery, however, she may also be at the table 36 , a wall, a ceiling, one above the patient 30 or any suitable structure. The wave holding structure 20 may be installed in a fixed location, or it may be provided with rollers or other mechanisms to give it mobility.
Many different configurations can be used by which the shaft support structure 20 the tool holding shaft 11 on the in 2 handle shown. Examples are the following:
(a) Both joints 23 . 24 can be moved in a two-dimensional space (in separate planes), and the tool holding shaft 11 can be relative to the joints 23 . 24 in a direction translationally moving, which are transverse to the planes of motion of the joints 23 . 24 runs.
(b) Both joints 23 . 24 can be moved in a two-dimensional space relative to a base, and the planes of motion of the joints 23 . 24 may be moved as a unit in a direction transverse to the planes while maintaining a constant positional relationship with each other to translate the tool support shaft 11 in the z-axis direction.
(c) One of the joints 23 . 24 can be moved in a two-dimensional space, while the other joint can be moved in a three-dimensional space.
(d) Both joints 23 . 24 can be moved in a three-dimensional space.
It any combination of (a) - (d) can be used, and the joints can also be used on more others Species are moved.
3 schematically shows the geometry of a shaft support structure 50 with the configuration described in the above section (a), in which two joints are moved by means of two respective arms, each in a two-dimensional space. As shown in this figure, the wave stops has structure 50 a first arm with a first rotary actuating part 51 on top of a stationary support 52 such as B. is held a stationary frame. On the first rotary actuator 51 is a first connection part 53 secured for rotation about a first axis. The first connection part 53 holds a first linear actuator 54 that can act along a rectilinear path perpendicular to the rotation axis of the first rotation operation part 51 runs. A second connecting part 55 is at one end with the first linear actuator 54 connected and at the other end with a third connecting part 56 connected to a first support point 57 by means of a first pivotable joint 57 a tool holding shaft 11 holds. The second arm has a second rotary actuator 60 up, which is held by a stationary support, such as B. from the same frame 52 , which is the first rotary actuator 51 holds. A fourth connection part 61 is with the second rotary actuator 60 connected for rotation about a second axis. To simplify the kinematics, the axes of rotation of the first and second rotary operating parts 51 . 60 in 3 aligned, but the two axes need not be aligned with each other or parallel. The fourth connection part 61 holds a second linear actuator 62 that can act along a rectilinear path perpendicular to the rotation axis of the second rotation operation part 60 runs. A fifth rotary actuator 63 is at one end on the second linear actuator 62 attached and at the other end to the third connecting part 56 through a second pivoting joint 64 connected at a second support point. Each of the first and second joints 57 . 64 allows at least two degrees of freedom of the third connection part 56 relative to the second and fifth connecting parts 55 . 63 so that the third connecting part 56 relative to the second and fifth connecting parts 55 . 63 Can execute tilting and yawing movements. The third connecting part 56 and the joints 57 . 64 are further arranged such that the angle between the connecting parts 55 . 63 , measured around the axis of the third connecting part 56 , may vary. For example, one of the joints 57 . 64 allow three rotational degrees of freedom, so that the third connec tion part 56 in addition to the tilt and yaw motion, a rolling motion about its axis relative to one of the second and fifth links 55 . 63 can perform. In this case, one of the joints 57 . 64 a joint or a joint equivalent thereto, while the other joint is a ball joint or a joint equivalent thereto. Alternatively, each of the joints 57 . 64 have only two rotational degrees of freedom, and the third joint 56 may comprise two sections which are connected by a rolling joint whose axis of rotation with the axis of the third connecting part 56 is aligned and that the two sections of the connecting part 56 allows relative to each other about the axis of the third connecting part 56 to turn. The joints 57 . 64 are arranged such that the distance between them can vary as they move in parallel planes in space. For example, according to this embodiment, one of the joints (such as the first joint 57 in 3 ) against translation relative to the third connecting part 56 fixed in the longitudinal direction of the third connecting part, while the other joint (in this example, the second joint 64 ) to a translational movement relative to the third connecting part 56 in the longitudinal direction is able. The distance between the joints 57 . 64 can also be varied in other ways, for. B. by adding each joint 57 . 64 against translation relative to that part of the third connection part 65 is fixed, on which the joint is fixed and which the third connecting part 56 forms as a telescopic part.
The third connecting part 56 holds the tool holding shaft 11 by a third linear actuator 65 (A shaft insertion operation part), which is the tool holding shaft 11 in a transverse to the planes of motion of the first and second joints 57 . 64 extending direction and that for inserting or retracting the tool holding shaft 11 can be used in or out of the patient's body without the alignment of the tool support shaft 11 to change. In the present embodiment, the third linear actuator operates 65 in a direction parallel to a line connecting the first and second joints 57 . 64 connects, but can act in a different direction instead. The line of action of the third linear actuator 65 is offset from a line showing the first and second joints 57 . 64 but can also be aligned with this line.
The first to fifth connection parts are shown to be formed of linear sections. For example, the first and fourth connecting parts 53 . 61 in its shown form two sections which extend at right angles to each other, and the remaining connecting parts 55 . 56 and 63 are shown as rectilinear parts. However, as long as the first and second joints 57 . 64 can be moved in planes, the shape of the connecting parts is arbitrary. Thus, the connecting parts may be angled or curved or have a combination of rectilinear and curved sections.
4 schematically shows the geometry of another usable shaft support structure 50A , This example has the configuration described in the above section (b), in which two joints are moved by means of two arms in a two-dimensional space and the joints can be moved as a unit in a direction transverse to the plane of movement of the joints. The overall geometry according to 4 is designed similar to the geometry according to 3 except that the third linear actuator 65 (the shaft insertion operation member) is omitted and the movement of the tool holding shaft 11 achieved in the z-axis direction by the rotary actuating parts 51 . 60 be moved as a single unit translational. The tool holding shaft 11 is rigid with the fifth connector 56 connected. The rotary actuating parts 51 . 60 are with a frame 52 connected by means of a base 66 that with a lifting mechanism for the frame 52 is provided, can be raised and lowered. With the geometry according to 4 can the same turntable and translational movement of the tool holding shaft 11 as with the geometry according to 3 be achieved. Since the shaft insertion operation part 65 is not required, the size of the handling device 50A in the vicinity of the upper end of the tool holding shaft 11 be reduced, so that it is easier to operate the handling device in confined spaces. However, for the sake of greater operational flexibility, it is possible to arrange in accordance with 4 Further, to be provided with a third linear actuator, which is the third linear actuator 65 according to 3 corresponds to the tool holding shaft 11 to translate in the z-axis direction and thereby the tool support shaft 11 to introduce into or withdraw from the patient's body.
5 schematically shows the geometry of another shaft holding structure 70 , As with the geometries according to 3 and 4 are two joints for a tool holding shaft 11 both movable in a two-dimensional space by means of first and second arms. In contrast to those geometries, only Linear Actuators are used to maneuver the joints in this geometry.
A first arm has a first connection part 71 at one end with a stationary support such. B. a base is connected and at a second end with a first linear actuator 73 which is movable in a straight line in an x-axis direction. A second connecting part 74 is at one end with the first linear actuator 73 connected and at a second end with a second linear actuator 75 which is movable in a straight line in a y-axis direction that is transverse (eg, perpendicular) to the x-axis direction. In the present embodiment, the x and y axes are perpendicular to each other, but this is not required. A third connecting part 76 is at a first end with the second linear actuator 75 and at a second end with a fourth connection part 77 at a first support point for the tool support shaft by means of a first pivotable joint 78 connected. The second arm has a fifth connecting part 80 which is connected at one end to a stationary support, such. B. with the same part 72 with which the first connecting part 71 is connected, and that at a second end with a third linear actuator 81 which can work in a straight line in the x-axis direction. A sixth connecting part 82 is at one end with the third linear actuator 81 and at the other end with a fourth linear actuator 83 connected, which is movable in a straight line in the y-axis direction. Thus, the third linear actuator moves 82 along a path parallel to the first linear actuator 73 runs, and the fourth linear actuator 73 moves along a path parallel to the second linear actuator 75 and perpendicular to the path of the third linear actuator 81 runs. Further, the travel paths of the first and second linear actuator parts define a plane parallel to that defined by the travel paths of the third and fourth linear actuator parts. However, the travel paths of the third and fourth linear actuators may be at any angle to each other, such as not being parallel, and the travel paths of the third and fourth linear actuators 81 . 83 Further, they do not need to be parallel to those of the first and second linear actuator parts 73 . 75 or to the plane defined by the movement paths of the first and second linear actuator parts. A seventh connection part 84 is at one end with the fourth linear actuator 83 and at the other end with the fourth connection part 77 at a second support point by means of a second pivotable joint 85 connected. A fifth linear actuator 86 (a shaft insertion actuator) that moves in a z-axis direction transverse to the planes of motion of the first and second hinges 78 . 85 is movable, is at the fourth connection part 77 attaches and holds the tool support shaft 11 , In 5 the z-axis is parallel to a straight line connecting the first and second joints 78 . 85 but can also go in a different direction.
Each of the first and second joints 78 . 85 can have two rotational degrees of freedom of the fourth connection part 77 relative to the third and seventh links 76 . 84 allow, so that the fourth connecting part 77 Tilting and yawing relative to the third and seventh connecting parts 76 . 84 can perform. One of the joints 78 . 85 can allow three degrees of freedom to the fourth connection part 77 to allow to perform a rolling movement in addition to the tilting and yawing; however, there are the connecting parts 76 and 84 maintain a constant orientation in space, a third degree of freedom is not needed. The joints 78 . 85 are arranged such that the distance between them can vary as they move in parallel planes in space. For example, one of the joints (in 5 the second joint 85 ) relative to the fourth joint 77 against translation in the longitudinal direction of the fourth joint 77 be fixed while the other joint (in this example, the first joint 78 ) to a translational movement relative to the fourth joint 77 in the longitudinal direction of the joint 77 can be able. Alternatively, both joints 78 . 85 against translation relative to the fourth joint 77 be fixed, and the fourth joint 77 can a telescope bare structure, by means of which the distance between the joints 78 . 85 can be varied.
Instead of both joints 78 . 85 It is possible to handle one (the first or the second) of the joints in accordance with only by linear actuators 5 by the combination of a rotary actuator and a linear actuator in the same manner as in the arrangement according to 3 handle. For example, the components 71 . 73 and 74 according to 5 for handling the joint 78 by a rotary actuating part and a connecting part corresponding to the components 51 and 53 according to 3 be replaced.
6 shows the geometry of a wave-holding structure 100 in which a joint for a tool holding shaft 11 by means of a corresponding arm in a two-dimensional space can be moved, while a second joint can be moved by means of another arm in a three-dimensional space. The first and second rotary operating parts 101 . 120 one he most or second arm are each at a stationary support such. B. a frame 102 attached. The first rotary actuator 101 may be a first connection part 103 turn around an axis. The first connection part 103 is with first and second linear actuator parts 104 . 105 connected, which can work in straight lines, which is perpendicular to the axis of rotation of the first rotary actuator 101 and run parallel to each other. A second connecting part 106 and a third connecting part 107 are each at one end with the first linear actuator 104 or the second linear actuator 105 connected. A fourth connection part 108 is at a first end by means of a joint 109 pivotable with one end of the second connecting part 106 connected, and a fifth connecting part 110 is at a first end by means of a joint 111 pivotable with one end of the third connecting part 107 connected. The second end of the fifth connecting part 110 is by means of a joint 114 pivotable at a first support point with a sixth connection part 113 connected to which the tool holding shaft 11 is attached. The second end of the fourth connection part 108 is with the fifth connection part 110 through a joint 112 connected between the two ends of the fifth connecting part 110 is arranged. Each of the joints 109 . 111 and 112 allows a rotational degree of freedom about an axis perpendicular to the axis of rotation of the first rotary actuator 101 runs, wherein the axes of rotation of all three joints parallel to each other and at right angles to the movement paths of the linear actuator parts 104 and 105 run. To simplify the kinematics of this axis of rotation is preferably with the axis of rotation of the first rotary actuator 101 however, the two axes need not be aligned or parallel. The seventh connecting part 121 is with the third linear actuator 122 connected, which operates along a straight line which is perpendicular to the axis of rotation of the second rotary actuating member 120 runs. An eighth link 123 is at one end with the third linear actuator 122 and at the other end by means of a joint 124 at a second support point with the sixth connection part 113 connected. The connecting parts 114 and 124 each allow the sixth connecting part 113 a rotation having at least two rotational degrees of freedom relative to the fifth and eighth connecting parts 110 and 123 , The sixth connecting part 113 and the joints 114 . 124 are further arranged such that the angle between the connecting parts 110 and 123 , measured around the axis of the sixth connecting part 113 , may vary, eg. B. by one of the joints 114 and 124 be given three degrees of freedom or by a Wälzgelenk in the sixth connecting part 113 is installed so that the two sections of the sixth connecting part 113 relative to each other about the longitudinal axis of the sixth connecting part 113 are rotatable. The joint 114 is relative to the sixth connection part 113 against translational movement in the longitudinal direction of the sixth connecting part 113 set, and the joint 124 is capable of translational movement relative to the sixth connection part 113 in the longitudinal direction of the sixth connecting part 113 to vary the distance between the joints 114 and 124 to enable. Alternatively, both joints 114 and 124 against translation relative to the sixth joint 113 be fixed, and the sixth joint may have a telescopic structure, by means of which the distance between the joints 114 and 124 can vary.
In this geometry, the joints move 109 and 111 each in a two-dimensional space, ie in a plane. In contrast, the joint 114 be moved in a three-dimensional plane. For example, the joint 114 in 6 be moved up by the first and second linear actuator parts 104 . 105 be controlled so that the joint 109 to the rotation axis of the first rotation operation part 101 is moved, the joint 111 is held stationary while the joint 114 in 6 can be moved down by the first and second linear actuator parts 104 . 105 be controlled so that the joint 109 from the rotation axis of the first rotation operation part 101 is moved away, taking the joint 111 is kept stationary. Thus, the tool holding shaft 11 be moved in the z-axis direction by the distance of the joint from the plane of motion of the joint 124 is varied without requiring a separate wave guide actuating part is necessary. Consequently, the size of the support shaft support structure 100 near the upper end of the tool support shaft 11 reducing the handling of the tool holding shaft 11 relieved in confined spaces.
7 shows another possible geometry of the shaft support structure 110A a handling device. This geometry is designed similar to the geometry according to 6 , but is suitable for handling two joints in a three-dimensional space. The eighth connecting part 123 according to 6 is however through an eighth connecting part 125 and a ninth connection part 126 replaced by a joint 127 pivotally interconnected, which allows one degree of freedom about an axis parallel to the axes of rotation of the joints 109 . 111 and 112 runs. One end of the eighth connection part 125 is on the third linear actuator 122 attached, and one end of the ninth connection part 126 is pivotable with the sixth connecting part 113 connected, by a joint 128 , the sixth connecting part 113 at least two rotational degrees of freedom relative to the ninth connection part 126 gives. As in the embodiment according to 6 are the sixth link 113 and the joints 114 . 128 arranged such that the angle between the connecting parts 110 and 126 , measured around the axis of the sixth connecting part 113 , can be varied by any suitable structure. In contrast to the connecting part 124 according to 6 is the connecting part 128 in 7 against translational movement relative to the sixth connection part 113 in the length direction of the sixth connection part 113 established. There joint 127 between the eighth and ninth connecting parts 125 . 126 is moved in two-dimensional space while the connecting part 128 is able to move in three-dimensional space. In essence, the translational freedom of the joint 124 in 6 through the hinge 127 and the connecting part 126 been replaced.
In this geometry, each of the connecting parts 109 . 111 and 127 be moved in a two-dimensional space while the connecting parts 114 and 128 can each be moved in a three-dimensional space. Thus, as in the geometry according to 6 the tool holding shaft 11 in the z-axis direction without using a separate shaft insertion actuator.
In the geometry according to 7 can for the connecting part 128 a simpler structure can be used than for the connection part 124 according to the geometry 6 , and the friction associated with the translational movement of the connecting part 124 according to 6 with respect to the sixth connection part 113 can be eliminated. Thus, the geometry is according to 7 suitable for performing finer movements of the tool holding shaft 11 as the geometry according to 6 ,
The arrangements according to 6 and 7 can be modified so that the rotary operating parts 101 . 120 be replaced by linear actuators, which are the first connecting part 103 translationally moving in a direction transverse (eg, perpendicular) to the travel paths of the first and second linear actuator parts 104 . 105 runs, and the seventh connecting part 121 translationally moving in a direction transverse (eg, perpendicular) to the travel of the third linear actuator 122 runs.
8th schematically shows the geometry of another shaft holding structure 140 a handling device. The wave holding structure 140 may be a hinge for holding a tool support shaft 11 in a three-dimensional space and another joint in a two-dimensional space. A first rotary actuating part 141 having an axis of rotation is connected to a stationary support such. B. a frame or a base arranged. A first connection part 142 is at one end with the first rotary actuator 141 and at a second end to the first end of a second connection part 143 by means of a joint 144 verbun the, that of the axis of rotation of the first rotary actuator 141 is spaced. The second end of the second connection part 143 is through a joint 146 with the first end of a third connector 145 connected. The second end of the third connection part 145 is by means of a joint 148 for the tool holding shaft 11 pivotable with one end of a fourth connecting part 147 connected. The tool holding shaft 11 is at the fourth connection part 147 attached. A second rotary actuator 149 turns a third rotary actuator 150 around a rotation axis. To simplify the kinematics, the axes of rotation of the first and second rotary operating parts 141 . 149 however, they do not need to be aligned or parallel. The third rotary actuator 150 turns a fifth connector 151 about an axis of rotation that is transverse (eg, perpendicular) to the axis of rotation of the second rotary actuator 149 runs. The fifth connecting part 151 is with the third connection part 145 through a joint 152 having a degree of freedom about an axis transverse (eg, perpendicular) to the rotational axis of the third rotary actuator 150 and perpendicular to the axis of the connecting part 145 runs. A fourth rotary actuator 160 having an axis of rotation is disposed on a stationary support. In 8th is the axis of rotation of the fourth rotary actuator supply part 160 with those of the first and second rotary operating parts 141 . 149 aligned, but the axes need not be aligned or parallel. A sixth connecting part 161 is at one end with the fourth rotary actuator 160 connected and at a second end with a linear actuator 162 connected, which acts in a straight line. In the present example, the path of movement of the linear actuator runs 162 perpendicular to the axis of rotation of the fourth rotary actuator 160 so that every point on the connecting part 163 moving in a plane; however, it is also possible that the movement path is not perpendicular to the rotation axis of the fourth rotation operation part 160 runs. A seventh connection part 163 is at one end with the linear actuator 162 and at the other end with a second joint 164 connected, which is pivotally connected to the fourth connecting part 147 connected is. The joint 148 is against translation relative to the fourth connection part 147 set in the longitudinal direction. Further, the joints 148 and 164 arranged so that the distance between them can vary. For example, the joint 164 to a translational movement relative to the fourth connection part 147 be able to be in the longitudinal direction, or the joint 164 can against translation relative to the fourth connecting part 147 be set, and the fourth connection part 147 may have a telescopic structure. Each of the joints 148 . 164 allows the fourth connection part 147 a pivoting relative to the third or seventh connecting part 145 . 163 with at least two rotational degrees of freedom. The fourth connection part 147 and the joints 148 . 164 are further arranged such that the angle between the connecting parts 145 and 163 , measured around the axis of the fourth connecting part 147 , may vary. For example, one of the joints 148 . 164 allow three degrees of rotation, or the joints 148 . 164 may allow two rotational degrees of freedom, and there may be an additional pivot (or rolling joint) in the fourth connection part 147 be included to the fourth connector 147 into two sections which are relative to each other about the longitudinal axis of the fourth connecting part 147 are rotatable.
For the joints 144 and 146 Many different structures can be used. For example, both hinges may have three degrees of freedom (eg, in the form of two ball joints or equivalents thereof), or one joint may have two degrees of freedom (eg, in the form of a universal joint or an equivalent thereof) while the other joint has three degrees of freedom (eg in the form of a ball joint or an equivalent thereof), or both joints may have two degrees of freedom (eg in the form of two ball joints or equivalents thereof) and another joint (a rolling joint) may be in the second connection part 143 be fitted to the two sections of the second connecting part 143 to allow relative to each other about the longitudinal axis of the second connecting part 143 to turn.
Of the five operating parts used in this arrangement, three are stationary, and the third operating part 150 and the linear actuator 162 can be arranged so that their centers of gravity as close as possible to the axes of rotation of the second and fourth rotary operating parts 149 respectively. 160 are arranged so that their moments of inertia are minimized around these axes. Thus, the wave-holding structure can 140 as a whole have a very low moment of inertia, which is desirable from the aspect of increasing the handling precision of the handling device.
The first, second and third rotary operating parts 141 . 149 . 150 can put together the joint 148 move to any position in three-dimensional space while the fourth rotary actuator 160 and the linear actuator 162 together the joint 164 can move to any position in two-dimensional space. By appropriate control of the positions of the joints 148 and 164 can the tool holding shaft 11 held with a virtual pivot point, and the tool holding shaft 11 can be moved in the z-axis direction without requiring a shaft insertion actuator.
In a manner similar to that in which the embodiment according to FIG 6 to form the embodiment according to 7 can be modified, the embodiment according to 8th be modified so that the connecting part 163 is replaced by two pivotally interconnected connecting parts (the connecting parts 125 and 126 according to 7 correspond) and the second joint 164 is replaced by a joint that is the joint 128 according to 7 corresponds, against a translational movement relative to the connecting part 147 is fixed.
A shaft support structure according to the present invention is not based on the orientations 3 - 8th limited and can take any desired orientation relative to the vertical. For example, in the arrangement according to 6 the orientation can be reversed 180 degrees, so that the first rotary actuator 101 and the first and second linear actuators 104 . 105 under the second rotary actuator 130 and the third linear actuator 122 are arranged.
In the embodiments according to 3 - 8th Linear and rotary actuators used are not limited to any particular type. Examples of suitable linear actuators include linear electric motors, rotary motors connected to drive translation mechanisms (such as U-bolts or rack and pinion transmissions) for translating rotational to linear motion, and hydraulic or pneumatic cylinders. If the tool support shaft only needs to accept a small number of orientations, linear actuators designed for only a small number of discrete states, e.g. A magnet; however, if it is desired to move the tool support shaft over a continuous range of angles relative to the vertical, the linear actuators preferably permit substantially continuous position and force control. Among the various types of linear actuators, linear electric motors are particularly suitable, especially for applications where precise control of the tool holder shaft angle is desired. Linear motors generate a linear output force so that they are useful for directly driving parts of the tool holding structure without the need for ball screws, cables, or other motion conversion mechanisms (which cause backlash, increased inertia, and increased friction, which in any case is detrimental to precise tooling Control of the tool holding shaft is). Thus, linear motors allow handling of the tool holding shaft with high precision. In addition, the movable mass of a linear motor is substantially independent of the range of movement of the movable part of the motor. In contrast, in most other types of linear actuators, including hydraulic cylinders or motors connected to ball screws, an actuator with a long range of motion tends to have a larger movable mass that undergoes rotation and / or translation an actuating part with a short range of motion. Thus, linear motors used as linear actuator parts can have a long range of motion while still having a small movable mass and a low moment of inertia. Another advantage of linear motors is that they exhibit very little friction, which, together with the low movable mass and low inertia, allows for high convenience in terms of achieving precise force control and / or position control and smooth movement. This low friction causes the linear motors to be re-driven, ie they can be driven by an external force applied in the opposite direction to the direction of the force exerted by the motor. This reverse drivability is useful in a surgical manipulator since it provides adaptability to the manipulator. So if z. For example, as the patient moves during the surgical procedure due to inadvertent muscle movement and exerts a force on any part of the manipulator, the manipulators may 10 be re-driven to allow the handling device to move under the force exerted by the patient, rather than behaving as a rigid object. Thus, the reverse driveability increases the safety of a handling device. A particularly preferred example of a linear actuator is a permanent magnet DC linear motor of the type manufactured by Trilogy Systems of Webster, Texas and of Northern Magnetics of Santa Clarita, California, although other variants and brands of linear motors may be used , such as B. AC vector drive linear motors. In the embodiments shown, the electric motors used with the present invention comprise a stationary magnetic track and a movable winding unit which is movable along the magnetic track; However, it is also possible to use motors with a movable magnet and a stationary winding unit.
The Rotary actuators are also not limited to a specific type. Brushless Slotless DC motors are particularly suitable for torque deviations and mating to avoid, however, can Other types such. B. stepper motors are used. If a motor as a rotary actuator is used, the motor is preferably directly with a to be rotated Connecting part connected to backlash, friction and inertia reduce and the ability for direct control of the torque applied to the motor to improve, but it is also possible, a reduction gear to arrange between the engine and the connecting part.
The various operating parts may be provided with sensors for detecting the positions of the movable parts of the operating parts or the parts moved by the operating parts, thereby enabling the locations of the joints for the tool holding shaft to be determined. A wide variety of conventional sensors can be used to detect the positions mechanically, magnetically, optically, or otherwise. When positional fine control of a linear actuator is desired, a holographic interferometric linear encoder is particularly suitable for use as a position sensor, since it can detect a position with a fine resolution of even 10 nanometers. An example of a usable holographic interferometric linear position sensor is that of MicroE, Inc. in US Pat Natrick, Massachusetts-made sensor. Such a linear position sensor has an elongated position scale and a position reading unit in which a slot is formed in which the position scale can be movably arranged. Either the position scale or the position reading unit may be arranged on a movable part of the linear actuator, and the other of the two may be arranged on a stationary part. The position reading unit generates an electrical output signal indicative of the position scale position relative to the position reading unit. An example of a position sensor suitable for use with rotary actuators is a holographic interferometric rotary encoder manufactured by MicroE, Inc.
In similar Way you can the different operating parts with sensors for detecting the applied by the operating parts Forces or Be provided with torques and thereby determining the on the Tool holding shaft applied forces and torques allow. This sensory information may be in a feedback control loop used to be applied to the tool support shaft personnel and to control torques, and / or when used in conjunction with a drive control device used to generate forces in capable - around a feedback of these forces and torques to the surgeon or operator who holds the tool holding shaft controls, enable.
To the Detecting the from the operating parts applied forces or torques may be any known method of measuring forces and / or Torques are applied. An example of a suitable method consists in the arrangement of strain gauges on structural parts.
9 schematically shows an embodiment of a handling device, the geometry according to 7 and can move two joints in three-dimensional space. The handling device has a tool holding shaft 170 , which at one end is a surgical tool 171 carries, and a shaft holding structure 180 on which the tool holding shaft 170 carries and is capable of the tool holding shaft 170 to handle with multiple degrees of freedom.
The wave holding structure 180 has a support base 181 on, when positioning on a ground 182 is shown. The base 181 may be provided with rollers or other parts to give it mobility, or it may be provided as a stationary part. At the base 181 is a support frame 183 attached. To increase the range of movement of the work tool holding shaft 170 can the base 181 be provided with a mechanism for raising or lowering or otherwise moving the holding frame. For example, the base may have a stationary lower part 181a and an upper part 181b that is relative to the lower part 181a can be raised or lowered and / or rotated about a vertical axis. The upper part 181b can be raised and lowered by any suitable arrangement, e.g. B. by hydraulic cylinders, pneumatic cylinders or an electric motor, which is in driving connection with the upper part 181b is located, for. B. via a gear, in one at the upper part 181b trained rack engages. If the upper part 181b relative to the lower part 181a is rotatable, it can by a drive mechanism such. As a motor to be rotated, or it may be manually rotatable. There may be provided a releasable mechanical interlock to, if necessary, the upper part 181b in to prevent a turn.
The frame 183 holds first and second arms, the first and second rotary operating parts 185 . 200 in the form of brushless DC motors whose axes of rotation are aligned with each other. Each rotary actuator may be provided with an encoder, not shown, or another type of rotational position sensor for detecting the rotational position of its output shaft. It may also be provided with a torque sensor for detecting the output torque of the operating part.
The output shaft of the first rotary actuator 185 is with the frame 186 connected to the first and second linear actuator parts 187 . 188 are arranged. The first linear actuator 187 may be a first connection part 190 in the length direction of the first connection part 190 translational move, and the second linear actuator 188 may be a second connecting part 191 in the length direction of the second connecting part 191 translatory move. Both linear actuators 187 . 188 act in a direction perpendicular to the axis of rotation of the first rotary actuator 185 runs. One end of the first connection part 190 is by means of a joint 193 pivotally connected to a first end of a third connecting part 192 connected, and one end of the second connecting part 191 is by means of a joint 195 pivotable with the first end of a fourth connecting part 194 connected. The second end of the fourth connection part 194 is by means of a joint 198 swiveling with a holding frame 197 connected, and the second end of the third connecting part 192 is with the fourth connection part 194 between its two ends by means of a joint 196 pivotally connected.
The second rotary actuator 200 rotates a third linear actuator 201 about the axis of rotation of the second rotary actuator 200 , The third linear actuator 201 can be a fifth linear actuator 205 in a direction perpendicular to the axis of rotation of the second rotary actuator 200 move. One end of the fifth connection part 205 is through a joint 207 pivotable with the first end of a sixth connecting part 206 connected. The second end of the sixth connection part 206 is by means of a joint 208 pivotable with the support frame 197 connected.
Each of the linear actuator parts 187 . 188 . 201 has a brushless DC linear motor with an elongated magnetic path 187a . 188a . 201 and a winding unit 187b . 188b . 201b as may be mentioned above, the winding units may be stationary and the magnetic tracks may be translatable relative to the winding units. Each winding unit may be held directly by the corresponding magnetic track or by a bearing provided on the linear motor, or it may be held by a part formed separately from the linear motor, e.g. B. a linear bearing, which runs parallel to the magnetic path. A ball sliding element or a recirculating linear sliding element are particularly suitable as linear bearings, since they have an extremely low coefficient of friction. Examples of suitable ball sliders include those available from THK Co. Ltd., Japan and Deltron Precision, Inc. of Bethel, Connecticut. A low coefficient of friction is highly advantageous in a linear guide because it allows the linear motors (and thus the tool support shaft joints) to move at extremely fine increments, with the result that the alignment of the tool support shaft with a high degree of precision is controllable and passively-driven back. The low coefficient of friction further enhances the ability of a control system that rests on the tool support shaft 170 to control applied forces. Each of the first, second, and fifth connecting parts is shown schematically as being cantilevered from one of the winding units, however, the connecting parts may also be held in another suitable manner. For example, each connecting part may be held by the movable part of a linear bearing in the same way as it applies to the winding units.
Each of the connecting parts 198 and 208 allows at least two rotational degrees of freedom of the holding frame 197 relative to the fourth and seventh connecting parts 194 . 206 so that the support frame 197 Can perform tilting and yawing movements relative to these connecting parts. Further, each of the connecting parts 198 . 208 allow three degrees of freedom, so that the holding frame 197 relative to one of the connecting parts 194 and 206 can roll. For example, one of the joints may be a universal joint or equivalent thereof, while the other joint is a ball joint or an equivalent thereof. Alternatively, both joints 198 . 208 have two rotational degrees of freedom, and in the holding frame 197 may be included a rolling joint to allow two sections of the support frame 197 relative to each other and about the longitudinal axis of the support frame 197 rotate.
The tool holding shaft 170 is as relative to the support frame 197 shown stationary, but may instead be movable. As will be described in more detail below, it may be advantageous if the tool support shaft 170 slightly from the support frame 197 is removable, so that the tool support shaft can be easily replaced or sterilized. The longitudinal axis of the tool holding shaft 170 is offset from a line showing the centers of the joints 198 and 208 but could also coincide with this line.
To simplify the structure and the kinematics of the handling device, all of the connecting parts are rectilinear parts, and the first, second and fifth connecting parts 190 . 191 and 205 are moved by the corresponding linear actuators in parallel planes which are perpendicular to the plane of the drawing. However, the shape of the connection parts can be arbitrarily selected, and the first, second and fifth connection parts can also move in non-parallel planes.
If the axes of rotation of the rotary actuating parts 185 . 200 Coaxial with each other, the tool holding shaft 170 to be pivoted about these axes, without changing the positions of the connecting parts relative to each other, either by simultaneous operation of the rotary actuating members 185 . 200 in the same direction or by hand with turned off rotary actuators. Locking members may be provided to prevent movement of the connecting members relative to one another when the tool holding shaft is pivoted in the aforementioned manner. For example, the winding units 187b . 188b . 201b the linear motors may be provided with locking mechanisms so that they can be releasably immobilized with respect to the respective magnetic tracks. If the rotary operating parts 185 . 200 may have unoriented axes, it may be desirable, the upper part 181b the base 181 to make a vertical axis rotatable relative to the lower part, in which case the tool holding shaft 170 can be rotated about a vertical axis by the upper part 181b the base 181 and all of him genen parts are rotated.
The linear actuator parts 187 . 188 can due to the load by the weight of the tool holding shaft 170 and any additional operating parts or other components mounted thereon will be subjected to a degree of gravitational force. The gravity load can be completely absorbed by the operating parts 187 and 188 be worn, or there may be a counter balance mechanism between the connecting parts 190 . 191 and the frame 186 be added to compensate for this burden. Any known counter balance mechanism may be used for this purpose, including power springs, low friction air cylinders and similar devices.
Force sensors may be installed at various locations to detect the forces exerted by the actuators or the forces applied to various portions of the manipulator. In the present embodiment, each of the joints 193 . 195 and 207 with a force sensor for detecting the of each of the linear actuator parts 187 . 188 and 201 provided applied axial force. 23 shows an isometric view of the joints 193 . 195 and 207 connected connecting parts, and 24 - 26 show views of different parts of the force sensor for the joint 195 , The force sensors for the joints 193 and 207 can be of similar structure. As shown in these figures, the joint has 195 a plate 195a on, on one side of a wave 195b is mounted, which rotatably engages with bearings, which at the end of the connecting part 194 are arranged. The joint 195 is from a connecting part 191 through a frame 210 held on which one or more strain gauges are arranged to measure the voltages resulting from the on the connecting part 191 applied axial forces result. The frame 210 has an outer rectangular edge 211 on, by pins, welds or other suitable means on the connecting part 191 is attached. The frame 210 also has a plate 212 on that on the edge 211 is fixed (for example, the edge 211 and the plate 212 be integrally formed with each other or as separate parts) and a plurality of openings 212a having a plurality of legs define. The plate shown 212 has two vertical legs 212b and two horizontal legs 212c on which the vertical thighs 212b cut crosswise. The joint 195 is so on the frame 210 attached that thighs to the joint 195 can withstand applied forces. For example, the joint shown has 195 a wave 195c that of the shaft 195b opposite side of the plate 195a sticks out and through an opening 212d in the middle of the plate 212 of the frame 210 passes. The attachment of the shaft 195c at the plate 212 can be done by a nut or other fastening device, by bonding or another desired method that allows that on the joint 195 acting forces on the frame 210 be transmitted. The wave 195c may have a part that is in the frame 210 trained opening 212d engages to ensure proper alignment of the joint 195 relative to the frame 210 to ensure. For example, the shaft shown has 195c a slot 195d with one in the opening 212d engages educated projection.
At the frame 210 For example, any desired number of voltmeters may be arranged to measure the applied loads. In the present embodiment, according to 26 two provided for detecting applied forces voltmeter 214a (hereinafter referred to as load detection voltmeter) on the back surface (the surface which is the connecting part 191 facing) of the vertical leg 212b arranged, and two more voltmeter 214b (only one of which is shown) for temperature compensation are on parts of the frame 210 arranged during operation of the handling device 10 are substantially stress-free, such. B. on the vertical side surfaces of the outer edge 211 of the frame 210 , The outdoor temperature compensation voltmeter 214b can z. B. on the vertical side surface on the opposite side of the edge 211 be arranged. The four voltmeters 214a . 214b may be interconnected to form a Wheatstone bridge, each of the voltmeters 214a on the vertical thighs 212b electrically in series with one of the temperature compensation voltmeters 214b connected is. The Wheatstone bridge can be supplied with voltage in a conventional manner, and the output of the Wheatstone bridge indicates the stresses experienced by the voltmeter.
When a force on the middle of the frame 210 in the longitudinal direction of the connecting part 191 is applied, each of the load detection voltmeter 214a equally placed in a state of tension or compression, and the output of the Wheatstone bridge is proportional to the applied force. If there is a force on the middle of the frame 210 in the direction of the axis of the vertical legs 212b is applied, which is one of the two load voltage meter 214a energized while the other is compressed. The signals from the two load-detection voltmeters 214a cancel each other out, and the output of the Wheatstone bridge is essentially zero. If one order the axis of the horizontal leg extending bending moment on the frame 210 is applied, the load detection voltmeter 214a to the same extent and oppositely loaded, so that in this case, the output of the Wheatstone bridge is essentially zero. A around the longitudinal axis of the connecting part 191 applied torque, one around the axis of the vertical leg 212b applied torque or along the axis of the horizontal leg 212c acting force do not produce significant deformation of the load detection voltmeter 214a and thus have essentially no effect on the Wheatstone bridge. Consequently, the arrangement shown forces in the axial direction of the connecting part 191 which are the forces exerted by the linear actuator 181 be exercised, and the arrangement can be any other forces acting on the connecting part 191 or the joint 195 interact, ignore.
The frame 210 is not limited to any particular shape and does not need openings 212a or thighs 212b . 212c to be provided. However, the configuration shown is with two vertical legs 212b and two horizontal thighs 212c Practical, because of its geometric simplicity axial loads acting on the joint 195 act, easily from the load-detection voltmeters 214a measured voltages can be calculated.
Regarding the voltages coming from the load-detection voltmeters 214 can be reliably measured, it is preferable that of the joint 195 on the frame 210 applied load at the middle of the frame 210 is placed so that the resistance to the load substantially completely from the legs of the frame 210 instead of the scope of the frame 210 is exercised, since in this case it is easier to calculate the relationship between the measured voltages and the applied load. However, if the deformation of the frame 210 Due to the applied load is too large, possibly on the thighs 212b or the frame 210 arranged load detection voltmeter 214a itself damaged.
The dynamometer shown is designed such that that part of the frame 210 to which loads are applied increases its area as the amount of deformation increases to prevent said damage. According to 24 and 25 Showing exploded isometric views of the force sensor are two spacers 215 and 216 , such as As washers, on opposite sides of the plate 212 of the frame 210 around the shaft 195c of the joint 195 arranged, and a part having a larger surface area than the inner spacer 216 , such as B. a plate 217 , is at the shaft 195c near the inner spacer 216 arranged. If no loads on the joint 195 act, hold the two spacers 215 . 216 the plate 195a of the joint 195 and the plate 217 at a distance from the plate 212 of the frame 210 , When a load is below a certain level in one of the axial directions of the connecting part 191 on the joint 915 is applied, contact the plate 195a of the joint 195 and the plate 217 the frame 210 not, leaving loads on the frame 210 only in the area near the opening 212d be applied and the resistance to the loads substantially completely from the legs of the frame 210 is exercised. If one on the frame 210 applied axial load reaches a higher level, which is chosen lower than the level, which damage the voltmeter 212b or the frame 210 caused, contacted the plate 195a of the joint 195 the plate 212 of the frame 210 , and the axial load is over a larger area of the frame 210 distributed, including z. B. the circumference of the plate 212 around the thighs, allowing the deformation of the frame 210 is prevented from reaching a level causing damage. Similarly, when contacted on the frame 210 load applied in the opposite axial direction reaches a certain level which is lower than the level which causes damage to the voltmeters 212b or the frame 210 caused the plate 217 the inner side of the plate 212 (such as the horizontal thighs 212c and / or the circumference of the plate 212 ) and distributes the axial load over a larger area of the plate 212 to damage the voltmeter 212b or the frame 210 to prevent.
It can Numerous other arrangements are used to apply to the handling device acting or exercised by it personnel to detect. For example, you can Voltimeters or other force sensors directly on the actuators or the connecting parts of the handling device be.
10 - 13 show an arrangement of a handling device having a geometry like that according to FIG 5 having. 10 shows an isometric view of this embodiment, 11 shows a side view, 12 shows an enlarged view of that part of the handling device, which is located in the vicinity of the linear actuator parts, and 13 shows an enlarged view of that part of the handling device, which carries a tool holding shaft. As shown in these figures, the handling device has a tool holding shaft 170 with a tool arranged at its lower end 171 , and a wave holding structure 220 on which the tool holding shaft 170 keeps moving. The wave holding structure 220 has a support base 221 on, which is arranged on the floor or another wing. Like the base 181 the embodiment according to 9 can the holding base 221 having movable parts. For example, she may have a stationary lower part 221a and an upper part 221b that is relative to the lower part 221a raised or lowered and / or about a vertical axis relative to the lower part 211 can be rotated, as related to 9 described.
A first frame 222 is at the top of the top 221b the base 221 arranged, and a second frame 223 is from the first frame 222 for rotation about an axis 224 held horizontally in the figure, but can run obliquely to the horizontal. The second frame 223 can be rotated either manually or by a motor or other drive mechanism attached to one of the frames 222 . 223 is arranged. At one of the frames 222 . 223 a locking device may be provided to the second frame 223 releasably lock against rotation. The second frame 223 carries an upper set of linear actuators 230 . 235 a first arm and a lower set of linear actuators 250 . 255 a second arm, by means of which the tool holding shaft 170 can be translated and swiveled translationally. The first set of operating parts has a first linear actuating part 230 with a movable part that can be moved in a straight line in a first direction, and a second linear actuating part 235 mounted on the movable part of the first linear actuator and having a movable part relative to the first linear actuator 230 can be moved in a direction transverse (such as at right angles) to the first direction. A first connection part 238 is on the movable part of the second linear actuator 235 attached. Similarly, the second set of actuators includes a third linear actuator 250 with a movable part that can be moved in a third direction, and a fourth Li near-actuating part 255 on that on the movable part of the third linear actuator 250 is fixed and has a movable part relative to the third linear actuator 250 can be moved in a direction transverse (such as at right angles) to the third direction. A second connecting part 258 is on the movable part of the fourth linear actuator 255 attached. In this figure, the first and second directions are perpendicular to each other, the third and fourth directions are perpendicular to each other, the first direction is parallel to the third direction, and the second direction is parallel to the fourth direction, so that the movable parts of the linear -Actuators all move in parallel planes. As based on 5 However, the directions may also be at different angles relative to each other. The linear actuators can be of any desired type. In the embodiment shown, each linear actuator part 230 . 235 . 250 . 255 a brushless linear electric motor with an elongated magnetic path 231 . 236 . 251 . 256 and a movable member having a winding unit 232 . 237 . 252 . 257 which can move in a straight line along the magnetic path. The magnetic train 236 of the second linear actuator 235 is at the winding unit 232 of the first linear actuator 230 attached, and the maglev train 256 of the fourth linear actuator 255 is at the winding unit 252 of the third linear actuator 250 attached. Furthermore, the first connection part 238 at the winding unit 237 of the second linear actuator 235 attached, and the second connecting part 258 is at the winding unit 257 of the fourth linear actuator 255 attached. Each of the linear actuator members may be provided with an encoder or other position sensor to detect the position of the winding unit of the actuator relative to the magnetic path. Further, each linear actuator may be provided with a force sensor to detect the output force of the actuator. Each of the winding units is shown to be held solely by the magnetic train of the corresponding motor and the connecting parts 238 . 258 are shown to be exclusive of the winding units of the second and fourth linear actuator parts 235 . 255 are held. However, each of these parts may be held by other parts than the linear actuator parts themselves, such as. B. of separate linear bearings.
The remote from the linear actuator parts ends of the first and second connecting parts 238 . 258 are with the support frame 270 through first and second joints 240 respectively. 260 connected, each of which has two degrees of freedom of the holding frame 270 relative to the corresponding connecting part. One of the joints 240 . 260 can be designed to allow three degrees of freedom; however, since every connecting part 238 . 258 maintains a constant orientation in space, a third degree of freedom is not needed. The distance between the joints 240 and 260 is variable. For example, one of the joints 240 . 260 relative to the support frame 270 be set against translation, while the other joint for translation relative to the support frame 270 be able to. Alternatively, both joints 240 . 260 against translation relative to the support frame 270 set be, and that part of the holding frame 270 , the one with the joints 240 . 260 connected, may have a telescopic structure. The joints may be similar in structure to those of the embodiment according to FIG 9 be educated. In this example, the first joint 240 a yoke 241 pivoting with a sleeve 242 which is slidable about a rod for rotation about an axis A. 271 of the holding frame 270 fits, and a collar 243 up, with the yoke 241 is connected and fitting to an end of the first connecting part 238 set and attached to this. The collar has an inner bearing, which is the yoke 241 rotatably holds such that the yoke 241 about a perpendicular to the axis A extending axis B can rotate. The second joint 260 also has a yoke 261 on, pivoting with a sleeve 262 is connected and rotatable by a collar 263 held, fitting on one end of the second connecting part 258 set and attached to this. The sleeve 262 is rotatable on a socket 264 , a ball bearing or similar part arranged on the pole 271 of the holding frame 270 is attached. The sleeve 262 can be at the socket 264 around the longitudinal axis of the rod 271 but is prevented from translating in the longitudinal direction of the rod 271 perform.
The support frame 270 holds a linear actuator 280 for shaft insertion, which in turn is the tool holding shaft 170 to move in x-axis direction. The linear actuator 280 may be formed according to any of the types described in connection with the previous embodiments. The linear actuator shown 280 is a linear electric motor, which is an elongated magnetic track 281 , which on the holding frame 270 is attached, and a winding unit 282 which is in the z-axis direction along the magnetic path 281 is movable. The tool holding shaft 170 is attached to the winding unit such that it can be translationally moved by it.
When the lower end of the tool holding shaft 170 is inserted into the body of the patient, the tool holding shaft 170 typically operated solely by the linear actuators while translating and / or rotating the upper member 221b the base 221 and a rotation of the second frame 223 relative to the first frame 222 typically for coarse positioning of the tool support shaft 170 used if it is not introduced into the body of the patient. The rotatability of the second frame 223 relative to the first frame 222 is particularly useful because it is the tool holding shaft 170 the ability to take any angle relative to the vertical. For example, the tool holding shaft 170 be moved in a position in which it is arranged horizontally or reversed from top to bottom, the tool 171 is positioned higher than the rest of the tool support shaft 170 ,
14 shows an embodiment of a handling device having a geometry like that according to FIG 8th having. It has a tool holding shaft 315 , which at the bottom is a tool 316 carries, and a shaft holding structure 290 on which the tool holding shaft 315 carries movable. The wave holding structure 290 has an upper part 291 , which is a joint for the tool holding shaft 315 in three-dimensional space, and a lower part 310 on, another joint for the tool holding shaft 315 can handle in two-dimensional space. The upper and lower parts 291 . 310 are typically attached to a support structure, not shown, such. B. on a base such as those according to 9 and 10 ,
The upper part 291 has first to third rotary operating parts 292 . 293 . 294 and first to third connecting parts 296 . 298 . 300 on. The first rotary actuator 292 can a frame 295 , which is the third rotary actuator 294 stops to turn an axis. The second rotary actuator 293 is capable of the first end of the first connection part 296 at each point along a circular arc concentric with the axis of rotation of the second rotary actuator 293 is. The third rotary actuator 294 can the third connecting part 300 rotate about an axis perpendicular to the axes of the first and second rotary operating parts 292 . 293 runs and the longitudinal axis of the third connecting part 300 equivalent. So that the first and second rotary operating parts 292 . 293 stack is the second rotary actuator 293 preferably hollow, so that the output shaft of the first rotary actuating part 292 through the second rotary actuator 293 can extend. For example, the second rotary actuating part may be 293 to a conventional hollow core motor, in which a rotor is arranged around the core, while the first rotary actuating part 292 may be a motor having a rotor disposed at its center and an output shaft fixed to the rotor and passing through the hollow core of the second rotary actuator 293 extends. One end of the first connection part 296 is through a joint 297 pivotable with the rotating part of the second rotary actuator 293 connected, and the other end of the first connection part 296 is through another joint 299 pivotable with one end of the second connecting part 298 connected. One of the two joints 297 . 299 is a spherical joint (such as a ball joint) or its equivalent, while the other of the two joints is a universal joint (such as a cross joint) steering wheel) or an equivalent thereof. The outer end of the third connecting part 300 is with the second connecting part 298 between the two ends by means of a hinge pin 301 pivotally connected. The second end of the second connection part 298 is with the tool support shaft 315 by means of a joint 302 pivotally connected, relative to the tool holding shaft 315 is set against translation. The lower part 310 the shaft holding structure 290 has a fourth rotary actuator 311 and a linear actuator 312 on, that of the fourth rotary actuator 311 can be rotated about its axis of rotation. To simplify the kinematics is the axis of rotation of the fourth rotary actuator 311 preferably with the axes of rotation of the first and second rotary operating parts 292 . 293 although this is not the case. The linear actuator 312 can be a fourth link 313 translate in a direction that is transverse (eg, perpendicular) to the axis of rotation of the fourth rotary actuator 311 runs. The linear actuator 312 may be of any suitable type. For example, it may be a linear motor such as that according to 9 act, which is an elongated magnetic path, which is connected to the output shaft of the fourth rotary actuator 311 is fixed, and has a movable coil unit, which at one end of the fourth connecting part 313 is attached. The outer end of the fourth connection part 313 is preferably with the tool support shaft 315 through a second joint 314 connected, relative to the tool holding shaft 315 in the longitudinal direction is translationally movable.
Each of the first and second connecting parts 302 . 314 allows the tool holding shaft 315 a rotation relative to the second or fourth connection part 298 . 313 with at least two degrees of freedom to tilt and yaw the tool support shaft 315 to allow, and one of the joints 302 . 314 can the tool holding shaft 315 allow a pivoting movement relative to the corresponding connecting part with three degrees of freedom to a rolling movement of the tool holding shaft 315 permit. For example, one of the joints 302 . 314 a universal joint or equivalent thereof, while the other joint is a spherical joint, such. B. may be a ball joint, or an equivalent thereof. Alternatively, both joints 302 and 314 have two rotational degrees of freedom, and in the tool holding shaft 315 may be included a Wälzgelenk. The distance between the joints 312 and 314 is variable while the joints are moved in space. For example, the joint 314 a movement of the tool holding shaft 315 in their longitudinal direction relative to the joint 314 allow, and / or the tool holding shaft 315 may have a telescopic structure.
In the handling device, the tool may be arranged in a fixed position relative to the tool holding shaft, so that the tool is handled by moving the tool holding shaft as a whole. Alternatively, the tool may be disposed on the tool support shaft so that its orientation relative to the tool support shaft can be adjusted by remote control with one or more degrees of freedom. For example, the tool support shaft may include a wrist mechanism that holds the tool and allows pivoting of the tool relative to the tool support shaft to perform one or more tilt, yaw, and roll motions. There is a wide variety of wrist mechanisms in the art, and any type capable of allowing the desired movements of the tool can be used. 15 shows a schematic cross-sectional side view of an embodiment of a tool holding shaft 320 according to the present invention, wherein a simple, lightweight wrist mechanism 330 is used with a cardan-like structure, and 16 shows a plan view of the wrist mechanism when installed on the tool holding shaft. As shown in these figures, the tool holding shaft 320 a hollow elongated tube 321 with any desired cross-sectional shape, e.g. B. a circular shape on. At its lower end holds the tube 321 a wrist mechanism 330 , the holding ear 331 to hold a tool 332 and a ring 340 having the holding tube 331 surrounds. The holding tube 331 is from the ring 340 around a first axis 333 held pivotally, and the ring 340 is from the pipe 321 the tool holding shaft 320 pivotally held relative to the pipe 321 a pivoting movement about a second axis 342 to perform, which is transverse to the first axis 333 runs. To simplify the kinematics and to reduce moments run the first and second axes 333 . 342 preferably perpendicular to each other, although they need not be perpendicular to each other or intersecting to each other.
The holding tube 331 can be around the first axis 333 be panned, and the ring 340 can be around the second axis 342 be pivoted, by means of several elongated connectors 350 between the wrist mechanism 330 and corresponding operating parts 355 are arranged, which at the upper end of the tool support shaft 320 are arranged. The connectors can be designed to act by means of tension, compression or both. Thus, the connectors can 350 be provided in the form of rods, rods, wires, chains, belts, springs or similar parts depending on the types of force they are to transmit. At the present Embodiment is each connector 350 able to work with both a pull effect and with a compression effect, leaving only two connectors 350 and two operating parts 355 necessary to the tool 322 to turn the first and second axes. If any connector 350 can act only in a single direction, they z. B. for clamping, a larger number of connectors and operating parts may be required to the tool 322 to turn the two axes, z. B. two connectors and two operating parts for the holding tube 331 and the ring 340 , so that a total of four connectors and four operating parts are needed. Age natively, if the holding ear 331 and the ring 340 are provided with return springs that bias these parts in a particular direction of rotation, it is possible to use two voltage-acting connectors instead of four connectors. As another alternative, the holding tube 331 and the ring 340 through three connectors attached to the holding tube 331 are fixed and work with tension effect to pivot the first and second axes.
In the present embodiment, one of the connectors 350 at its lower end to one of the first axis 333 spaced spot with the holding tube 331 connected, and the other connector 350 is at one of the second axis 242 spaced place 343 with the ring 340 connected. According to 16 is a connector in the present embodiment 350 such with the holding tube 331 connected, that he can force in one place 334 which essentially applies to the second axis 342 aligned, and the other connector 350 is like that with the ring 340 connected, that he can force in one place 343 which essentially applies to the first axis 333 is aligned. The bodies 334 and 343 to which the connectors 350 with the pipe 331 and the ring 340 are aligned, but do not need the axes 342 and 333 to be aligned. Preferably, each of the connectors 350 by a pivotal connection with the holding tube 331 or the ring 340 connected because the angle between a connector 350 and the holding tube 331 or the ring varies when the holding tube 331 or the ring 340 is pivoted about the first or second axis. The connectors 350 can have any cross-sectional shape that can be prevented from buckling when subjected to axial compression. 17 shows a cross-sectional view of the tool holding shaft 320 in which an example of a cross-sectional shape of the connectors 350 is shown. In this example, each connector has 350 over at least part of its length has a curved cross-section so that it is more resistant to buckling. Along at least part of its length are the width margins of the connectors 350 between guides 322 Take on a gliding of the connectors 350 in the longitudinal direction of the tool holding shaft 320 while limiting lateral movement and giving the connectors even greater resistance to buckling. At their lower and upper ends can be the cross sections of the connectors 350 differing from the curved shape have a shape that is suitable for the attachment of the connectors 350 at the joint mechanisms 330 or the operating parts 355 is more practical.
Instead of one of the connectors 350 on the holding tube 331 and another of the connectors 350 on the ring 340 attached, both connectors can 350 in different places on the holding tube 331 be attached. For example, a connector 350 at the point 334 according to 16 with the holding tube 331 be connected, and the other connector 350 can in one place such. B. the body 336 according to 16 , which is aligned with the first axis, with the holding tube 331 be connected.
In the arrangement in which the holding tube 331 and the ring 340 through three connectors attached to the holding tube 331 are fixed and work with tension effect to the first and second axes 333 and 342 can be pivoted, the connectors in many different places on the holding tube 331 be attached. For example, a connector on the holding tube 331 in alignment with the second axis 342 (such as on the spot 334 in 16 ), another connector can be attached to the holding tube 331 in alignment with the first axis 333 (such as on the spot 336 in 16 ), and a third connector may be attached to the support tube 331 be attached in a position that of the first and second axes 333 and 342 is spaced (such as in the place 337 in 16 ).
The operating parts 355 for the connectors 350 can be of any type that is capable of applying axial force to the connectors 350 including linear actuators or rotary actuators provided with mechanisms for translating rotary to linear motion. As in the case of linear actuator parts for the wave holding structure linear motors are particularly suitable. The operating parts 355 are provided with position sensors and / or force sensors to the output component and / or the output force of the operating parts 355 to eat.
The wrist mechanism shown 320 allows the tool 322 not only pivotal movements about the first and second axes, but allows the tool 322 also performing a rolling motion about a rolling axis that is transverse (such as at right angles) to the first and second axes. The ability of the tool 322 to turn a rolling axis makes it easier to use the tool 322 to move into the most appropriate orientation for a given operation, and makes the wrist mechanism free of peculiarities within the working space of the tool 322 , Further, depending on the type of tool, rotational movement may be used to allow the tool to apply torque to a part or perform a rotary cutting or grinding motion. The tool 322 may also be capable of rotating about a rolling axis when its orientation relative to the tool holding shaft 320 otherwise set. In the present embodiment, the tool 322 by means of a tool roller shaft 360 be rotated within the tool holding shaft 320 is arranged and between a rotary actuating part 366 at the upper end of the tool holding shaft 320 and the tool 322 runs. The tool 322 is rotatably supported by a bearing, for. B. from a socket 335 attached to the holding tube 331 is arranged. The tool roller shaft 360 can be rotated by any suitable type of rotary actuator, for. By means of a brushless DC motor or other type of electric motor attached to the upper end of the tool roller shaft. If the tool 322 relative to the tool support shaft 360 is rotatable about one or both of the first and second axes, the tool ramp is 360 preferably in such a way with the tool 322 connected that the tool 322 from the tool roller shaft 360 can be rotated when the rolling axis does not shaft with the axis of the tool roller 360 is aligned. For example, in the present embodiment, the lower end of the tool roller shaft 360 through a universal joint 365 with the tool 322 connected. The tool roller shaft 360 can rotate by not shown bearing from the tool support shaft 320 be stored, for. At one or more locations along its length, about the tool roller shaft 360 at a desired position relative to the pipe 321 the tool holding shaft 320 to keep.
In some cases, the tool can 322 have movable parts that are handled during surgical use of the tool. Examples of moving parts tools include forceps, scissors, needle holders, clamps, and staplers. Depending on the structure of the tool 322 the movable parts can be actuated by numerous different mechanisms, e.g. As a cable, a rod, pneumatic or hydraulic tubes, or electrical cables that extend from the tool to an upper part or outside of the tool holding shaft, so that the tool can be remotely operated mechanically, pneumatically, hydraulically or electrically. A cable, wire or other part for operating the tool may pass through a hole in the tool roller shaft 360 extend, or it may extend along the outside of the tool roller shaft 360 extend.
In the present embodiment, the tool 322 movable parts by means of a connector 367 can be actuated, extending through the tool roller shaft 360 and the universal joint 365 between the movable parts and an actuating part 368 extends, that at the upper end of the tool support shaft 320 is arranged. The connector 367 may be a voltage and / or compression effect connector, depending on the structure of the tool 322 , For example, the tool 322 through the voltage-effecting connector 367 against one on the tool 322 arranged return spring, which moves the tool back to an initial state when the pulling force is released. The connector 367 can the tool holding shaft 360 rotate, or it may be held so that it remains stationary when the tool holding shaft 360 rotates. The connector 367 is preferably able to operate the tool even if the longitudinal axis of the tool 322 not with the longitudinal axis of the tool support shaft 360 is aligned. For example, the connector 367 a flexible part such. B. may be a cable that can bend when the two axes are not aligned, or it may have rigid portions which are interconnected by pivotal joints, which the connector 367 enable you to apply a force through an angle. Like the operating parts 355 for pivoting the holding tube 331 and the ring 340 of the wrist mechanism 330 can the operating part 368 for the connector 367 be formed according to any suitable type, such. As a linear actuator or as a rotary actuator, which is connected to the connector by a mechanism that converts rotary into linear motion.
18 Fig. 11 is a schematic sectional view of another example of a wrist mechanism usable in the present invention 370 , This wrist mechanism 370 has a holding tube 371 that a tool 322 through a socket 372 rotatably holding, and an annular membrane 373 made of plastic, paper, metal or any other suitable material that holds the holding tube 371 surrounds. The inner peripheral area of the membrane 373 is on the holding tube 371 attached along its entire circumference and preferably sealed fluid-impermeable, and the outer peripheral region of the membrane 373 is on the pipe 321 the tool holding shaft 320 attached sealingly along its entire circumference. The membrane 373 is sufficiently strong to the weight of the holding ear 371 to wear, but sufficiently flexible, to the holding tube 371 to allow pivoting about the first and second axes so that the support tube can perform tilting and yawing motions. The membrane shown 373 is with annular corrugations 374 which give it flexibility. The radially outer region of the membrane 373 is preferably more flexible than the central portion of the holding tube 371 surrounds. Two connectors 350 like those used in the previous embodiment are on the holding tube 371 attached at locations which are spaced from each other in a circumferential direction by a suitable angle (such as 90 °). The top of each connector 350 is connected to a corresponding actuating part, not shown, which is the connector 350 can translate in its longitudinal direction. If a connector 350 is moved translationally in its longitudinal direction, the holding tube 371 and the tool 322 rotated around the first axis, and when the other connector 350 is moved translationally in its longitudinal direction, the holding tube 371 and the tool 322 turned around the second axis. If the membrane 373 both on the holding tube 371 as well as on the pipe 321 the tool holding shaft 320 is tightly attached, the membrane can 373 the transfer of contaminants between the interior of the tool support shaft 320 and prevent the interior of the patient's body in either direction. Except for the wrist mechanism 370 can the structure of the tool holding shaft 320 be the same as the one based on 15 described structure.
At least the lower part of the tool support shaft in the vicinity of the tool must generally be sterilized prior to any surgical use of the tool support shaft. To facilitate sterilization of the tool support shaft, the entire tool support shaft may be detachable from other parts of the handling device. In 19 - 21 an arrangement is shown which is suitable, a tool holding shaft 320 detachable while pressing its movable parts. In this arrangement, the tool holding shaft 320 removable on a support frame 270 a shaft holding structure may be attached, which may have the structure of each of the above-described wave-holding structures. On the support frame 270 are several operating parts 380A - 380C and 390 arranged. A first and a second linear actuator 380A and 380B generate a linear movement of two connectors 350 which - z. B. similar to those in 15 or 18 are shown - are connected to a wrist mechanism, not shown. A third linear actuator 380C generates a linear movement of a connector 367 for actuating movable parts of a tool, not shown, which is held by the wrist mechanism, and a rotary actuating part 390 rotates the tool roller shaft connected to the tool 360 , Each of the linear actuator parts 380A - 380C can releasably engage with the corresponding connector while the rotary actuator 390 detachable with the tool roller shaft 360 can get together. 20 shows a side view of the first linear actuator 380A , The other linear actuators 380B and 380C may have a similar structure. The linear actuator 380A has a DC linear servomotor with a cylindrical housing 381 and an output shaft 382 on that in both axial directions of the housing 381 is movable. Although the motor does not need to be cylindrical, a cylindrical shape is often advantageous in terms of space conditions. Cylindrical linear servomotors of this type are available from numerous manufacturers, such as. From Northern Magnetics of Santa Clarita, California. The motor may be either of the moving magnet or movable winding type, although the movable magnet type may be advantageous in terms of dissipation of the heat generated by the winding, since the winding of a movable magnet motor is provided outside the magnet and can be arranged on a heat dissipation device. So that the movable part of the motor can make its translational movement smoother, the movable part can be attached to a sliding part 387 a linear bearing 385 be arranged, with the stationary part 386 of the camp 385 from the support frame 270 is held. The output shaft 382 is on each end with a frame 383 connected, which is substantially U-shaped in profile. The frame has two parallel legs extending from the support frame 270 protrude. The lower leg has a recess at its lower end 384 on. The top of each connector 350 is shaped so that it is removable in the recess 384 can be included. For example, in this embodiment, the upper end of each connector 350 a coil-shaped part 351 with a middle part 352 that is small enough to fit in the recess 384 of the frame 383 to fit, and upper and lower flanges 353 on, which are larger in diameter than the recess 384 , If the coil-shaped part 351 into the recess 384 is introduced brings a translation of the frame 383 in the longitudinal direction of the output shaft 382 the bottle 353 in contact with the frame 383 , causing the connector 350 is moved translationally in its longitudinal direction.
The rotary actuator 390 has an output shaft on which a roll 391 is arranged. If the frame 383 the linear actuator parts 380A - 380C with the upper ends of the corresponding connectors 350 and 367 for the wrist mechanism and to operate the tool, the roller becomes 391 in frictional engagement with the outer surface of the tool roller shaft 360 pressed so that by turning the roller 391 the tool roller shaft 360 is rotated about its axis. The materials that make up the role 391 and / or the outer surface of the tool roller shaft 360 are formed, can be selected in accordance with a good rolling contact. For example, the role 391 have deformable rubber with high friction. Further, it is possible the role 391 replaced by a pinion and the tool roller shaft 360 To provide outside with gear teeth for engagement with the pinion.
After each use, a soiled tool support shaft 320 For example, the shaft support structure can be removed and replaced with a clean shaft and the dirty tool support shaft 320 can either be sterilized or disposed of. The tool holding shaft 320 itself does not require expensive components, so that it can be made sufficiently cheap from the economical point of view and disposable after a single use.
The Arms of the handling device according to the present invention can be designed to be physically independent of each other are movable, d. H. that they are not so connected are that a movement of one arm forces the other arm to to move in a certain way. Thus it can be adjusted the orientation of the tool holding shaft when its lower end in the body introduced by the patient is and the tool holding shaft with a virtual pivot point be held aligned, the operation of two or more of the operating parts to coordinate. For some movements of the tool support shaft it may be possible that a human operator the operation of various operating parts Manually coordinated. Usually however, it is easier to use an automatic control mechanism z. For example, use an electronic controller that performs the operation several operating parts based on commands from a human operator, the desired ones Specify movements of the tool support shaft, coordinate automatically can.
22 shows a block diagram of an example of a control system 400 usable with a handling device according to the present invention. The tax system 400 has an electronic controller 401 on, such as As a general purpose or special microcomputer. The controller 401 receives from position sensors 403 and / or force sensors input signals for the various linear and / or rotary actuation parts 404 the handling device. The controller 401 Also receives input signals from one or more suitable input devices 402 with which the operator the controller 401 Can give commands indicating the desired movement and / or force to be transmitted to the tool support shaft. It can handle a wide variety of input devices 402 be used, such as. A joystick, a haptic interface (an input device that can transmit force feedback to the operator), a keyboard, a tape storage or other storage device, a foot pedal, a mouse, a digitizer, a computer glove, or a voice operated controller , An example of a haptic interface that may be used herein is a parallel handling device of the type described in U.S. Application No. 60 / 056,237 entitled "Parallel Mechanism". There may be separate input devices for controlling various types of movements of the handling device or for controlling the tool holding shaft at different times. For example, one of the input devices may be used when it is desired to rotate the tool support shaft about a virtual pivot, while another of the input devices may be used when it is desired to translate the tool support shaft in its longitudinal direction without pivoting it. Yet another input device may be used to handle the tool support shaft when no part of the shaft is to be inserted into the body of the patient. Based on input signals from the input devices and the signals from the position sensors, the controller generates 401 Control signals for the actuating parts 404 to drive the tool support shaft in the desired manner.
The input device (s) for controlling the movements and / or the forces transmitted by the tool holding shaft may also be used to control the operating parts 404 can be used for the tool or for this purpose one or more separate input devices 402 be provided.
The controller 401 can control the tool holding shaft and the tool in a variety of ways, depending on the requirements of the task to be performed by the handling device. For example, the controller 401 Perform a position control, a force control or a combination of position and force control (hybrid position / force control). Examples of these and other suitable control methods suitable for use in the present invention, as well as examples of algorithms for implementing these methods, are well known in the robotics arts and are described in detail in the published literature. Kraftsteuerungs- or hybrid position / force control methods are well suited to the present invention because they can maintain the forces exerted by the tool support shaft and tool on the patient at appropriate levels and enable safe use of the handling device even in delicate surgical procedures including microsurgical operations ,
The tool support shaft and tool may be from the controller 401 be controlled so that they move in the same direction in which the user moves his hand when he the input device 402 operated, z. B. such that when the user a joystick or other input device 402 Turning clockwise, the tool holder shaft or tool also rotated clockwise. However, in some conventional minimally invasive surgical techniques, it is necessary for the user to move his hand in the opposite direction to that in which a tool is to be moved. For a user accustomed to operating such devices, the controller may 401 be designed so that it moves the tool holding shaft and the tool for movement in the opposite direction to that in which the user when operating the input device 402 his hand moves. The controller 401 may be provided with a switch, by means of which the user can choose whether relative to the movement of the user's hand to perform inverted or non-inverted movements of the tool holding shaft and the tool.
The gain of the control system 400 can be adjusted to improve the handling precision of the user of the handling device. For example, the gain factor is adjustable such that movement of the user's hand upon actuation of a joystick or other input device results in substantially smaller movements (either translational or rotational) of the tool support shaft or tool. Thus, movements on the order of millimeters performed by the user's hand can be reduced to movements of the tool support shaft or tool on the order of microns, allowing the user to make controlled movements of the tool that are much smaller than the user could do it by hand. The ability of the handling device to reduce the magnitude of the movement of the hand is useful not only in surgery, but also in other tasks where handling precision is required, such as handling. B. when assembling very small parts. On the other hand, if the tool support shaft or tool is to perform very large movements, the gain may be adjusted such that the movement of the user's hand mediated to the input device results in greater translational and / or rotational movements of the tool support shaft or tool. An increase in scale of the movements of the user's hand made in this manner allows the user to hold his hand relatively stationary in the most comfortable position, which in turn increases the handling precision of the user. If the tax system 400 provides a force feedback to the input device, the gain of the control system 400 also be adjusted so that the tactile sensation of the user is improved. For example, the user's hand sensed resistance to movement of the input device 402 be controlled to be greater than the resistance encountered by the tool so that the user can clearly perceive even low levels of resistance to the tool. Increasing the scale of user perceived resistance is useful when the tool contacts soft tissue. In contrast, when the tool contacts bones or other hard materials, it may be desirable to scale down user-perceived resistance.
Most people experience some degree of tremor in their hands when performing manual operations. If the control system 400 has a manually operated input device, the control system 400 be provided with a filter that contains those components of a signal from the input device 402 filters out which have the frequency of the tremor, so that the tremor is not reproduced in the movements of the tool holding shaft or the tool.
27 - 34 show further examples of gimbal-type wrist mechanisms for use with the present invention. 27 and 28 show front side views of a wrist mechanism operated by connectors that act by torsion rather than by tension or compression. As the wrist mechanism according to 15 indicates the wrist mechanism according to 27 and 28 a holding ear 410 for rotatably holding a tool 322 and one the holding ear 410 surrounding ring 415 on. The holding tube 410 does not need to have any particular structure. For example, its structure may be substantially the structure of the holding tube 331 according to 5 same. The tool 322 like that according to 15 with a mechanism for turning the tool 322 about its axis or for actuating the movable components of the tool 322 be connected. However, to simplify the drawings is such Mechanism in 27 - 34 omitted. As in the embodiment according to 15 is the holding tube 410 in any suitable manner from the ring 415 held for pivoting about a first axis, and the ring 415 is in any suitable way through a pipe 321 or another suitable holding part for pivoting a second axis held perpendicular to the first axis. For example, the holding tube 410 through two camps 411 (only one of which is shown) to be pivotally held on the ring 415 fixed in alignment with the first axis, and the ring 415 can be from two camps 416 be pivotally attached to the pipe 321 are fixed in alignment with the second axis. 27 shows the wrist mechanism in an initial position in which the tool 322 with the axis of the pipe 321 is aligned, and 28 shows the wrist mechanism in a position where the holding tube 410 is pivoted from its initial position about the first axis. The holding tube 410 and the ring 415 can each by a rotatable connector 420 be pivoted about the first axis or the second axis, which can be rotated by any suitable actuating part, such. B. a motor 422 which is fixed at its upper end. Every connector 420 has a leg at its lower end 421 on, across the axis of the connector 420 runs. Every thigh 421 is like that with the holding tube 410 or the ring 415 connected that if the connector 420 turned around its axis, a movement of the thigh 421 around the axis of the connector 420 causes the holding tube 410 or the ring 415 is pivoted about the first or second axis. For example, in the present embodiment, there is a protrusion 412 from the holding tube 410 in alignment with the first axis, another advantage 417 stands from the ring 415 in alignment with the second axis, and the leg 421 each connector 420 engages loosely with a slot or other aperture formed in the corresponding projection, such as a slot. B. with the in the lead 412 trained slot 413 , If the connector 420 turned around its axis, the thigh presses 421 of the connector 420 against one of the sides of the slot, thereby causing the holding tube 410 or the ring 415 is pivoted about the first or second axis. The slot may be elongated to the projection 412 . 417 to allow with the thigh 421 of the corresponding connector 420 to stay engaged while aligning the holding tube 410 or the ring 414 varied.
29 shows another example of a gimbal-type wrist mechanism in which a holding tube 425 and a ring 435 by torsion effect connectors to rotate first and second axes, respectively. The holding tube 425 and the ring 435 which are designed in their structure similar to those according to the previous embodiment, may be pivotally mounted in any manner. For example, in 29 the holding tube 425 through two camps 426 pivotally mounted on the ring 435 fixed in alignment with the first axis, and the ring 435 is through two camps 436 pivotally mounted on a pipe 321 are fixed in alignment with the second axis. In this example, the holding tube is 425 with a gear 427 provided, which is attached to it coaxially with the first axis, and the ring 435 is with a gear 437 provided, which is attached to it coaxially with the second axis. The gear 427 on the holding tube 425 meshes with another gear 428 at the lower end of a drive shaft 429 attached by a motor 430 or another operating part which is fixed at its upper end, about its axis can be rotated. The gear meshes in a similar way 437 on the ring 435 with another gear 438 at the lower end of a drive shaft 439 attached by a motor 440 or another operating part which is fixed at its upper end, about its axis can be rotated. The gears 427 . 428 . 437 . 438 may be of any type capable of transmitting torque when the axes of rotation of the two meshing gears are not aligned. In 29 The gears are bevel gears that form two right angle drive devices. If one of the gears is expected to rotate less than 360 ° about its axis, the gear may be designed as a gear sector (a gear that rotates only around a circle segment) to reduce its weight. The second axis around which the ring 435 rotates, always keeps a constant angle to the vertical and relative to the axis of the drive shaft 439 for the ring 435 one. In contrast, as the ring rotates about the second axis, the angle that exists relative to the vertical of the first axis about which the support tube rotates varies. That's why the two gears can 427 . 428 for the holding tube 425 be chosen so that they are able to transmit a torque to each other when their axes of rotation are arranged at one of many different angles to each other. Alternatively, the drive shaft 429 for turning the holding tube 425 be a flexible shaft, or it can be a universal joint 431 or another joint on the shaft 429 be installed so that the lower end of the shaft 429 different angles relative to the upper end of the shaft 429 can take and the axes of rotation of the two gears 427 . 428 for the holding tube 425 can maintain a constant angle relative to each other.
30 shows a variation of the structure according to 29 in which the bevel gear drives according to 29 have been replaced by worm gear, each having a worm, which is arranged at the lower end of a rotary shaft, and a worm wheel, which on the holding tube 425 or the ring 435 is aligned coaxially with the first and second axis. According to 30 is a snail 432 at the lower end of the drive shaft 429 attached, and a worm wheel 433 that with the snail 432 engages, is on the holding tube 425 attached in alignment with the first axis. Similarly, a snail 441 at the lower end of the drive shaft 439 attached, and a worm wheel 442 that with the snail 441 is at the ring 435 attached in alignment with the second axis. Every drive shaft 429 . 439 can by a motor 430 . 440 or another suitable operating part, which is fixed at its upper end, about its axis to be rotated. As related to 29 described, the drive shaft 429 for turning the holding tube 425 a universal joint 431 or otherwise structured to provide torque to the worm wheel 433 can transfer when the axis of the worm wheel 432 due to the fact that the ring 435 rotates about the second axis, is not arranged vertically.
31 Figure 9 is an exploded side view of another example of a gimbals type wrist mechanism for use with the present invention. In this example, a holding tube 450 and a ring 455 that are designed in their structure similar to those according to the previous embodiment, rotatably supported in any suitable manner such that it can be pivoted about a first axis or a second axis which is perpendicular to the first axis. For example, the holding tube 450 through two camps 451 be pivotally mounted on the ring 455 fixed in alignment with the first axis, and the ring 455 can through two bearings 456 be pivotally mounted on a pipe 321 are fixed in alignment with the second axis. The holding tube 450 and the ring 455 are with a pinion 452 and 457 provided, which are arranged on them coaxial with the first axis or the second axis. The holding tube 450 and the ring 455 may be about the first and second axes by means of first and second coaxial tubes 460 and 465 to be rotated, each with one of the pinions 452 or 457 Grasp the pinion and the holding tube 450 or the ring 455 to turn their axes. The first pipe 460 has at its lower end molded or fixed gear teeth 461 for engagement with the pinion 452 of the holding ear 450 on, and the second tube 465 has at its lower end molded or fixed gear teeth 466 for engagement with the pinion 457 of the ring 455 on. Each of the pipes 460 . 465 can be rotated about its longitudinal axis by a motor or other suitable actuator. For example, according to 31 each tube by means of a motor 462 about a role 463 rotated, attached to the output shaft of the engine 462 is attached and frictionally engaged with the outer surface of one of the tubes 460 . 465 located. As another example, each engine may 462 driving a pinion, which engages with gear teeth, in the circumferential direction of the corresponding tube 460 . 465 run. The angle of the axis of rotation of the pinion 457 for the ring 455 (which corresponds to the second axis) remains relative to the axis of rotation of the second tube 465 constant; the angle of the axis of rotation of the pinion 452 for the holding tube 450 (which corresponds to the first axis) varies, however, relative to the axis of rotation of the first tube 460 if the ring 455 is rotated about its axis. Thus, the gear teeth 461 on the first pipe 460 and the pinion 452 on the holding tube 450 preferably chosen such that the transmission of torque between them is possible at many different angles between their axes of rotation.
Instead of using gears to connect the pipes to the ring 455 and the holding tube 450 can the gears 452 . 457 be replaced by rollers, and the gear teeth 461 . 466 can be replaced by friction surfaces, which are formed at the lower ends of the tubes and are in contact with the rollers.
32 - 34 Figure 4 shows views of another example of a gimbal-type wrist mechanism for use with the present invention. 32 shows an exploded view of the wrist mechanism. 33 shows a side view of the wrist mechanism according to 32 in the state in which a holding tube of the wrist mechanism is in a horizontal home position, and 34 shows a side view of the wrist mechanism with arranged in a slanted position holding tube. As with the previous mechanisms, this mechanism has a holding tube 470 and one the holding ear 470 surrounding ring 475 on, with the holding ear 470 from the ring 475 pivotally supported for rotation about a first axis, and wherein the ring 475 by a suitable part, such. B. a corresponding pipe 321 , pivotally mounted for pivoting about a second axis perpendicular to the first axis. The holding tube 470 and the ring 475 can be pivoted in any way. For example, in 32 the holding tube 470 through two camps 471 pivotally held on the ring 475 fixed in alignment with the first axis, and the ring 475 is through two camps 476 pivotally held to the pipe 321 are fixed in alignment with the second axis. One rotatable first tube 480 has at its lower end a cam projection 481 on, in the axial direction of the first tube 480 against two cam followers 472 on the holding tube 470 is pressed, and a rotatable second tube 485 coaxial with the first pipe 480 is arranged and surrounds this, has at its lower end a cam projection 486 on, in the axial direction of the second tube 485 against two cam followers 477 on the ring 475 is pressed. The cam followers shown 472 . 477 have pins extending from the outer peripheral surface of the holding tube 470 or the ring 475 on opposite sides of one of the bearings 471 or one of the camps 476 however, the cam followers may have any structure that allows them, the cam lobe or other part of the lower end of the corresponding tube 480 . 485 to contact at different rotational positions of the tubes. Every tube 480 . 485 is by gravity and / or by means of a biasing member such. B. a spring in the axial direction against the corresponding cam follower pressed. Every tube 480 . 485 can be rotated about its longitudinal axis by a motor or other suitable actuator. For example, according to 32 every pipe through a motor 482 be rotated, the one frictionally engaged with the tube role 483 drives. When one of the tubes is rotated, the location of the cam lobe on the tube relative to the corresponding cam followers, and the holding tube will change 470 or the ring 475 are pivoted so that their two cam followers are held in contact with the corresponding cam projection. As an example, in 33 and 34 shown as the rotation of the first tube 480 the holding tube 470 can pivot about the first axis. 33 shows the first pipe 480 in an initial rotational position, in which the cam projection 281 relative to the cam followers 472 is centered and the holding tube 470 runs horizontally. 34 shows the first pipe 480 after such a rotation about its longitudinal axis starting from its starting position that the cam projection 481 from the position according to 33 has been moved to the left. Because the first pipe 480 always in its longitudinal direction against the cam follower 472 on the holding tube 470 is pressed, the holding tube pivots 470 in the figure counterclockwise to both cam followers 472 in contact with the cam projection 481 or another area of the lower end of the first tube. The angle of rotation of the holding tube 470 relative to the horizontal position according to 33 depends on the amount of rotation of the first pipe 480 from. If the first pipe 480 rotated about its longitudinal axis in the opposite direction in the figure, the holding tube rotates 470 clockwise to an angle equal to the amount of rotation of the first tube 480 equivalent. The ring 475 may be similar from the second tube 485 to be rotated about the second axis.
In the 27 - 34 The various mechanisms shown for pivoting a holding tube and a ring of a wrist mechanism about the first and second axes can be combined with one another, using one type of mechanism for pivoting the holding tube and another type of mechanism for pivoting the ring. For example, a gear drive like the one in 29 or 30 shown used for pivoting the ring, and an arrangement as that according to 27 holding a shaft with a thigh 421 for engagement with a projection may be used for pivoting the holding tube about the first axis.
Device for handling a medical tool ( 322 ) within the body of a patient, comprising: a tube part ( 321 ) suitable for insertion into the body of a patient; a gimbal connection part ( 330 ) coming from the pipe ( 321 ) and first and second axes of rotation ( 333 . 342 ) Has; a tool ( 322 ) connected by the gimbal connection part ( 330 ) for rotation about the first and second axes ( 333 . 342 ) is held; first and second elongated connectors ( 350 ; 420 ; 429 ; 439 ; 463 ; 483 ) passing through the pipe ( 321 ) through to the gimbal connection part ( 330 ) run; and first and second operating parts ( 355 ; 380A . 380B ; 422 ; 430 ; 440 ; 462 ; 482 ) connected to the first and second connectors ( 350 ; 420 ; 429 ; 439 ; 463 ; 483 ) are operatively connected such that they are connected via the first and second connectors ( 350 ; 420 ; 429 ; 439 ; 463 ; 483 ) to the gimbal connection parts ( 330 ) a force for rotating the tool ( 322 ) around at least one of the first and second axes ( 333 . 342 ), the first and second connectors ( 350 ) are capable of acting under compression and tension and / or wherein at least one of the first and second connectors ( 420 ; 429 ; 439 ; 463 ; 483 ) by means of the one of the first and second operating parts ( 422 ; 430 ; 440 ; 462 ; 482 ), with which it is operatively connected, can be rotated.
Device according to claim 1, in which the first and second actuating parts ( 355 ; 380A . 380B ) the first and second connectors ( 350 ) in a longitudinal direction of the connectors ( 350 ) translationally move.
Apparatus according to claim 1 or 2, wherein the first and second axes ( 333 . 342 ) at right angles to each other.
Device according to one of claims 1 to 3, at each of the first and second connectors ( 350 ) has a curved cross-section.
Device according to one of Claims 1 to 4, in which the cardan connection part ( 330 ) an outer part ( 340 ; 373 ; 415 ; 435 ; 455 ; 475 ) coming from the pipe ( 321 ) is rotatably supported, and an inner part ( 331 ; 371 ; 410 ; 425 ; 450 ; 470 ), the tool ( 322 ) and within the outer part ( 340 ; 373 ; 415 ; 435 ; 455 ; 475 ) is arranged and rotatably supported by this.
Device according to Claim 5, in which one of the connectors ( 350 ; 420 ; 429 ) with the inner part ( 331 ; 371 ; 410 ; 425 ; 450 ; 470 ) and the other connector to the outer part ( 340 ; 373 ; 415 ; 435 ; 455 ; 475 ) of the gimbal connection part ( 330 ) connected is.
Device according to Claim 5, in which each of the connectors ( 350 ; 420 ; 429 ) with the inner part ( 331 ; 371 ; 410 ; 425 ; 450 ; 470 ) of the gimbal connection part ( 330 ) connected is.
Device according to claim 1, wherein at least one of the first and second connectors ( 420 ; 429 ; 439 ; 463 ; 483 ) by a transmission ( 427 . 428 . 437 . 438 ; 432 . 433 . 441 . 442 ) with the gimbal connection part ( 330 ) connected is.
Device according to claim 1, wherein at least one of the first and second connectors ( 483 ) by applying a combing force to the cardan connection part ( 330 ) the tool ( 322 ) can turn.
Device according to one of claims 1 to 9, wherein the tool ( 322 ) of the gimbal connection part ( 330 ) is rotatable for rotation about a third axis ( 360 ), which are transverse to the first and second axes ( 333 . 342 ) runs.
Device according to Claim 10, in which the three axes ( 333 . 342 . 360 ) at right angles to each other.
Apparatus according to claim 10 or 11, comprising a third actuating part ( 390 ) and a wave ( 360 ) generated by the third actuating part ( 390 ) and between the third actuating part and the tool ( 322 ) is arranged.
Device according to Claim 12, in which each of the actuating parts ( 355 ; 380A . 380B ; 390 ) detachable with one of the connectors ( 350 ) or the wave ( 360 ) connected is.
DE69918569T 1998-11-23 1999-11-22 Surgical manipulator Expired - Lifetime DE69918569T2 (en)
US10960898P true 1998-11-23 1998-11-23
US109608P 1998-11-23
PCT/US1999/027560 WO2000030557A1 (en) 1998-11-23 1999-11-22 Surgical manipulator
DE69918569D1 DE69918569D1 (en) 2004-08-12
DE69918569T2 true DE69918569T2 (en) 2005-03-24
ID=22328587
DE69918569T Expired - Lifetime DE69918569T2 (en) 1998-11-23 1999-11-22 Surgical manipulator
DE69929481T Expired - Lifetime DE69929481T2 (en) 1998-11-23 1999-11-22 Surgical manipulator
US (1) US6723106B1 (en)
EP (2) EP1433431B1 (en)
JP (2) JP4542710B2 (en)
AU (1) AU1825400A (en)
DE (2) DE69918569T2 (en)
WO (1) WO2000030557A1 (en)
DE60134236D1 (en) * 2000-07-20 2008-07-10 Kinetic Surgical Llc Manually controlled surgical tool with joint
NL1020396C2 (en) * 2002-04-16 2003-10-17 Amc Amsterdam Manipulator for an instrument for minimally invasive surgery, as well as such an instrument.
JPWO2004035270A1 (en) * 2002-10-21 2006-02-09 健純 土肥 Positioning unit and positioning arm using the same
FR2875123B1 (en) * 2004-09-13 2007-11-23 Univ Grenoble 1 Positioning system on a patient of an observation and / or intervention device
US7503211B2 (en) 2004-11-05 2009-03-17 Rhode Island Hospital Driven musculoskeletal joint testing
CN101389284B (en) * 2005-01-28 2012-07-04 马萨诸塞总医院 Guidance and insertion system
CA2663077A1 (en) * 2006-09-15 2008-03-20 Tufts University Dynamic minimally invasive training and testing environments
WO2008120753A1 (en) 2007-03-30 2008-10-09 Osaka University Medical manipulator device and actuator suitable for the same
WO2008130998A2 (en) * 2007-04-16 2008-10-30 Smith & Nephew, Inc. Powered surgical system
MX2010013735A (en) * 2008-06-27 2011-04-11 Allegiance Corp Flexible wrist-type element and methods of manufacture and use thereof.
DE102008038911A1 (en) * 2008-08-13 2010-02-18 Technische Universität Darmstadt Manipulation device for a surgical instrument
CA2734122A1 (en) * 2008-08-14 2010-02-18 M.S.T. Medical Surgery Technologies Ltd. N degrees-of-freedom (dof) laparoscope maneuverable system
EP2461948B1 (en) * 2009-08-04 2013-10-09 Majatronic GmbH Parallel robot
CA2901359A1 (en) * 2009-11-27 2011-06-03 Mcmaster University Automated in-bore mr guided robotic diagnostic and therapeutic system
CN104605942B (en) 2012-07-03 2018-09-28 库卡实验仪器有限公司 The driver group and surgical instrument of surgical instrument group, particularly the surgical instrument of robot guiding
WO2014024289A1 (en) 2012-08-09 2014-02-13 富士通株式会社 Robot
TWI468154B (en) * 2012-12-14 2015-01-11 Hiwin Tech Corp Holding device for medical apparatus
EP2964155B1 (en) 2013-03-08 2017-11-01 Stryker Corporation Bone pads
CN104994805B (en) 2013-03-13 2018-04-27 史赛克公司 System and method for establishing virtual constraint border
CA2897861A1 (en) 2013-03-13 2014-10-02 Stryker Corporation System for arranging objects in an operating room in preparation for surgical procedures
WO2016049180A1 (en) 2014-09-23 2016-03-31 Think Surgical, Inc. Multi-planar variable geometry zigzag cut articulating drilling system
CN107530134A (en) * 2014-10-10 2018-01-02 特兰森特里克斯手术公司 Electromechanical surgical system
ES2554562B1 (en) * 2015-03-25 2016-09-30 Germán Carlos REY PORTOLÉS Sterotactic body guide to position surgical instruments precisely inside the body
JP6440177B2 (en) * 2015-10-13 2018-12-19 国立大学法人 岡山大学 Puncture robot
CN105397805B (en) * 2015-12-23 2017-03-22 江苏久信医疗科技有限公司 Remote motion center mechanism
WO2018174227A1 (en) * 2017-03-24 2018-09-27 株式会社メディカロイド Gripping mechanism
WO2019197056A1 (en) * 2018-04-13 2019-10-17 Isys Medizintechnik Gmbh Medical robot
WO1991007922A1 (en) 1989-11-27 1991-06-13 Bard International, Inc. Puncture guide for computer tomography
JP2651734B2 (en) 1990-02-19 1997-09-10 宇宙開発事業団 Electromagnetic actuator
JPH08115128A (en) 1993-07-15 1996-05-07 Agency Of Ind Science & Technol Parallel link mechanism
AT184435T (en) * 1993-10-12 1999-09-15 Smith & Nephew Inc Brushless motor
1999-11-22 US US09/856,453 patent/US6723106B1/en not_active Expired - Fee Related
1999-11-22 JP JP2000583445A patent/JP4542710B2/en not_active Expired - Fee Related
1999-11-22 EP EP04075931A patent/EP1433431B1/en not_active Expired - Lifetime
1999-11-22 EP EP99961736A patent/EP1133265B1/en not_active Expired - Lifetime
1999-11-22 DE DE69918569T patent/DE69918569T2/en not_active Expired - Lifetime
1999-11-22 DE DE69929481T patent/DE69929481T2/en not_active Expired - Lifetime
1999-11-22 WO PCT/US1999/027560 patent/WO2000030557A1/en active IP Right Grant
1999-11-22 AU AU18254/00A patent/AU1825400A/en not_active Abandoned
2010-04-30 JP JP2010104689A patent/JP5084865B2/en not_active Expired - Fee Related
US6723106B1 (en) 2004-04-20
WO2000030557A1 (en) 2000-06-02
JP4542710B2 (en) 2010-09-15
EP1433431B1 (en) 2006-01-18
AU1825400A (en) 2000-06-13
JP2010221043A (en) 2010-10-07
JP2002530209A (en) 2002-09-17
WO2000030557A9 (en) 2001-07-05
DE69918569D1 (en) 2004-08-12
EP1133265B1 (en) 2004-07-07
EP1133265A4 (en) 2003-01-02
JP5084865B2 (en) 2012-11-28
DE69929481T2 (en) 2006-09-28
EP1133265A1 (en) 2001-09-19
EP1433431A1 (en) 2004-06-30
DE69929481D1 (en) 2006-04-06