Force-reflecting surgical instrument and positioning mechanism f

Details Force-reflecting surgical instrument and positioning mechanism f Force-reflecting surgical instrument and positioning mechanism f

1997-05-16

1998-09-15

Buiz, Michael

Surgery

Instruments

7449001, 7449005, 7449006, A61B 1700, B25J 1700

Patent

active

058073779

ABSTRACT:
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures is coupled to a positioning mechanism for supporting and moving the surgical instrument. The positioning mechanism mounts to an operating room table. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection and the positioning mechanism provides a large range of motion to the instrument. The system is operated according to a macro-micro actuation scheme which allows for a large range of motion of the surgical end effector and also allows for sensitive force feedback to a master controller by reducing the measured inertia of the slave system. The macro-micro actuation scheme may be used in conjunction with impedance scaling and force scaling between the instrument and the master controller.

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patent: 5528955 (1996-06-01), Hannaford et al.
Alexander, III, Arthur D., "Impacts of Telemation on Modern Society," Syposium on Theory and Practice of Robots and Manipulators, vol. II, Sept. 5-8, 1973, pp. 122-136.
Bejczy, A.K. et al., "Controlling Remote Manipulators Through Kinesthetic Coupling," Computers in Mechanical Engineering, pp. 48-60, Jul. 1983.
Taubes, Gary, "Surgery in cyberspace," Discover, pp. 85-92, Dec. 1994.

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