Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Reexamination Certificate
1998-01-20
2001-06-19
Kramer, Dean J. (Department: 3652)
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
C414S007000, C901S036000, C901S039000
Reexamination Certificate
active
06247738
ABSTRACT:
FIELD OF THE INVENTION
The invention is directed to a controllable remote grasping device, more particularly, a robot hand, which can be used in a remote manipulator, such as a surgical manipulator as described in U.S. patent application, Ser. No. 08/206,450, filed Mar. 4, 1994, now issued as U.S. Pat. No. 5,599,151, which is hereby incorporated by reference, and the like use.
BACKGROUND OF THE INVENTION
Manipulable hand apparatuses have been disclosed and are available in many industries, e.g. the medical device industry. The following references disclose examples of different types of manipulable hand apparatuses or handling devices used in the medical or other industries: U.S. Pat. No. 4,315,650 issued to Yoshida; U.S. Pat. No. 4,575,297 issued to Richter; U.S. Pat. No. 2,733,545 issued to Guadagna; U.S. Pat. No. 422,373 issued to Caldwell; U.S. Pat. No. 2,765,930 issued to Greer et al.; U.S. Pat. No. 3,212,651 issued to Specht et al; and European Patent Application Publication No. 0 640 319 A1 to Ortiz. In these references, different mechanical structures are utilized to control movements of a hand-type clamping device which is remotely controlled by a master control such as a human's hand, etc. However, most of these conventional clamping devices are complicated in structure. In addition, the conventional devices do not permit performance as a virtual hand at a remote site under master control. As a result, the conventional devices do not provide for a surgeon to perform surgery through a virtual reality modality. Further, even if the conventional devices are substantially altered to function as a virtual hand by adding numerous other pieces, the devices are too expensive to make and not practical in use.
Therefore, a substantial need exists for a robot hand which provides for an easy mechanism and is capable of performing surgery by transmission of the movement of a surgeon's hand.
SUMMARY OF THE INVENTION
The invention is directed to a controllable remote grasping device, more particularly, a robot hand, which can be used as a remote manipulator, such as a surgical manipulator, and the like use.
In one embodiment generally in accordance with the principles of the present invention, a robot hand comprises a thumb including at least two phalanxes connectable to each other by a first thumb joint and having a second thumb joint which allows the thumb to move transversely with respect to the phalanxes; at least two fingers, disposed on an opposite side of the thumb, each including at least two phalanxes connectable to each other by a first finger joint; the thumb being movable such as to oppose a selected one of at least two fingers and is able to individually grip between the selected finger and the thumb.
In some embodiments, at least one cable is connected to at least one of the phalanxes of each of the fingers and the thumb to move the phalanxes of each of the fingers and the thumb relative to each other. The cable can be operated from the proximal aspect of the robot hand by a controller.
The phalanxes of the robot hand are rotatable relative to one another to selectively cause the phalanxes to assume a bent or linear position by pushing or pulling on the cable. The phalanxes can be spring-biased to move from the bent position into a straight position by a spiral spring. The cable can pass through the spiral spring. In an alternative embodiment, the phalanxes are spring-biased to move from the bent position into a straight position by a flat spring. When all the fingers and thumb are in a substantially linear position, a robot hand of a suitable size can be passed through a medical trocar or the like. This advantageously provides for a robot hand of the invention to be used during minimally invasive surgical procedures, for example, a laparoscopic procedure.
A disposable glove can be applied over the robot hand to cover the thumb and the fingers for uses such as during endoscopic surgery. The glove is removed and renewed after a surgical operation.
In some embodiments, the robot hand can be operated remotely by a controlling system and the robot hand can be disconnected and removed from the controlling system for sterilization, maintenance, etc.
The remote grasping device can also comprise: a hand base; a first digit member, the first digit member including: a first distal phalanx, a first middle phalanx, and a first base phalanx, wherein the first base phalanx is pivotally attached to the hand base and constructed and arranged to provide for the first distal phalanx and the first middle phalanx to rotate as a single unit in at least two planes. A second digit member is arranged opposite of the first digit member, the second digit member including: a second distal phalanx, a second middle phalanx, and a second base phalanx, wherein the second base phalanx is pivotally attached to the hand base and constructed and arranged to provide for the second distal phalanx and the second middle phalanx to rotate as a single unit in at least two planes.
The movements of the first and second digit members can be mechanically or electrically controlled. In one embodiment, the movements of the first and second digit members can be controlled by a data glove.
In a further embodiment of the remote grasping device, the first distal phalanx can have a proximal end; the first middle phalanx can have a proximal end and a distal end and the first base phalanx can have a distal end. The proximal end of the first distal phalanx is pivotably attached to the distal end of the first middle phalanx for rotation around a first distal axis, and the proximal end of the first middle phalanx is pivotably attached to the distal end of the first base phalanx for rotation around a first middle axis. The first proximal axis and the first middle axis are substantially parallel provided that the first middle phalanx is generally linear. In addition, the second distal phalanx can have a proximal end and the second middle phalanx can have a proximal end and a distal end. The second base phalanx can have a distal end. The proximal end of the second distal phalanx is pivotably attached to the distal end of the second middle phalanx for rotation around a second distal axis, and the proximal end of the second middle phalanx is pivotably attached to the distal end of the second base phalanx for rotation around a second middle axis. The second proximal axis and the second distal axis are substantially parallel provided that the first middle phalanx is generally linear.
One advantage of the present invention is that it provides an easy mechanism for a robot hand. Another advantage of the invention is that it allows the use of right and left robot hands together at a surgical site which can work collectively like a human surgeon's hands. Such a system would provide for a surgeon to perform surgery through a virtual reality modality. Such a system would also permit skilled or specialized surgeons from one location to perform surgery at another location by transmission of surgeon's right and left hand movements to the right and left hand movements of robot's hands.
These and other advantages and features, which characterize the invention are pointed out with particularity in the claims annexed hereto and forming a part hereof. However, for a better understanding of the invention and the advantages and objectives obtained by its use, reference should be made to the drawings which form a further part hereof and to the accompanying descriptive matter, in which there is described a preferred embodiment of the invention.
REFERENCES:
patent: 422373 (1890-03-01), Caldwell
patent: 2435614 (1948-02-01), Tureman, Jr.
patent: 2733545 (1956-02-01), Guadagna
patent: 2765930 (1956-10-01), Greer et al.
patent: 3212651 (1965-10-01), Specht et al.
patent: 3266059 (1966-08-01), Stelle
patent: 4298300 (1981-11-01), Francois et al.
patent: 4302138 (1981-11-01), Zarudiansky
patent: 4315650 (1982-02-01), Yoshida
patent: 4575297 (1986-03-01), Richter
patent: 4792173 (1988-12-01), Wilson
patent: 4834761 (1989-05-01)
Scherr Patrick
Winkel Axel
Altera Law Group LLC
Daum GmbH
Kramer Dean J.
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