WO2007114975A3 - Center robotic arm with five-bar spherical linkage for endoscopic camera - Google Patents

Center robotic arm with five-bar spherical linkage for endoscopic camera Download PDF

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Publication number
WO2007114975A3
WO2007114975A3 PCT/US2007/060948 US2007060948W WO2007114975A3 WO 2007114975 A3 WO2007114975 A3 WO 2007114975A3 US 2007060948 W US2007060948 W US 2007060948W WO 2007114975 A3 WO2007114975 A3 WO 2007114975A3
Authority
WO
WIPO (PCT)
Prior art keywords
links
robotic arm
endoscopic camera
inboard
outboard
Prior art date
Application number
PCT/US2007/060948
Other languages
French (fr)
Other versions
WO2007114975A2 (en
Inventor
Bruce Schena
Original Assignee
Intuitive Surgical Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Inc filed Critical Intuitive Surgical Inc
Priority to JP2008552550A priority Critical patent/JP5153650B2/en
Priority to KR1020087020340A priority patent/KR101304280B1/en
Publication of WO2007114975A2 publication Critical patent/WO2007114975A2/en
Publication of WO2007114975A3 publication Critical patent/WO2007114975A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/007—Arms the end effector rotating around a fixed point
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Abstract

A robotic arm (116,100,102) including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera (104). Two outboard links (702,703) are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links (701,704) are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.
PCT/US2007/060948 2006-01-25 2007-01-24 Center robotic arm with five-bar spherical linkage for endoscopic camera WO2007114975A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2008552550A JP5153650B2 (en) 2006-01-25 2007-01-24 Center robot arm with 5-bar spherical link mechanism for endoscopic camera
KR1020087020340A KR101304280B1 (en) 2006-01-25 2007-01-24 Center robotic arm with five-bar spherical linkage for endoscopic camera

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US76223306P 2006-01-25 2006-01-25
US60/762,233 2006-01-25
US78649106P 2006-03-28 2006-03-28
US60/786,491 2006-03-28

Publications (2)

Publication Number Publication Date
WO2007114975A2 WO2007114975A2 (en) 2007-10-11
WO2007114975A3 true WO2007114975A3 (en) 2008-05-15

Family

ID=38564164

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/US2007/060948 WO2007114975A2 (en) 2006-01-25 2007-01-24 Center robotic arm with five-bar spherical linkage for endoscopic camera
PCT/US2007/060950 WO2007120952A2 (en) 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/US2007/060950 WO2007120952A2 (en) 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage

Country Status (6)

Country Link
US (3) US8469945B2 (en)
EP (3) EP1976447B1 (en)
JP (7) JP5386178B2 (en)
KR (2) KR101602241B1 (en)
CN (2) CN101856273B (en)
WO (2) WO2007114975A2 (en)

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CN106388937A (en) * 2016-09-28 2017-02-15 西安交通大学 Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm
CN106388937B (en) * 2016-09-28 2018-12-18 西安交通大学 A kind of adjustable Pneumatic flexible surgical procedure arm of multiple degrees of freedom rigidity

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