WO2007120952A3 - Robotic arm with five-bar spherical linkage - Google Patents

Robotic arm with five-bar spherical linkage Download PDF

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Publication number
WO2007120952A3
WO2007120952A3 PCT/US2007/060950 US2007060950W WO2007120952A3 WO 2007120952 A3 WO2007120952 A3 WO 2007120952A3 US 2007060950 W US2007060950 W US 2007060950W WO 2007120952 A3 WO2007120952 A3 WO 2007120952A3
Authority
WO
WIPO (PCT)
Prior art keywords
outboard
links
axis
link
inboard
Prior art date
Application number
PCT/US2007/060950
Other languages
French (fr)
Other versions
WO2007120952A2 (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 JP2008552551A priority Critical patent/JP5386178B2/en
Priority to EP07756420.1A priority patent/EP1976447B1/en
Priority to CN2007800016277A priority patent/CN101360462B/en
Priority to EP19160649.0A priority patent/EP3517256A1/en
Priority to EP16153176.9A priority patent/EP3045274B1/en
Publication of WO2007120952A2 publication Critical patent/WO2007120952A2/en
Publication of WO2007120952A3 publication Critical patent/WO2007120952A3/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 with a parallel spherical five-bar linkage (1100) having a ground link (1105), two inboard links (1101,1104), and two outboard links. Each inboard link is coupled to the ground link at an axis (1112, 1113) of rotation and has an intermediate axis (1111,1114) spaced apart from the axis of rotation. Each outboard link is pivotally coupled to one of the inboard links at the intermediate axis. The two outboard links are pivotally coupled together at an outboard axis (1115). A constraint limits the rotation of a first one of the outboard links about the intermediate axis of the coupled inboard link such that a maximum angle between the links is substantially less than 180°. A second one of the outboard links and the coupled inboard link are constructed and assembled such that the two intermediate axes are on the same side of a plane including the outboard axis and one of the axes of rotation.
PCT/US2007/060950 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage WO2007120952A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2008552551A JP5386178B2 (en) 2006-01-25 2007-01-24 Spherical 5-bar link mechanism, robot arm having spherical 5-bar link mechanism and system having robot arm having spherical 5-bar link mechanism
EP07756420.1A EP1976447B1 (en) 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage
CN2007800016277A CN101360462B (en) 2006-01-25 2007-01-24 Center robotic arm with five-bar spherical linkage for endoscopic camera
EP19160649.0A EP3517256A1 (en) 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage
EP16153176.9A EP3045274B1 (en) 2006-01-25 2007-01-24 Robotic arm with five-bar spherical linkage

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
WO2007120952A2 WO2007120952A2 (en) 2007-10-25
WO2007120952A3 true WO2007120952A3 (en) 2008-05-02

Family

ID=38564164

Family Applications (2)

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
PCT/US2007/060948 WO2007114975A2 (en) 2006-01-25 2007-01-24 Center robotic arm with five-bar spherical linkage for endoscopic camera

Family Applications After (1)

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

Country Status (6)

Country Link
US (3) US8469945B2 (en)
EP (3) EP1976447B1 (en)
JP (7) JP5386178B2 (en)
KR (2) KR101304280B1 (en)
CN (2) CN101856273B (en)
WO (2) WO2007120952A2 (en)

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