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A tool constraint mechanism

A tool and tool holder technology, applied in surgical manipulators, surgical robots, medical science, etc., can solve the problems of complex motor arms, large, and hindering the fine and complex movement of tools.

Inactive Publication Date: 2012-11-28
斯坦莫尔全球移植有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

such devices often include large and complex maneuverable arms with six degrees of freedom positioning tracking sensors
Such equipment is expensive and difficult to maneuver, which hinders the delicate and complex movement of tools often required during precision surgery

Method used

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  • A tool constraint mechanism
  • A tool constraint mechanism
  • A tool constraint mechanism

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Experimental program
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Embodiment Construction

[0022] as in figure 1 Schematically shown in , the constraining mechanism 100 according to the first embodiment of the present invention includes a manipulator 101 , a remote central mechanism 102 and a tool 403 .

[0023] The manipulator 101 is connected to a base that provides a local frame of reference and a solid ground. The manipulator 101 includes rotary joints 104 , 105 and 106 connected in series. Associated with each joint respectively are rigid links 106', 107 and 108, the motion of which is constrained to that allowed by the joint. For each joint 104 , 105 , 106 only rotation is allowed about the joint's central axis of rotation 110 , 112 , 113 , as indicated by the respective arrow 109 , 111 , 114 .

[0024] figure 2 An alternative embodiment shown in includes prismatic joints 201, 202, 203 instead of figure 1 of the rotating joint. As indicated by arrow 205 , only translational motion along joint axis 204 is allowed for each moving joint eg 202 .

[00...

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PUM

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Abstract

A mechanism which constrains the spatial location of a working or a focal point of a tool (103), has a manipulator (101) and a remote centre mechanism (102) mounted thereon. The manipulator (101) provides at least one degree of freedom for positioning the remote centre mechanism (102) which itself provides at least a further degree of freedom for positioning a tool holder suitable for holding thetool (103) which is to be constrained in operation with respect to a remote centre point. The orientation of the tool holder is adjustable whilst still maintaining the position of the remote centre point fixed with respect to the manipulator (101).

Description

[0001] This application is a divisional application of the application dated August 18, 2006, the application number is 200680041501.8, and the invention title is "Tool Constraining Mechanism". technical field [0002] The present invention relates to a mechanism for constraining the spatial position of the working point or focus of a tool; and in particular, though not exclusively, a constraining mechanism for use in medical robotic systems, such as multipurpose bone Modeling (multi purpose bone sculpting). Typical applications may include minimally invasive procedures such as unicompartmental knee arthroplasty, pedicle screw insertion, and hip arthroplasty. Background technique [0003] Previous devices are known in the art for manipulation of surgical tools and restraint mechanisms. Such devices often include large and complex maneuverable arms with 6 degrees of freedom positioning tracking sensors. Such devices are expensive and difficult to maneuver, which hinders the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B19/00
CPCA61B19/22A61B19/2203A61B19/26A61B34/70A61B90/50A61B34/30A61B34/20A61B34/35A61B34/74A61B90/03A61B2017/00212
Inventor 费尔迪南多·玛丽亚·罗德里格茨-Y-贝娜
Owner 斯坦莫尔全球移植有限公司