Robotic apparatus

a robot and a technology of robots, applied in the field of robots, can solve the problems of affecting the accuracy of the robot, the tip of the instrument may move in the opposite direction, and the surgeon is deprived of three-dimensional depth cues,
US20090012534A1Inactive Publication Date: 2009-01-08MASSACHUSETTS INST OF TECH
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Patent Information

Authority / Receiving Office
US · United States
Patent Type
Applications(United States)
Current Assignee / Owner
MASSACHUSETTS INST OF TECH
Publication Date
2009-01-08
Estimated Expiration
Not applicable · inactive patent

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Abstract

A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
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Description

CROSS-REFERENCES TO RELATED APPLICATIONS

[0001] This application is a divisional of and claims the benefit of priority from U.S. patent application Ser. No. 10 / 893,613 (Attorney Docket No. 017516-005521US), filed Jul. 15, 2004; which is a divisional of application Ser. No. 09 / 508,871 (Attorney Docket No. 017516-005520US), filed Jul. 17, 2000; which is a 35 U.S.C. §371 United States National Stage application of International Patent Application No. PCT / US98 / 19508, filed on Sep. 18, 1998; which claims priority to U.S. Provisional Application No. 60 / 059,395, filed on Sep. 19, 1997; the full disclosures of which are incorporated herein by reference.

[0002] The inventions disclosed herein are also somewhat related to inventions by two of the inventors herein (Salisbury and Madhani), described in three U.S. patent applications, all of which are incorporated herein by reference. The three applications were all filed on May 16, 1997, as follows: ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MI...

Claims

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