Mechanism for operating a cable-driven parallel manipulator

Abstract

A cable-driven parallel manipulator includes a mechanical control unit, an end effector, a steering input member, a set of output cables, and a set of input cables. The mechanical control unit includes a plurality of cable reversers. The end effector has an accompanying frame structure and is adapted for distal deployment. The end effector is steerable relative to a plurality of anchors located on the frame structure. The steering input member is located proximally and has a geometry that replicates that of the end effector and the frame structure. The set of output cables connects from the mechanical control unit to the end effector at its distal end and contacts the anchors between the mechanical control unit and the end effector to form a lever action. The set of input cables connects from the steering input member at its proximal end to the mechanical control unit in a mirror image correspondence to the set of output cables connecting to the end effector.

Description

[0001] Cross-citation of related applications

[0002] This application, filed as a PCT international application on February 11, 2025, claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 552,568, filed on February 12, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to a mechanism for controlling and manipulating an end effector using cable actuation and related systems. More specifically, this disclosure relates to a means of controlling an end effector using a mechanical control system as part of a cable-driven parallel manipulator.

[0004] Examples of these facilities can have numerous medical, surgical, and diagnostic procedural applications for steering and tracking interventional devices used in minimally invasive procedures. Examples may relate to the control and navigation of medical interventional devices such as guidewires, catheters, and needles, as well as various minimally invasive imaging and ablation devices. Furthermore, examples relate to steerable robots for remote camera operation applications, continuum robot applications, search and rescue applications, and remote operation through long and winding paths within confined spaces.

[0005] Throughout this disclosure and claims, the reference to “cable” should be understood to refer broadly to any type of rope, thread, or similar maneuverable component made of, for example, metal, fabric, polymer, or crystal. Background Technology

[0006] Cable-driven mechanisms are widely used in various applications, such as crane operation, camera positioning, painting operations, and related services, and in recent years have also been applied in medical applications. These mechanisms offer unique advantages over traditional rigid-link robot solutions or manipulators due to their low cost, small size-to-weight ratio, and fast dynamic response, leading to their increasingly widespread use. In minimally invasive surgery, cable-actuated mechanisms have been used to conveniently reach target areas through long, narrow, and tortuous paths, while leveraging the advantages of cable-driven mechanisms.

[0007] In such systems, where multiple cables are connected to the end effector, the lengths of all cables need to be adjusted together in proportion based on the kinematics of the assembly to achieve precise positioning. Typically, this is achieved by using controlled electric actuation of the cables / rope. Position and tension data can be used as feedback to maneuver the end effector in the device workspace. Typically, each cable used requires its own actuator, so as the number of cables increases, the system complexity also increases. This complexity is further exacerbated by the interdependence between the cables as they are all connected to the end effector. In order to accurately calculate the required cable displacement, all cables must be actuated synchronously. If not done correctly, it can result in tension along the cables and end effector tip, with the risk of damaging the device and the surrounding environment. This task is easily achieved when electric control of the cables is utilized. However, for various reasons, such as regulatory requirements, cost reduction, compactness, and safety, a passive, manually operated manipulator can be desired. But to achieve the same task with a passive, purely mechanical system, i.e. synchronous control and manipulation of all cables for operating the end effector, the implementation is significantly more challenging.

[0008] In cable-driven mechanisms, the frame around the workspace can provide anchoring points for the cables during operation and steering. For various applications, such as minimally invasive applications, an extendable frame would be necessary. This allows the frame to be retracted, travel through a tortuous path, and subsequently be deployed at the target area for mechanism operation. The variable geometry of the frame must be considered in the control system of the device. This is significantly more complex in passive systems than in electric systems. Furthermore, in passive manual systems, it is critical that user input is simple and representative of end effector motion for intuitive control.

[0009] In view of the foregoing, there is a need for a solution that enables control and actuation of a cable-driven end effector while handling the interdependence of multiple cables and the variable geometry of an extendable frame to effectively overcome the limitations of existing methods and devices. SUMMARY

[0010] The present disclosure provides improvements to cable-driven parallel manipulators that include mechanical control mechanisms for simultaneous passive control of cables. Various embodiments described or otherwise envisioned herein provide accurate and consistent control of cable-driven mechanisms while synchronously controlling multiple interdependent steering cables, thereby enabling manual remote operation of the system.

[0011] One embodiment relates to a cable-driven parallel manipulator including a mechanical control unit, an end effector, a steering input member, a set of output cables, and a set of input cables. The mechanical control unit includes a plurality of cable reversers. The end effector has an accompanying frame structure and is adapted for distal deployment. The end effector is steerable relative to a plurality of anchors located on the frame structure. The steering input member is located proximally and has a geometry that replicates that of the end effector and the frame structure. The set of output cables connects from the mechanical control unit to the end effector at its distal end and contacts the anchors between the mechanical control unit and the end effector to create a lever action. The set of input cables connects from the steering input member at its proximal end to the mechanical control unit in a mirror image correspondence to the set of output cables connecting to the end effector. The plurality of cable reversers retracts and releases a corresponding amount of the set of input cables in response to movement of the steering input member and retracts and releases an equal amount of the set of output cables, thereby causing the end effector to produce a displacement to replicate movement of the steering input member.

[0012] One embodiment relates to a cable-driven parallel manipulator including an end effector, a mechanical control unit, a steering input member, a set of output cables, and a set of input cables. The end effector has an accompanying frame structure and is adapted for distal deployment. The end effector is steerable relative to a plurality of anchors located on the frame structure. The mechanical control unit includes a plurality of cable reversers equal in number to the anchors located on the frame structure. The steering input member is located proximally and has a geometry that replicates that of the end effector and the frame structure. The set of output cables has a number of cables equal to the number of anchors located on the frame structure, the set of output cables connecting from the mechanical control unit to the end effector and contacting the anchors between the mechanical control unit and the end effector to create a lever action. The set of input cables has a number of cables equal to the number of anchors located on the frame structure, the set of input cables connecting from the steering input member to the mechanical control unit in a mirror image correspondence to the set of output cables connecting to the end effector. The mechanical control unit is operable to displace tension in the set of input cables as tension in the set of output cables, whereby movement of the steering input member causes the plurality of cable reversers to retract and release an equal and mirror image displacement of cables from and to the mechanical control unit, in turn causing the end effector to produce an equal and mirror image displacement to the steering input member.

[0013] One embodiment describes a cable-driven parallel manipulator control mechanism that provides passive control of an end effector based on mechanical control inputs. The mechanical control unit includes multiple cable commutators that reverse the displacement of the input cable from the user side to the output cable on the end effector side. The output cable connects from the mechanical control unit to the cable-driven end effector, which steers within a frame that provides leverage to the cable. The input cable connects from the mechanical control unit to a steering input member, which may have the same geometry as the end effector in the cable-driven parallel manipulator. When the steering input member is manipulated by the user, the displacement of the input cable is mirrored (or reversed) by the cable commutators and applied to the output cable, thereby allowing the end effector to reproduce the displacement of the steering input member and enabling direct remote operation. Such systems and methods allow users to intuitively manipulate the position of the end effector through a passive mechanism while receiving position estimation and tactile feedback. Potential applications of these systems include minimally invasive interventions and imaging, control of continuum robots, search and rescue devices, and confined space robots.

[0014] Some embodiments include a scaling ratio between the input cable displacement and the output cable displacement in the cable commutator, such that the end effector is proportionally sized to the user-input geometry.

[0015] The embodiments described herein can take into account multiple cables, thereby enabling multiple degrees of freedom and control in a multidimensional workspace.

[0016] The above description is not intended to depict every illustrated embodiment or implementation of the subject matter of this invention. The following drawings and detailed description illustrate various embodiments in more detail. Attached Figure Description

[0017] The subject matter of the invention can be more fully understood from the following detailed description of various embodiments taken in conjunction with the accompanying drawings, in which: Figure 1A A cable-driven parallel manipulator according to an embodiment is shown.

[0018] Figure 1B The following is illustrated from an embodiment: Figure 1A The control unit assembly of the cable-driven parallel actuator.

[0019] Figure 1C The following is illustrated from an embodiment: Figure 1B The controller's single cable commutator.

[0020] Figure 2 A single cable commutator according to an embodiment is shown.

[0021] Figure 3 A single cable commutator according to an embodiment is shown.

[0022] Figure 4 A single cable commutator according to an embodiment is shown.

[0023] Figure 5 A single cable commutator with an electronic sensor is shown according to an embodiment.

[0024] Figure 6 A cable-driven steerable conduit system using a cable-driven parallel manipulator is shown according to an embodiment.

[0025] While various embodiments are suitable for various modifications and alternatives, details thereof have been shown by way of example in the accompanying drawings and will be described in detail. However, it should be understood that this is not intended to limit the claimed subject matter to the specific embodiments described. Rather, it is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter defined by the claims. Detailed Implementation

[0026] This document discloses a device for controlling and actuating a cable-driven end effector while handling the interrelationships of multiple cables. Embodiments are capable of handling variable geometries of scalable frames using specified mechanical control components and arrangements.

[0027] Figure 1A A perspective view of separate cable-driven parallel manipulators 100 is shown. The cable-driven parallel manipulator 100 includes an end effector assembly 110, a mechanical control unit 120, and a steering input assembly 130, all three components of which... Figure 1A All are shown in separate segments. The distal end 102 of the cable-driven parallel actuator 100 is located at one end of the end effector assembly 110, and the proximal end 104 of the cable-driven parallel actuator is located at the end of the steering input assembly 130.

[0028] exist Figure 1AThe diagram shows an end effector 111 of an end effector assembly 110. The end effector 111 has a frame structure 112 attached to and associated with it. The end effector 111 is adapted for distal deployment (i.e., at distal end 102). The end effector 111 can be steered relative to a plurality of anchors 114 located on and around the frame structure 112 via an output cable 123. The frame structure 112 can take various shapes and sizes. In some embodiments, the frame structure 112 is scalable and retractable in size. In some embodiments, the frame structure 112 is rigid. In various embodiments, the end effector 111 controls a minimally invasive interventional device or similar diagnostic or surgical procedure. In some embodiments, the end effector 111 controls one or more of the following: a catheter tip, a sensor-containing device; a laser for cardiac ablation; a needle for cardiac diagnostic procedures; or a forward-looking imaging transducer.

[0029] exist Figure 1A In the diagram, the mechanical control unit 120 is shown in a central position with four cable commutators 122. For example, the number and type of cable commutators 122 may vary depending on the embodiment. Other mechanical control units 120, including various arrangements and types of cable commutators 122, will be discussed in more detail throughout this disclosure. In some embodiments, the number of cables (input cables 121 / output cables 123) included in the plurality of cable commutators 122 is equal to the number of anchors 114 on the frame structure 112. In some embodiments, the number of each set of output cables 123 and set of input cables 121 is equal to the number of anchors 114 located on the frame structure 112. In some embodiments, the mechanical control unit 120 includes one or more sensors to measure the displacement of the cables or cable commutators. Thus, sensors can be used to measure the displacement of the cable commutator, the set of input cables 121, or the set of output cables 123. The cable commutators may be mechanically coupled to position sensors, force sensors, and / or torque sensors.

[0030] exist Figure 1A In this embodiment, the steering input member 131 of the steering input assembly 130 is shown located proximally (i.e., at proximal end 104), and its geometry replicates or otherwise corresponds to the end effector 111 and the frame structure 112. In some embodiments, the steering input member 131 is robotically actuated by a motor or other automated control device. In some embodiments, the steering input member 131 includes a feature on an iris mechanism indicating the position of an anchor 114 on the frame structure 112, the position being maneuverable to be aligned with the frame structure 112. In some embodiments, the steering input member 131 has features on a slider indicating the anchor 114, the features being positionable to improve the correspondence with the anchor 114 on the frame structure 112.

[0031] The input cable 121 may be referred to as a group, and should be understood as connecting to the steering input member 131 at the proximal end of the cable 121. Specifically, the input cable 121 extends from the steering input member 131 of the steering input assembly 130 to the four cable commutators 122 of the mechanical control unit 120. This arrangement is implemented in a manner mirroring the output cable 122, as shown and explained below.

[0032] Output cable 123 may be referred to as a group and should be understood as being connected to mechanical control unit 120. Specifically, output cable 123 extends from cable commutator 122 of mechanical control unit 120 to end effector 111 of end effector assembly 110 at the distal end of output cable 123. Output cable 123 contacts anchor 114 between the cable commutator and the end effector to form a lever action. When steering input member 131 is actuated, input cable 121 transmits displacement to cable commutator 122. Cable commutator 122 transmits a mirror image of the displacement of input cable 121 to output cable 123, causing end effector 111 to actuate within its frame structure 112, the actuation being proportional to the translation of steering input member 131.

[0033] Accordingly, the multiple cable commutators 122 can be understood as retracting and releasing a corresponding amount of input cable 121 in response to movement of the steering input member 131. They can also be understood as retracting and releasing a corresponding amount of input cable 121 in response to movement of the steering input member 131, and retracting and releasing an equal amount of output cable 123. This causes the end effector 111 to generate displacement to reproduce the movement of the steering input member 131. In some embodiments, the cable commutators are mechanically coupled to a position sensor. In some embodiments, the cable commutators are mechanically coupled to a force sensor. In some embodiments, the magnitudes of the input and output displacements provided by the multiple cable commutators 122 are set proportionally to the size of the frame structure 112 and the steering input member 131.

[0034] In some embodiments, it is understood that the mechanical control unit 120 is operable to implement the tension displacement of the set of input cables 121 as the tension displacement of the set of output cables 123. Therefore, the movement of the steering input member 131 causes multiple cable commutators 122 to retract cables from the mechanical control unit 120 and release cables of equal displacement to the mechanical control unit, thereby causing the end effector 111 to produce a displacement equal to and mirrored that of the steering input member 131.

[0035] Figure 1B A perspective view of the mechanical control unit 120 in its disassembled state is shown, with four cable commutators 122 mounted on its mounting plate 126. One cable commutator is provided for each pair of input cables 121 and output cables 123.

[0036] Figure 1C A perspective view of a single cable commutator 122 from a mechanical control unit 120 is shown. A pulley 124 is connected to an input cable 121 and an output cable 123. The pulley 124 is preloaded by a torsion spring 125, causing it to rotate counterclockwise relative to a mounting plate 126, absorbing all slack in both the input and output cables 123. When slack is released to the system via a steering input member 131, the pulley 124 absorbs the slack in the input cable 121 and mirrors that displacement to the output cable 123, thereby absorbing an equal amount of slack and actuating the end effector 111. When the input cable 121 is actuated away from the cable commutator 122 and toward the steering input member 131 with sufficient force to overcome the torsion spring 125, the cable commutator 122 releases slack to both the input and output cables 123.

[0037] In other embodiments, there may be a scaling ratio between the input and output of the cable commutator 122, thereby creating a proportional size design between the steering input member 131 and the end effector 111, such as... Figure 2 , Figure 4 and Figure 5 As outlined in the illustrated embodiments. Therefore, in some embodiments, the cable commutator 122 may include a pulley tensioned by a torsion spring.

[0038] Figure 2 A perspective view of a single cable commutator 200 according to an embodiment is shown. An input gear 201 and an output gear 202 are mounted on a shaft 203. An input cable 204 extends from the steering input to the input gear 201, and an output cable 205 extends from the output gear 202 to the end effector. A torsion spring 206 actuates the input gear 201 counterclockwise relative to a fixed base 207, thereby forcing both the input gear 201 and the output gear 202 to absorb all slack in the cables. In some embodiments, as shown here, a ratio may exist between the input actuator and the output actuator (in this example, the input gear 201 and the output gear 202). When slack is introduced into the system from the steering input via the input cable 204, the input gear 201 and the output gear 202 will eliminate a corresponding proportion of slack in the system, thereby actuating the end effector. When the input cable 204 is actuated away from the input gear 201 toward the steering input to overcome a sufficiently high force from the torsion spring, this will cause the output gear 202 to release a correspondingly proportional amount of slack on the output cable 205 toward the end effector. Therefore, in some embodiments, the cable commutator includes a gear tensioned by a torsion spring.

[0039] Figure 3A perspective view of a single cable commutator 300 according to another embodiment is shown. Within a housing 304, an input rack 301 and an output rack 302 are constrained to travel linearly on a shaft 303. A pinion 305, freely rotating on a shaft 306, actuates the input rack 301 and the output rack 302 in a synchronized manner. A spring 307 preloads the racks to eliminate equal slack from the input cable 308 and the output cable 309. Thus, in some embodiments, the cable commutator includes racks and pinions tensioned by linear springs.

[0040] Figure 4 A perspective view of a single cable commutator 400 according to another embodiment is shown. A lever 401 is freely rotatable relative to a housing 403 on a shaft 402. A tension spring 404 biases the lever 401 to rotate clockwise and absorbs slack in the input cable 405 and the output cable 406. The ratio between the lever arms connected to the input cable 405 and the output cable 406 allows for proportional displacement between the steering input and the end effector, and compensates for proportional differences in their geometry. Therefore, in some embodiments, the cable commutator includes a lever tensioned by a linear spring.

[0041] Figure 5 A perspective view of a single cable commutator 500 is shown, which operates using the same core mechanism as the cable commutator 122 shown in FIG. 1. In this embodiment, separate input pulleys 501 and output pulleys 502 are used to actuate input cables 503 and output cables 504. Input pulleys 501 and output pulleys 502 are mounted on the same shaft 505 and preloaded with a torsion spring 506. A clutch 507 clamps the output pulley onto a shoulder 508 of the shaft 505. When the clutch 507 is disengaged using a clutch lever 509, the output pulley 502 is freely actuated independently of the input pulley 501. In some embodiments, this allows for independent management of the slack between the input cable 503 and the output cable 504. In this embodiment, a rotation sensor 510 is used to track the rotation of the shaft 505 and the resulting actuation of the input cable 503 and the output cable 504. In various embodiments, multiple cable commutators 500 can be disengaged via clutch 507, allowing for independent tensioning. Various sensors can be used with the various cable commutators and mechanical control mechanisms disclosed herein.

[0042] Figure 6A perspective view of a steerable conduit system 600 using a cable-driven parallel manipulator according to an embodiment is shown. System 600 uses a steering input member 601, four input cables and four output cables 603 located within a handle base 602 to steer an end effector 604 within a workspace formed by an expandable frame 605. A cable commutator mechanism is located within the handle base 602. The output cables 603 travel through the conduit body 606 to the end effector 604.

[0043] The following examples illustrate possible configurations of a cable-driven parallel manipulator that achieve at least some of the advantages and features described above.

[0044] According to a first example, a cable-driven parallel manipulator includes a mechanical control unit, an end effector, a steering input member, a set of output cables, and a set of input cables. The mechanical control unit includes a plurality of cable commutators. The end effector has an attached frame structure and is adapted for remote deployment. The end effector is steerable relative to a plurality of anchors located on the frame structure. The steering input member is located proximally and has a geometry that replicates the end effector and the frame structure. The set of output cables connects from the mechanical control unit to the end effector at its distal end and contacts the anchors between the mechanical control unit and the end effector to form a levering action. The set of input cables connects from the steering input member at its proximal end to the mechanical control unit in a mirror-image configuration to the set of output cables connected to the end effector. The plurality of cable commutators retract and release corresponding amounts of the set of input cables and retract and release equal amounts of the set of output cables in response to movement of the steering input member, thereby displacing the end effector to replicate the movement of the steering input member.

[0045] According to the second example, the first example can be modified so that the plurality of cable commutators include a number of cables equal to the number of anchors located on the frame structure.

[0046] According to the third example, the first to second examples can be modified so that the set of output cables and the set of input cables each have a number equal to the number of anchors located on the frame structure.

[0047] Based on the fourth example, the first through third examples can be modified to make the framework structure scalable and scalable in size.

[0048] Based on the fifth example, the first to fourth examples can be modified to enable the end effector to control the minimally invasive interventional device.

[0049] According to the sixth example, the first to fifth examples can be modified to allow multiple sensors to be used to measure the displacement of the multiple cable commutators.

[0050] According to the seventh example, the first to sixth examples can be modified, wherein each of the plurality of cable commutators is capable of being disengaged by a clutch and capable of being independently tensioned.

[0051] According to the eighth example, the first to seventh examples can be modified, wherein the steering input component is actuated robotically by a motor.

[0052] According to the ninth example, the first through eighth examples can be modified, wherein the plurality of cable commutators include pulleys tensioned by torsion springs.

[0053] According to the tenth example, the first to ninth examples can be modified such that the plurality of cable commutators include racks and pinions tensioned by linear springs.

[0054] According to the eleventh example, the first to tenth examples can be modified such that the plurality of cable commutators include levers tensioned by linear springs.

[0055] According to the twelfth example, the first to eleventh examples can be modified such that the plurality of cable commutators include gears tensioned by torsion springs.

[0056] According to the thirteenth example, the first to twelfth examples can be modified to allow the plurality of cable commutators to be mechanically connected to the position sensor.

[0057] According to the fourteenth example, the first to thirteenth examples can be modified so that the plurality of cable commutators are mechanically connected to the force sensor.

[0058] According to the fifteenth example, the first to fourteenth examples can be modified such that the magnitudes of the input and output displacements provided by the plurality of cable commutators are set in proportion to the ratio of the size of the frame structure to the size of the steering input member.

[0059] According to the sixteenth example, a cable-driven parallel manipulator includes an end effector, a mechanical control unit, a steering input member, a set of output cables, and a set of input cables. The end effector has an attached frame structure suitable for remote deployment. The end effector is steerable relative to a plurality of anchors located on the frame structure. The mechanical control unit includes a plurality of cable commutators equal in number to the anchors located on the frame structure. The steering input member is located proximally and has a geometry that replicates the end effector and the frame structure. The set of output cables has a number of cables equal to the number of anchors located on the frame structure, and connects to the end effector from the mechanical control unit, contacting the anchors between the mechanical control unit and the end effector to form a levering action. The set of input cables has a number of cables equal to the number of anchors located on the frame structure, and connects to the mechanical control unit from the steering input member in a mirror-image configuration to the set of output cables connected to the end effector. The mechanical control unit can operably realize the tension displacement of the set of input cables as the tension displacement of the set of output cables. Therefore, the movement of the steering input component causes the multiple cable commutators to retract cables from the mechanical control unit and release cables of equal displacement to the mechanical control unit, thereby causing the end effector to generate a displacement equal to and mirrored that of the steering input component.

[0060] Based on the seventeenth example, the sixteenth example can be modified to make the framework structure scalable and scalable.

[0061] Based on Example 18, Examples 16 and 17 can be modified to enable the end effector to control the minimally invasive interventional device.

[0062] According to the nineteenth example, the sixteenth to eighteenth examples can be modified such that multiple sensors are used to measure the displacement of one or more of the following: the multiple cable commutators; the set of input cables; and the set of output cables.

[0063] Based on the twentieth example, the sixteenth to nineteenth examples can be modified so that each of the plurality of cable commutators can be disengaged by a clutch and can be independently tensioned.

[0064] According to Example 21, Examples 16 through 20 can be modified such that the steering input component is actuated robotically by a motor.

[0065] According to Example 22, Examples 16 through 21 can be modified such that the plurality of cable commutators include pulleys tensioned by torsion springs.

[0066] According to Example 23, Examples 16 through 22 can be modified such that the plurality of cable commutators include racks and pinions tensioned by linear springs.

[0067] According to Example 24, Examples 16 through 23 can be modified such that the plurality of cable commutators include levers tensioned by linear springs.

[0068] According to Example 25, Examples 16 through 24 can be modified such that the plurality of cable commutators include gears tensioned by torsion springs.

[0069] According to Example 26, Examples 16 through 25 can be modified such that the plurality of cable commutators are mechanically connected to one or more of the following: a position sensor, a force sensor, and a torque sensor.

[0070] According to the twenty-seventh example, the sixteenth to twenty-sixth examples can be modified such that the magnitudes of the input and output displacements provided by the cable commutator are set proportionally to the ratio of the size of the frame structure to the size of the steering input member.

[0071] According to the twenty-eighth example, the sixteenth to twenty-seventh examples can be modified such that the steering input member includes a position on the iris mechanism indicating the location of an anchor on the frame structure, the position being operable to be adjusted to be aligned with the frame structure.

[0072] According to the twenty-ninth example, the sixteenth to twenty-eighth examples can be modified such that the steering input component feature representing the anchor is located on the slider, and the steering input component feature can be adjusted in position to improve the correspondence with the anchor of the frame structure.

[0073] According to the thirtieth example, the sixteenth to twenty-ninth examples can be modified such that the end effector controls one or more of the following: a catheter tip, a sensor-containing device; a laser for cardiac ablation; a needle for cardiac diagnostic procedures; or a forward-looking imaging transducer.

[0074] Various embodiments of systems, apparatuses, and methods have been described herein. These embodiments are given by way of example only and are not intended to limit the scope of the claimed subject matter. Furthermore, it should be understood that the various features of the described embodiments can be combined in various ways to produce numerous additional embodiments. In addition, while various materials, sizes, shapes, configurations, and positions, etc., used with the disclosed embodiments have been described, other materials, sizes, shapes, configurations, and positions, etc., besides those disclosed, may be utilized without departing from the scope of the claimed subject matter.

[0075] Those skilled in the art will recognize that the subject matter of this invention may include fewer features than those shown in any of the individual embodiments described above. The embodiments described herein are not intended to exhaustively list all possible combinations of features of the subject matter of this invention. Therefore, the embodiments are not mutually exclusive combinations of features; rather, as will be understood by those skilled in the art, various embodiments may include combinations of different individual features selected from different individual embodiments. Furthermore, elements described with respect to one embodiment may be implemented in other embodiments even if not described therein, unless otherwise stated.

[0076] While dependent claims may refer to a specific combination with one or more other claims in the claims, other embodiments may also include combinations of dependent claims with the subject matter of each other dependent claim, or combinations of one or more features with other dependent or independent claims. Such combinations are presented herein unless explicitly stated otherwise.

[0077] Any inclusion of the foregoing documents by reference is limited to the extent that any subject matter conflicting with the express disclosure herein is excluded. Any inclusion of the foregoing documents by reference is further limited to the extent that any claims included in the documents are excluded from this inclusion. Any inclusion of the foregoing documents by reference is even further limited to the extent that any definitions provided in the documents are excluded from this inclusion unless expressly included herein.

Claims

1. A cable-driven parallel manipulator, comprising: A mechanical control unit, which includes multiple cable commutators; An end effector having an attached frame structure suitable for remote deployment, the end effector being capable of steering relative to a plurality of anchors located on the frame structure; A steering input component, located proximally, having a geometry that replicates the end effector and the frame structure; A set of output cables connects from the mechanical control unit to the end effector at its distal end, and contacts the anchor between the mechanical control unit and the end effector to form a lever action; as well as A set of input cables connects from the steering input member at its proximal end to the mechanical control unit in a manner mirroring the set of output cables connected to the end effector; The plurality of cable commutators retract and release a corresponding amount of the set of input cables in response to the movement of the steering input member, and retract and release an equal amount of the set of output cables, thereby causing the end effector to generate displacement to reproduce the movement of the steering input member.

2. The cable-driven parallel manipulator according to claim 1, wherein the frame structure is expandable and retractable in size.

3. The cable-driven parallel manipulator according to claim 1, wherein a plurality of sensors are used to measure the displacement of the plurality of cable commutators.

4. The cable-driven parallel manipulator according to claim 1, wherein each of the plurality of cable commutators is disengaged by a clutch and is capable of independent tensioning.

5. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable commutators include pulleys tensioned by torsion springs.

6. The cable-driven parallel manipulator according to claim 1, wherein the plurality of cable commutators comprises a rack and pinion tensioned by a linear spring.

7. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable commutators comprises gears tensioned by torsion springs.

8. The cable-driven parallel manipulator according to claim 1, wherein the plurality of cable commutators are mechanically coupled to a position sensor.

9. The cable-driven parallel manipulator according to claim 1, wherein the plurality of cable commutators are mechanically connected to a force sensor.

10. The cable-driven parallel manipulator according to claim 1, wherein the magnitudes of the input displacement and output displacement provided by the plurality of cable commutators are set in proportion to the ratio of the size of the frame structure to the size of the steering input member.

11. A cable-driven parallel manipulator, comprising: An end effector having an attached frame structure suitable for remote deployment, the end effector being capable of steering relative to a plurality of anchors located on the frame structure; A mechanical control unit, the mechanical control unit comprising a plurality of cable commutators equal in number to the number of anchors located on the frame structure; A steering input component, located proximally, having a geometry that replicates the end effector and the frame structure; A set of output cables having a number of cables equal to the number of anchors located on the frame structure, the set of output cables connecting the mechanical control unit to the end effector, contacting the anchors between the mechanical control unit and the end effector to form a lever effect; as well as A set of input cables, having a number of cables equal to the number of anchors located on the frame structure, connects the input cables from the steering input member to the mechanical control unit in a manner mirroring the set of output cables connected to the end effector; The mechanical control unit can operatively convert the tension displacement of the set of input cables into the tension displacement of the set of output cables. Therefore, the movement of the steering input component causes the plurality of cable commutators to retract from the mechanical control unit and release cables of equal displacement to the mechanical control unit, thereby causing the end effector to generate a displacement equal to and mirrored that of the steering input component.

12. The cable-driven parallel manipulator according to claim 11, wherein the frame structure is expandable and retractable.

13. The cable-driven parallel manipulator of claim 11, wherein a plurality of sensors are used to measure displacement of one or more of the following: the plurality of cable commutators; the set of input cables; and the set of output cables.

14. The cable-driven parallel manipulator of claim 11, wherein the steering input member is robotically actuated by a motor.

15. The cable-driven parallel manipulator of claim 11, wherein the plurality of cable commutators comprises gears tensioned by torsion springs.

16. The cable-driven parallel manipulator of claim 11, wherein the plurality of cable commutators are mechanically coupled to one or more of: a position sensor, a force sensor, and a torque sensor.

17. The cable-driven parallel manipulator according to claim 11, wherein the magnitudes of the input displacement and output displacement provided by the cable commutator are set in proportion to the ratio of the size of the frame structure to the size of the steering input member.

18. The cable-driven parallel manipulator of claim 11, wherein the steering input member includes an iris mechanism indicating the position of an anchor on the frame structure, the position being operable to be adjusted for alignment with the frame structure.

19. The cable-driven parallel manipulator of claim 11, wherein the steering input member feature representing the anchor is located on a slider, the steering input member feature being position-adjustable to improve the correspondence with the anchor of the frame structure.

20. The cable-driven parallel manipulator of claim 11, wherein the end effector controls one or more of the following: a catheter tip; a sensor-containing device; a laser for cardiac ablation; a needle for cardiac diagnostic procedures; and a forward-looking imaging transducer.

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