Mechanisms for operation of a cable-driven parallel manipulator

Abstract

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 inverters. The end effector has a frame structure attendant therewith 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 proximally located and has geometry replicating the end effector and the frame structure. The set of output cables is connected from the mechanical control unit to the end effector at their distal ends and contacts the anchors therebetween for leverage. The set of input cables is connected from the steering input member at their proximal ends to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector.

Description

MECHANISMS FOR OPERATION OF A CABLE-DRIVENPARALLEL MANIPULATORCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is being filed on February 11, 2025, as a PCT International application and claims the benefit of and priority to US Provisional Patent Application No. 63 / 552,568, filed on February 12, 2024, which is fully incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates to mechanisms for the control and manipulation of an end effector of a device using cable actuation and related systems. More particularly, the disclosure relates to devices controlling an end effector using a mechanical control system as part of a cable-driven parallel manipulator.

[0003] Embodiments of these mechanisms may have many medical, surgical and procedural applications for steering and tracking of interventional devices for minimally invasive procedures. Embodiments can relate to the control and navigation of medical interventional devices such as guidewires, catheters, needles, as well as imaging and ablative devices various minimally invasive interventions. Further, embodiments relate to steerable robotics for remote camera operation applications, continuum robotics applications, search and rescue applications, and tele-operation through long and tortuous paths within confined spaces.

[0004] Throughout this disclosure and claims, references to "cables" should be understood to broadly refer to any type of strings, wires, or similar manipulable components made of metal, fabrics, polymers, or crystals, for example.BACKGROUND

[0005] Cable-driven mechanisms have been widely used for various purposes such as crane operation, camera positioning, painting and services and more recently for medical applications. The low cost, low weight-to-size ratio, and fast dynamics offer specific advantages over conventional rigid link robotic solutions or manipulators that have led to the growing widespread use of such systems. For minimally invasive medical procedures, cable actuated mechanisms have been used to facilitate access to the target area through a long, narrow and tortuous path, while gaining the benefits of cable-driven mechanisms.

[0006] In such systems, where multiple cables are connected to the end-effector, the length of all cables need to be adjusted together in proportion, based on the kinematics of the assembly to allow precise positioning. Typically, this is achieved by the use of controlled motorized actuation of the cables / pull wires. The position and tension data may be used as feedback to steer the end effector in the device workspace. Typically, each cable used requires its own actuator, leading to increasing complexity as the number of cables increases. This is further complicated by the interdependence of the cables due to them all being connected to the end-effector. To accurately account for the required cable displacements, all the cables must be actuated simultaneously. Failure to do so correctly can result in building tension along the cables and at the end-effector tip, risking damage to the device and surroundings. This task is easily achievable when motorized control of the cables are utilized. However, a passive manually operated means of manipulation may be needed for various reasons such as regulatory requirements, cost reduction, compactness, and safety. Achieving the same task, i.e., simultaneous control and manipulation of all the cables for operation of the end effector, through a passive and purely mechanical system becomes a much more challenging endeavor.

[0007] In cable-driven mechanisms, a frame around the workspace can provide anchor points for the cables during operation and steering. For various applications, such as minimally invasive applications, an expandable frame would be necessary. This allows the frame to be contracted, navigated through a tortuous path, and then deployed for operation of the mechanism at the target area. The variable geometry of the frame must be accounted for in the control system of the device. This is significantly more complicated in a passive system than in a motorized system. Additionally, in a passive manual system it is critical that the user input be simple and representative of the end effector motion for intuitive control.

[0008] In view of the foregoing, a solution is needed that allows for the control and actuation of a cable-driven end effector, while handling the interdependence of multiple cables, and variable geometry of an expandable frame to effectively overcome the limitations of past methods and devices.SUMMARY

[0009] The present disclosure provides advancements in cable-driven parallel manipulators that include mechanical control mechanisms for simultaneous, passive control of cables. Various embodiments described or otherwise contemplated herein provide accurate and consistent control of a cable-driven mechanism with simultaneouscontrol of a plurality of interdependent steering cables allowing for manual teleoperation of the system.

[0010] An embodiment is directed 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 inverters. The end effector has a frame structure attendant therewith 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 proximally located and has geometry replicating the end effector and the frame structure. The set of output cables is connected from the mechanical control unit to the end effector at their distal ends and contacts the anchors therebetween for leverage. The set of input cables is connected from the steering input member at their proximal ends to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector. The plurality of cable inverters take in and release quantities of the set of input cables in response to movements of the steering input member and take in and release equivalent quantities of the set of output cables resulting in displacement of the end effector in replication of movements of the steering input member.

[0011] An 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 having a frame structure attendant therewith, adapted for distal deployment. The end effector steerable relative to a plurality of anchors located on the frame structure. The mechanical control unit including of a plurality of cable inverters equivalent to the number of anchors located on the frame structure. The steering input member proximally located and having geometry replicating the end effector and the frame structure. The set of output cables, with cables equivalent to the number of anchors located on the frame structure, connected from the mechanical control unit to the end effector, contacting the anchors therebetween for leverage. The set of input cables, with cables equivalent to the number of anchors located on the frame structure, connected from the steering input member to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector. The mechanical control unit operatively effectuates tensioned displacement of the set of input cables to tensioned displacement of the set of output cables, such that movement of the steering input member causes the plurality of cable inverters to take in and release anequivalent displacement of cables to and from the mechanical control unit, resulting in a displacement of the end effector equivalent and mirrored to the steering input member.

[0012] An embodiment describes a cable-driven parallel manipulator control mechanism that provides passive control of an end effector based on a mechanical control input. The mechanical control unit includes a plurality of cable inverters, which invert the displacement of the input cables, from the user side to the output cables on the endeffector side. Output cables connect from the mechanical control unit to the cable-driven end effector, which is steered within a frame that provides the cables with leverage. Input cables connect from the mechanical control unit to a steering input member which may be the same geometry as that of the end effector in the cable-driven parallel manipulator. As the steering input member is manipulated by the user, the input cable displacements are mirrored (or inverted) by the cable inverters and applied to the output cables, resulting the end effector replicating the displacement of the steering input member and allows for direct tele-operation. Such systems and methods allow a user to intuitively manipulate the position of an end effector through a passive mechanism while receiving position estimation and haptic feedback. Potential applications for these systems include minimally invasive interventions and imaging, control of continuum robotics, search and rescue devices, and confined space robotics.

[0013] Certain embodiments include a scaling ratio between the input cable displacements and output cable displacements in the cable inverters to allow for proportional sizing in the end effector and user input geometries.

[0014] Embodiments described herein can account for a plurality of cables, allowing for multiple degrees of freedom and control in a multi-dimensional workspace.

[0015] The above summary is not intended to describe each illustrated embodiment or every implementation of the subject matter hereof. The figures and the detailed description that follow more particularly exemplify various embodiments.BRIEF DESCRIPTION OF DRAWINGS

[0016] Subject matter hereof may be more completely understood in consideration of the following detailed description of various embodiments in connection with the accompanying figures, in which:

[0017] FIG. 1A shows a cable-driven parallel manipulator, according to an embodiment.

[0018] FIG. IB shows the cable-driven parallel manipulator control unit assembly from FIG. 1A, according to an embodiment.

[0019] FIG. 1C shows a single cable inverter from the controller in FIG. IB, according to an embodiment.

[0020] FIG. 2 shows a single cable inverter, according to an embodiment.

[0021] FIG. 3 shows a single cable inverter, according to an embodiment.

[0022] FIG. 4 shows a single cable inverter, according to an embodiment.

[0023] FIG. 5 shows a single cable inverter with electronic sensors, according to an embodiment.

[0024] FIG. 6 shows cable-driven steerable catheter system using a cable-driven parallel manipulator, according to an embodiment.

[0025] While various embodiments are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the claimed subject matter to particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.DETAILED DESCRIPTION OF DRAWINGS

[0026] Disclosed herein are devices for controlling and actuating a cable-driven end effector while handling the interdependence of multiple cables. Embodiments are capable of handling the variable geometry of an expandable frame with specified mechanical control components and arrangements.

[0027] FIG. 1A shows a perspective view of a divided cable-driven parallel manipulator 100. The cable-driven parallel manipulator 100 includes an end effector assembly 110, a mechanical control unit 120, and a steering input assembly 130, which are each shown segmented apart from one another in FIG. 1A. The distal end 102 of the cable-driven parallel manipulator 100 being at one end of the end effector assembly 110 and the proximal end 104 of the cable-driven parallel manipulator located at the end of the steering input assembly 130.

[0028] In FIG. 1A, an end effector 111 of the end effector assembly 110 is shown. The end effector 111 has a frame structure 112 that is attendant to it and associated with it. The end effector 111 is adapted for distal deployment (i.e. at distal end 102). The end effector 111 is steerable by output cables 123 relative to a plurality of anchors 114 that are located on and about the frame structure 112. The frame structure 112 may take various shapes and sizes. In some embodiments, the frame structure 112 is expandable and retractable in its dimensions and size. In some embodiments, the frame structure 112is rigid. In various embodiments, the end effector 111 controls a minimally invasive interventional device or similar procedural or surgical structure. In some embodiments, the end effector 111 controls one or more of: a catheter tip, a device containing a sensor; a laser for cardiac ablation; a needle for cardiac procedures; or a forward-looking imaging transducer.

[0029] In FIG. 1A, mechanical control unit 120 is shown in a central location with four cable inverters 122. Depending on the embodiment, the quantity and type of cable inverters 122 may vary, for example. Other mechanical control units 120, including various arrangements and types of cable inverters 122 will be discussed throughout this disclosure in greater detail. In some embodiments, the plurality of cable inverters 122, include cables (input cables 121 / output cables 123) equivalent to the quantity of anchors 114 on the frame structure 112. In some embodiments, the set of output cables 123 and the set of input cables 121 is each equivalent to the quantity of anchors 114 located on the frame structure 112. In some embodiments, the mechanical control unit 120 includes one or more sensors to measure displacement of cables or cable inverters. Accordingly, sensors may be used to measure displacement of cable inverters, the set of input cables 121 or the set of output cables 123. Cable inverters can be mechanically coupled to position sensors, force sensors, and / or torque sensors.

[0030] In FIG. 1A, the steering input member 131 of the steering input assembly 130 is shown proximally located (i .e . at proximal end 104) and with a geometry that replicates or otherwise corresponds with the end effector 111 and frame structure 112. In some embodiments, the steering input member 131 is robotically actuated with motors or other automated controls. In some embodiments, the steering input member 131 includes locations on an iris that represent anchors 114 on the frame structure 112 that are manipulable to change to align with the frame structure 112. In some embodiments, the steering input member 131 has features representing anchors 114 that are on sliders which allow for changes in location for improved correlation with the anchors 114 of the frame structure 112.

[0031] Input cables 121, may be referred to as a set, and should be understood to be connected at proximal ends of the cables 121 to the steering input member 131. Specifically, the input cables 121 run from the steering input member 131 of the steering input assembly 130 to the four cable inverters 122 of mechanical control unit 120. This is done in a manner which mirrors the output cables 122, as shown and explained below.

[0032] Output cables 123, may be referred to as a set, should be understood to be connected to the mechanical control unit 120. Specifically, output cables 123 run from the cable inverters 122 of the mechanical control unit 120 to the end effector 111 of the end effector assembly 110 at the distal ends of the output cables 123. The output cables 123 contact anchors 114 therebetween for leverage. As the steering input member 131 is actuated, the input cables 121 transfer the displacements to the cable inverters 122. The cable inverters 122 mirror the displacements of the input cables 121 to the output cables 123, resulting in actuation of the end effector 111 within its frame structure 112, proportional to the steering input member 131 translation.

[0033] Accordingly, the plurality of cable inverters 122 can be understood to take in and release quantities of the input cables 121 in response to movements of the steering input member 131. They are further understood to take in and release quantities of the input cables 121 in response to movements of the steering input member 131 and take in and release equivalent quantities of the output cables 123. This results in displacement of the end effector 111 in replication of movements of the steering input member 131. In some embodiments, cable inverters are mechanically coupled to position sensors. In some embodiments, cable inverters are mechanically coupled to force sensors. In some embodiments, input and output displacements provided by the plurality of cable inverters 122 are sized proportionately to a ratio between the frame structure 112 and size of the steering input member 131.

[0034] In some embodiments, it can be understood that the mechanical control unit 120 operatively effectuates tensioned displacement of the set of input cables 121 to tensioned displacement of the set of output cables 123, such that movement of the steering input member 131 causes the plurality of cable inverters 122 to take in and release an equivalent displacement of cables to and from the mechanical control unit 120, resulting in a displacement of the end effector 111 equivalent and mirrored to the steering input member 131.

[0035] FIG. IB shows a perspective view of the isolated mechanical control unit 120, containing a total of four cable inverters 122 on a mounting plate 126. One for each pair of input cables 121 and output cables 123.

[0036] FIG. 1C shows a perspective view of a single cable inverter 122 from the mechanical control unit 120. Pulley 124 is connected to the input cable 121 and output cable 123. The pulley 124 is preloaded by torsion spring 125, causing it to rotate counterclockwise to the mounting plate 126 and take in any slack in the input cable 121and output cable 123. As slack is released into the system by the steering input member 131, the pulley 124 will take in the slack from input cable 121 and mirror that displacement to output cable 123, taking in an equivalent amount of slack and actuating the end effector 111. When the input cable 121 is actuated away from the cable inverter 122 towards the steering input member 131, with enough force to overcome the torsion spring 125, the cable inverter 122 will release slack to input cable 121 and output cable 123.

[0037] In other embodiments, it is possible to have a scaling ratio between the input and output of the cable inverter 122, resulting in proportional actuation between the steering input member 131 and end effector 111, as outlined in embodiments shown in FIG. 2, FIG. 4, and FIG. 5. Accordingly, in some embodiments, cable inverters 122 may include pulleys tensioned with torsion springs.

[0038] FIG. 2 shows an perspective view of a single cable inverter 200, according to an embodiment. The input gear 201 and output gear 202 are mounted on shafts 203. An input cable 204 leads from a steering input to the input gear 201 and an output cable 205 leads from the output gear 202 to the end effector. The torsion spring 206 actuates the input gear 201 counterclockwise with respect to the fixed base 207, forcing both input gear 201 and output gear 202 to take in any slack in the cables. In certain embodiments, as shown here, there can be a ratio between the input and output actuators, in this instance input gear 201 and output gear 202. When slack is introduced into the system from the steering input by input cable 204, input gear 201 and output gear 202 will remove a proportional amount of slack from the system causing actuation of the end effector. When input cable 204 is actuated away from the output gear 201, towards the steering input, with a high enough force to overcome the torsion spring it will cause the output gear 202 to release a proportional amount of slack on output cable 205 towards the end effector. Accordingly, in some embodiments, cable inverters include gears, tensioned with torsion springs.

[0039] FIG. 3 shows a perspective view of a single cable inverter 300, according to another embodiment. An input gear rack 301 and output gear rack 302 are constrained to travel linearly on shafts 303, within the housing 304. A pinion gear 305, free to rotate on shaft 306, constrains the actuation of the input gear rack 301 and output gear rack 302 together. Springs 307 pre-load the gear racks to remove equal slack from input cable 308 and output cable 309. Accordingly, in some embodiments, cable inverters include a rack and pinion, tensioned with linear springs.

[0040] FIG. 4 shows a perspective view of a single cable inverter 400, according to another embodiment. A lever 401 is free to rotate on shaft 402 with respect to the housing 403. Extension springs 404 bias the lever 401 to rotate clockwise and take in slack from input cable 405 and output cable 406. The ratio between the lever arm connected to input cable 405 and output cable 406 allows for proportional displacement between the steering input and end effector and can account for proportional differences in their geometry. Accordingly, in some embodiments, cable inverters include a lever, tensioned with linear springs.

[0041] FIG. 5 shows a perspective view of a single cable inverter 500, which operates using the same core mechanism as the cable inverter 122 shown in FIG. 1. In this embodiment, a separate input pulley 501 and output pulley 502 are used to actuate input cable 503 and output cable 504. The input pulley 501 and output pulley 502 are mounted on the same shaft 505 and preloaded with torsion spring 506. A clutch 507 clamps the output pulley onto the shoulder 508 of shaft 505. When the clutch 507 is disengaged using the clutch lever 509, the output pulley 502 is free to actuate separately from input pulley 501. This allows for independent slack management between input cable 503 and output cable 504, in certain embodiments. In this embodiment, a rotary sensor 510 is used to track the rotation of shaft 505 and the resulting actuation of input cable 503 and output cable 504. In various embodiments, a plurality of cable inverters 500 can be disengaged with a clutch 507 and independent tensioning is permitted. Various sensors can be used with the various cable inverters and mechanical control mechanisms disclosed herein.

[0042] FIG. 6 shows a perspective view of a steerable catheter system 600 which utilizes a cable-driven parallel manipulator according to an embodiment. The system 600 uses a steering input member 601 , four input cables located inside the handle chassis 602, and four output cables 603, to steer the end effector 604 within the workspace created by the expandable frame 605. The cable inverter mechanisms are located within the handle chassis 602. The output cables 603 travel to the end effector 604 through the catheter body 606.

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

[0044] In accordance with a first example, a cable-driven parallel manipulator, including a mechanical control unit, an end effector, a steering input member, a set ofoutput cables, and a set of input cables. The mechanical control unit includes a plurality of cable inverters. The end effector has a frame structure attendant therewith 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 proximally located and has geometry replicating the end effector and the frame structure. The set of output cables is connected from the mechanical control unit to the end effector at their distal ends and contacts the anchors therebetween for leverage. The set of input cables is connected from the steering input member at their proximal ends to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector. The plurality of cable inverters take in and release quantities of the set of input cables in response to movements of the steering input member and take in and release equivalent quantities of the set of output cables resulting in displacement of the end effector in replication of movements of the steering input member.

[0045] In accordance with a second example, the first example may be modified by the plurality of cable inverters including cables equivalent to the quantity of anchors located on the frame structure.

[0046] In accordance with a third example, the first through second examples may be modified such that the set of output cables and the set of input cables each having equivalent to the quantity of anchors located on the frame structure.

[0047] In accordance with a fourth example, the first through third examples may be modified by frame structure being expandable and retractable in size.

[0048] In accordance with a fifth example, the first through fourth examples may be modified by end effector controlling a minimally invasive interventional device.

[0049] In accordance with a sixth example, the first through fifth examples may be modified by a plurality of sensors being used to measure displacement of the plurality of cable inverters.

[0050] In accordance with a seventh example, the first through sixth examples may be modified where each of the plurality of cable inverters can be disengaged with a clutch and permits independent tensioning.

[0051] In accordance with an eighth example, the first through seventh examples may be modified where the steering input member is robotically actuated with motors.

[0052] In accordance with a ninth example, the first through eighth examples may be modified by wherein the plurality of cable inverters include pulleys tensioned with torsion springs.

[0053] In accordance with a tenth example, the first through ninth examples may be modified such that the the plurality of cable inverters include a rack and pinion, tensioned with linear springs.

[0054] In accordance with an eleventh example, the first through tenth examples may be modified such that the plurality of cable inverters include a lever, tensioned with linear springs.

[0055] In accordance with an twelfth example, the first through eleventh examples may be modified such that the plurality of cable inverters include gears, tensioned with torsion springs.

[0056] In accordance with a thirteenth example, the first through twelfth examples may be modified such that the may be modified by the plurality of cable inverters are mechanically coupled to position sensors.

[0057] In accordance with a fourteenth example, the first through thirteenth examples may be modified such that the plurality of cable inverters are mechanically coupled to force sensors.

[0058] In accordance with a fifteenth example, the first through fourteenth examples may be modified such that the input and output displacements provided by the plurality of cable inverters are sized proportionately to a ratio between the frame structure and size of the steering input member.

[0059] In accordance with a sixteenth example, 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 having a frame structure attendant therewith, adapted for distal deployment. The end effector steerable relative to a plurality of anchors located on the frame structure. The mechanical control unit including of a plurality of cable inverters equivalent to the number of anchors located on the frame structure. The steering input member proximally located and having geometry replicating the end effector and the frame structure. The set of output cables, with cables equivalent to the number of anchors located on the frame structure, connected from the mechanical control unit to the end effector, contacting the anchors therebetween for leverage. The set of input cables, with cables equivalent to the number of anchors located on the frame structure, connected from the steering input member to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector. The mechanical control unit operatively effectuates tensioned displacement of the set of input cables to tensioned displacement of the set of output cables, such thatmovement of the steering input member causes the plurality of cable inverters to take in and release an equivalent displacement of cables to and from the mechanical control unit, resulting in a displacement of the end effector equivalent and mirrored to the steering input member.

[0060] In accordance with a seventeenth example, the sixteenth example may be modified such that the frame structure is expandable and retractable.

[0061] In accordance with an eighteenth example, the sixteenth through seventeenth examples may be modified such that end effector controls a minimally invasive interventional device.

[0062] In accordance with a nineteenth example, the sixteenth through eighteenth examples may be modified such that a plurality of sensors are used to measure displacement of one or more of: the plurality of cable inverters; the set of input cables; and the set of output cables.

[0063] In accordance with a twentieth example, the sixteenth through nineteenth examples may be modified such that the each of the plurality of cable inverters can be disengaged with a clutch and allow independent tensioning.

[0064] In accordance with a twenty-first example, the sixteenth through twentieth examples may be modified such that the steering input member is robotically actuated with motors.

[0065] In accordance with a twenty-second example, the sixteenth through twenty- first examples may be modified such that the plurality of cable inverters include pulleys tensioned with torsion springs.

[0066] In accordance with a twenty-third example, the sixteenth through twenty- second examples may be modified such that the plurality of cable inverters include a rack and pinion, tensioned with linear springs.

[0067] In accordance with a twenty-fourth example, the sixteenth through twenty- third examples may be modified such that the plurality of cable inverters include a lever, tensioned with linear springs.

[0068] In accordance with a twenty-fifth example, the sixteenth through twentyfourth examples may be modified such that the plurality of cable inverters include gears, tensioned with torsion springs.

[0069] In accordance with a twenty-sixth example, the sixteenth through twenty-fifth examples may be modified such that the the plurality of cable inverters are mechanically coupled to one or more of: position sensors, force sensors, and torque sensors.

[0070] In accordance with a twenty-seventh example, the sixteenth through twentysixth examples may be modified such that the input and output displacements provided by the cable inverters are sized proportionately to a ratio between the frame structure and size of the steering input member.

[0071] In accordance with a twenty-eighth example, the sixteenth through twentyseventh examples may be modified such that the steering input member includes locations on an iris that represent anchors on the frame structure that are manipulable to change to align with the frame structure.

[0072] In accordance with a twenty-ninth example, the sixteenth through twentyeighth examples may be modified such that the steering input member features representing anchors are on sliders allowing for changes in location for improved correlation with the anchors of the frame structure.

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

[0074] Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed subject matter. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations, and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed subject matter.

[0075] Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.

[0076] Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other embodiments can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

[0077] Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

Claims

CLAIMS1. A cable-driven parallel manipulator, comprising: a mechanical control unit including of a plurality of cable inverters; an end effector having a frame structure attendant therewith, adapted for distal deployment, the end effector steerable relative to a plurality of anchors located on the frame structure; a steering input member proximally located and having geometry replicating the end effector and the frame structure; a set of output cables connected from the mechanical control unit to the end effector at their distal ends, contacting the anchors therebetween for leverage; and a set of input cables connected from the steering input member at their proximal ends to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector; wherein the plurality of cable inverters take in and release quantities of the set of input cables in response to movements of the steering input member and take in and release equivalent quantities of the set of output cables resulting in displacement of the end effector in replication of movements of the steering input member.

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

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

4. The cable-driven parallel manipulator of claim 1, wherein each of the plurality of cable inverters can be disengaged with a clutch and permits independent tensioning.

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

6. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable inverters include a rack and pinion, tensioned with linear springs.

7. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable inverters include gears, tensioned with torsion springs.

8. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable inverters are mechanically coupled to position sensors.

9. The cable-driven parallel manipulator of claim 1, wherein the plurality of cable inverters are mechanically coupled to force sensors.

10. The cable-driven parallel manipulator of claim 1, wherein input and output displacements provided by the plurality of cable inverters are sized proportionately to a ratio between the frame structure and size of the steering input member.

11. A cable-driven parallel manipulator, comprising: an end effector having a frame structure attendant therewith, adapted for distal deployment, the end effector steerable relative to a plurality of anchors located on the frame structure; a mechanical control unit including of a plurality of cable inverters equivalent to the number of anchors located on the frame structure; a steering input member proximally located and having geometry replicating the end effector and the frame structure; a set of output cables, with cables equivalent to the number of anchors located on the frame structure, connected from the mechanical control unit to the end effector, contacting the anchors therebetween for leverage; and a set of input cables, with cables equivalent to the number of anchors located on the frame structure, connected from the steering input member to the mechanical control unit, in a manner which mirrors the set of output cables connected to the end effector; wherein the mechanical control unit operatively effectuates tensioned displacement of the set of input cables to tensioned displacement of the set of output cables, such that movement of the steering input member causes the plurality of cable inverters to take in and release an equivalent displacement of cables to and from the mechanical control unit, resultingin a displacement of the end effector equivalent and mirrored to the steering input member.

12. The cable -driven parallel manipulator of 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 plurality of cable inverters; 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 with motors.

15. The cable-driven parallel manipulator of claim 11, wherein the plurality of cable inverters include gears, tensioned with torsion springs.

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

17. The cable-driven parallel manipulator of claim 11, wherein input and output displacements provided by the cable inverters are sized proportionately to a ratio between the frame structure and size of the steering input member.

18. The cable-driven parallel manipulator of claim 11, wherein the steering input member includes locations on an iris that represent anchors on the frame structure that are manipulable to change to align with the frame structure.

19. The cable-driven parallel manipulator of claim 11, wherein the steering input member features representing anchors are on sliders allowing for changes in location for improved correlation with the anchors of the frame structure.

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

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