Decoupled six degree-of-freedom teleoperated robot system
US5784542A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 23, 1996 |
| Grant date | Jul 21, 1998 |
| Priority date | — |
| Expiry date | Oct 23, 2016 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45123
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.