Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5807377A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 16, 1997 |
| Grant date | Sep 15, 1998 |
| Priority date | — |
| Expiry date | May 16, 2017 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20335
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures is coupled to a positioning mechanism for supporting and moving the surgical instrument. The positioning mechanism mounts to an operating room table. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection and the positioning mechanism provides a large range of motion to the instrument. The system is operated according to a macro-micro actuation scheme which allows for a large range of motion of the surgical end effector and also allows for sensitive force feedback to a master controller by reducing the measured inertia of the slave system. The macro-micro actuation scheme may be used in conjunction with impedance scaling and force scaling between the instrument and the master controller.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.