Robotic apparatus
US6786896B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 17, 2000 |
| Grant date | Sep 7, 2004 |
| Priority date | — |
| Expiry date | Jul 17, 2020 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/29
- WIPO fieldMedical technology
- WIPO sectorInstruments
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 any direction is actuated by at least one micro 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 master 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.