Multiple-joint input arm for control of a surgical mechanical arm
AssigneeMemic Innovative Surgery Ltd.
InventorsDvir Cohen, Yaron Levinson
Life of this patent
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Abstract
A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a plurality of sections; a plurality of joints sequentially coupling said plurality of sections; at least one sensor configured to measure movement of one or more of said sections; and a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.
Claims76
A surgical system for control of a surgical mechanical arm, which system comprises:
- at least one input arm comprising:
- a plurality of sections;
- a plurality of joints sequentially coupling said plurality of sections;
- at least one sensor configured to measure movement of one or more of said sections;
- and
- a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints;
- and
- circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm
- wherein said weight is sufficient to overcome friction of movement of said section about one or more joint coupling said section to one or more adjacent section.
A surgical system for control of a surgical mechanical arm, which system comprises:
- at least one input arm comprising:
- a plurality of sections;
- a plurality of joints sequentially coupling said plurality of sections, wherein said plurality of joints include one or more rotational joint;
- at least one sensor configured to measure movement of one or more of said sections;
- and
- a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints;
- and
- circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm
- said weight is coupled to a section coupled to a flexion joint, where said section rotates about a rotational joint to return said section to said null configuration.
A surgical system for control of a surgical mechanical arm, which system comprises:
- at least one input arm comprising:
- a plurality of sections;
- a plurality of joints sequentially coupling said plurality of sections comprising a first flexion joint, a second flexion joint, a first rotational joint and a second rotational joint;
- at least one sensor configured to measure movement of one or more of said sections;
- and
- a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints;
- and
- circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.
Dependencies are inferred from the claim text.