Tool placement manipulator
AssigneesCanon U.S.A., Inc., The Brigham and Women's Hospital, Inc.
InventorsPeter Denes Jakab, Nobuhiko Hata, Takahisa Kato, Peter Tia
Life of this patent
Estimating the term…
Abstract
Exemplary relates to medical devices and in particular to a tool placement manipulator with multiple rotary guides and rotation bodies, the rotation bodies being free rotationally to the ring shaped rotary guides and rotational axis of the first rotary guide being slanted with respect to the rotational axis of the second rotary guide. The tool placement manipulator has at least one socket and at least one transmission element that transmits torques from the socket to rotation bodies.
Claims18
A tool placement manipulator comprising:
- a first ring shaped rotary guide;
- a first rotation body which is fixed and is free rotationally to said first ring shaped rotary guide;
- a second ring shaped rotary guide attached to the first rotation body,
- the second ring shaped rotary guide being movable along with the first rotation body;
- a second rotation body which is fixed and is free rotationally to said second ring shaped rotary guide;
- a third ring shaped rotary guide attached to either the first ring shaped rotary guide or the first rotation body;
- a third rotation body which is fixed and is free rotationally to the third ring shaped rotary guide;
- a tool holder which is fixed to the second rotation body and is configured for holding a tool along an axis, the tool holder being movable along with the second rotation body;
- wherein a rotational axis of the first ring shaped rotary guide and a rotational axis of the second ring shaped rotary guide are slanted with respect to each other, and wherein the rotational axis of the first ring shaped rotary guide, the rotational axis of the second ring shaped rotary guide, and the tool holder axis cross each other at one point,
- at least one socket attached to the first ring shaped rotary guide;
- and
- at least one transmission element which is connected between said socket and the first or the third rotation body, and transmits torques from the at least one socket to the first and the third rotation bodies;
- wherein the third rotation body connects to the second rotation body and transmits the torques to the second rotation body.
A manipulator comprising:
- a first ring shaped rotary guide;
- a first rotation body which is fixed and is free rotationally to said first ring shaped rotary guide;
- a second ring shaped rotary guide attached to the first rotation body,
- the second ring shaped rotary guide being movable along with the first rotation body;
- a second rotation body which is fixed and is free rotationally to said second ring shaped rotary guide;
- a third ring shaped rotary guide attached to either the first ring shaped rotary guide or the first rotation body;
- a third rotation body which is fixed and is free rotationally to the third ring shaped rotary guide;
- at least one socket attached to the first ring shaped rotary guide;
- and
- at least one transmission element which is connected between said socket and the first or the third rotation body, and transmits torques from the at least one socket to the first and the third rotation bodies;
- and
- wherein the third rotation body connects to the second rotation body and transmits the torques to the second rotation body.
Dependencies are inferred from the claim text.