Device and Method for Controlled Motion of a Tool
AssigneeElytra Technologies, LLC
InventorThomas L. Adelman
Life of this patent
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Abstract
The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.
Claims24
A device for reducing tremor in a tool, comprising:
- a grip suitable for engaging a tool,
- a sensor assembly connected to the grip,
- a micromanipulator associated with the grip, and
- at least one microprocessor operatively connected with the micromanipulator and the sensor assembly,
- wherein when a force is applied to the grip, the sensor assembly sends an input signal to the microprocessor indicative of the applied force, upon receiving the input signal, the microprocessor sends an output signal to the micromanipulator directing the micromanipulator to apply movement to the grip in the direction of the applied force.
The device of claim 5, wherein the tool is selected from the group consisting of a forceps, scalpel, needle, and drill.
A force transducer for a controlled-motion device comprising:
- a first support,
- a sensor connected to the first support,
- a second support, and
- a bridge connected to the second support, wherein the bridge further comprises a magnet,
- wherein the first support is connected to the second support via one or more sheets so that the first support and second support are separated by a gap,
- wherein the magnet is positioned near the sensor when the first support and second support are connected via the one or more sheets, and
- wherein the sensor can sense a change in position between the first support and second support when a force is applied to either the first support or the second support via a change in position of the magnet.
A method for stabilizing the motion of a tool, comprising the steps of:
- sensing a force applied to a grip via a sensor assembly, wherein the grip is associated with a tool,
- sending an input signal to a microprocessor indicative of the applied force,
- sending an output signal from the microprocessor to a micromanipulator, wherein the output signal directs the micromanipulator to apply movement to the grip in the direction of the applied force.
Dependencies are inferred from the claim text.