System and method for a manipulator of surgical tools
AssigneeMedical Devices Corner, Inc.
InventorsSamuel Frishman, John Peter Whitney
Life of this patent
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Abstract
Systems and methods for an actuating needle manipulator with multiple degrees of freedom that can include a translational mechanism; a remote center of motion (RCM) mechanism coupled to a distal end of the translational mechanism; a needle insertion mechanism coupled to the distal end of the RCM mechanism; a set of actuation couplers that are coupled to the translational mechanism and the RCM mechanism for integration with at least four degrees of freedom; and an insertion actuation coupler coupled to the needle insertion mechanism.
Claims24
A system for an actuating needle manipulator with multiple degrees of freedom comprising:
- a translational mechanism;
- a remote center of motion (RCM) mechanism coupled to a distal end of the translational mechanism;
- a needle insertion mechanism coupled to the distal end of the RCM mechanism;
- a set of actuation couplers that are coupled to the translational mechanism and the RCM mechanism for integration with at least four degrees of freedom;
- and
- an insertion actuation coupler coupled to the needle insertion mechanism.
A system comprising:
- an input manipulator system and an output manipulator system, wherein each of the input manipulator system and the output manipulator system comprises:
- a translational mechanism,
- a remote center of motion (RCM) mechanism coupled to a distal end of the translational mechanism,
- a needle insertion mechanism coupled to the distal end of the RCM mechanism, and
- a set of actuation couplers that are coupled to the translational mechanism and the RCM mechanism for integration with at least four degrees of freedom, and
- an insertion actuation coupler coupled to the needle insertion mechanism;
- and
- a hydraulic transmission system, the hydraulic transmission system comprising:
- at least one hydraulic line and an intermediary active transmission interface serially integrated with the at least one hydraulic line, and wherein the hydraulic transmission system couples actuation of the first and manipulator system and the output manipulator system 120 through the at least one hydraulic line.
Dependencies are inferred from the claim text.