Tool actuation and force feedback on robot-assisted microsurgery system
AssigneeCalifornia Institute of Technology
InventorsHari Das, Tim R. Ohm, Curtis D. Boswell, Robert D. Steele
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Abstract
An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.
Claims5
A microsurgery system, comprising:
- a robot manipulator having a plurality of mechanically decoupled joints, said plurality of mechanically decoupled joints allowing actuation of a joint without affecting motion of any other joints;
- an effector coupled to said robot manipulator to apply a force to an object;
- and
- a force feedback element adapted to amplify a return force from said effector.
A method of performing a microsurgery, comprising:
- converting operator hand movements into a series of forces to be applied by a manipulator;
- determining a series of manipulator movements, said movements performed by a combination of manipulator joint movements;
- actuating the manipulator joint movements;
- providing an amplified feedback of a return force felt by said manipulator.
Dependencies are inferred from the claim text.