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US 8,491,603 B2Granted
Surgical manipulator
AssigneeMacDonald Dettwiller and Associates Inc.
InventorsBenny Hon Bun Yeung, Dennis Gregoris, Bronislaw Bednarz, Michael A. Gray
Life of this patent
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Abstract
The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.
Claims20
A surgical end-effector, comprising:
- a) an assembly including an interface configured to be attached to a robotic arm, a tool-yaw motor, a tool-actuation motor;
- b) a magnetic tool holder mounted to said assembly and being detachable therefrom, said magnetic tool holder being configured to automatically engage and release a surgical tool;
- c) a tool-actuation mechanism mounted to said assembly and being detachable therefrom, said tool-actuation mechanism being configured to automatically engage and release a piston on the surgical tool, said tool-actuation mechanism being coupled to said tool-actuation motor;
- and
- d) a tool-yaw drive mechanism mounted to said assembly and being detachable therefrom, said tool-yaw drive mechanism being coupled to said tool-yaw motor, wherein upon activation of said tool-yaw drive mechanism the surgical tool engaged by said magnetic tool holder rotates about said tool-yaw axis and wherein upon activation of said tool-actuation mechanism the piston of the engaged surgical tool is linearly retracted or linearly extended with respect to said end-effector thereby activating a tool portion of the surgical tool.
2 more elements
Dependencies are inferred from the claim text.