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US 9,399,298 B2Granted
Apparatus and method for providing an adjustable positive stop in space
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
Estimating the term…
Abstract
A method and apparatus are disclosed for constraining motion of an end-effector in space. In one embodiment, the apparatus may include a mechanical positioner and first and second stops. The first and second stops may be controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate an end-effector outside a predetermined range of motion. The first and second stops may be further controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion.
Claims2
An apparatus comprising:
- a mechanical positioner for an end-effector;
- and
- first and second physical stops controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate the end-effector outside a predetermined range of motion, and wherein the first and second physical stops are controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion,
- wherein the drive mechanism is configured to control a location of at least one of the first physical stop and the second physical stop based on a position of a virtual object in a virtual space,
- a proximal link;
- a distal link;
- and
- a joint assembly for controlling the relative position of the proximal and distal links, wherein the joint assembly comprises
- an actuated linkage joint, and
- a passive linkage joint;
- and
- wherein the actuated linkage joint and the passive linkage joint in combination include the first and second physical stops and the mechanical positioner;
- wherein, within the predetermined range of motion, the passive linkage joint moves freely to permit free movement of the end-effector;
- and
- wherein, outside the predetermined range of motion, the passive linkage joint is constrained from moving by at least one of the first and second physical stops;
- wherein the joint assembly forms a prismatic joint assembly which permits a relative linear motion between the actuated linkage joint and the passive linkage joint.
13 more elements
An apparatus comprising:
- a mechanical positioner for an end-effector;
- and
- first and second physical stops controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate the end-effector outside a predetermined range of motion, and wherein the first and second physical stops are controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion,
- wherein the drive mechanism is configured to control a location of at least one of the first physical stop and the second physical stop based on a position of a virtual object in a virtual space,
- a proximal link;
- a distal link;
- and
- a joint assembly for controlling the relative position of the proximal and distal links, wherein the joint assembly comprises
- an actuated linkage joint, and
- a passive linkage joint;
- and
- wherein the actuated linkage joint and the passive linkage joint in combination include the first and second physical stops and the mechanical positioner;
- wherein, within the predetermined range of motion, the passive linkage joint moves freely to permit free movement of the end-effector;
- and
- wherein, outside the predetermined range of motion, the passive linkage joint is constrained from moving by at least one of the first and second physical stops;
- wherein the joint assembly forms a revolute joint assembly which permits a relative rotational motion between the actuated linkage joint and the passive linkage joint.
13 more elements
Dependencies are inferred from the claim text.