US 10,548,680 B2Grant

Articulated handle for mechanical telemanipulator

Issue Date:2020-02-04

•12 Claims

•33 Drawing Sheets

Abstract

Disclosed is a mechanical telemanipulator handle to control surgical instruments with articulated end-effectors, such as dissectors, scissors or graspers, enhancing a surgeon's performance during various surgical procedures. These surgical instruments may be inserted into surgical incisions in a body of a patient and the articulated end-effector is mounted on the distal extremity of the instrument shaft, comprising a plurality of links interconnected by a plurality of joints, whose movements are remotely controlled at the telemanipulator's proximal handle. This remote actuation is accomplished through mechanical transmission, optimally along flexible elements, which are able to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector at a predetermined scaled ratio. The articulated handle further comprises one or more movement-amplification systems that amplify the movements generated at the handle so that the gripping force at the instrument's end-effector can be increased and the surgeon's ergonomy improved.

Metadata

Assignee

Distalmotion SA

Inventor

Ricardo Daniel Rita Beira

Application Information

Application Number:US 15/536,568

Filing Date:2015-12-18

Priority Date:2014-12-19

Art Unit:3775

Classifications

IPC:

A61B34/00A61B34/37A61B17/29

Field of Search:

A61B 34/77A61B 34/70A61B 34/71

Patent Drawings (33 sheets)

Description

Field of the Invention

[0001] The present invention relates to the field of remotely actuated mechanical systems, more particularly to endoscopic mechanisms, and most particularly to remotely actuated endoscopic surgical instruments. More specifically, this invention relates to articulated handle mechanisms used to control surgical instruments such as graspers, dissectors, and scissors, wherein the orientation of end-effectors in relation to the instrument shaft is able to be controlled. This mechanism is also adapted for any suitable remote actuated application requiring dexterous manipulation with high stiffness and precision such as, but in no way limited to, assembly manipulation, manipulation in narrow places, manipulation in dangerous or difficult environments, and manipulation in contaminated or sterile environments.

Background of the Invention

[0002] Open surgery is still the standard technique for most surgical procedures. It has been used by the medical community for several decades and consists of performing the surgical tasks through a long incision in the abdomen, through which traditional surgical tools are inserted. However, due to the long incision, this approach is extremely invasive for the patients, resulting in substantial blood loss during the surgery and long and painful recovery periods at the hospital.

[0003] In order to reduce the invasiveness of open surgery, laparoscopy, a minimally invasive technique, was developed. Instead of a single long incision, four to five small incisions are made in the patient through which appropriately sized surgical instruments and endoscopic cameras are inserted. Because of the low invasiveness, this technique reduces blood loss and shortens hospital stays and pain. When performed by experienced surgeons, this technique can attain clinical outcomes similar to open surgery. However, despite the above-mentioned advantages, laparoscopy requires extremely advanced surgical skills to manipulate the rigid and long instrumentation. The entry incision acts as a point of rotation, decreasing the surgeon's freedom for positioning and orientating the instruments inside the patient. The movements of the surgeon's hand about this incision are inverted and scaled-up relative to the instrument tip (“fulcrum effect”), which removes dexterity, sensibility and magnifies the tremors of the surgeon's hands. In addition, these long and straight instruments force surgeons to work in a uncomfortable posture, which can be tremendously tiring during several hours of operation and result in stress and discomfort for hands, arms and body. Therefore, due to these drawbacks of laparoscopic instrumentation, these minimally invasive techniques are mainly limited to use in simple surgeries, while only a small minority of surgeons is able to use them in complex procedures.

[0004] To overcome these limitations, surgical robotic systems were developed to provide an easier-to-use approach to complex minimally invasive surgeries. By means of a computerized robotic interface, these systems enable the performance of remote laparoscopy wherein the surgeon sits at a console manipulating two master manipulators to perform the operation through several small incisions. Like laparoscopy, the robotic approach is also minimally invasive, bringing several advantages over open surgery in terms of reduced pain, blood loss, and recovery time. In addition, it also offers better ergonomy for the surgeon compared to open and laparoscopic techniques. However, although being technically easier, robotic surgery brings several negative aspects. A major disadvantage of these systems is related to the extremely high complexity of existing robotic devices, which are composed of complex mechanical and electronic systems, leading to huge costs of acquisition and maintenance, which are not affordable for the majority of surgical departments worldwide. Another drawback of these systems comes from the fact that current surgical robots are very large, competing for precious space within the operating room environment and significantly increasing preparation time. Access to the patient is thus impaired, which, together with a lack of force-feedback, raises safety concerns.

[0005] WO9743942, WO9825666 and US2010011900 disclose a robotic tele-operated surgical instrument, designed to replicate a surgeon's hand movements inside the patient's body. By means of a computerized, robotic interface, it enables the performance of remote laparoscopy wherein the surgeon sits at a console manipulating two joysticks to perform the operation through several small incisions. However, this system does not have autonomy or artificial intelligence, being essentially a sophisticated tool fully controlled by the surgeon. The control commands are transmitted between the robotic master and robotic slave by a complex computer-controlled mechatronic system, which is extremely costly to produce and maintain and difficult to use for the hospital staff.

[0006] WO2013014621 describes a mechanical telemanipulator for remote manipulation with a master-slave configuration, comprising a slave manipulator driven by a kinematically equivalent master manipulator and a mechanical transmission system such that each part of the slave manipulator mirrors the movement of each corresponding part of the master manipulator. Therefore, this system allows surgeons to perform surgical procedures by directly manipulating a control handle in the proximal part of the mechanical telemanipulator while their movements are replicated (scaled down or not) by an articulated instrument that can reach the abdominal cavity of the patient through small incisions or trocars. Although the mechanical transmission system is well adapted to the device, the kinematic model and transmission topology of the handle were not optimized, forcing surgeons to move their hands in non-ergonomic ranges of motion and limiting the amount of gripping force that can be generated at the instrument's end-effector.

[0007] Accordingly, an aim of the present invention is to provide a mechanical telemanipulator handle mechanism with a new configuration, which is able to deliver higher gripping forces to the instrument's end-effector.

[0008] Another aim of the present invention is to provide a mechanical telemanipulator handle mechanism with a more ergonomic range of motion for the surgeon's hands.

Summary of the Invention

[0009] Theses aims and other advantages are achieved by a new articulated handle mechanism, designed to be used at the proximal extremity of a mechanical telemanipulator. This mechanical telemanipulator is intended to control surgical instruments, in the form of, for example, a dissector, scissor or grasper, with articulated distal end-effectors. These distal articulations of the end-effectors are able to (1) operate the surgical instrument in order to accomplish its “open/close” function (for example, grasping or cutting) and (2) provide orientation motions between the end effector and the instrument shaft. The handle corresponds to the distal degrees-of-freedom of the master manipulator and the end-effector corresponds to the distal degrees-of-freedom of the slave manipulator. The mechanical telemanipulator further comprises a mechanical transmission system arranged to kinematically connect all the master degrees-of-freedom to the equivalent end-effector degrees-of-freedom such that the end-effector replicates the movements of the handle.

[0010] In order to deliver higher gripping forces to the instrument's end-effector and to provide a more ergonomic range of motion for the surgeon's hands, the handle comprises an amplification system configured to act on the two distal degrees-of-freedom. With this amplification system, the angular relation between master and slave degrees-of-freedom is changed in some degrees of freedom. While for general degrees-of-freedom of the mechanical telemanipulator there is a “1 to 1” angular relation between a master joint and the equivalent slave joint, the angular relation between the two distal articulations of the handle and the two distal articulations of the end-effector is modified only for the “open/close” function, while the angular relation for orientation motions remains “1 to 1”. For the “open/close” function, the angular relation can be linearly amplified (for instance, “2 to 1” or “3 to 1”) or non-linearly amplified, depending on the invention's embodiment.

Brief Description of Figures

[0011] The invention will be better understood according to the following detailed description of several embodiments with reference to the attached drawings, in which:

[0012] FIG. 1 shows a perspective view of a mechanical telemanipulator according to an embodiment of the current invention;

[0013] FIG. 2 shows a schematic view of a mechanical telemanipulator according to an embodiment of the invention disclosed in WO2013014621;

[0014] FIG. 3 shows a perspective view of a mechanical telemanipulator comprising an articulated end-effector and an articulated handle according to an embodiment of the invention disclosed in WO2013014621;

[0015] FIG. 4 shows a perspective view of a distal end-effector of the mechanical telemanipulator according to an embodiment of the current invention and the invention disclosed in WO2013014621;

[0016] FIG. 5 shows a distal end-effector of the perspective of FIG. 4 in a first active position;

[0017] FIG. 6 shows a distal end-effector of the perspective of FIG. 4 in a second active position;

[0018] FIG. 7 shows a distal end-effector of the perspective of FIG. 4 in a third active position;

[0019] FIG. 8 shows a distal end-effector of the perspective of FIG. 4 in a fourth active position;

[0020] FIG. 9 shows a distal end-effector of the perspective of FIG. 4 in a fifth active position;

[0021] FIG. 10 shows a perspective views of two distal end-effector links;

[0022] FIG. 11 shows the transmission topology for the two distal end-effector links, during an “opened” configuration, according to an embodiment of the invention disclosed in WO2013014621;

[0023] FIG. 12 shows the transmission topology for the two distal end-effector links, during an “closed” configuration, according to an embodiment of the invention disclosed in WO2013014621;

[0024] FIG. 13 shows the transmission topology for the two distal end-effector links, during an “force-applying” configuration, according to an embodiment of the invention disclosed in WO2013014621;

[0025] FIG. 14 shows the transmission topology for a first distal end-effector link, according to an embodiment of the current invention;

[0026] FIG. 15 shows the transmission topology for a second distal end-effector link, according to an embodiment of the current invention;

[0027] FIG. 16 shows a schematic side view of an articulated handle, according to an embodiment of the current invention;

[0028] FIG. 17 shows the transmission topology for two distal end-effector links, during an “opened” configuration, according to an embodiment of the current invention;

[0029] FIG. 18 shows the transmission topology for two distal end-effector links, during an “closed” configuration, according to an embodiment of the current invention;

[0030] FIG. 19 shows the transmission topology for two distal end-effector links, during an “force-applying” configuration, according to an embodiment of the current invention;

[0031] FIG. 20 shows the transmission topology for two distal end-effector links, during an “laterally oriented” configuration, according to an embodiment of the current invention;

[0032] FIG. 21 shows a first perspective view of an articulated handle, according to an embodiment of the current invention;

[0033] FIG. 22 shows a second perspective view of an articulated handle, according to an embodiment of the current invention;

[0034] FIG. 23 shows a third perspective view of an articulated handle, according to an embodiment of the current invention;

[0035] FIG. 24 shows a fourth perspective view of an articulated handle, according to an embodiment of the current invention;

[0036] FIG. 25 shows the transmission topology for two distal end-effector links, during an “closed” configuration, according to an embodiment of the current invention;

[0037] FIG. 26 shows a schematic side view of an articulated handle, according to an embodiment of the current invention;

[0038] FIG. 27 shows the transmission topology for two distal end-effector links, during an “opened” configuration, according to an embodiment of the current invention;

[0039] FIGS. 28 through 35 show motion transmission from first to the second amplification pulleys by various mechanical means according to various embodiments of the current invention.

[0040] FIGS. 36 and 37 show a schematic view of a different mechanical telemanipulator kinematics where embodiments of the current invention can be applied.

[0041] FIG. 38 shows the kinematics of a mechanical telemanipulator found in a hand-held embodiment of the present invention.

[0042] FIG. 39 displays the kinematics of a single cable loop embodiment of the present invention.

Detailed Description of the Invention

[0043] The articulated handle 2, according to an embodiment of the present invention, is intended to be used in a mechanical telemanipulator 1, like the one shown in FIG. 1.

[0044] One of the key features of this type of mechanical telemanipulator 1 lies in its master-slave architecture, which enables a natural replication of the user hand movements, on a proximal handle 2, by a distal end-effector 3 on a remote location.

[0045] According to FIG. 2, the mechanical telemanipulator 1 (according to an embodiment of the current invention and the invention disclosed in WO2013014621) may comprise: i) a master manipulator 4 having a corresponding number of master links 21, 22, 23, 24, 25, 26 interconnected by a plurality of master joints 9, 10, 11, 12, 13, 14, a ii) a handle 2 for operating the mechanical telemanipulator 1, connected to the distal end of the master manipulator 4, iii) a slave manipulator 5 having a number of slave links 27, 28, 29, 30, 31, 32 interconnected by a plurality of slave joints 15, 16, 17, 18, 19, 20; and iv) an end-effector 3 (instrument/tool or a gripper/holder) connected to the distal end of the slave manipulator 5. More particularly, the kinematic chain formed by the plurality of articulated slave links 27, 28, 29, 30, 31, 32 and corresponding slave joints 15, 16, 17, 18, 19, 20 of the slave manipulator 5, may be substantially identical to the kinematic chain formed by the plurality of articulated master links 21, 22, 23, 24, 25, 26 and corresponding master joints 9, 10, 11, 12, 13, 14 of the master manipulator 4.

[0046] Referring still to FIG. 2, the master manipulator 4 and the slave manipulator 5 are connected to each other by a connecting link 6. This connecting link 6 is connected to a ground 7 by a first telemanipulator joint 8. This first telemanipulator joint 8 can be decomposed in a master joint 8m and slave joint 8s, which can respectively be considered as the first proximal joints of the master manipulator 4 and the slave manipulator 5. In the same way, the connecting link 6 can be decomposed in a master link 6m and slave link 6s, which can respectively be considered as the first proximal links of the master manipulator 4 and the slave manipulator 5.

[0047] The configuration of the mechanical telemanipulator can also be described by considering the end-effector 3 to be part of the slave manipulator 5 and the handle 2 to be part of the master manipulator 4. In a broader sense, the links and joints composing the end-effector can be considered distal slave links and joints, while the links and joints composing the handle can be considered distal master links and joints. FIG. 3 shows a close-up view of the proximal handle 2 and the distal end-effector 3, with their respective moving links (according to an embodiment of the invention disclosed in WO2013014621).

[0048] Referring to FIG. 4, the end-effector 3 is connected to the distal extremity of the slave link 29 by a proximal joint, which allows the rotation of the proximal end-effector link 30 by the proximal axis 34 in such a manner that the orientation of the proximal end-effector link 30 with respect to the main axis 33 of the slave link 29 can be changed. The distal end-effector links 31, 32 are pivotally connected to the proximal end-effector link 30 by two distal joints, having coincident axes of rotation, which are represented by the distal axis 35. This distal axis 35 is substantially perpendicular and non-intersecting with the proximal axis 34 and substantially intersects the main axis 33 of the slave link 29. FIGS. 5 to 7 show the end-effector 3 with different angular displacements at the proximal end-effector link 30.

[0049] By actuating the two distal joints, the two distal end-effector links 31, 32 can be angulated over the distal axis 35, with respect to the plane containing the main axis 33 and the distal axis 35, by the angles θ31, θ32. Consequently, by the combination of rotations θ31, θ32, it is possible to operate the surgical instrument, in order to provide orientation motions between the end effector and the slave link 29 (FIG. 8) and to accomplish its “open/close” function (FIG. 9).

[0050] The mechanical telemanipulator 1 further comprises mechanical transmission systems arranged to kinematically connect the slave manipulator 5 with the master manipulator 4 such that the movement (angle of joint) applied on each master joint of the master manipulator 4 is reproduced by the corresponding slave joint of the slave manipulator 5.

[0051] For each degree of freedom of the mechanical telemanipulator 1, different types of mechanical transmissions can be used. In order to minimize the system's overall friction and inertia, while increasing “back-drivability” and stiffness, the mechanical transmission between the majority of the master and slave joints is essentially in the form of pulley-routed flexible elements, where each driven pulley of the slave joint is connected to the respective driving pulley of the master joint, by a multi-stage closed cable loop transmission. As can be seen in FIG. 4, the distal end-effector members 31, 32 are operatively connected to flexible members so that they can be independently rotated in both directions along the distal axis 35. The contact between the flexible elements and the distal end-effector elements is made in the circular grooved surfaces 31a, 31b, 32a, 32b (FIG. 10), which have a pulley-like geometry, forming the pulleys p31 and p32.

[0052] FIG. 11 shows the working principle of this actuation for the case of transmitting the rotations θ25, θ26 from the driving pulleys p25 (shaded in FIG. 11) and p26 (not visible in FIG. 11) around the axis 37, on the proximal handle 2, to the rotations θ31, θ32 of the driven pulleys p31 (shaded in FIG. 11) and p32 (not visible in FIG. 11) around the axis 35, on the end-effector 3. The flexible element 36 is composed by two different segments, 36a, 36b, which form a closed cable loop between the driven pulley p31 of the end-effector link 31 and the driving pulley p25 of the handle link 25. The flexible element 37 (coincident with flexible element 36 in FIG. 11) is composed by two different segments 37a, 37b, which form a closed cable loop between the driven pulley p32 end-effector link 32 (dashed in FIG. 11) and the driving pulley p26 of the handle link 26 (dashed in FIG. 11). These flexible elements 36, 37 connect the driving pulley 25p to the driven pulley 31p and the driving pulley 26p to the driven pulley 32p so that θ31=θ25 and θ32=θ26.

[0053] FIG. 12 show the configuration where θ25=θ26=0. In this case, θ31=θ32=0, and the end-effector remains closed while no gripping force is being applied between the end-effector links 31 and 32. To increase the gripping force of the end-effector 3, the handle links 25 and 26, which are parallel but separated by an offset o (FIG. 12), need to be further moved towards each other, by the angles θ25, θ26 (FIG. 13). These further movements stretch the segments 36a and 37b, which increases the force of the end-effector link 31 against the end-effector link 32. However, as can be seen in FIG. 13, the amount of griping force that can be achieved in this configuration, which is related to the rotation angles θ25, θ26, is geometrically limited by the physical collision between the handle links 25 and 26.

[0054] An articulated handle 2 able to overcome the above mentioned limitation is shown, inter alia, in FIGS. 14 to 27, according to different embodiments of the present invention. It comprises an amplification system that is introduced at the handle 2 level so that i) the rotations θ25, θ26 are not physically limited (or the limitation allows for broader ranges of θ25 and θ26) and ii) there is an amplification factor α between the rotation of the handle links 25 and 26 and the end-effector links 31 and 32, so that, when the end-effector links 31 and 32 are already in contact, the same movement of the handle links 25 and 26 will create a higher stretch on the segments 36a and 37b, which therefore increases the gripping force at the end-effector (compared with the handle mechanisms shown in FIGS. 11 to 13).

[0055] Just like in the previous systems shown in FIGS. 11 to 13 (embodiments of WO2013014621), the driven pulley p32 is connected to the driving pulley p26 by the flexible element 37. However, in this solution, instead of being rigidly attached to the handle link 26, the driving pulley p26 is rigidly attached to a first amplification pulley p26a, which is connected to a second amplification pulley p26b by a handle flexible element 126. This second amplification pulley p26b is able to rotate around a second axis 40 and is rigidly attached to the replacement handle link 26′, which replaces the handle link 26 from the system shown in FIGS. 11 to 13. The ratio between the diameters of second amplification pulley p26b and the first amplification pulley p26a correspond to the amplification factor α of the handle 2, which corresponds also to the ratio between the angle θ32 of the end-effector link 32 and the angle θ26′ of the replacement handle link 26′ (θ32/θ26′=Øp26b/Øp26a=α).

[0056] FIG. 15 shows the previously described system applied to the actuation of the end-effector link 31. Just like in the previous systems shown in FIGS. 11 to 13, the driven pulley p31 is connected to the driving pulley p25 by the flexible element 36. However, in this solution, instead of being rigidly attached to the handle link 25, the driving pulley p25 is rigidly attached to a first amplification pulley p25a, which is connected to a second amplification pulley p25b by a handle flexible element 125. This second amplification pulley p25b is able to rotate around a second axis 40 and is rigidly attached to the replacement handle link 25′, which replaces the handle link 25 from the system shown in FIGS. 13 to 15. The ratio between the diameters of second amplification pulley p25b and the first amplification pulley p25a correspond to the amplification factor α of the handle 2, which corresponds also to the ratio between the angle θ31 of the end-effector link 31 and the angle θ25′ of the replacement handle link 25′ (θ31/θ25′=Øp25b/Øp25a=α=θ32/θ26′=Øp26b/Øp26a).

[0057] FIG. 16 shows the side view of an embodiment of the current invention where the replacement handle link 25′ and replacement handle link 26′ are merged in a single replacement handle link 38 and the second amplification pulley p25b and the second amplification pulley p26b are merged in a single second amplification pulley 39. As can be seen in FIG. 17, this solution enables to simultaneously trigger the actuation to both the end-effector link 31 and end-effector link 32, with an amplification factor α (θ38.α=θ25=θ26).

[0058] FIG. 18 shows the configuration where θ38=0. In this case, θ31=θ32=0, the end-effector remains closed while no gripping force is being applied between the end-effector links 31 and 32. To increase the gripping force of the end-effector 3, the replacement handle link 38 needs to be further moved towards the closing direction, by an angle θ38 (FIG. 19). This movement stretches the segments 36a and 37b and therefore increases the force of the end-effector link 31 against the end-effector link 32. This stretching of the cables (and consequent increase in gripping force) is higher than in the configuration shown in FIG. 13, due to the amplification factor α and by the fact that the two handle links 25, 26 are not physical colliding between them.

[0059] In order to provide orientation motions θ31, θ32 between the end effector 3 and the slave link 29 (FIG. 8), the structural element 46 is rotated by and angle θ37, while the replacement handle link 38 remains stationary in relation to the structural element 46 (FIG. 20). This structural element 46 is able to pivot around the handle axis 37 and is where the second amplification pulleys p25b, p26b are mounted to rotate around the axis 40. This causes the end-effector link 31 and the end-effector link 32 to move θ31, θ32 in the same angle as θ37, with no amplification (θ31=θ33=θ37). However, a second amplification factor α2 could be used for these degrees of freedom.

[0060] FIGS. 21 to 24 show an embodiment of the handle 2 in different perspective views. A holder 42 may be attached to the handle 2 so that it can be more easily and ergonomically manipulated by the user.

[0061] While this invention has been shown and described with reference to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. For instance, the replacement handle link 25′ and replacement handle link 26′ may not be merged (FIG. 25) and the second axis 40, around which the second amplification pulley p26b is able to rotate, may be perpendicular and non-intersecting with the axis 37 (FIG. 26). In another embodiment, there can be a spring element 43 that can bring the replacement handle link 38 to an opened default position (FIG. 27).

[0062] In other embodiments, the rotation can transmitted from first amplification pulleys p25a, p26a to the second amplification pulleys p25b, p26b by different mechanical solutions (FIGS. 28 to 33). In the previously described embodiments (FIGS. 14 to 27) the motion transmission is made by flexible elements 125a, 125b, 126a, 126b whose extremities are fixed to the first and second amplification pulleys p25a, p26a, p25b, p26b in a crossed (FIG. 28) and uncrossed (FIG. 29) configuration. In the embodiment of FIG. 30, the motion transmission is made by the friction force between the first amplification pulley p25a, p26a and second amplification pulley p25b, p26b. In the embodiment of FIG. 31, the motion transmission is made by a contact force (using teeth or other method to increase contact forces). In the embodiment of FIG. 34, the motion transmission is made by a push-pull element 44, which is pivotally connected to the first amplification pulley p25a, p26a and second amplification pulley p25b, p26b. In the embodiment of FIG. 35, the motion transmission is made by constant-pitch element 45 (which can take the form of a timing belt, a chain or a bead chain) that can engage the first amplification pulley p25a, p26a and second amplification pulley p25b, p26b. In still further embodiments, the embodiments previously described (FIGS. 28 to 33) can be used to transmit motion between non-circular first and second amplification pulleys p25a, p26a, p25b, p26b (FIG. 34) or to transmit motion between eccentrically rotating first and second amplification pulleys p25a, p26a, p25b, p26b (FIG. 35). In both the embodiments of FIGS. 32 and 33, non-constant amplification factors can be achieved.

[0063] In other embodiments, the mechanical telemanipulator 1 can assume other kinematics, like the ones shown in FIGS. 36, 37 and 38 (hand-held device).

[0064] In another embodiment of the current invention, instead of having multiple cable loops to actuate each degree-of-freedom, single cable loops 37 and 36 are directly connecting the driven pulleys p32 and p31 to the amplification pulley 39 (FIG. 39). In this solution, the driving pulleys p26 and p25 are converted into idle pulleys i26 and i25 that are able to turn around the axis 37. In addition, the ratio between the diameters of the idle pulleys i26, i25 and the amplification pulley 39 correspond to the amplification factor α of the handle 2, which corresponds also to the ratio between the angles θ32 and 031 of the end-effector link 32 and the angle θ38 of the replacement handle link 38 (θ32/θ38=α; θ31/θ38=α; Øi26/Ø39=α; Øi25/Ø39=α).

Claims

The invention claimed is:

1. An articulated handle for a mechanical telemanipulator comprising:

a plurality of handle links interconnected by a corresponding plurality of handle joints, at least one of the plurality of handle links coupled to a master link of a plurality of master links of a master manipulator, the plurality of master links interconnected by a corresponding plurality of master joints,

wherein the articulated handle is operatively coupled to an articulated end-effector comprising a plurality of end-effector links interconnected by a corresponding plurality of end-effector joints, at least one of the end-effector links coupled to a slave link of a plurality of slave links of a slave manipulator via a driven pulley, the plurality of slave links interconnected by a corresponding plurality of slave joints, such that movement applied to each master joint of the master manipulator is reproduced by the corresponding slave joint of the slave manipulator, and

wherein movement applied to a first handle link is reproduced, at a predetermined amplification, at a corresponding first end-effector link via an amplification pulley operatively coupled to the driven pulley.

2. The articulated handle of claim 1, wherein movement applied to a second handle link is reproduced, at a second predetermined amplification, at a corresponding second end-effector link.

3. The articulated handle of claim 1, wherein the angular movement of a single handle link is able to be reproduced, with a predetermined amplification factor, by two different end-effector links, which rotate in opposite directions.

4. The articulated handle of claim 1, wherein movement transmission between a handle link and an end-effector link is accomplished by a single loop flexible transmission element, comprising a flexible element selected from the group consisting of wires, chains, ropes and belts.

5. The articulated handle of claim 1, wherein movement transmission between a handle link and an end-effector link is accomplished by a multi loop transmission element.

6. The articulated handle of claim 5, wherein a proximal stage of the multi loop transmission element comprises a rigid linkage mechanism.

7. The articulated handle of claim 5, wherein a proximal stage of the multi loop transmission element is accomplished by contact force between at least two mechanical elements.

8. The articulated handle of claim 7, wherein the contact force between the at least two mechanical elements is maximized by the use of teethed geometries.

9. The articulated handle of claim 1, wherein the predetermined amplification is consistent with the movement applied to the first handle link.

10. The articulated handle of claim 1, wherein the predetermined amplification is inconsistent with the movement applied to the first handle link.

11. The articulated handle of claim 1, further comprising a spring element configured to bring the at least one handle link to a default position when it is not being actuated by a user and to bring the at least one end-effector link to a corresponding default position when the at least one handle link is not being actuated by the user.

12. The articulated handle of claim 1, wherein the mechanical telemanipulator has a hand-held configuration, without any base support, so that a user can control movement of the articulated end-effector only by actuating the articulated handle.

Patent Citations (434)

Patent	Date	Inventor	Cited By
US2764301(A)	1956-09-01	Goertz et al.	Applicant
US2771199(A)	1956-11-01	Jelatis	Applicant
US2774488(A)	1956-12-01	Goertz	Applicant
US2846084(A)	1958-08-01	Goertz et al.	Applicant
US3065863(A)	1962-11-01	Saunders, Jr.	Applicant
US3095096(A)	1963-06-01	Chesley	Applicant
US3212651(A)	1965-10-01	Specht et al.	Applicant
US3261480(A)	1966-07-01	Haaker et al.	Applicant
US3297172(A)	1967-01-01	Haaker et al.	Applicant
US3391801(A)	1968-07-01	Haaker	Applicant
US3425569(A)	1969-02-01	Haaker et al.	Applicant
US4221516(A)	1980-09-01	Haaker et al.	Applicant
US4756655(A)	1988-07-01	Jameson	Applicant
US5147357(A)	1992-09-01	Rose et al.	Applicant
US5176352(A)	1993-01-01	Braun	Applicant
US5207114(A)	1993-05-01	Salisbury et al.	Applicant
US5209747(A)	1993-05-01	Knoepfler	Applicant
US5304203(A)	1994-04-01	El-Mallawany et al.	Applicant
US5308358(A)	1994-05-01	Bond et al.	Applicant
US5330502(A)	1994-07-01	Hassler et al.	Applicant
US5368606(A)	1994-11-01	Marlow et al.	Applicant
US5383888(A)	1995-01-01	Zvenyatsky et al.	Applicant
US5484435(A)	1996-01-01	Fleenor et al.	Applicant
US5599151(A)	1997-02-01	Daum et al.	Applicant
US5603723(A)	1997-02-01	Aranyi et al.	Applicant
US5631973(A)	1997-05-01	Green	Applicant
US5649956(A)	1997-07-01	Jensen et al.	Applicant
US5710870(A)	1998-01-01	Ohm et al.	Applicant
US5716352(A)	1998-02-01	Viola et al.	Applicant
US5735874(A)	1998-04-01	Measamer et al.	Applicant
US5784542(A)	1998-07-01	Ohm et al.	Applicant
US5797900(A)	1998-08-01	Madhani et al.	Applicant
US5810716(A)	1998-09-01	Mukherjee et al.	Applicant
US5810805(A)	1998-09-01	Sutcu et al.	Applicant
US5828813(A)	1998-10-01	Ohm	Applicant
US5908436(A)	1999-06-01	Cuschieri et al.	Applicant
US5931832(A)	1999-08-01	Jensen	Applicant
US5951587(A)	1999-09-01	Qureshi et al.	Applicant
US5976122(A)	1999-11-01	Madhani et al.	Applicant
US6026701(A)	2000-02-01	Reboulet	Applicant
US6132368(A)	2000-10-01	Cooper	Applicant
US6197017(B1)	2001-03-01	Brock et al.	Applicant
US6206903(B1)	2001-03-01	Ramans	Applicant
US6233504(B1)	2001-05-01	Das et al.	Applicant
US6281651(B1)	2001-08-01	Haanpaa et al.	Applicant
US6312435(B1)	2001-11-01	Wallace et al.	Applicant
US6331181(B1)	2001-12-01	Tierney et al.	Applicant
US6358249(B1)	2002-03-01	Chen et al.	Applicant
US6361534(B1)	2002-03-01	Chen et al.	Applicant
US6364879(B1)	2002-04-01	Chen et al.	Applicant
US6371952(B1)	2002-04-01	Madhani et al.	Applicant
US6394998(B1)	2002-05-01	Wallace et al.	Applicant
US6435794(B1)	2002-08-01	Springer	Applicant
US6459926(B1)	2002-10-01	Nowlin et al.	Applicant
US6491701(B2)	2002-12-01	Tierney et al.	Applicant
US6554844(B2)	2003-04-01	Lee et al.	Applicant
US6587750(B2)	2003-07-01	Gerbi et al.	Applicant
US6594552(B1)	2003-07-01	Nowlin et al.	Applicant
US6671581(B2)	2003-12-01	Niemeyer et al.	Applicant
US6699177(B1)	2004-03-01	Wang et al.	Applicant
US6786896(B1)	2004-09-01	Madhani et al.	Applicant
US6788999(B2)	2004-09-01	Green	Applicant
US6840938(B1)	2005-01-01	Morley et al.	Applicant
US6850817(B1)	2005-02-01	Green	Applicant
US6852107(B2)	2005-02-01	Wang et al.	Applicant
US6879880(B2)	2005-04-01	Nowlin et al.	Applicant
US6902560(B1)	2005-06-01	Morley et al.	Applicant
US6913613(B2)	2005-07-01	Schwarz et al.	Applicant
US6951535(B2)	2005-10-01	Ghodoussi et al.	Applicant
US6991627(B2)	2006-01-01	Madhani et al.	Applicant
US6994708(B2)	2006-02-01	Manzo	Applicant
US7048745(B2)	2006-05-01	Tierney et al.	Applicant
US7083571(B2)	2006-08-01	Wang et al.	Applicant
US7090637(B2)	2006-08-01	Danitz et al.	Applicant
US7101363(B2)	2006-09-01	Nishizawa et al.	Applicant
US7204836(B2)	2007-04-01	Wagner et al.	Applicant
US7232440(B2)	2007-06-01	Dumbauld et al.	Applicant
US7241289(B2)	2007-07-01	Braun	Applicant
US7306597(B2)	2007-12-01	Manzo	Applicant
US7316681(B2)	2008-01-01	Madhani et al.	Applicant
US7338513(B2)	2008-03-01	Lee et al.	Applicant
US7364582(B2)	2008-04-01	Lee	Applicant
US7373219(B2)	2008-05-01	Nowlin et al.	Applicant
US7398707(B2)	2008-07-01	Morley et al.	Applicant
US7481824(B2)	2009-01-01	Boudreaux et al.	Applicant
US7549998(B2)	2009-06-01	Braun	Applicant
US7594912(B2)	2009-09-01	Cooper et al.	Applicant
US7608039(B1)	2009-10-01	Todd	Applicant
US7615002(B2)	2009-11-01	Rothweiler et al.	Applicant
US7615067(B2)	2009-11-01	Lee et al.	Applicant
US7674255(B2)	2010-03-01	Braun	Applicant
US7699855(B2)	2010-04-01	Anderson et al.	Applicant
US7756036(B2)	2010-07-01	Druke et al.	Applicant
US7819894(B2)	2010-10-01	Mitsuishi et al.	Applicant
US7824401(B2)	2010-11-01	Manzo et al.	Applicant
US7828798(B2)	2010-11-01	Buysse et al.	Applicant
US7833156(B2)	2010-11-01	Williams et al.	Applicant
US7890211(B2)	2011-02-01	Green	Applicant
US7914521(B2)	2011-03-01	Wang et al.	Applicant
US7976458(B2)	2011-07-01	Stefanchik et al.	Applicant
US8048084(B2)	2011-11-01	Schneid	Applicant
US8105320(B2)	2012-01-01	Manzo	Applicant
US8114017(B2)	2012-02-01	Bacher	Applicant
US8137263(B2)	2012-03-01	Marescaux et al.	Applicant
US8142447(B2)	2012-03-01	Cooper et al.	Applicant
US8224485(B2)	2012-07-01	Unsworth	Applicant
US8246617(B2)	2012-08-01	Welt et al.	Applicant
US8267958(B2)	2012-09-01	Braun	Applicant
US8287469(B2)	2012-10-01	Stefanchik et al.	Applicant
US8292889(B2)	2012-10-01	Cunningham et al.	Applicant
US8306656(B1)	2012-11-01	Schaible et al.	Applicant
US8308738(B2)	2012-11-01	Nobis et al.	Applicant
US8332072(B1)	2012-12-01	Schaible et al.	Applicant
US8336751(B2)	2012-12-01	Scirica	Applicant
US8347754(B1)	2013-01-01	Veltri et al.	Applicant
US8353898(B2)	2013-01-01	Lutze et al.	Applicant
US8357161(B2)	2013-01-01	Mueller	Applicant
US8382742(B2)	2013-02-01	Hermann et al.	Applicant
US8388516(B2)	2013-03-01	Sholev	Applicant
US8403832(B2)	2013-03-01	Cunningham et al.	Applicant
US8414475(B2)	2013-04-01	Sholev	Applicant
US8418904(B2)	2013-04-01	Wenchell et al.	Applicant
US8423186(B2)	2013-04-01	Itkowitz et al.	Applicant
US8435171(B2)	2013-05-01	Sholev	Applicant
US8496152(B2)	2013-07-01	Viola	Applicant
US8518024(B2)	2013-08-01	Williams et al.	Applicant
US8523900(B2)	2013-09-01	Jinno et al.	Applicant
US8540748(B2)	2013-09-01	Murphy et al.	Applicant
US8562592(B2)	2013-10-01	Conlon et al.	Applicant
US8568444(B2)	2013-10-01	Cunningham	Applicant
US8579176(B2)	2013-11-01	Smith et al.	Applicant
US8591397(B2)	2013-11-01	Berkelman et al.	Applicant
US8602287(B2)	2013-12-01	Yates et al.	Applicant
US8603077(B2)	2013-12-01	Cooper et al.	Applicant
US8617203(B2)	2013-12-01	Stefanchik et al.	Applicant
US8663270(B2)	2014-03-01	Donnigan et al.	Applicant
US8668689(B2)	2014-03-01	Dumbauld et al.	Applicant
US8668702(B2)	2014-03-01	Awtar et al.	Applicant
US8690755(B2)	2014-04-01	Sholev	Applicant
US8696666(B2)	2014-04-01	Sanai et al.	Applicant
US8709000(B2)	2014-04-01	Madhani et al.	Applicant
US8761930(B2)	2014-06-01	Nixon	Applicant
US8768509(B2)	2014-07-01	Unsworth	Applicant
US8792688(B2)	2014-07-01	Unsworth	Applicant
US8801752(B2)	2014-08-01	Fortier et al.	Applicant
US8816628(B2)	2014-08-01	Nowlin et al.	Applicant
US8818560(B2)	2014-08-01	Kishi	Applicant
US8821480(B2)	2014-09-01	Burbank	Applicant
US8827135(B2)	2014-09-01	Amid et al.	Applicant
US8828046(B2)	2014-09-01	Stefanchik et al.	Applicant
US8845517(B2)	2014-09-01	Russo	Applicant
US8845622(B2)	2014-09-01	Paik et al.	Applicant
US8870049(B2)	2014-10-01	Amid et al.	Applicant
US8870867(B2)	2014-10-01	Walberg et al.	Applicant
US8887979(B2)	2014-11-01	Mastri et al.	Applicant
US8894674(B2)	2014-11-01	Balanev et al.	Applicant
US8919348(B2)	2014-12-01	Williams et al.	Applicant
US8930027(B2)	2015-01-01	Schaible et al.	Applicant
US8945098(B2)	2015-02-01	Seibold et al.	Applicant
US8961499(B2)	2015-02-01	Paik et al.	Applicant
US8961514(B2)	2015-02-01	Garrison	Applicant
US8968187(B2)	2015-03-01	Kleyman et al.	Applicant
US8989844(B2)	2015-03-01	Cinquin et al.	Applicant
US8992564(B2)	2015-03-01	Jaspers	Applicant
US9023015(B2)	2015-05-01	Penna	Applicant
US9033998(B1)	2015-05-01	Schaible et al.	Applicant
US9044238(B2)	2015-06-01	Orszulak	Applicant
US9084606(B2)	2015-07-01	Greep	Applicant
US9113861(B2)	2015-08-01	Martin et al.	Applicant
US9149339(B2)	2015-10-01	Unsworth	Applicant
US9204939(B2)	2015-12-01	Frimer et al.	Applicant
US9295379(B2)	2016-03-01	Sholev	Applicant
US9307894(B2)	2016-04-01	Von Grunberg et al.	Applicant
US9333040(B2)	2016-05-01	Shellenberger et al.	Applicant
US9345545(B2)	2016-05-01	Shellenberger et al.	Applicant
US9360934(B2)	2016-06-01	Ruiz Morales et al.	Applicant
US9474580(B2)	2016-10-01	Hannaford et al.	Applicant
US9480531(B2)	2016-11-01	Von Grunberg	Applicant
US9492240(B2)	2016-11-01	Itkowitz et al.	Applicant
US9504456(B2)	2016-11-01	Frimer et al.	Applicant
US9603672(B2)	2017-03-01	Shellenberger et al.	Applicant
US9669542(B2)	2017-06-01	Karguth et al.	Applicant
US9696700(B2)	2017-07-01	Beira et al.	Applicant
US9757204(B2)	2017-09-01	Frimer et al.	Applicant
US9757206(B2)	2017-09-01	Frimer et al.	Applicant
US9795282(B2)	2017-10-01	Sholev et al.	Applicant
US9795454(B2)	2017-10-01	Seeber et al.	Applicant
US9877794(B2)	2018-01-01	Csiky	Applicant
USD816243(S)	2018-04-01	Barber	Applicant
US9937013(B2)	2018-04-01	Frimer et al.	Applicant
US9943372(B2)	2018-04-01	Sholev et al.	Applicant
US10028792(B2)	2018-07-01	Frimer et al.	Applicant
US10039609(B2)	2018-08-01	Frimer et al.	Applicant
US10052157(B2)	2018-08-01	Frimer et al.	Applicant
US10064691(B2)	2018-09-01	Beira et al.	Applicant
US10071488(B2)	2018-09-01	Robinson et al.	Applicant
US10092164(B2)	2018-10-01	Sholev et al.	Applicant
US10092359(B2)	2018-10-01	Beira et al.	Applicant
US10092365(B2)	2018-10-01	Seeber	Applicant
US10136956(B2)	2018-11-01	Seeber	Applicant
US10201392(B2)	2019-02-01	Frimer et al.	Applicant
US10265129(B2)	2019-04-01	Beira	Applicant
US10325072(B2)	2019-06-01	Beira et al.	Applicant
US2002/0040217(A1)	2002-04-01	Jinno	Applicant
US2002/0049367(A1)	2002-04-01	Irion et al.	Applicant
US2002/0072736(A1)	2002-06-01	Tierney et al.	Applicant
US2003/0155747(A1)	2003-08-01	Bridges	Applicant
US2003/0208186(A1)	2003-11-01	Moreyra	Applicant
US2004/0049205(A1)	2004-03-01	Lee et al.	Applicant
US2004/0236316(A1)	2004-11-01	Danitz et al.	Applicant
US2004/0253079(A1)	2004-12-01	Sanchez	Applicant
US2005/0096502(A1)	2005-05-01	Khalili	Applicant
US2005/0204851(A1)	2005-09-01	Morley et al.	Applicant
US2005/0240078(A1)	2005-10-01	Kwon et al.	Applicant
US2006/0043698(A1)	2006-03-01	Bridges	Applicant
US2006/0178559(A1)	2006-08-01	Kumar et al.	Applicant
US2006/0183975(A1)	2006-08-01	Saadat et al.	Applicant
US2006/0219065(A1)	2006-10-01	Jinno et al.	Applicant
US2006/0235436(A1)	2006-10-01	Anderson et al.	Applicant
US2006/0253109(A1)	2006-11-01	Chu	Applicant
US2007/0088340(A1)	2007-04-01	Brock et al.	Applicant
US2007/0137371(A1)	2007-06-01	Devengenzo et al.	Applicant
US2007/0156123(A1)	2007-07-01	Moll et al.	Applicant
US2007/0208375(A1)	2007-09-01	Nishizawa et al.	Applicant
US2007/0299387(A1)	2007-12-01	Williams et al.	Applicant
US2008/0039255(A1)	2008-02-01	Jinno et al.	Applicant
US2008/0046122(A1)	2008-02-01	Manzo et al.	Applicant
US2008/0058776(A1)	2008-03-01	Jo et al.	Applicant
US2008/0071208(A1)	2008-03-01	Voegele et al.	Applicant
US2008/0103492(A1)	2008-05-01	Morley et al.	Applicant
US2008/0177285(A1)	2008-07-01	Brock et al.	Applicant
US2008/0243106(A1)	2008-10-01	Coe et al.	Applicant
US2008/0314181(A1)	2008-12-01	Schena	Applicant
US2009/0036902(A1)	2009-02-01	DiMaio et al.	Applicant
US2009/0198253(A1)	2009-08-01	Omori	Applicant
US2009/0216248(A1)	2009-08-01	Uenohara et al.	Applicant
US2009/0216249(A1)	2009-08-01	Jinno et al.	Applicant
US2009/0247821(A1)	2009-10-01	Rogers	Applicant
US2009/0248039(A1)	2009-10-01	Cooper et al.	Applicant
US2009/0299141(A1)	2009-12-01	Downey et al.	Applicant
US2010/0004508(A1)	2010-01-01	Naito et al.	Applicant
US2010/0023025(A1)	2010-01-01	Zeiner et al.	Applicant
US2010/0094130(A1)	2010-04-01	Ninomiya et al.	Applicant
US2010/0121347(A1)	2010-05-01	Jaspers	Applicant
US2010/0160929(A1)	2010-06-01	Rogers et al.	Applicant
US2010/0160940(A1)	2010-06-01	Lutze et al.	Applicant
US2010/0170519(A1)	2010-07-01	Romo et al.	Applicant
US2010/0225209(A1)	2010-09-01	Goldberg et al.	Applicant
US2010/0305595(A1)	2010-12-01	Hermann	Applicant
US2010/0318099(A1)	2010-12-01	Itkowitz et al.	Applicant
US2010/0318101(A1)	2010-12-01	Choi	Applicant
US2010/0331859(A1)	2010-12-01	Omori	Applicant
US2011/0087236(A1)	2011-04-01	Stokes et al.	Applicant
US2011/0087238(A1)	2011-04-01	Wang et al.	Applicant
US2011/0213346(A1)	2011-09-01	Morley et al.	Applicant
US2011/0230867(A1)	2011-09-01	Hirschfeld et al.	Applicant
US2011/0275901(A1)	2011-11-01	Shelton, IV	Applicant
US2011/0276084(A1)	2011-11-01	Shelton, IV	Applicant
US2011/0290854(A1)	2011-12-01	Timm et al.	Applicant
US2011/0301419(A1)	2011-12-01	Craft et al.	Applicant
US2012/0027762(A1)	2012-02-01	Schofield	Applicant
US2012/0031114(A1)	2012-02-01	Mueller et al.	Applicant
US2012/0049623(A1)	2012-03-01	Nakayama	Applicant
US2012/0095298(A1)	2012-04-01	Stefanchik et al.	Applicant
US2012/0116163(A1)	2012-05-01	Lutze et al.	Applicant
US2012/0132018(A1)	2012-05-01	Tang et al.	Applicant
US2012/0143173(A1)	2012-06-01	Steege et al.	Applicant
US2012/0158014(A1)	2012-06-01	Stefanchik et al.	Applicant
US2012/0191245(A1)	2012-07-01	Fudaba et al.	Applicant
US2012/0209292(A1)	2012-08-01	Devengenzo et al.	Applicant
US2012/0253326(A1)	2012-10-01	Kleyman	Applicant
US2012/0277762(A1)	2012-11-01	Lathrop et al.	Applicant
US2012/0283745(A1)	2012-11-01	Goldberg et al.	Applicant
US2012/0289973(A1)	2012-11-01	Prisco et al.	Applicant
US2012/0289974(A1)	2012-11-01	Rogers et al.	Applicant
US2012/0296341(A1)	2012-11-01	Seibold et al.	Applicant
US2013/0123805(A1)	2013-05-01	Park et al.	Applicant
US2013/0144274(A1)	2013-06-01	Stefanchik	Examiner
US2013/0172713(A1)	2013-07-01	Kirschenman	Applicant
US2013/0245643(A1)	2013-09-01	Woodard et al.	Applicant
US2013/0245647(A1)	2013-09-01	Martin et al.	Applicant
US2013/0282027(A1)	2013-10-01	Woodard et al.	Applicant
US2013/0303408(A1)	2013-11-01	Indermuhle	Applicant
US2013/0304083(A1)	2013-11-01	Kaercher et al.	Applicant
US2014/0005681(A1)	2014-01-01	Gee et al.	Applicant
US2014/0018447(A1)	2014-01-01	McGovern et al.	Applicant
US2014/0018780(A1)	2014-01-01	Hirscheld	Applicant
US2014/0076088(A1)	2014-03-01	Berkelman et al.	Applicant
US2014/0114481(A1)	2014-04-01	Ogawa et al.	Applicant
US2014/0142595(A1)	2014-05-01	Awtar et al.	Applicant
US2014/0166023(A1)	2014-06-01	Kishi	Applicant
US2014/0180308(A1)	2014-06-01	Von Grunberg	Applicant
US2014/0188091(A1)	2014-07-01	Vidal et al.	Applicant
US2014/0188159(A1)	2014-07-01	Steege	Applicant
US2014/0200561(A1)	2014-07-01	Ingmanson et al.	Applicant
US2014/0207150(A1)	2014-07-01	Rosa et al.	Applicant
US2014/0230595(A1)	2014-08-01	Butt et al.	Applicant
US2014/0249546(A1)	2014-09-01	Shvartsberg et al.	Applicant
US2014/0263541(A1)	2014-09-01	Leimbach et al.	Applicant
US2014/0263553(A1)	2014-09-01	Leimbach et al.	Applicant
US2014/0276950(A1)	2014-09-01	Smaby et al.	Applicant
US2014/0276951(A1)	2014-09-01	Hourtash et al.	Applicant
US2014/0276956(A1)	2014-09-01	Crainich et al.	Applicant
US2014/0350570(A1)	2014-11-01	Lee	Applicant
US2015/0057499(A1)	2015-02-01	Erden et al.	Applicant
US2015/0057702(A1)	2015-02-01	Edmondson et al.	Applicant
US2015/0060517(A1)	2015-03-01	Williams	Applicant
US2015/0066018(A1)	2015-03-01	Doll et al.	Applicant
US2015/0105821(A1)	2015-04-01	Ward et al.	Applicant
US2015/0142018(A1)	2015-05-01	Sniffin et al.	Applicant
US2015/0150575(A1)	2015-06-01	Hartoumbekis et al.	Applicant
US2015/0230869(A1)	2015-08-01	Shim et al.	Applicant
US2015/0250547(A1)	2015-09-01	Fukushima et al.	Applicant
US2015/0265355(A1)	2015-09-01	Prestel et al.	Applicant
US2016/0022365(A1)	2016-01-01	Jensen et al.	Applicant
US2016/0051274(A1)	2016-02-01	Howell et al.	Applicant
US2016/0151115(A1)	2016-06-01	Karguth et al.	Applicant
US2016/0374766(A1)	2016-12-01	Schuh	Applicant
US2017/0245954(A1)	2017-08-01	Beira	Applicant
US2017/0273749(A1)	2017-09-01	Grover et al.	Applicant
US2017/0308667(A1)	2017-10-01	Beira et al.	Applicant
US2017/0360522(A1)	2017-12-01	Beira	Applicant
US2017/0367778(A1)	2017-12-01	Beira	Applicant
US2018/0000472(A1)	2018-01-01	Beira	Applicant
US2018/0000544(A1)	2018-01-01	Beira	Applicant
US2018/0000550(A1)	2018-01-01	Beira	Applicant
US2018/0028269(A1)	2018-02-01	Morel et al.	Applicant
US2018/0055583(A1)	2018-03-01	Schuh et al.	Applicant
US2018/0125519(A1)	2018-05-01	Beira et al.	Applicant
US2018/0125592(A1)	2018-05-01	Beira	Applicant
US2018/0242991(A1)	2018-08-01	Beira	Applicant
US2018/0353252(A1)	2018-12-01	Chassot et al.	Applicant
US2018/0360548(A1)	2018-12-01	Marshall et al.	Applicant
CN101584594(A)	2009-11-01		Applicant
CN101637402(A)	2010-02-01		Applicant
CN101732093(A)	2010-06-01		Applicant
CN103717355(A)	2014-04-01		Applicant
DE4303311(A1)	1994-08-01		Applicant
DE19652792(C2)	1999-05-01		Applicant
DE10314827(B3)	2004-04-01		Applicant
DE10314828(B3)	2004-07-01		Applicant
DE102012222755	2014-06-01		Applicant
DE102014205036(A1)	2015-09-01		Applicant
DE102014205159(A1)	2015-09-01		Applicant
EP595291(A1)	1994-05-01		Applicant
EP621009(A1)	1994-10-01		Applicant
EP677275(A2)	1995-10-01		Applicant
EP1254642(A1)	2002-11-01		Applicant
EP1279371(B1)	2004-12-01		Applicant
EP1886630(A2)	2008-02-01		Applicant
EP1889579(A2)	2008-02-01		Applicant
EP2058090(A2)	2009-05-01		Applicant
EP1977677(B1)	2009-08-01		Applicant
EP2095778(A1)	2009-09-01		Applicant
EP1889583(B1)	2011-04-01		Applicant
EP2377477(B1)	2012-05-01		Applicant
EP2473119(A2)	2012-07-01		Applicant
EP2305144(B1)	2012-10-01		Applicant
EP2044893(B1)	2013-07-01		Applicant
EP2653110(A1)	2013-10-01		Applicant
EP2679192(A2)	2014-01-01		Applicant
EP2736680(A2)	2014-06-01		Applicant
EP2777561(A1)	2014-09-01		Applicant
EP2783643(A1)	2014-10-01		Examiner
EP2837340(A1)	2015-02-01		Applicant
EP2837354(A1)	2015-02-01		Applicant
EP2554131(B1)	2015-08-01		Applicant
EP2979657(A1)	2016-02-01		Applicant
GB834244	1960-05-01		Applicant
GB969899(A)	1964-09-01		Applicant
JP2004-041580(A)	2004-02-01		Applicant
JP2007-290096(A)	2007-11-01		Applicant
JP2008-104620(A)	2008-05-01		Applicant
JP2009-018027(A)	2009-01-01		Applicant
KR20110032444(A)	2011-03-01		Applicant
KR20130031403(A)	2013-03-01		Applicant
WO-82/00611(A1)	1982-03-01		Applicant
WO-03/067341(A2)	2003-08-01		Applicant
WO-03/086219(A2)	2003-10-01		Applicant
WO-2004/052171(A2)	2004-06-01		Applicant
WO-2005/009482(A2)	2005-02-01		Applicant
WO-2005/046500(A1)	2005-05-01		Applicant
WO-2006/086663(A2)	2006-04-01		Applicant
WO-2007/133065(A1)	2007-11-01		Applicant
WO-2008/130235(A2)	2008-10-01		Applicant
WO-2009/091497(A2)	2009-07-01		Applicant
WO-2009/095893(A2)	2009-08-01		Applicant
WO-2009/145572(A2)	2009-12-01		Applicant
WO-2009/157719(A2)	2009-12-01		Applicant
WO-2010/019001(A2)	2010-02-01		Applicant
WO-2010/030114(A2)	2010-03-01		Applicant
WO-2010/050771(A2)	2010-05-01		Applicant
WO-2010/083480(A2)	2010-07-01		Applicant
WO-2010/096580(A1)	2010-08-01		Applicant
WO-2010/130817(A1)	2010-11-01		Applicant
WO-2011/025818(A1)	2011-03-01		Applicant
WO-2011/027183(A2)	2011-03-01		Applicant
WO-2011/123669(A1)	2011-10-01		Applicant
WO-2012/020386(A1)	2012-02-01		Applicant
WO-2012/049623(A1)	2012-04-01		Applicant
WO-2013/014621(A1)	2013-01-01		Applicant
WO-2014/012780(A1)	2014-01-01		Applicant
WO-2014/018447(A1)	2014-01-01		Applicant
WO-2014/067804(A1)	2014-05-01		Applicant
WO-2014/094716(A1)	2014-06-01		Applicant
WO-2014/094717	2014-06-01		Applicant
WO-2014/094718	2014-06-01		Applicant
WO-2014/094719	2014-06-01		Applicant
WO-2014/145148(A2)	2014-09-01		Applicant
WO-2014/156221(A1)	2014-10-01		Applicant
WO-2014/201010(A1)	2014-12-01		Applicant
WO-2014/201538(A1)	2014-12-01		Applicant
WO-2015/081946(A1)	2015-06-01		Applicant
WO-2015/081947(A1)	2015-06-01		Applicant
WO-2015/088647(A1)	2015-06-01		Applicant
WO-2015/088655(A1)	2015-06-01		Applicant
WO-2015/111475(A1)	2015-07-01		Applicant
WO-2015/113933(A1)	2015-08-01		Applicant
WO-2015/129383(A1)	2015-08-01		Applicant
WO-2015/139674(A1)	2015-09-01		Applicant
WO-2015/175200(A1)	2015-11-01		Applicant
WO-2016/083189(A1)	2016-06-01		Applicant
WO-2016/154173(A1)	2016-09-01		Applicant
WO-2016/183054(A1)	2016-11-01		Applicant
WO-01/6189284(A1)	2016-12-01		Applicant
WO-2016/189284(A1)	2016-12-01		Applicant
WO-2017/015599(A1)	2017-01-01		Applicant
WO-2017/064301(A1)	2017-04-01		Applicant
WO-2017/064303(A1)	2017-04-01		Applicant
WO-2017/064305(A1)	2017-04-01		Applicant
WO-2017/064306(A1)	2017-04-01		Applicant
WO-2017/220978(A1)	2017-12-01		Applicant
WO-2018/142112(A1)	2018-08-01		Applicant
WO-2018/162921(A1)	2018-09-01		Applicant

Non-Patent Literature (41)

US 9,232,978 B2, 01/2016, Shellenberger et al. (withdrawn)Applicant
Abbott, et al., “Design of an Endoluminal NOTES Robotic System,” IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, pp. 410-416 (2007).Applicant
Aesculap Surgical Technologies, Aesculap® Caiman®, Advanced Bipolar Seal and Cut Technology Brochure, 6 pages (retrieved Aug. 31, 2015).Applicant
Arata, et al., “Development of a dexterous minimally-invasive surgical system with augmented force feedback capability,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3207-3212 (2005).Applicant
Çavuşo{hacek over (g)}lu, et al., “Laparoscopic Telesurgical Workstation,” IEEE Transactions on Robotics and Automation,(15)4:728-739 (1999).Applicant
Dachs, et al., “Novel Surgical Robot Design: Minimizing the Operating Envelope Within the Sterile Field,” 28th International Conference, IEEE Engineering in Medicine Biology Society, New York, pp. 1505-1508 (2006).Applicant
Dario, et al., “Novel Mechatronic Tool for Computer-Assisted Arthroscopy,” IEEE Transactions on Information Technology in Biomedicine, 4(1):15-29 (Mar. 2000).Applicant
Focacci, et al., “Lightweight Hand-held Robot for Laparoscopic Surgery,” IEEE International Conference on Robotics & Automation, Rome, Italy, pp. 599-604 (2007).Applicant
Guthart, et al., “The Intuitive™ Telesurgery System: Overview and Application,” IEEE International Conference on Robotics & Automation, San Francisco, CA, pp. 618-621 (2000).Applicant
Ikuta, et al., “Development of Remote Microsurgery Robot and New Surgical Procedure for Deep and Narrow Space,” IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 1103-1108 (2003).Applicant
Ikuta, et al., “Hyper Redundant Miniature Manipulator ‘Hyper Finger’ for Remote Minimally Invasive Surgery in Deep Area,” IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 1098-1102 (2003).Applicant
International Search Report & Written Opinion dated Feb. 2, 2017 in Int'l PCT Patent Appl. Serial No. PCT/IB2016/001286.Applicant
International Search Report & Written Opinion dated Jan. 18, 2013 in Int'l PCT Patent Appl Serial No. PCT/IB2012/053786.Applicant
International Search Report dated Jan. 18, 2013 in Int'l PCT Patent Appl Serial No. PCT/IB2012/053786.Applicant
International Search Report dated Mar. 23, 2012 in Int'l PCT Patent Appl Serial No. PCT/IB2011/054476.Applicant
Ishii, et al., “Development of a New Bending Mechanism and Its Application to Robotic Forceps Manipulator,” IEEE International Conference on Robotics & Automation, Rome, Italy, pp. 238-243 (2007).Applicant
International Search Report & Written Opinion dated May 23, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2015/002524.Applicant
International Search Report & Written Opinion dated Mar. 30, 2015 in Int'l PCT Patent Appl Serial No. PCT/EP2015/051473.Applicant
International Search Report & Written Opinion dated Apr. 26, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2015/002512.Applicant
International Search Report & Written Opinion dated May 24, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2015/002487.Applicant
International Search Report & Written Opinion dated Jun. 10, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2015/002533.Applicant
International Search Report & Written Opinion dated Jun. 13, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2015/002493.Applicant
International Search Report & Written Opinion dated Aug. 25, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2016/000542.Applicant
International Search Report & Written Opinion dated Sep. 2, 2016 in Int'l PCT Patent Appl Serial No. PCT/IB2016/000543.Applicant
Kobayashi, et al., “Small Occupancy Robotic Mechanisms for Endoscopic Surgery,” International Conference on Medical Image Computing and Computer assisted Interventions, pp. 75-82 (2002).Applicant
Mayer, et al., “The Endo[PA]R System for Minimally Invasive Robotic Surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 3637-3642 (2004).Applicant
Mitsuishi, et al., “Development of a Remote Minimally Invasive Surgical System with Operational Environment Transmission Capability,” IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 2663-2670 (2003).Applicant
Nakamura, et al., “Multi-DOF Forceps Manipulator System for Laparoscopic Surgery-Mechanism miniaturized & Evaluation of New Interface,” 4th International Conference on Medical Image Computing and Computer assisted Interventions (MICCAI2001), pp. 606-613 (2001).Applicant
Peirs, et al., “Design of an advanced tool guiding system for robotic surgery,” IEEE International Conference on Robotics & Automation, Taipei, Taiwan, pp. 2651-2656 (2003).Applicant
Sallé, et al., “Optimal Design of High Dexterity Modular Mis Instrument for Coronary Artery Bypass Grafting,” IEEE International Conference on Robotics & Automation, New Orleans, LA, pp. 1276-1281 (2004).Applicant
Seibold, et al., “Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability,” IEEE International Conference on Robotics & Automation, Barcelona, Spain, pp. 496-501 (2005).Applicant
Simaan et al., “Dexterous System for Laryngeal Surgery: Multi-Backbone Bending Snake-like Slaves for Teleoperated Dexterous Surgical Tool Manipulation,” IEEE International Conference on Robotics & Automation, New Orleans, LA, pp. 351-357 (2004).Applicant
Stryker®, Endoscopy, Take a Look Around, Ideal Eyes™ FFD122 HD, Articulating Laparoscope Brochure, 2 pages (2009).Applicant
Swiss Search Report dated Jun. 4, 2012 in Swiss Patent Application No. CH 00702/12.Applicant
Tavakoli, et al., “Force Reflective Master-Slave System for Minimally Invasive Surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, pp. 3077-3082 (2003).Applicant
Taylor, et al., “Steady-Hand Robotic System for Microsurgical Augmentation,” The International Journal of Robotics Research, 18(12):1201-1210 (1999).Applicant
www.cttc.co/technologies/maestro-non-robotic-dexterous-laproscopic-instrument-writs-providing-seven-degrees, “Maestro: Non-Robotic Dexterous Laproscopic Instrument With a Wrist Providing Seven Degrees of Freedom”, accessed Nov. 12, 2015, 4 pages.Applicant
Yamashita, et al., “Development of Endoscopic Forceps Manipulator Using Multi-Slider Linkage Mechanisms,” The 1st Asian Symposium on Computer Aided Surgery-Robotic and Image-Guided Surgery, Ibaraki, Japan, 4 pages (2005).Applicant
Zeus, “Robotic Surgical System” available at http://allaboutroboticsurgery.com/zeusrobot.html.Applicant
Communication Relating to the Results of the Partial International Search dated May 28, 2019 in Int'l PCT Patent Appl. Serial No. PCT/IB2019/050961.Applicant
International Search Report & Written Opinion dated Jul. 10, 2018 in Int'l PCT Patent Appl. Serial No. PCT/IB2018/053272.Applicant

Abstract