CENTER ROBOTIC ARM WITH FIVE-BAR SPHERICAL LINKAGE FOR ENDOSCOPIC CAMERA

Abstract

A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a surgical suite in which embodiments of the invention are used.

FIG. 2 is a plan view of a portion of the operating suite of FIG. 1.

FIG. 3 is a side view of a portion of the operating suite of FIG. 2.

FIG. 4 is a schematic view of a parallel five-bar linkage.

FIG. 5 is a schematic view of a parallel spherical five-bar linkage.

FIG. 6 is a schematic view of another parallel spherical five-bar linkage.

FIG. 7 is a pictorial view of an embodiment of the invention.

FIG. 8 is a view of a first side of an embodiment of the invention.

FIG. 9 is a bottom view of the embodiment of the invention shown in FIG. 8.

FIG. 10 is view of a second side of the embodiment of the invention shown in FIG. 8.

FIG. 11 is a top view of the embodiment of the invention shown in FIG. 8.

FIG. 12 is an end view of the embodiment of the invention shown in FIG. 8.

FIG. 13 is a pictorial view of a portion of the embodiment as shown in FIG. 12.

FIG. 14 is a bottom view of the embodiment of the invention as shown in FIG. 9 in a different operative position.

FIG. 15 is a bottom view of another embodiment of the invention.

FIG. 16 is an end view of another embodiment of the invention.

FIG. 17 is a schematic view of a parallel spherical five-bar linkage.

FIG. 18 is a schematic view of another parallel spherical five-bar linkage.

FIG. 19 is a pictorial view of another embodiment of the invention.

FIG. 20 is a schematic view of the parallel spherical five-bar linkage shown in FIG. 19.

FIG. 21 is a pictorial view of another embodiment of the invention.

Claims

1-21. (canceled)

22. A robotic arm comprising: a first motor coupled to a first axis of rotation, the first axis of rotation extending from the first motor toward a remote center of spherical rotation;a second motor coupled to a second axis of rotation, the second axis of rotation extending from the second motor away from the remote center of spherical rotation;a ground link coupled between the first axis of rotation and the second axis of rotation;a first pair of pivotally coupled links having a first end coupled to the first axis of rotation such that the first pair of links can pass a first side of the first and second motors;a second pair of pivotally coupled links having a first end coupled to the second axis of rotation such that the second pair of links can pass a second side of the first and second motors, the second side of the first and second motors opposite the first side, a second end of the second pair of links pivotally coupled to a second end of the first pair of links;wherein all joints that pivotally couple links together allow rotation around an axis that passes through the remote center of spherical rotation.

23. The robotic arm of claim 22, wherein one of the first and second pair of links further includes a support for a surgical instrument having a tool shaft with an insertion axis, the insertion axis being spaced apart from the joint that pivotally couples the first and second pair of links, the insertion axis passing through the remote center of spherical rotation.

24. The robotic arm of claim 23, wherein the joint that pivotally couples the first and second pair of links together is between the insertion axis and the first end of the pair of links that includes the support.

25. The robotic arm of claim 23, wherein the insertion axis, a first axis of rotation for the joint that pivotally couples the first and second pair of links together, and a second axis of rotation for the joint that pivotally couples the pair of links that includes the support are coplanar.

26. The robotic arm of claim 22, wherein the first outboard link further includes a support for a surgical instrument having a tool shaft with an insertion axis, the insertion axis being coincident with the outboard axis, the insertion axis including the remote center of spherical rotation.

27. The robotic arm of claim 22, wherein one of the first and second pair of links further includes a support for a surgical instrument having a tool shaft with an insertion axis, the insertion axis being coincident with an axis of rotation for the joint that pivotally couples the first and second pair of links together, the insertion axis passing through the remote center of spherical rotation.

28. The robotic arm of claim 22, further comprising a constraint to limit the rotation of the links at the joint that pivotally couples the first and second pair of links such that a minimum angle between the links is at least fifteen degrees.

29. The robotic arm of claim 22, further comprising a constraint to limit the rotation of the links at the joint that pivotally couples the first and second pair of links such that a minimum angle between the links is at least thirty degrees.

30. The robotic arm of claim 22, wherein the first motor is coupled to the first axis of rotation at a first angle, and the second motor is coupled to the second axis of rotation at a second angle.

31. The robotic arm of claim 22, wherein the first motor is coupled to the first axis of rotation at a right angle, and the second motor is coupled to the second axis of rotation at a right angle.

32. A robotic arm comprising: a first inboard link coupled to a first axis of rotation, the first inboard link having a first intermediate axis spaced apart from the first axis of rotation;a first outboard link pivotally coupled to the first inboard link at the first intermediate axis, the first outboard link having an outboard axis spaced apart from the first intermediate axis;a second inboard link coupled to a second axis of rotation spaced apart from the first axis of rotation, the second inboard link having a second intermediate axis spaced apart from the second axis of rotation;a second outboard link pivotally coupled to the second inboard link at the second intermediate axis and to the first outboard link at the outboard axis;a ground link coupling the first axis of rotation to the second axis of rotation;a first motor coupled to the first axis of rotation;a second motor coupled to the second axis of rotation;wherein the five axes all pass through a remote center of spherical rotation that is spaced apart from all five links; anda controller to provide signals to the first and second motors to respectively rotate the first inboard link and the second inboard link such that a first directional vector from the first axis of rotation to the first intermediate axis has the same direction as a second directional vector from the first axis of rotation to the second axis of rotation when the first inboard link lies in the same plane as the ground link, anda third directional vector from the second axis of rotation to the second intermediate axis has the same direction as a fourth directional vector fromthe second axis of rotation to the first axis of rotation when the second inboard link lies in the same plane as the ground link.

33. The robotic arm of claim 32, wherein the first outboard link further includes a support for a surgical instrument having a tool shaft with an insertion axis, the insertion axis being spaced apart from the outboard axis and the first intermediate axis, the insertion axis passing through the remote center of spherical rotation.

34. The robotic arm of claim 32, wherein the insertion axis is spaced further apart from the first intermediate axis than the outboard axis is spaced apart from the first intermediate axis.

35. The robotic arm of claim 34, wherein the insertion axis, the outboard axis, and the first intermediate axis are coplanar.

36. The robotic arm of claim 32, wherein the first outboard link further includes a support for a surgical instrument having a tool shaft with an insertion axis, the insertion axis being coincident with the outboard axis, the insertion axis including the remote center of spherical rotation.

37. The robotic arm of claim 32, further comprising a constraint to limit the rotation of the first outboard link about the outboard axis such that a minimum angle between the first outboard link and the second outboard link is at least fifteen degrees.

38. The robotic arm of claim 32, further comprising a constraint to limit the rotation of the first outboard link about the outboard axis such that a minimum angle between the first outboard link and the second outboard link is at least thirty degrees.

39. The robotic arm of claim 32, wherein the first motor is coupled to the first inboard link at a first angle to the first axis of rotation, and the second motor is coupled to the second inboard link at a second angle to the second axis of rotation.

40. The robotic arm of claim 32, wherein the first motor is coupled to the first inboard link at a right angle to the first axis of rotation, and the second motor is coupled to the second inboard link at a right angle to the second axis of rotation.

41. The robotic arm of claim 40, further comprising: a first drive shaft coupled to the first motor at a driven end and to the first inboard link at an opposite end, the first drive shaft extending from the driven end toward the remote center of spherical rotation; anda second drive shaft coupled to the second motor at a driven end and to the second inboard link at an opposite end, the second drive shaft extending from the driven end away from the remote center of spherical rotation.

42-64. (canceled)