Haptic device for telerobotic surgery
| DWPI Title: Drive system for linkage system of haptic device used in telerobotic surgery, has cable that traverses set of driving pulleys and set of idler pulleys, and transfers motor force to linkage system |
| Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector. |
| Use: Drive system for linkage system of haptic device (claimed) used in telerobotic surgery. |
| Advantage: The overall size of the haptic device is reduced by minimizing amount of free length of cable in the transmission, thus improving portability. The driving pulleys have holes to remove mass, thus allowing the driving pulleys to be larger without significantly increasing device inertia. |
| Novelty: The drive system has a pair of driving pulleys (154,156) that are arranged in a manner that forms an angle, and having axes that form a plane. A pair of idler pulleys (172,174) is offset from the plane, and arranged between the driving pulleys, such that the axis of each idler pulley divides the angle between the driving pulleys. A cable (146) traverses the set of driving pulleys and the set of idler pulleys, and coupled to a motor and a linkage system, such that the cable transfers the motor force to the linkage system. |
| Filed: 3/11/2010 |
| Application Number: US2010722332A |
| Tech ID: SD 11310.1 |
| This invention was made with Government support under Contract No. DE-NA0003525 awarded by the United States Department of Energy/National Nuclear Security Administration. The Government has certain rights in the invention. |
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