Haptic device for telerobotic surgery

摘要

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.

主权项

1. A drive system for a linkage system, comprising:
a set of driving pulleys including a first driving pulley and a second driving pulley, the first driving pulley having a first driving axis of rotation and the second driving pulley having a second driving axis of rotation, wherein the first driving axis of rotation is angularly displaced from the first driving axis of rotation within a plane, thereby defining an angle between the first and second driving pulleys; a set of idler pulleys arranged between the first and second driving pulleys, the set of idler pulleys including a first idler pulley having a first idler axis of rotation and a second idler pulley having a second idler axis of rotation, wherein each of the first and second idler axes of rotation is substantially parallel to the plane and wherein a projection of at least one of the first and second idler axes onto the plane substantially bisects the angle between the first and second driving pulleys, and; a motor configured to provide a motor force; and a cable that traverses the set of driving pulleys and the set of idler pulleys, wherein the cable is configured to couple to the motor force and to the linkage system such that the cable transfers the motor force to the linkage system.