WO2024259400A3 - System for multi-axis cable routing mechanism - Google Patents

System for multi-axis cable routing mechanism Download PDF

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Publication number
WO2024259400A3
WO2024259400A3 PCT/US2024/034241 US2024034241W WO2024259400A3 WO 2024259400 A3 WO2024259400 A3 WO 2024259400A3 US 2024034241 W US2024034241 W US 2024034241W WO 2024259400 A3 WO2024259400 A3 WO 2024259400A3
Authority
WO
WIPO (PCT)
Prior art keywords
series
end effector
routing mechanism
cable routing
articulating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/034241
Other languages
French (fr)
Other versions
WO2024259400A2 (en
Inventor
Samuel FRISHMAN
John Peter WHITNEY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medical Devices Corner Inc
Original Assignee
Medical Devices Corner Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Medical Devices Corner Inc filed Critical Medical Devices Corner Inc
Publication of WO2024259400A2 publication Critical patent/WO2024259400A2/en
Publication of WO2024259400A3 publication Critical patent/WO2024259400A3/en
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A system for a multi-axis cable routing mechanism usable for actuating an end effector such as a needle insertion end effector that can include: a series of articulating mechanisms interconnected through a set of rigid links, wherein the series of articulating mechanisms includes: a set of pulley hinge joints and a set of roll joints; a set of cables routed through the series of articulating mechanisms, wherein each articulating mechanism is configured to actuate while preserving cable length of the set of cables; an end effector with at least one degree of freedom coupled to the cable.
PCT/US2024/034241 2023-06-15 2024-06-15 System for multi-axis cable routing mechanism Pending WO2024259400A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202363508359P 2023-06-15 2023-06-15
US63/508,359 2023-06-15

Publications (2)

Publication Number Publication Date
WO2024259400A2 WO2024259400A2 (en) 2024-12-19
WO2024259400A3 true WO2024259400A3 (en) 2025-04-24

Family

ID=93852712

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/034241 Pending WO2024259400A2 (en) 2023-06-15 2024-06-15 System for multi-axis cable routing mechanism

Country Status (1)

Country Link
WO (1) WO2024259400A2 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US20120132018A1 (en) * 2009-05-15 2012-05-31 Hsiao-Wei Tang Remote centre of motion positioner
US20130304084A1 (en) * 2010-10-11 2013-11-14 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US20180080533A1 (en) * 2015-04-03 2018-03-22 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
US20210030496A1 (en) * 2019-07-29 2021-02-04 Verb Surgical Inc. Robotic arm having an extendable prismatic link
US20220087757A1 (en) * 2014-03-07 2022-03-24 Cmr Surgical Limited Surgical Arm
US20220096193A1 (en) * 2020-09-30 2022-03-31 Verb Surgical Inc. Systems and methods for controlling grip force of jaws when transitioning between position control mode and force mode
US20220378524A1 (en) * 2021-05-13 2022-12-01 The Regents Of The University Of California Surgical robotic platform for operating within the constrained space of an imaging scanner

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US20120132018A1 (en) * 2009-05-15 2012-05-31 Hsiao-Wei Tang Remote centre of motion positioner
US20130304084A1 (en) * 2010-10-11 2013-11-14 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US20220087757A1 (en) * 2014-03-07 2022-03-24 Cmr Surgical Limited Surgical Arm
US20180080533A1 (en) * 2015-04-03 2018-03-22 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
US20210030496A1 (en) * 2019-07-29 2021-02-04 Verb Surgical Inc. Robotic arm having an extendable prismatic link
US20220096193A1 (en) * 2020-09-30 2022-03-31 Verb Surgical Inc. Systems and methods for controlling grip force of jaws when transitioning between position control mode and force mode
US20220378524A1 (en) * 2021-05-13 2022-12-01 The Regents Of The University Of California Surgical robotic platform for operating within the constrained space of an imaging scanner

Also Published As

Publication number Publication date
WO2024259400A2 (en) 2024-12-19

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