US20040024385A1 - Manipulator - Google Patents
Manipulator Download PDFInfo
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- US20040024385A1 US20040024385A1 US10/400,359 US40035903A US2004024385A1 US 20040024385 A1 US20040024385 A1 US 20040024385A1 US 40035903 A US40035903 A US 40035903A US 2004024385 A1 US2004024385 A1 US 2004024385A1
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- United States
- Prior art keywords
- link
- axis
- tool
- links
- manipulator
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- 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
-
- 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
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- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0814—Preventing re-use
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
Abstract
A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link. The first and second connector links are parallel to each other and parallel to the first and second axes such that the first and second planes remain parallel as the first and second links respectively rotate about the third and fourth axes. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held therein is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.
Description
- This application is a divisional application of copending U.S. patent application Ser. No. 09/710,631, filed Nov. 1, 1990 which claims the benefit of U.S. Provisional Application No. 60/165,046 filed Nov. 12, 1999, the disclosures of which are incorporated herein by reference.
- This invention relates to a manipulator capable of manipulating a tool or other object with one or more rotational degrees of freedom in a spherical coordinate system.
- In various applications, it is desirable to be able to pivot a tool or other object about a point in space which is remote from equipment supporting the tool. Such a point in space is sometimes called a virtual pivot point or a remote center of motion. An example of a situation in which it is useful to be able to pivot a tool about a virtual pivot point is in medical procedures. A medical tool often needs to be pivoted about a point in, on, or in proximity to a patient's body, but it may be undesirable to have support structure for the tool located at the point, since the support structure may introduce contamination into the patient's body or interfere with the view of or access to the patient by persons performing the medical procedures. A manipulator which can pivot a tool about a virtual pivot point can avoid such disadvantages of support structure.
- One known type of manipulator capable of pivoting a tool in proximity to a virtual pivot point employs a parallel linkage to maintain the orientation of a rod-like tool remotely from the actuation point. The parallel linkage is attached to a rotating base assembly or has some other similar rotating structure at the base which allows the tool to be manipulated in two degrees of freedom (DOF) in a spherical coordinate system. An example of such a manipulator is described in U.S. Pat. No. 5,397,323 entitled “Remote Center-Of-Motion Robot For Surgery”. This and other conventional parallel linkage manipulators have the drawback that the virtual pivot point must lie on a rotational axis of two of the links of the linkage. More specifically, the virtual pivot point must lie in the same plane as the rotational axis of the base and must be inline with the distal pivots of the manipulator. The manipulator disclosed in U.S. Pat. No. 5,397,323 only produces an approximate remote center of motion if the tool is mounted in from the distal pivots, since the tool actually sweeps an arc in one plane rather than pivoting around a point.
- One disadvantage of these constraints on the location of the virtual pivot point is that it can be difficult to position the manipulator with respect to a patient's body and other equipment. In particular, the requirement that the virtual pivot lie in the same plane as the rotating structure at the base can cause clearance problems with a patient or with other equipment being used in the medical procedure such as imaging equipment. The clearance problems can require the patient or a person performing a medical procedure to assume an uncomfortable position.
- In addition, the requirement that the virtual pivot point be inline with the distal pivots of the manipulator can make conventional parallel linkage manipulators difficult to use in biopsies and other medical procedures performed in conjunction with imaging systems such as computer tomography (CT) equipment, x-ray equipment or magnetic resonance imaging equipment. In a biopsy performed using imaging equipment, a biopsy needle is inserted into a patient's body while the patient is outside the imaging equipment. The patient is then placed inside the imaging equipment and an image is taken to determine the location of the biopsy needle with respect to the region of the body where the biopsy is to be performed. It is frequently difficult or unsafe for a human operator to adjust the position of the biopsy needle while an image is being taken. For example, there often is a very limited amount of space between the interior of the imaging equipment and the patient's body. Additionally, the operator could be exposed to harmful radiation from the imaging equipment or the operator could interfere with the imaging process. Thus, each time the position of the biopsy needle has to adjusted, the patient is withdrawn from the imaging equipment and then reintroduced into the imaging equipment after the position of the biopsy needle has been adjusted. Obviously, such a procedure is very time consuming and imprecise.
- Recent advances in CT technology have decreased the time to generate an image to the point that near real time video images can be produced. With this technology, a doctor can place a medical tool with high precision, but he must be very close to the radiation source and receives a higher dose of harmful radiation.
- One way in which these problems can be addressed is by using a manipulator that is capable of adjusting the position of a needle or object with respect to a patient's body while imaging is being carried out. However, with conventional parallel linkage manipulators that can produce a remote center of motion, the distal pivots are in the same plane as the image of interest and tend to distort that image. If the tool is offset from the distal pivots of the manipulator, as is the case with the manipulator described in U.S. Pat. No. 5,397,323, the tool will no longer rotate about a true virtual pivot point. Instead, the tool will move in a small arc as the manipulator is swung about.
- Accordingly, in view of the foregoing, a general object of the present invention is to provide a manipulator capable of manipulating a tool or other object with two rotational degrees of freedom about a virtual pivot point with fewer constraints on the position of the manipulator relative to the virtual pivot point than with conventional manipulators.
- Definition Of Terms
- The term link will be used herein to refer to a member which functions as the equivalent of a rigid body when moving parallel to a specific plane. Thus, a link may be a rigid body, or it may comprise a plurality of components which can move together as a single body parallel to the specific plane but which are movable with respect to each other in a plane transverse to the specific plane. For example, in some embodiments, a group of components which function as a parallel linkage for movement parallel to a first plane may function as a single link for movement parallel to a second plane transverse to the first plane.
- Two links are considered parallel to each other when a line connecting two rotational axes of one link is parallel to a line connecting two rotational axes of the other link.
- The term pivot point will be used to refer to a point at which a link is physically connected to another member for pivoting with respect to the other member about an axis, while the term virtual pivot point will refer to a point in space at which a link can pivot about an axis passing through the virtual pivot point without the link having to be physically supported at the virtual pivot point. Pivot can provide one, two or three degrees of rotational freedom.
- FIG. 1 is a schematic side elevation of a kinematic model of an example of a conventional parallel linkage manipulator.
- FIG. 2 is a schematic side elevation of a kinematic model of one aspect of a manipulator according to the present invention.
- FIGS. 3 and 4 are schematic side views of two examples of links which can be employed in the present invention.
- FIG. 5 is a schematic side elevation of a kinematic model of a variation of the example of FIG. 2.
- FIG. 6 is a schematic side elevation of a kinematic model of another variation of the example of FIG. 2.
- FIG. 7 is an isometric view of another embodiment of a manipulator constructed in accordance with the present invention.
- FIG. 8a is an isometric view and FIG. 8b is a front elevation of a kinematic model of another aspect of a manipulator according to the present invention.
- FIG. 9 is an isometric view of an embodiment of a manipulator according to the present invention.
- FIG. 10 is a side elevation of the embodiment of FIG. 9.
- FIGS. 11 and 12 are respectively a side elevation and an isometric view of the embodiment of FIG. 9 rotated backwards from the position shown in FIG. 9.
- FIGS. 13, 14, and15 are respectively a side elevation, an isometric view, and a front elevation of the embodiment of FIG. 9 rotated sideways from the position shown in FIG. 9.
- FIG. 16 illustrates an example of the use of motors to drive the embodiment of FIG. 9.
- FIG. 17 is an isometric view of another embodiment of a manipulator according to the present invention.
- FIG. 18 is a side elevation of the embodiment of FIG. 15.
- FIGS. 19 and 20 are respectively a side elevation and an isometric view of the embodiment of FIG. 18 rotated backwards from the position shown in FIG. 18.
- FIGS. 21, 22, and23 are respectively a side elevation, an isometric view, and a front elevation of the embodiment of FIG. 18 rotated sideways from the position shown in FIG. 18.
- FIGS. 24 and 25 are schematic side elevations of links equipped with different means for maintaining the attitude of links from that shown in FIG. 18.
- FIG. 26 is an isometric view of another embodiment of a manipulator according to the present invention.
- FIG. 27 is a side elevation of the embodiment of FIG. 26.
- FIG. 28 is a side elevation of a portion of the embodiment of FIG. 26 supporting a tool holder.
- FIG. 29 is a side elevation view of an embodiment of the tool holder of FIG. 28.
- FIG. 30 is a top view of the tool holder of FIG. 29 with the cartridge removed.
- FIG. 31 is a isometric view of the cartridge of FIG. 29 with a needle removed.
- FIG. 32 is a side elevation of the cartridge of FIG. 29 in a partially disassembled state.
- FIG. 33 is an enlarged transverse cross-sectional view of the carriage guide of the cartridge of FIG. 31.
- FIG. 34 is a plan view of the carriage drive unit of the tool holder of FIG. 29 with the cover of the drive unit shown in phantom.
- FIG. 35 is a side elevation of the carriage drive unit of FIG. 34.
- FIGS. 36 and 37 are longitudinal cross-sectional views of the dispensing units of the cartridge of FIG. 31.
- While the invention will be described and disclosed in connection with certain preferred embodiments and procedures, it is not intended to limit the invention to those specific embodiments. Rather it is intended to cover all such alternative embodiments and modifications as fall within the spirit and scope of the invention.
- Referring now more particularly to FIG. 1 of the drawings there is schematically shown a kinematic model of a conventional parallel linkage manipulator in which the virtual pivot point or remote center of motion produced by the manipulator is constrained to lie in the same plane as the roll axis of the main mechanism and to be inline with the distal pivots. The illustrated conventional manipulator includes two
parallel linkages - A first
parallel linkage 10 includes threelinks Links parallel axes axes Links axes axis 14. Aplane containing axes plane containing axes plane containing axes plane containing axes - The second
parallel linkage 20 includes four links, i.e., link 12, link 21, link 22, and link 23 which supports atool 24.Link 21, which is rigidly connected to link 13, is pivotably connected at its opposite ends tolinks axis 17 andaxis 26, which are parallel toaxis 14.Link 22, in turn, is pivotably connected at its opposite ends tolinks axis 25 andaxis 27, both of which are parallel toaxis 14.Axis 26 is coplanar withaxes plane containing axes plane containing axes Axis 25 is coplanar withaxes plane containing axes - When
links axes tool 24 pivot aboutaxis 28 at avirtual pivot point 29. Becauseaxis 26 is coplanar withaxes virtual pivot point 29 is constrained to lie in aplane containing axes virtual pivot point 29 is also constrained to be inline with thepivots connecting link 23 tolinks virtual pivot point 29 is constrained to lie in aplane containing axes virtual pivot point 29 be inline with the pivotal attachments oflink 23 raises difficulties when the manipulator is used in conjunction with imaging equipment. In particular, link 23, which supports the tool, is typically in the same plane as the image of interest and tends to distort that image. - In accordance with one aspect of the present invention, a manipulator can be provided which does not have the virtual pivot point constraints that are associated with the conventional arrangement of FIG. 1. For example, FIG. 2 schematically illustrates a kinematic model of a manipulator according to the present invention in which the virtual pivot point is not constrained to be in the same plane as the base pivot axes14 and 15. This manipulator is similar to that of FIG. 1 in that it includes two
parallel linkages 10 and 20A, but link 21 of linkage 20A has been rotated with respect to link 13 relative to its orientation in FIG. 1 so that the twolinks axis 26 is not coplanar withaxes Link 22 remains parallel to link 21. - As in FIG. 1, when
links axes tool 24 which it supports pivot aboutaxis 28 atvirtual pivot point 29. However, sinceaxis 26 is not coplanar withaxes axis 28 and thus thevirtual pivot point 29 are spaced from theplane containing axes link 21 is bent upward or downward with respect to link 13, thevirtual pivot point 29 may be above or below theplane containing axes virtual pivot point 29 above or below the plane can be varied by varying the angle betweenlinks - In FIG. 2, links13 and 21 are both straight members at an obtuse angle to each other, but they may have any shapes such that
axis 26 is spaced from theplane containing axes link 11 and link 12 parallel to link 13. Likewise, link 21 is illustrated as being integrally formed withlink 13, but the two links may be separately formed and rigidly connected to each other in any suitable manner. - In FIG. 2, link23 has a length such that the tip of the
tool 24 coincides with thevirtual pivot point 29, but thevirtual pivot point 29 may be at any desired location with respect to link 23 and thetool 24. If thevirtual pivot point 29 represents a point on the skin of a patient which is to be contacted by thetool 24, the lower end of thetool 24 may coincide with thevirtual pivot point 29. If thetool 24 is to be inserted through an incision or other opening in the body of a patient to access a location within the patient's body, thevirtual pivot point 29 may be a point within the body wall of the patient about which link 23 is to be pivoted, in which case thevirtual pivot point 29 may coincide with a location onlink 23 located above thetool 24. If thetool 24 is a laser or other device which is being used to treat a location on the patient's skin without contacting the location, thevirtual pivot point 29 may coincide with the location on the skin and be spaced from both link 23 and thetool 24. Thus, the location of thevirtual pivot point 29 with respect to link 23 and thetool 24 may vary depending upon the nature of thetool 24 and the type of procedure which is to be performed with thetool 24. - As will be appreciated, a manipulator according to the present invention can be used to manipulate a wide variety of objects, but it is particularly suitable for use in manipulating medical tools. A few examples of tools which can be used with a manipulator according to the present invention are cutting devices, needle holders, staples, forceps, clamps, probes, imaging devices, lasers, needles or other biopsy devices, devices for administering medication or other substances, or other devices for surgical, therapeutic, or diagnostic purposes. Moreover, while the present invention is described herein in connection with performing medical procedures, it will be readily appreciated that it is equally applicable to other types of applications involving manipulators.
- In the embodiment shown in FIG. 2, the
virtual pivot point 29 is still inline with the pivotal connections of thelink 23 tolinks tool 24 to contact thevirtual pivot point 29, thetool 24 must be mounted onlink 23 inline with those pivotal connections. As noted above, this constraint can pose problems when the manipulator is used in conjunction with an imaging device in thatlink 23 obscures the image of the relevant area. Thus, according to another aspect of the present invention a manipulator can be provided in which the virtual pivot point is offset from the line defined by the pivots oflink 23. As schematically shown in FIG. 6, by appropriately shaping the links of a manipulator, thevirtual pivot point 29 can be spaced from the line defined by the pivots oflink 23 supporting thetool 24. The manipulator of FIG. 6 is generally similar to the manipulator of FIG. 2, but link 12 of FIG. 2, for which axes 25, 17, and 15 are coplanar, has been replaced by a link 12A having a shape such thataxis 25 is spaced from aplane connecting axes plane containing axes plane containing axes links - As in the previous examples, when links11A and 12A are pivoted about
axes tool 24 which it supports pivot about anaxis 28, which is parallel toaxis 14, at avirtual pivot point 29. However, due to the shape of link 12A, thevirtual pivot point 29 is spaced from a line defined by the pivots oflink 23. Therefore, in this case, thetool 24 can be supported by atool holder 30 which is spaced forward (with reference to FIG. 6) oflink 23 and still contact thevirtual pivot point 29. As will be appreciated, the virtual pivot point could be spaced rearward oflink 23 by configuring link 12A such thataxis 25 is spaced forward of theplane connecting axes link 23. The spatial relationship betweenaxes axes axis 28 at the virtual pivot point. While the embodiment of the invention shown in FIG. 6 is also configured such that thelinks virtual pivot point 29 from the plane ofpivots links pivots - In accordance with another aspect of the present invention, a manipulator can be provided which is capable of moving a tool about a virtual pivot point with two degrees of freedom. Specifically, in some instances, it may be sufficient to rotate a tool with a single degree of freedom about a single axis passing through a virtual pivot point. In other situations, it may be desirable to also rotate a tool with another degree of freedom about a second axis passing through the virtual pivot point, such as an axis perpendicular to the first axis. An illustrative embodiment of a
manipulator 302 capable of producing movement of atool 304 about avirtual pivot point 305 with two degrees of freedom is shown in FIG. 7. Themanipulator 302 generally comprises twoparallelogram linkage mechanisms - In the embodiment of the invention illustrated in FIG. 7, each of the two
parallelogram linkage mechanisms vertical links base 320 and a thirdhorizontal link horizontal link vertical links vertical links base 320 and to its respectivehorizontal link corresponding roller 326, 328. For example,vertical link 310 is pivotally connected to a roller 326 which is rotatably supported bybase 320. The pivotal connection to the roller 326 allowsvertical link 310 to rotate aboutaxis 332 while the roller allowsvertical link 310 to rotate aboutaxis 330. At the opposing end,vertical link 310 is pivotally connected tohorizontal link 322 for rotation aboutaxis 334.Horizontal link 322 is, in turn, rotatably supported such thatvertical link 310 can rotate aboutaxis 336 which is perpendicular toaxis 334. The othervertical links base 320 and their respectivehorizontal link vertical link 310, only the rotational axes 337 and 338 for the connection ofvertical link 314 to the base and therotational axes 342 and 344 for the connection ofvertical link 314 tohorizontal link 324 are shown in FIG. 7. - As
vertical links axes 332 and 337 through operation of their respective parallelogram linkages, thevertical links vertical links axis 330 and 338, the twoparallelogram linkages lower connector links lower connector links vertical link 310 of thefirst parallelogram linkage 306 andvertical link 314 of thesecond parallelogram linkage 308. In particular, theupper connector link 346 is pivotally connected adjacent one end to horizontal link 322 (and thereby vertical link 310) for rotation relative tovertical link 310 aboutaxis 336 and adjacent the opposing end to horizontal link 324 (and thereby vertical link 314) for rotation relative tovertical link 314 aboutaxis 342. Similarly, thelower connector link 348 is pivotally connected adjacent one end tovertical link 310 through an intermediatehorizontal link 354 for rotation aboutaxis 350 and adjacent the opposing end tovertical link 314 through an intermediatehorizontal link 356 for rotation about axis 352. - To impart some stress into the
manipulator 302 and thereby reduce the free play, the manipulator illustrated in FIG. 7 includes additional links and connections. In particular, each of theparallelogram linkage mechanisms horizontal link vertical link 310 and intermediatehorizontal link 354 as an example,vertical link 310 is pivotal aboutaxes axis 350 is achieved via rotatably supporting the intermediatehorizontal link 354 at either end in a similar manner to thehorizontal links axis 350 is parallel toaxis 336 andaxis 358 is parallel toaxis 334. The other vertical links have similar pivotal connections with the respective intermediate horizontal links. The illustrated manipulator further includes anupper support bar 360 extending parallel to thehorizontal links parallelogram linkages horizontal links rear connector links vertical links horizontal links rear connector links lower connector links horizontal links horizontal links - Like the intermediate
horizontal links rear connector links manipulator 302 thereby reducing free play. This reduction in free play is useful in surgical applications, however, it will be appreciated that the intermediate horizontal links and support bars are not necessary parts of the present invention. Furthermore, while the illustrated embodiment produces certain pivotal movements by rotatably supporting either end of the horizontal links and the intermediate horizontal links, other types of pivotal connections between the various links could be used. Similarly, the upper and lower connector links could be connected directly tovertical links horizontal links horizontal links - For supporting the
tool 304 for rotary movement at the remotevirtual pivot point 305 with two degrees of freedom, themanipulator 302 includes atool holder link 368 that is pivotally connected to theupper connector link 346 and pivotally connected to thelower connector link 348. In the illustrated embodiment, the pivots for thetool holder link 368 are at the free end of extended portions of the connector links 370, 372 which extend parallel to each other and outwardly away from the forward end of the two parallelogram linkages. The pivotal connection of thetool holder link 368 with the upper connector link 346 permits pivotal movement about axis 374 (via yoke 376) and axis 378 (via pivot joint 380) which intersects and is perpendicular toaxis 374. Similarly, the pivotal connection of thetool holder link 368 with thelower connector link 348 permits pivotal movement about axis 382 (via yoke 384) and axis 386 (via pivot joint 388) which intersects and is perpendicular toaxis 382. With this arrangement, a tool held by thetool holder link 368 will rotate about axis 390 at thevirtual pivot point 305 when thevertical links axes 330 and 338 and the tool rotate about axis 392 at the virtual pivot point when the vertical links are pivoted front-to-back aboutaxes lower connector links parallelogram linkage mechanisms - In the embodiment illustrated in FIG. 7, the
vertical links horizontal links 354, 356 (and in turn the lower connector link 348) is not co-linear with a line defined by the connections of the vertical links with thehorizontal links base 320. This arrangement is similar to the one degree of freedom manipulator illustrated in FIG. 6 and results in a shift of the virtual pivot point forward from a line intersecting the pivotal connections of the tool support link. - A further embodiment of a manipulator constructed in accordance with the present invention is illustrated in FIG. 9. The embodiment of FIG. 7 is over constrained and includes redundant links. In the embodiment of FIG. 9, these redundant links have been removed. The embodiment of FIG. 9 functions in the same manner as the FIG. 7 embodiment and can still be understood as being based on two parallelogram linkage mechanisms operating in parallel that are connected together. However, in the case of the embodiment of FIG. 9, the two parallelogram linkages share a common rear
vertical link 50 and a commonhorizontal link 70. The intermediate horizontal links and the rear connector links of the FIG. 7 embodiment have been eliminated and there are no additional support bars in the manipulator. - Another way in which the FIG. 9 embodiment can be understood is by taking a parallelogram linkage like that shown in FIG. 2 and replacing one of the parallel vertical links with a second parallelogram linkage which moves in a plane perpendicular to the first parallelogram linkage. To this end, FIG. 8a is a schematic isometric view of a manipulator, and FIG. 8b is a schematic front elevation of the manipulator pivoted sideways with respect to the vertical. The manipulator includes a
parallel linkage 40 including links 41-44.Links parallel axes axes Links links Link 43 is pivotably connected to link 41 for pivoting aboutaxis 47, and it is pivotably connected to link 42 for pivoting aboutaxis 48.Link 44 is pivotably connected to link 41 for pivoting aboutaxis 49 betweenaxes axis 50 betweenaxes -
Link 51 andlink 52, which is parallel to link 51, extend transversely fromlink 43 andlink 44, respectively.Links parallel linkage 40 moves from side to side in a plane and are illustrated as being rigidly connected tolinks links links Links tool 54 at its lower end, for pivoting aboutaxes axis 45.Axis 55 is spaced from aplane containing axes axis 56 is spaced from aplane containing axes plane containing axes plane containing axes - With this arrangement, when
links axes tool 54 pivot at avirtual pivot point 58 about anaxis 57 which is parallel toaxis 45 but is spaced from aplane containing axes link 12 of FIG. 2 is made a parallel linkage similar tolinkage 40 of FIG. 8a, and iflinks axis 28 of FIG. 2 andaxis 57 of FIG. 8a. - Referring again to the manipulator shown in FIGS.9-15, the
vertical link 50 is pivotably supported at its lower end by abase 55 for pivoting aboutaxis 80 andaxis 81 perpendicular to and intersectingaxis 81. Twovertical links 61 and 62 extend parallel to each other and tovertical link 50.Vertical links 61 and 62 are supported by thebase 55 for movement parallel to link 50. Like the FIG. 7 embodiment,vertical links 61 and 62 are interconnected by parallel upper andlower connector links Horizontal link 70 is pivotably connected at one end to link 50 for pivoting aboutaxis 82 parallel toaxis 80 and aboutaxis 83 perpendicular to and intersectingaxis 83 and parallel toaxis 81. At its other end, link 70 is pivotably connected to theupper connector link 64 for pivoting with respect to the upper connector link aboutaxis 89 parallel toaxis 82. The upper connector link is pivotally connected tovertical link 62 for pivotal movement aboutaxes axes lower connector link 65 is pivotally connected tovertical link 62 for pivotal movement aboutaxes axes 92 and 94. - As with the FIG. 7 embodiment, the upper and
lower connector links extended portions tool holder link 78. Thetool holder link 78 is adapted to support a tool and is connected to the upper connector link extendedportion 71 for pivotal movement about axis 90 parallel toaxis 81 and about axis 91 (via yoke 73) perpendicular to and intersecting axis 90. Thetool holder link 78 is connected to the lower connector link extendedportion 75 for pivotal movement aboutaxis 95 and about axis 96 (via yoke 76) perpendicular to and intersectingaxis 95. Theyokes lower connector links axes 90 and 95. - The various links can be configured in a wide variety of ways and result in kinematically equivalent arrangements, all of which are included in the scope of the present invention. Thus, the structure shown in FIG. 9 is but one example of a manipulator according to the present invention. In the illustrated embodiment,
vertical link 50 includes lower andupper yokes lower yoke 51 is connected to ayoke 56 mounted on thebase 55 by aspider 56 a to define a universal joint pivotable aboutaxes upper yoke 52 is connected to a yoke 70 a on the end oflink 70 by aspider 70 b to define another universal joint pivotable aboutaxes -
Vertical links 61 and 62 are similar in structure to link 50, each including a yoke at either end. The lower yoke of vertical link 61 is pivotably connected to a first end of a lowerpivotal support 63 for pivoting aboutaxis 85, and the upper yoke is pivotably connected to one end of theupper connector link 64 for pivoting aboutaxis 87 which is parallel toaxis 85. The lower yoke oflink 62 is pivotably connected to the second end of the lowerpivotal support 63 for pivoting aboutaxis 86, which is parallel toaxis 85, and the upper yoke oflink 62 is pivotably connected to the second end of theupper connector link 64 for pivoting aboutaxis 88, which is parallel toaxis 85. The lowerpivotal support 63 is pivotably supported by ayoke 57 mounted on thebase 55 for pivoting about axis 84, which is parallel toaxis 89. Thelower connector link 65 includes two yokes 65 a. One of the yokes 65 a is pivotably connected to vertical link 61 and the other yoke 65 a is pivotably connected tovertical link 62. - When
vertical link 50 is pivoted aboutaxis 80 and thevertical links 61 and 62 is pivoted about axis 84, as shown, for example, by FIG. 11, the manipulator behaves like the kinematic model of FIG. 2, with the interconnectedvertical links 61 and 62 functioning as a single rigid link corresponding to link 12 of FIG. 2. As a result, thetool holder link 78 and thetool 79 pivot at avirtual pivot point 99 about axis 97, which is parallel to axis 84. Whenvertical link 50 is pivoted aboutaxis 81 andvertical links 61 and 62 are pivoted aboutaxes tool 79 pivot at thevirtual pivot point 99 aboutaxis 98, which is parallel toaxis 81 and perpendicular to axis 97 and intersects axis 97 at thevirtual pivot point 99. The upper connector link extendedportion 71, which corresponds to link 21 of FIG. 2, is not aligned with thehorizontal link 70, so thevirtual pivot point 99 is spaced from aplane containing axes - The
tool 79 may remain stationary with respect to thetool holder link 78, or thetool holder link 78 may include structure which enables thetool 79 to be manipulated with respect to thetool holder link 78 with one or more degrees of freedom. For example, thetool holder link 78 may be capable of translating thetool 79 in its axial direction, of rotating thetool 79 about its longitudinal axis, and of pitching and/or yawing thetool 79 with respect to thetool holder link 78. -
Vertical links common base 55, but they may be mounted on separate members. Thebase 55 is shown sitting on a crank-shapedsupport 58 having asupport pin 59, the upper end of which represents the location of thevirtual pivot point 99. However, thepin 59 performs no function in the operation of the manipulator and is present merely to make the location of thevirtual pivot point 99 easier to identify in this figure. In actual use, the manipulator can be mounted on any convenient support member, which may be stationary or movable. For example, the manipulator may be mounted on a wall, a ceiling, a support stand, a movable gantry, an operating table, an imaging device or other medical device with which the manipulator is to be used, or the distal end of another manipulator. - In FIG. 9, the
vertical links 61 and 62 are located betweenvertical link 50 and thetool holder link 78. Alternatively, the positions ofvertical link 50 and thevertical links 61 and 62 can be interchanged, withvertical link 50 located betweenvertical links 61 and 62 andtool holder link 78. - The links of a manipulator according to the present invention can be of fixed length, or they can be of adjustable length to enable the location of the virtual pivot point to be adjusted without having to move the entire manipulator. An adjustable link can have a variety of structures. For example, it can be a member with telescoping or otherwise overlapping portions and which can be lengthened or shortened either by hand or by an actuator, such as a motor or a cylinder, connected between the different telescoping portions of the link.
- Additionally, the
extended portions vertical links 61 and 62. However, this is not necessary. Theextended portions lower connector links vertical link 50. By combining this possible linear translation of the attachment points of theextended portions extended portion 71 of the upper connector link and thehorizontal link 70, three dimensional translational motion can be defined to allow the translation of thevirtual pivot pivot 99 to any point within the reach of the mechanism. - The manipulator of FIG. 9 can be operated by exerting a force on one or more of the
vertical links vertical link 50, can be directly grasped by the hand of a user, or a lever, a wheel, a crank, or other manually operable member can be mechanically coupled to one or more of the links to pivot the link with one or more degrees of freedom. Additionally, the manipulator configured such that it can be locked in position either by the actuators or by brakes or another type of mechanical lock. - Actuators for driving the manipulator can be connected to the manipulator at a variety of locations to exert a torque on a link about one or more of the rotational axes. For example, as shown in FIG. 16,
motors 110 and 111, which may include a reduction gear, can be mounted on eachyoke vertical link 50. In this example, eachmotor 110, 111 has an output shaft coaxially secured to one leg of thespider 56 a of the universal joint and a housing, with respect to which the output shaft can rotate, secured to the yoke so that when the motor is operated, thespider 56 a and theyoke motor 110 is operated,vertical link 50 pivots aboutaxis 80, and when motor 111 is operated,vertical link 50 pivots aboutaxis 81. Alternatively, motors can be mounted on the lower yoke of one or both ofvertical links 61 and 62 to pivot these links aboutaxes pivotal support rod 63 to rotate theparallel linkage 60 about axis 84. - The motors may be controlled in response to signals from a suitable input device. In particular, the manipulator of the present invention can be used as a slave robot in a master-slave robotic system. In such a system, a surgeon/operator provides position input signals to the “slave” manipulator via a master or haptic interface which operates through a controller or control console. Specifically, through the use of an input device on the haptic interface such as a joystick, foot pedal or the like, the surgeon indicates the desired movement of the tool held by the manipulator. The haptic interface relays these signals to the controller which, in turn, applies various desired predetermined adjustments to the signals prior to relaying them to the slave manipulator. Any haptic interface can be used to control the manipulator via the controller. Other input devices such as a keyboard, a tape memory or other storage device, a mouse, a digitizer, a computer glove, or a voice operated controller could also be used.
- Based on the signals provided by the controller, the manipulator executes the desired movement or operation of the tool. Thus, any desired dexterity enhancement can be achieved by setting up the controller to perform the appropriate adjustments to the signals sent from the haptic interface. For example, this can be accomplished by providing the controller with software which performs a desired dexterity enhancement algorithm. Software dexterity enhancement algorithms can include position scaling, force scaling, tremor filtering and gravity compensation. These and other examples of possible algorithms are well known in the field of robotics and described in detail in published literature.
- The various actuators and/or the tool holder link can also be equipped with sensors for sensing the forces or torques applied thereon so as to enable a determination of the forces and torques applied to the tool. This information can again be used in a feedback control loop to the controller, for example to allow force feedback to the input device of the haptic interface. Of course, any known method for measuring forces and/or torques can be used, including, for example, foil type or semiconductor strain gauges or load cells. The forces also could be displayed on a display device for an operator of the manipulator. Additional details regarding input devices, controllers and actuators suitable for manipulators to be used in medical imaging environments is disclosed in commonly assigned U.S. application Ser. No. 09/442,966 entitled “Medical Manipulator For Use With An Imaging Device” which is hereby incorporated by reference.
- In the manipulator embodiments shown in FIGS.2-16, parallelogram mechanisms comprising four bar linkages are employed to constrain certain links to move in parallel relation as the manipulator swings back and forth to move a tool in space. However, as will be appreciated by those skilled in the art, parallelogram linkages other than four-bar linkages can perform a similar function. For example, another embodiment of a manipulator constructed in accordance with the present invention is shown in FIGS. 17-23. The embodiment of the invention shown in FIGS. 17-23 functions in the same manner as the embodiment shown for example in FIG. 7, however, instead of using two parallel four bar linkages that are linked together the embodiment of the invention shown in FIGS. 17-23 utilizes two parallel gear linkage mechanisms (referenced herein as first and second parallel gear linkage mechanisms).
- Each of the gear linkage mechanisms includes a
vertical link vertical links vertical link 150 of the first gear linkage mechanism is supported by a lowerhorizontal rod 152 for pivoting about anaxis 170. The lowerhorizontal rod 152 is, in turn, pivotably supported by abase 154 for pivoting about anaxis 171 perpendicular to and intersectingaxis 170. In a similar manner, the lower end of thevertical link 151 of the first gear linkage mechanism is supported by a lowerhorizontal rod 153, which is parallel to the lowerhorizontal rod 152 of the first gear linkage mechanism, for pivoting about an axis 172 (which is parallel to axis 170). The lowerhorizontal rod 153 is pivotably supported by thebase 154 for pivoting about anaxis 173 which is parallel toaxis 171 and intersectsaxis 172. Thebase 154 is shown mounted on asupport 58 like the one illustrated in FIG. 9, but the manipulator may be supported in any other convenient manner, such as in the ways described with respect to FIG. 9. - The upper end of the
vertical link 150 of the first gear linkage mechanism is pivotable with respect to an upperhorizontal rod 155, which is parallel to the lowerhorizontal rod 152 of the first gear linkage mechanism, for pivoting about anaxis 174, which is parallel toaxis 170. Again, in a similar manner, the upper end of thevertical link 151 of the second gear linkage mechanism is pivotable with respect to an upperhorizontal rod 156, which is parallel to the lowerhorizontal rod 155, for pivoting about anaxis 176, which is parallel toaxis 172. The two upperhorizontal rods upper crosspiece 157 which functions as an upper connector link (similar to theupper connector link 346 of the FIG. 7 embodiment) between the two gear linkage mechanisms. The upperhorizontal rod 155 of the first gear linkage mechanism is pivotable with respect to theupper crosspiece 157 for pivoting aboutaxis 175, which is parallel toaxis 171. The upperhorizontal rod 156 of the second gear linkage mechanism is pivotable with respect to theupper crosspiece 157 for pivoting aboutaxis 177, which is parallel toaxis 173. - The first gear linkage mechanism further includes a
yoke 160 which is parallel to the lowerhorizontal rod 152. Theyoke 160 is pivotably connected to thevertical link 150 between its upper and lower ends for pivoting aboutaxis 180, which is parallel toaxis 170. The second gear linkage mechanism also includes ayoke 161 which is parallel to theyoke 160 of the first gear linkage mechanism. The yoke of the second gear linkage mechanism is pivotably connected to thevertical link 151 between its upper and lower ends for pivoting about anaxis 182 which is parallel toaxis 172. Alower crosspiece 162, which is parallel to theupper crosspiece 157, extends between and is pivotably connected to theyokes upper crosspiece 157, the lower crosspiece functions as a connector link between the two gear linkage mechanisms (similar to thelower connector link 348 of the FIG. 7 embodiment). Thelower crosspiece 162 is pivotable with respect to theyoke 160 of the first gear linkage mechanism aboutaxis 181, which is parallel toaxis 171. Similarly, thelower crosspiece 162 is also pivotable with respect to theyoke 161 of the second gear linkage mechanism aboutaxis 183, which is parallel toaxis 173. The upper andlower crosspieces vertical links axis 171 andaxis 173. - For supporting a
tool 166, the manipulator illustrated in FIGS. 17-23 includes atool holder link 165 which is connected to the two gear linkage mechanisms viaextended portions extended portion 158 of theupper crosspiece 157 has ayoke 159 at its free end. Theyoke 159 is pivotably connected to theextended portion 158 for pivoting about anaxis 184, which is parallel toaxis 171. Theyoke 159 is also pivotably connected to thetool holder link 165 for pivoting about anaxis 185 which is perpendicular toaxis 184. Theextended portion 163 of thelower crosspiece 162 extends parallel to theextended portion 158 of the upper crosspiece and pivotally supports ayoke 164 at its free end for rotation aboutaxis 186, which is parallel toaxis 184. Theyoke 164 is also pivotably connected to thetool support link 165 for pivoting aboutaxis 187, which is perpendicular toaxis 186 and parallel toaxis 185. - The upper
horizontal rod horizontal rod vertical link 150 of the first gear linkage mechanism, a firstlower gear 200 is secured to the lowerhorizontal rod 152. Thelower gear 200 is concentric with respect toaxis 170 so that thevertical link 150 can rotate with respect to thelower gear 200 aboutaxis 170. A secondupper gear 201 is secured to the upperhorizontal rod 155 concentrically withaxis 174 and is rotatable with respect to thevertical link 150 aboutaxis 174. A thirdintermediate gear 202 is pivotably mounted on thevertical link 150 between and in mesh with the upper andlower gears intermediate gear 202 is shown coinciding withaxis 180, but the location of its rotational axis is not critical. Lower, upper and intermediate gears 205-207 are mounted on thevertical link 151 of the second gear linkage mechanism in the same manner. The reduction ratios of the gears are selected so that, for example, when thevertical link 150 of the first gear linkage mechanism pivots with respect to the lowerhorizontal rod 152 aboutaxis 170 in a first rotational direction by an angle ox, the upperhorizontal rod 155 will rotate with respect to link 150 aboutaxis 174 in the opposite rotational direction by the same angle α. Thus, the lower and upperhorizontal rods - As shown in FIG. 19, which is a side elevation of the manipulator of FIG. 17 pivoted backwards from the position shown in FIG. 17, pivoting the vertical links of the two gear linkage mechanisms about
axes tool holder link 165 and thetool 166 to pivot at avirtual pivot point 192 about anaxis 190 spaced from aplane containing axes vertical links vertical links axes tool holder link 165 and thetool 166 pivot at thevirtual pivot point 192 about anaxis 191 which is perpendicular to and intersectsaxis 190 at thevirtual pivot point 192. Thus, thetool 166 can be pivoted with two rotational degrees of freedom about thevirtual pivot point 192. When performing the side-to-side movement, the manipulator can be considered like the kinematic model of FIG. 7, with thevertical links links lower crosspieces links upper crosspiece 158 and itsyoke 159 functioning likelink 51 of FIG. 7, the extended portion of thelower crosspiece 163 and itsyoke 164 functioning likelink 52 of FIG. 7, and thetool holder link 165 functioning likelink 53 of FIG. 7. As will be appreciated, the manipulator of FIGS. 17-23 can be driven by hand or by a motor or other actuator in a manner similar to that described with respect to FIG. 16. - In FIGS.17-23, the upper and
lower gears intermediate gears intermediate gears upper gear lower gears vertical links - Mechanisms other than gears can be used to constrain, for example, the upper and lower
horizontal rods intermediate gear 202 on the vertical link may be omitted, and the upper and lower gears can be replaced bysprockets 210 connected to each other by achain 211 so as to produce a parallel chain linkage mechanism, as shown in FIG. 24, or bypulleys 215 connected to each other by a belt orcable 216 so as to produce a parallel mechanical belt or cable linkage mechanism, as shown in FIG. 25. In FIG. 24, alower sprocket 210 is secured to the lowerhorizontal rod upper sprocket 210 is secured to the upperhorizontal rod vertical link lower sprocket 210, and the upper end of thevertical link upper sprocket 210. In FIG. 25, alower pulley 215 is the lowerhorizontal rod upper pulley 215 is secured to the upperhorizontal rod vertical link lower pulley 215, and the upper end of thevertical link upper pulley 215. - With the manipulator embodiment shown in FIG. 17, the pivot axes170, 172, 174, 176, 180, and 182 associated with the vertical link of each parallelogram mechanism lie in the same plane, so the
virtual pivot point 192 is aligned with aplane containing axes vertical links vertical links axes rotational axes vertical links virtual pivot point 192 to be spaced from a plane containing theaxes yokes extended portions lower crosspieces tool holder link 165. Accordingly, thetool 166 can be mounted on thetool holder link 165 in a location other than aplane containing axes virtual pivot point 192. For example, thetool 166 can be mounted such that it is spaced forward of theplane containing axes yokes tool 166. - In accordance with a further aspect of the present invention, the manipulator can include a
tool holder 410 for holding and moving a tool with one or more degrees of freedom while minimizing contact between the tool holder and the tool. As stated above, a tool which is supported by a manipulator according to the present invention can be selected from a wide variety of devices, both for medical and non-medical purposes. FIG. 28 illustrates a portion of a manipulator according to the present invention having the structure shown in FIG. 26 which includes atool holder 410 configured to hold abiopsy needle 412. Thetool holder 410 is mounted on thelink 165 and can translate theneedle 412 in its lengthwise direction with respect to thelink 165. - To this end, as shown in FIGS.28-30, the
tool holder 410 includes acartridge 414 having amovable carriage 416 which can engage the proximal end of theneedle 412 and can move in the lengthwise direction of the needle to translate it toward or away from a patient. Thecartridge 414 is detachably mounted on adrive unit 420 which contains a motor or other drive mechanism which can be operatively coupled to thecarriage 416 to translate the carriage in the lengthwise direction of theneedle 412. Thedrive unit 420 includes a pair of aligned shafts oraxles 422 which are pivotably supported by ayoke 424 secured to link 165. Theyoke 424 includes a motor or other drive mechanism which can controllably pivot thedrive unit 420 about the rotational axes of theaxles 422 to a desired angle. However, when thetool holder 410 is used with a manipulator according to the present invention, the motor is typically not operated so that thedrive unit 420 remains at a constant angle with respect to theyoke 424, with the longitudinal axis of theneedle 412 aligned with thevirtual pivot point 192 of the manipulator. - The illustrated
tool holder 410 is just one example of many possible devices for supporting a needle, but it is particularly advantageous because it minimizes the number of components which are subject to contamination during a medical procedure using theneedle 412. In particular, the only portion of a tool holder according to the present invention which comes into direct contact with a needle or other medical tool is the replaceable cartridge. The motors for translating thecarriage 416 or for rotating thedrive unit 420 are protected from contamination, so the drive unit and theyoke 424 typically do not need to be sterilized between uses. On the other hand, thecartridge 414 and theneedle 412, which may be subject to contamination, can be readily replaced as a single unit after a single use, to be either sterilized or discarded. The cartridge does not require high precision for its manufacture nor does it require high strength, so it can be inexpensively manufactured to enable it to be economically discarded, if desired, after a single use. The other portions of the tool holder are substantially free from contamination, so they can be reused with a new cartridge without having to be sterilized between uses. - As shown in FIGS.33-35, the
cartridge 414 includes anelongated carriage guide 426 along which the carriage is movable in a linear path in a lengthwise direction of the guide. The illustratedcarriage guide 426 has a generally U-shaped transverse cross section with twoelongated guide flanges 428 extending transversely from its upper end as shown in FIG. 35. Thecarriage guide 426, however, may have any desired shape which enables it to guide thecarriage 416. Anelongated slot 430 through which adrive pin 432 of thedrive unit 420 can pass extends in the lengthwise direction of the bottom surface of thecarriage guide 426. Anend plate 434 is secured to the lower end (the end closest to a patient during use) of thecarriage guide 426 as shown in FIGS. 33 and 34. - The
end plate 434 includes a needle guide for guiding a portion of theneedle 412 as it translates along thecarriage guide 426. The illustrated needle guide comprises anotch 436 formed in theend plate 434 through which theneedle 412 can slidably pass. Thenotch 436 may be equipped with a retainer such as aclip 438 which can pivot between an open position in which theneedle 412 can be easily inserted into or removed from thenotch 436 and a closed position in which theclip 438 prevents the removal of theneedle 412 from thenotch 436. - The
carriage 416 can have any shape which enables it to translate along thecarriage guide 426 while engaging aneedle 412 or other medical tool. The illustratedcarriage 416 has a pair offlanges 440 at its open end extending in its lengthwise direction which are shaped to fit around theguide flanges 428 on thecarriage guide 426 to permit thecarriage 416 to slide along thecarriage guide 426 along a linear path. Thecarriage 416 can engage theneedle 412 so as to be capable of exerting a drive force on theneedle 412 in its lengthwise direction to insert theneedle 412 into or retract it from a patient's body. - The manner in which the
carriage 416 engages theneedle 412 can be chosen in accordance with the structure of the needle. As shown in FIG. 33, the illustratedneedle 412 is a commercially available introducer needle including an elongatedhollow shank 442 and an engaging portion in the form of an enlarged head 444 molded around or otherwise secured to the proximal end (the end remote from a patient) of the shank. The illustratedcarriage 416 is adapted to hold theneedle 412 by its head 444. Thecarriage 416 includes arecess 446 which is sized to receive the head 444 of theneedle 412. Thelengthwise end walls 448 of therecess 446 can press against the end faces of the head 444 of theneedle 412 to exert a force on the head in the lengthwise direction of the needle. Alternatively, the side walls of therecess 446 may fit snugly around the head 444 to transmit a force to the head in the longitudinal direction of theneedle 412 by friction. - A retainer in the form of a
clip 450 on thecarriage 416 can be pivoted between an open position shown in FIG. 33 in which theneedle 412 can be installed on or removed from the carriage and a closed position in which theclip 450 fits over the head 444 of theneedle 412 to resist removal of the needle. One of theend walls 448 of thecarriage 416 includes a notch 452 communicating with therecess 446 through which theshank 442 of theneedle 412 can pass. Thecarriage 416 may hold theneedle 412 in any other suitable manner. For example, it may include jaws or fingers which can grasp either theshank 442 or the head 444 of theneedle 412. As another example, if the head 444 of theneedle 412 has a varying outer diameter, a reduced diameter portion of the head may be disposed in the notch 552, and portions of larger diameter adjoining the reduced diameter portion may be disposed outside of the notch on either side of it to prevent lengthwise movement of theneedle 412 with respect to thecarriage 416, with one of the larger diameter portions disposed in therecess 446 and the other disposed outside the recess. If theneedle 412 is intended to house another member, such as an obturator, therecess 446 may be made large enough to receive a head or other portion of the member housed in the needle. - As will be appreciated by those skilled in the art, when a different type of tool is being held by the
tool holder 410, thecarriage 416 may be modified to engage the tool in a different manner from that shown in the figures. However, the illustrated arrangement can be used for any tool having an elongated shank and an enlarged engagement portion, such as a head, hub, collar, flange, or knob attached to the shank. Moreover, the cartridge can be adapted to permit the tool to be released after the tool is set in a particular position. - The
cartridge 414 is preferably readily detachable from thedrive unit 420 to permit the cartridge to be easily installed and replaced. Any convenient method of attaching thecartridge 414 to thedrive unit 420 can be employed. In the illustratedcartridge 414, theend plate 434 is equipped with ahole 454 through which anengagement pin 456 of the drive unit 420 (FIG. 31) can pass. An elasticallydeformable clip 460 which can detachably engage aflange 458 on the opposing end of the drive unit 420 (FIGS. 31 and 32) is mounted on the opposite end of thecarriage guide 426. - In order to prevent the
cartridge 414 from being reused with more than one patient by simply replacing theneedle 412 without the cartridge being sterilized, the cartridge may be structured so that a needle cannot be removed from the cartridge without rendering the cartridge unusable. For example, one or both of theclips needle 412 in thecartridge 414 may engage the cartridge when the clip is in its closed position in a manner such that a portion of the clip or a portion of the cartridge breaks off when the clip is opened, making it impossible to again secure the clip in a closed position and secure the needle to the cartridge. Such a breakable portion may be in the form of a flange, a claw, a head, etc., which is snap-engageable with another member when the clip is in its closed position and which breaks off when the clip is opened. - The
drive unit 420 can have any structure which enables it to exert a drive force on thecarriage 416 in a lengthwise direction of theneedle 412 to cause the carriage to translate along thecarriage guide 426. As shown in FIGS. 31-32, the illustrateddrive unit 420 includes a frame 462 which supports a drive mechanism. The illustrated drive mechanism includes alead screw 464 which engages with amovable nut 465 having adrive pin 432 projecting from its upper surface for detachable engagement with thecarriage 416. Thecarriage 416 may engage thepin 432 on thedrive unit 420 in any convenient manner. In the illustrated embodiment, thecarriage 416 includes arecess 466 in its bottom surface for engagement with thepin 432. Thenut 465 can be prevented from rotating as it translates along thelead screw 464 by the sides of the frame 462 or by a guide member, such as a rod, slidably engaging with thenut 465. Thelead screw 464 can be rotated about its axis by any suitable drive source, such as by anelectric motor 468 drivably connected to thelead screw 464 by agear unit 470. When themotor 468 is driven, thelead screw 464 is rotated about its axis to translate thenut 465 along thelead screw 464 and move thecarriage 416 of thecartridge 414 either toward or away from a patient's body. A few examples of other suitable drive mechanisms for translating thecarriage 416 along thecarriage guide 426 include a belt and pulley drive, a linear motor, or a pneumatic or hydraulic cylinder. - The moving parts of the
drive unit 420 are preferably enclosed to protect them from contamination and to prevent them from contaminating a patient. As shown in FIG. 30, the illustrateddrive unit 420 includes acover 472 which surrounds all the moving parts except for thepin 432 of thenut 465, which extends through anelongated slit 474 in the top surface of the cover parallel to thelead screw 464. The portion of thecover 472 in which theslit 474 is formed may be made of a flexible material so that the slit is substantially closed except in the region immediately surrounding thepin 432 where the pin forces theslit 474 open. - The
drive unit 420 is preferably pivotably supported by theyoke 424 for pivoting about a pitch axis which is transverse (e.g., perpendicular) to the axis of theneedle 412. The illustratedyoke 434 includes a pair of legs 476 separated by acavity 478 for receiving thedrive unit 420 when the drive unit is in an initial position ash shown in FIG. 30. Thedrive unit 420 may be pivoted about the pitch axis manually, or theyoke 424 or the drive unit may be equipped with a drive mechanism for exerting a rotary drive force on the drive unit about the pitch axis. For example, the illustratedyoke 424 is equipped with an electric motor 480 (FIGS. 29 and 30) which is operatively connected to one of theaxles 422 of thedrive unit 420 by a gear unit, such as a worm gear unit including aworm 482 secured to the output shaft of themotor 480 and aworm gear 484 secured to theaxle 422. When themotor 480 is operated, theentire drive unit 420 can be pivoted about the pitch axis to a desired angle. In FIG. 29, thedrive unit 420 is shown pivoted clockwise about the pitch axis so that the proximal end of theneedle 412 is raised above theyoke 424, but the drive unit may be rotated in the opposite direction so that the proximal end of theneedle 412 is positioned below the yoke. The drive unit can have any desired range of rotation about the pitch axis. The greater the range of rotation about the pitch axis, the less theentire tool holder 410 needs to be moved to obtain a desired angle of theneedle 412 with respect to a patient's body. In the present embodiment, the drive unit can be rotated about the pitch axis by approximately ±115° from its initial position (i.e., with the needle parallel to the longitudinal axis of the yoke), but a greater range of rotation may be employed. For example, thedrive unit 420 may be rotatable by 360° around the pitch axis. - In some situations, it may be convenient to dispense a drug or other substance to a patient during use of the
needle 412. Therefore, thecartridge 414 may be equipped with one or more devices for dispensing a local anesthetic, an antiseptic agent, or other substance to a patient when theneedle 412 is being inserted into the patient's body. As shown in FIG. 33, the illustratedcartridge 414 is equipped with first andsecond dispensing units carriage guide 426 near theend plate 434. The dispensing units, however, can be mounted in any convenient location on the cartridge, drive unit or yoke. Thefirst dispensing unit 486 comprises an applicator for applying a liquid to the skin of a patient, while thesecond dispensing unit 488 comprises an injector for administering a percutaneous injection of a substance to a patient. - FIGS. 36 and 37 are schematic cross-sectional views of examples of the two dispensing
units first dispensing unit 486 includes areservoir 490 containing a liquid 492 to be applied to a patient's skin. Anabsorbent wick 494 extends from the interior of thereservoir 490 where it contacts the liquid 492 through an opening 495 of thereservoir 490 to its exterior. When not in use, the outer end of thewick 494 may be covered by a cap or other suitable member to prevent it from drying out. The liquid 492 is drawn by thewick 494 to the outer end of the wick, which can be placed against a patient's skin to transfer the liquid 492 from thereservoir 490 to the skin, and thetool holder 410 can be moved along a desired path to swab the patient's skin with the liquid. The liquid 492 in thereservoir 490 can be any substance suitable for topical application. For example, it may be PVD iodine or other antiseptic agent for use in cleansing a patient's skin in the region into which theneedle 412 is to be inserted. Devices other than awick 494 can be used to transfer liquid 492 from thereservoir 490 to the patient's skin in a gradual manner, such as a roller ball similar to that used in a ballpoint pen or a spring-loaded valve which can open when pressed against the patient's skin. - As shown in FIG. 37, the
second dispensing unit 488 includes a housing having afirst chamber 496 containing a firstmovable piston 497 and a second chamber 498 adjoining thefirst chamber 496 and containing a second movable piston 499 coupled to thefirst piston 497 so that the two pistons can move together. Thefirst chamber 496 is equipped with a fluid port 500 through which a drive fluid can be introduced under pressure into the first chamber. The second chamber 498 is equipped with an orifice 502 opening onto the exterior of the housing through which a fluid to be administered to a patient can be discharged under pressure. When not in use, the orifice 502 may be closed by a cap, a stopper, sealing tape, or other suitable member to prevent fluid from leaking from the second chamber 498. The drive fluid for driving thefirst piston 497 can be either a gas or a liquid, a few examples of suitable drive fluids being air, CO2, and water. - Prior to use, the second chamber498 is filled with a fluid (usually a liquid but possibly a gas) to be administered to a patient, which may be any substance suitable for percutaneous injection during a medical procedure involving a
needle 412 or other medical tool. For example, the fluid may be Lidocaine or other local anesthetic for preventing pain in the region into which the needle is to be inserted. To inject the fluid into a patient, the cap or other cover is removed from the orifice 502, and thetool holder 410 is moved to a position in which the orifice is pressed against or is in close proximity to the patient's skin. The drive fluid is then introduced under pressure into the right side of thefirst chamber 496 through fluid port 500 to drive the first andsecond pistons 497 and 499 to the left in FIG. 38. As the second piston 499 moves to the left, it discharges the fluid through the orifice 502 and through the patient's skin into his body. - The
tool holder 41 0 of the present invention can have an extremely compact design, so it can support and manipulate a medical tool inside tight spaces in which it would be difficult or impossible for a human operator to position a tool or in environments which would be unsafe for a human operator. In particular, the manipulator can hold a medical tool with respect to a patient inside medical imaging equipment, such as CT (computer tomography) equipment, conventional x-ray equipment, or magnetic resonance imaging equipment, which equipment often has a very small clearance surrounding a patient's body during imaging. Therefore, the tool holder enables the position of a medical tool with respect to a patient to be adjusted while imaging is taking place and makes it unnecessary to remove the patient from the imaging equipment each time the position of the tool needs to be adjusted. For this reason, the medical tool can be positioned quickly and accurately, enabling a medical procedure to be performed with the tool efficiently and economically with less stress on the patient. The ability of the tool to be rapidly positioned is particularly advantageous when the tool is being positioned in or near the patient's chest and the patient is holding his breath. - As will be appreciated, the
tool holder 410 can be configured to hold a wide variety of medical tools both for therapeutic and diagnostic purposes, a few examples of which are biopsy needles, biopsy guns, catheters, various probes including cryo probes and radio frequency probes, lasers, laser hyperthermia devices, cameras, and needles for administering various substances, such as biotherapeutic agents, alcohol, or radioactive pellets, to the interior of a patient's body. In addition to tools which are inserted into a patient's body, the tool holder can be used to hold tools which are normally utilized on a patient's exterior. Moreover, the tool holder can be operated in a master-slave mode, a fully robotic mode, or a semi-robotic mode in which some of the motions of the tool holder are controlled by input commands from an operator and other motions are controlled automatically. - All of the references cited herein, including patents, patent applications, and publications, are hereby incorporated in their entireties by reference.
- While this invention has been described with an emphasis upon preferred embodiments, it will be obvious to those of ordinary skill in the art that variations of the preferred embodiments may be used and that it is intended that the invention may be practiced otherwise than as specifically described herein. Accordingly, this invention includes all modifications encompassed within the spirit and scope of the invention as defined by the following claims.
Claims (16)
1. A tool holding apparatus for use with a manipulator comprising:
a cartridge including a carriage for engaging a tool and a guide on which the carriage is movably mounted for translation along a path; and
a drive unit on which the cartridge is detachably mounted and which includes a drive mechanism drivably engageable with the carriage to move the carriage along the path.
2. The tool holding apparatus according to claim 31 wherein the path is a linear path.
3. The tool holding apparatus according to claim 31 wherein the carriage is adapted for engagement with a biopsy needle.
4. The tool holding apparatus according to claim 31 wherein the drive mechanism comprises a lead screw, a nut movable along the lead screw and engageable with the carriage of the carriage of the cartridge, and a motor which can rotate the lead screw to translate the nut along the lead screw.
5. The tool holding apparatus according to claim 31 including a support which supports the drive unit for rotation about an axis transverse to the path of the carriage.
6. The tool holding apparatus according to claim 35 wherein the axis is perpendicular to the path.
7. The tool holding apparatus according to claim 35 including a drive mechanism coupled to the drive unit to rotate the drive unit about the axis.
8. The tool holding apparatus according to claim 37 wherein the support is adapted for engagement with a manipulator for supporting the tool holding apparatus.
9. The tool holding apparatus according to claim 31 wherein the carriage includes a recess for receiving an enlarged engagement portion of a tool.
10. The tool holding apparatus according to claim 39 wherein the recess is adapted to receive a head of a needle.
11. The tool holding apparatus according to claim 39 including a retainer which fits over the recess to restrain the engagement portion in the recess.
12. The tool holding apparatus according to claim 31 wherein the cartridge includes a guide spaced from the carriage for guiding a shank of a needle as the needle is translated by the carriage.
13. The tool holding apparatus according to claim 31 wherein the cartridge includes a dispenser for dispensing a fluid to a patient during the medical procedure.
14. The tool holding apparatus according to claim 43 wherein the dispenser includes a reservoir for the fluid and a wick extending from the reservoir for transferring fluid from the reservoir to a patient.
15. The tool holding apparatus according to claim 43 wherein the dispenser comprises a percutaneous injector.
16. The tool holding apparatus according to claim 31 wherein the cartridge is adapted to release a tool after positioning.
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