A hybrid manual-robotic system for controlling the position of an instrument

Herman, Benoît;Raucent, Benoît;Tran Duy, Khanh;Donnez, Jacques;Polet, Roland
(2008)

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Authors
  • Herman, BenoîtUCLouvain
    Inventor
  • Raucent, BenoîtUCLouvain
    Inventor
  • Tran Duy, KhanhUCLouvain
    Inventor
  • Donnez, JacquesUCLouvain
    Inventor
  • Polet, RolandUCLouvain
    Inventor
Abstract
The present invention concerns hybrid manual-robotic system for supporting and moving a surgical instrument having active main structure (100) that comprises: a) a base (2) for attachment to an operating table having an operating surface (150), b) a hexahedral-shape frame (3), which shape is formed from a first (5, 5') and second (4, 4') pair of opposing parallelograms and opposing proximal (6') and distal (6) rectangles, which frame (3) is formed by at least seven links (7, 8, 9, 10, 11, 12, 13, 22, 23) connected by revolute joints (14, 15, 16, 17, 18, 19, 20, 26, 27, 109), whereby a) a pair of parallel base links (7, 13) of the proximal rectangle (6') is coupled to the base (2) by two revolute joints (116, 117), and are configured to lie and remain essentially perpendicular to the plane of the operating surface (150) and to revolve around their longitudinal axes that coincide with the axes of revolution of joints (116, 117), whereby b) said revolute joints are configured to allow the hexahedral frame (3) to freely adopt a cube, or parallelepiped restricted by said perpendicular coupling, and whereby c) the distal rectangle (6) is coupled through a transmission means (200) to said instrument.
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Herman, B., Raucent, B., Tran Duy, K., Donnez, J., & Polet, R. (2008). A hybrid manual-robotic system for controlling the position of an instrument (Patent No. PCT/EP2008/057343). https://hdl.handle.net/2078.5/28393