| CPC A61B 34/37 (2016.02) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/76 (2016.02); A61B 90/37 (2016.02); A61B 2034/304 (2016.02); A61B 34/72 (2016.02); A61B 34/75 (2016.02); A61B 34/77 (2016.02); A61F 9/007 (2013.01); A61F 9/00736 (2013.01)] | 12 Claims |
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1. A surgical system, comprising:
a master apparatus;
a slave apparatus controllably coupled to the master apparatus and configured to be mounted to a patient's head, the slave apparatus comprising:
a support frame;
a tool shaft;
a first set of three or more linearly-actuating links coupled to the support frame, at a proximal end of each link, and to the tool shaft, at a distal end of each link, wherein the first set of links are arranged in a radial manner, each link of the first set radially spaced apart from an adjacent link in the first set by an angle less than or equal to about 120 degrees, wherein the proximal ends of each link of the first set are attached to the support frame such that the proximal ends of each link of the first set cannot translate linearly along the support frame;
a second set of three or more linearly-actuating links coupled to the support frame, at a proximal end of each link, and to the tool shaft, at a distal end of each link, wherein the second set of links are arranged in a radial manner, each link of the second set radially spaced apart from an adjacent link in the second set by an angle less than or equal to about 120 degrees, wherein the proximal ends of each link of the second set are attached to the support frame such that the proximal ends of each link of the second set cannot translate linearly along the support frame;
a surgical tool coupled to the first and second sets of links through the tool shaft, the first and second sets of links providing translational and rotational movement to the surgical tool through the tool shaft; and
one or more direct drive actuators coupled to each link of the first and second sets of links, the direct drive actuators configured to provide linear movement to each link to linearly modify a length of each link between the proximal and distal ends of each link, of the first and second sets of links;
a direct drive rotary actuator coupled to at least the first set of links and the surgical tool, the rotary actuator configured to provide tool axis roll for the surgical tool;
wherein the slave apparatus is further coupled to a slave apparatus support system comprising:
a forehead pad;
an adjustable head strap attached to the forehead pad; and
at least one adjustable arm extending from the forehead pad and
configured to support the slave apparatus over an eye of a patient;
wherein the slave apparatus support system further comprises a counterbalancing articulating arm attached to the forehead pad, the counterbalancing articulating arm comprising a SCARA (Selectively Compliant Articulated Robot Arm) mechanism;
wherein the slave apparatus and the master apparatus each comprise at least six force sensors;
wherein the slave apparatus and master apparatus form a closed control loop for force signal values that are detected by the force sensors and translated between the slave apparatus and master apparatus;
wherein the master apparatus comprises a haptic interface configured to receive input from a user to generate one or more control signals for the slave apparatus; and
wherein the surgical tool comprises an end effector having a sensor to communicate at least one of force feedback and force control signals to the surgical system.
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