US 12,402,960 B2
Mechanical manipulator for surgical instruments
Ricardo Daniel Rita Beira, Lausanne (CH); Reymond Clavel, Oulens-sous-Echallens (CH); and Hannes Bleuler, Buchillon (CH)
Assigned to Ecole Polytechnique Federale De Lausanne (EPFL), Lausanne (CH)
Filed by Ecole Polytechnique Federale De Lausanne (EPFL), Lausanne (CH)
Filed on Jul. 26, 2021, as Appl. No. 17/385,824.
Application 17/385,824 is a continuation in part of application No. 16/701,063, filed on Dec. 2, 2019, granted, now 11,200,980.
Application 16/701,063 is a continuation of application No. 16/442,435, filed on Jun. 14, 2019, granted, now 10,510,447, issued on Dec. 17, 2019.
Application 17/385,824 is a continuation of application No. 16/153,695, filed on Oct. 5, 2018, granted, now 11,076,922, issued on Aug. 3, 2021.
Application 16/442,435 is a continuation of application No. 15/633,611, filed on Jun. 26, 2017, granted, now 10,325,072, issued on Jun. 18, 2019.
Application 15/633,611 is a continuation of application No. 14/233,184, granted, now 9,696,700, issued on Jul. 4, 2017, previously published as PCT/IB2012/053786, filed on Jul. 25, 2012.
Application 16/153,695 is a continuation of application No. 13/878,924, granted, now 10,092,359, issued on Oct. 9, 2018, previously published as PCT/IB2011/054476, filed on Oct. 11, 2011.
Claims priority of provisional application 61/511,994, filed on Jul. 27, 2011.
Claims priority of application No. 10187088 (EP), filed on Oct. 11, 2010; application No. 10187097 (EP), filed on Oct. 11, 2010; and application No. 00702/12 (CH), filed on May 18, 2012.
Prior Publication US 2021/0369360 A1, Dec. 2, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); F16H 19/08 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/71 (2016.02); F16H 19/08 (2013.01); A61B 2017/2906 (2013.01); A61B 2090/371 (2016.02); Y10T 74/18848 (2015.01)] 15 Claims
OG exemplary drawing
 
1. A teleoperated surgical device for performing a surgical procedure within an incision point at a patient's body, the device comprising:
a slave unit comprising a plurality of slave links interconnected by a plurality of slave joints;
an instrument shaft operatively coupled to the slave unit;
an end-effector coupled to a distal end of the instrument shaft;
a master unit comprising a plurality of master links interconnected by a plurality of master joints;
a handle coupled to the master unit for operating the teleoperated surgical device;
a transmission system configured to transmit motion, responsive to movement at the handle, from the master unit to the slave unit to cause the end-effector to move in three degrees-of-freedom and up to seven degrees-of-freedom within the patient's body,
wherein movement at the handle transmits motion from the master unit to the slave unit by actuating a first pulley to generate cable motion in a first direction and actuating a second pulley to generate cable motion in a second direction opposite to the first direction while maintaining a constant closed loop cable length to thereby move the end-effector in a degree-of-freedom within the patient's body.