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Haptic device for telerobotic surgery

United States Patent

December 30, 2014
View the Complete Patent at the US Patent & Trademark Office
Sandia National Laboratories - Visit the Intellectual Property Management and Licensing Website
A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
Salisbury; Curt (Albuquerque, NM), Salisbury, Jr.; J. Kenneth (Mountain View, CA)
The Board of Trustees of the Leland Stanford Junior University (Palo Alto, CA), Sandia Corporation (Albuquerque, NM)
12/ 722,332
March 11, 2010
STATEMENT OF GOVERNMENT INTEREST The United States Government has rights in this invention pursuant to Contract No. DE-AC04-94AL85000 between the United States Department of Energy and Sandia Corporation, for the operation of the Sandia National Laboratories.