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US5695500A Expired / Lapsed US ⏱️ 0.0 years remaining

System for manipulating movement of a surgical instrument with computer controlled brake

Assignee: International Business Machines Corp

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Filing: 1994-04-06

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Granted: 1997-12-09

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Expires: 2014-04-06

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Abstract

Abstract The system and method includes a manipulator for manipulating a surgical instrument relative to a patient's body and, a position sensor for sensing the position of the surgical instrument relative to the patient's body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.

Inventors

👤 Russell Highsmith Taylor
👤 Yong-yil Kim

Bibliographic Details

Application Number —

Jurisdiction US

Data Source google_patents

Last Synchronized 2026-11-05 13:29

CPC Classifications

B; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275; A; A61; A61B; A61B34/00; A61B34/20; A61B34/30; A61B34/70; A61B34/76; B25J9/00; B25J9/02; B25J9/04; A61B17/00; A61B2017/00017; A61B2017/00022; A61B2017/00115; A61B2017/00203; A61B34/10; A61B2034/107; A61B2034/2046; A61B2034/2051; A61B2034/2055; A61B2034/2068; A61B2034/2072; A61B34/74; A61B2034/742; A61B90/00; A61B90/08; A61B2090/0813; A61B90/36; A61B2090/364; A61B2090/365; A61B90/39; A61B2090/3904; A61B2090/3916; A61B2090/3937; A61B2090/3945; A61B90/50; A61B2090/5025; G; G05; G05B; G05B2219/00; G05B2219/30; G05B2219/37; G05B2219/37074; G05B2219/40; G05B2219/40418; G05B2219/40609; G05B2219/45; G05B2219/45123; G05B2219/45166

Claims Analysis

Total Claims: 11

Claim 1

Independent Claim 85 words

A system for manipulating movement of a surgical instrument, the system comprising: an apparatus having a plurality of motion joints, the apparatus being adapted for manual only driven motion and adapted to have the surgical instrument connected thereto; a computer controlled brake located at at least one of the motion joints of the apparatus; a computer connected to the brake for selectively actuating the brake upon an occurrence of a predetermined event; and means for signaling the computer of the occurrence of the predetermined event.

Claim 2

Independent Claim 85 words

Claim 3

Dependent Claim 18 words

A system as in claim 1 wherein the computer controlled brake is adapted to apply a variable resistance.

Claim 4

Dependent Claim 16 words

A system as in claim 2 wherein the means for signaling includes a voice activated system.

Claim 5

Dependent Claim 21 words

A system as in claim 2 wherein the means for signaling includes means for optically sensing a position of a beacon.

Claim 6

Dependent Claim 21 words

A system as in claim 4 wherein the means for sensing includes redundant sensors at the motion joints in the apparatus.

Claim 7

Dependent Claim 33 words

A system as in claim 4 wherein the means for sensing includes at least one beacon connected to the apparatus and a sensor adapted to sense the three dimensional location of the beacon.

Claim 8

Independent Claim 54 words

A system for manipulating movement of a surgical instrument, the system comprising: an apparatus adapted to have the surgical instrument connected thereto, the apparatus having a motion joint adapted to be only manually moved by a user; a computer controlled brake located at the joint; and means for selectively actuating the computer controlled brake.

Claim 9

Independent Claim 54 words

Claim 10

Dependent Claim 30 words

A system as in claim 7 wherein the computer controlled brake and means for selectivity actuating the brake are adapted to apply a variable resistance to motion at the joint.

Claim 11

Dependent Claim 26 words

A system as in claim 7 wherein the means for selectively actuating the computer controlled brake includes a computer and a signal for signaling the computer.

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USPTO Annuity & Maintenance Windows

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2000-12-08	2001-06-09	2001-12-09	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2004-12-08	2005-06-09	2005-12-09	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2008-12-08	2009-06-09	2009-12-09	$7700.00	Window Closed / Lapsed

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