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

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United States Patent5695500   
Link to this pagehttp://www.wikipatents.com/5695500.html
Inventor(s)Taylor; Russell Highsmith (Ossining, NY); Kim; Yong-yil (Seoul, KR)
AbstractThe 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.
   














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Drawing from US Patent 5695500
System for manipulating movement of a surgical instrument with computer controlled brake - US Patent 5695500 Drawing
System for manipulating movement of a surgical instrument with computer controlled brake
Inventor     Taylor; Russell Highsmith (Ossining, NY); Kim; Yong-yil (Seoul, KR)
Owner/Assignee     International Business Machines Corporation (Armonk, NY)
Patent assignment
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Company News
Publication Date     December 9, 1997
Application Number     08/223,969
PAIR File History     Application Data   Transaction History
Image File Wrapper   Patent Term   Fees
Litigation
Filing Date     April 6, 1994
US Classification     606/130
Int'l Classification     A61B 019/00
Examiner     Kamm; William E.
Assistant Examiner    
Attorney/Law Firm     Perman & Green, LLP
Address
Parent Case     This is a divisional of application Ser. No. 08/147,008 filed Nov. 2, 1993, which is a continuation of application Ser. No. 07/714,816 filed Jun. 13, 1991; abandoned.
Priority Data    
USPTO Field of Search     606/130 606/54 606/58 606/61 606/19 606/4 606/1
Patent Tags     manipulating movement surgical instrument computer controlled brake
   
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What is claimed is:

1. 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.

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

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

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

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

6. 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.

7. 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.

8. 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.

9. 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.