U.S. patent application number 11/593011 was filed with the patent office on 2008-05-08 for robotic surgical device.
Invention is credited to Alejandro Ramos de la Pena.
Application Number | 20080109014 11/593011 |
Document ID | / |
Family ID | 39360632 |
Filed Date | 2008-05-08 |
United States Patent
Application |
20080109014 |
Kind Code |
A1 |
de la Pena; Alejandro
Ramos |
May 8, 2008 |
Robotic surgical device
Abstract
A robotic surgical device for using in laparoscopic surgery,
including two robotic arms, each having at least six joints
providing a total of fourteen degrees of movement that accurately
reproduce the movements of a human torso complete with arms.
Inventors: |
de la Pena; Alejandro Ramos;
(San Pedro Garza Garcia, MX) |
Correspondence
Address: |
YOUNG & THOMPSON
209 Madison Street, Suite 500
ALEXANDRIA
VA
22314
US
|
Family ID: |
39360632 |
Appl. No.: |
11/593011 |
Filed: |
November 6, 2006 |
Current U.S.
Class: |
606/130 ; 901/15;
901/24; 901/28; 901/30 |
Current CPC
Class: |
Y10T 74/20305 20150115;
A61B 34/70 20160201; A61B 34/30 20160201; A61B 34/35 20160201; A61B
17/00234 20130101; A61B 34/71 20160201; A61B 90/37 20160201 |
Class at
Publication: |
606/130 ; 901/15;
901/24; 901/28; 901/30 |
International
Class: |
A61B 19/00 20060101
A61B019/00 |
Claims
1. A robotic surgical device comprising two or more robotic arms
each having: at least six connection elements and manipulation
means; at least six joints; driving means connected to each
connection element and to the manipulation means for moving each of
the connection elements and the manipulation means; wherein each of
the arms have at least fourteen degrees of movement.
2. A robotic surgical device as claimed in claim 1, wherein each
robotic arm is joined to elongated support means.
3. A robotic surgical device as claimed in claim 1, wherein the
driving means are controlled by electronic control means.
4. A robotic surgical device as claimed in claim 1, in which the
manipulating means comprise a griping tool.
5. A robotic surgical device as claimed in claim 1, including
driving means for each connection element.
6. A robotic surgical device as claimed in claim 1, wherein the
support means comprising a long elongated and hollow member having
first and a second end.
7. A robotic surgical device as claimed in claim 1, further
including a camera.
8. A robotic surgical device as claimed in claim 1, comprising a
first and a second robotic arm each positioned in a parallel
relationship from each other, each comprising: a first connection
element fixedly attached to the support means having pivoting
linking means, wherein the resting position for this element
comprises a position parallel to the X axis; a second connection
element, pivotally linked to the pivoting linking means of the
first connection element, said second connection element able to
pivot up to 90.degree. to the front until reaching a position
parallel to the Z axis and to a side until reaching a position
parallel to the X axis, taking as reference the first connection
element resting position, having pivoting linking means allowing an
forward and backward pivoting movement and wherein the resting
position comprises the position parallel to the X axis; a third
connection element, pivotally linked to the pivoting linking means
of the second connection element, said third connection element
able to pivot up to 90.degree. upwards until reach an horizontal
position parallel to the X axis and downwards until reach a
vertical position parallel to the Y axis, taking as reference the
second connection element resting position, having pivoting linking
means allowing an upward and downward pivoting movement, and
wherein the resting position comprises the position parallel to the
Y axis; a fourth connection element, pivotally linked to the
pivoting linking means of the third connection element, said fourth
connection element able to pivot up to 90.degree. upwards until
reach an horizontal position parallel to the Z axis and downwards
until reach a vertical position parallel to the Y axis, taking as
reference the third connection element resting position, having
pivoting linking means allowing an upward and downward pivoting
movement, and wherein the resting position comprises the position
parallel to the Y axis; a fifth connection element, pivotally
linked to the pivoting linking means of the fourth connection
element, said fifth connection element able to pivot up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the fourth connection element
resting position, having rotating linking means allowing concentric
rotation over a single axis, and wherein the resting position
comprises the position parallel to the Y axis; a sixth connection
element, rotary linked to the rotating linking means of the fifth
connection element, said sixth connection element able to rotate
360.degree. over its own axis, having pivoting linking means
allowing an upward and downward pivoting movement, and wherein the
resting position for this element comprises the position parallel
to the Y axis; a griping tool, pivotally linked to the pivoting
linking means of the sixth connection element, said griping tool
able to pivot up to 90.degree. upwards until reach an horizontal
position parallel to the Z axis and downwards until reach a
vertical position parallel to the Y axis, taking as reference the
sixth connection element resting position, and wherein the resting
position for the gripping tool comprises the position parallel to
the Y axis; and wherein the robotic surgical device including
driving means for each connection element and to open and close the
griping tool.
9. A robotic surgical device as claimed in claim 8, wherein the
means for driving each of the six connection elements comprise a
stepper motor.
10. A robotic surgical device as claimed in claim 8, wherein the
means for driving each of the six connection elements comprise a
stepper motor, each connected by means of a cable to a respective
connection element, and each of said cables following a path trough
the connection elements guided by a system of pulleys and sluing
drums.
11. A robotic surgical device as claimed in claim 8, wherein the
support means comprising an elongated hollow cylinder having a
first and a second end and having a diameter size adequate for
entering trough a standard sized laparoscopic surgical opening.
12. A robotic surgical device as claimed in claim 8, wherein the
driving means comprising a first and a second group of seven
stepper motors, each group attached to a base and driving a
correspondent robotic arm, wherein the motors of each group are
aligned in two parallel rows and wherein each motor drives a rotary
pulley located at a superior portion thereof.
13. A robotic surgical device as claimed in claim 8, wherein the
driving means comprising a first and a second group of seven
stepper motors, each group attached to a base and driving a
correspondent robotic arm, wherein the motors of each group are
aligned in two parallel rows, wherein each motor drives a rotary
pulley located at a superior portion thereof and wherein each
connection element is connected to a correspondent stepper motor by
means of a cable attached to the pulley of a respective motor for a
total of fourteen cables divided in two groups of seven cables,
each group corresponding to a robotic arm wherein each of the
cables attached to its respective pulley, passes by a correspondent
series of circular groves, each located at subsequent pulleys, thus
lineally guiding each cable along subsequent pulleys, thus avoiding
the entanglement of the cables, and wherein each cable is pulled
when the pulley of a respective stepper motor rotates in one
direction and is loosen when the pulley rotates in an opposed
direction, and wherein both groups of cables are aligned and
conducted trough the support means.
14. A robotic surgical device comprising: support means comprising
an elongated hollow cylinder having a first and a second end and
having a diameter size adequate for entering trough a standard
sized laparoscopic surgical opening; a first and a second robotic
arm each positioned in a parallel relationship from each other;
driving means for driving both robotic arms, comprising: a first
and a second group of seven stepper motors, each group attached to
a base and driving a correspondent robotic arm, wherein the motors
of each group are aligned in two parallel rows and wherein each
motor drives a rotary pulley located at a superior portion thereof;
movement transmission means for each stepper motor, each comprising
a cable attached to the pulley of a respective motor for a total of
fourteen cables divided in two groups of seven cables, each group
corresponding to a robotic arm, wherein each of the cables attached
to its respective pulley, passes by a correspondent series of
circular groves, each located at subsequent pulleys, thus lineally
guiding each cable along subsequent pulleys so that a first pulley
has one circular grove, the second pulley has two circular groves,
one for its own cable and one for the passing cable of the previous
pulley and so on, thus avoiding the entanglement of the cables, and
wherein each cable is pulled when the pulley rotates in one
direction and is loosen when the pulley rotates in an opposed
direction, and wherein both groups of cables are aligned and
conducted trough the elongated cylinder entering a first end and
exiting trough the second end thereof; wherein each robotic arm
comprising: a first connection element fixedly attached to the
support means having a first open end and a second open end, and
pivoting linking means, wherein the resting position for this
element comprises a position parallel to the X axis; a second
connection element having a first open end and a second open end,
pivotally linked to the pivoting linking means of the first
connection element, said second connection element able to pivot up
to 90.degree. to the front until reaching a position parallel to
the Z axis and to a side until reaching a position parallel to the
X axis, taking as reference the first connection element resting
position, having pivoting linking means allowing an forward and
backward pivoting movement and wherein the resting position
comprises the position parallel to the X axis; a third connection
element having a first open end and a second open end, pivotally
linked to the pivoting linking means of the second connection
element, said third connection element able to pivot up to
90.degree. upwards until reach an horizontal position parallel to
the X axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the second connection element
resting position, having pivoting linking means allowing an upward
and downward pivoting movement, and wherein the resting position
comprises the position parallel to the Y axis; a fourth connection
element having a first open end and a second open end, pivotally
linked to the pivoting linking means of the third connection
element, said fourth connection element able to pivot up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the third connection element
resting position, having pivoting linking means allowing an upward
and downward pivoting movement, and wherein the resting position
comprises the position parallel to the Y axis; a fifth connection
element having a first open end a second end having rotary linking
means allowing concentric rotation over a single axis, pivotally
linked to the pivoting linking means of the fourth connection
element, said fifth connection element able to pivot up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the fourth connection element
resting position, and wherein the resting position comprises the
position parallel to the Y axis; a sixth connection element having
a first open end rotary linked to the rotating linking means of the
fifth connection element and a second open end having pivoting
linking means allowing an upward and downward pivoting movement,
said sixth connection element able to rotate 360.degree. over its
own axis, and wherein the resting position for this element
comprises the position parallel to the Y axis; a griping tool,
pivotally linked to the pivoting linking means of the sixth
connection element, said griping tool able to pivot up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the sixth connection element
resting position, and wherein the resting position for the gripping
tool comprises the position parallel to the Y axis; and wherein the
robotic surgical device including driving means comprising a first
and a second group of seven stepper motors, each group attached to
a base and driving a correspondent robotic arm, wherein the motors
of each group are aligned in two parallel rows and wherein each
motor drives a rotary pulley located at a superior portion thereof;
wherein each connection element is connected to a correspondent
stepper motor by means of a cable attached to the pulley of a
respective motor for a total of fourteen cables divided in two
groups of seven cables, each group corresponding to a robotic arm
wherein each of the cables attached to its respective pulley,
passes by a correspondent series of circular groves, each located
at subsequent pulleys, thus lineally guiding each cable along
subsequent pulleys, thus avoiding the entanglement of the cables,
and wherein each cable is pulled when the pulley of a respective
stepper motor rotates in one direction and is loosen when the
pulley rotates in an opposed direction, and wherein both groups of
cables are aligned and conducted trough the support means; wherein
a first corresponding group of seven cables enter the first
connection element trough the first open end and wherein a first,
second, third, fourth, fifth, sixth, and seventh cable of said
first corresponding group, exit the first connection element trough
the second open end; wherein a first, second, third, fourth, fifth,
sixth, and seventh cable exiting the first connection element,
enters the second connection element trough the first open end and
wherein a first, second, third, fifth, sixth, and seventh cable
exit the second connection element trough the second open end;
wherein a first, second, third, fifth, sixth, and seventh cable
exiting the second connection element enters the third connection
element trough its first open end and wherein the first, second,
third, fifth and sixth cable exit the third connection element
trough the second open end; wherein a first, second, third, fifth
and sixth cable exiting the third connection element enters the
fourth connection element trough its first open end and wherein a
second, third, fifth and sixth cable exit the fourth connection
element trough the second open end; wherein a second, third, fifth
and sixth cable exiting the fourth connection element enters the
fifth connection element trough its first open end and wherein a
third, fifth and sixth cable exit the fourth connection element
trough its second open end; wherein a third, fifth and sixth cable
exit the fifth connection element trough its second end enters the
sixth connection element trough its first open end and wherein a
third and fifth cable exit the sixth connection element trough its
second open end; and wherein a third and fifth cable exiting the
sixth connection element trough its second open end enters the
griping tool trough its second open end.
15. A robotic surgical device as claimed in claim 14, wherein the
first connection element comprising: a first connection element
comprising a hollow quadrangular member having a first and a second
longitudinal wall, a central longitudinal axis, a first end and a
second open rounded end, including a first and a second pin holes
located at each longitudinal wall near the first end of the first
connection element, a rectangular aperture at a lateral side near
the first end, said first connection element been fixedly attached
to the second end of the hollow elongated cylinder in such way that
its longitudinal axis is located perpendicularly to the hollow
cylindrical tube and the lateral rectangular aperture coincide with
the second end of the hollow cylindrical tube and having: a
rotating sluing drum including a pin at each end, each pin rotary
received inside the pin holes so that the ends of the first rotary
sluing drum are rotary linked to both longitudinal walls and
located between them inside the first connection element near its
first end and aligned with its central longitudinal axis, having
seven concentric circular grooves; a first and a second opposed pin
holes each located at a correspondent longitudinal wall near the
second end of the first connection element, each aligned with the
central longitudinal axis; and wherein the first corresponding
group of cables enter the first connection element trough the
rectangular aperture, each passing by the sluing drum and guided by
a respective concentric circular groove and exiting the first
connection element trough the second open end.
16. A robotic surgical device as claimed in claim 14, wherein the
second connection element including: a first open end and a second
open end, and a central portion including a first and a second
passage, wherein the first end including a superior rounded
longitudinal wall having a central superior circular recess, a
central rounded longitudinal wall, and an inferior rounded
longitudinal wall, each depending from the central portion and each
including a central coincident pin hole, wherein the pin hole of
the superior rounded longitudinal wall is located at a central
portion of the circular recess and wherein the second open end
includes a first rounded lateral wall and a second opposed rounded
lateral wall each extending from the central portion and each
respectively having a first and a second pin hole at a central
portion thereof, said second connection element further having: six
pulleys having a central perforation, each one located below the
other forming a vertical row, and wherein a first, second and third
pulley are located and rotary retained between the superior rounded
longitudinal wall and the central rounded longitudinal wall, and a
fourth, fifth and sixth pulley are located and rotary retained
between the central rounded longitudinal wall and the inferior
rounded longitudinal wall; a pin passing trough the pin hole of the
superior rounded longitudinal wall, trough the central perforation
of the first, second and third pulley, trough the pin hole of the
central rounded longitudinal wall, through the central perforation
of the fourth, fifth and sixth pulley and trough the pinhole of the
inferior rounded longitudinal wall, thus rotary retaining the six
pulleys and wherein the pin protrudes over the pinhole of the
superior rounded longitudinal wall and below the inferior rounded
longitudinal wall; a circular spring tightly received inside the
circular recess located at the superior rounded longitudinal wall;
wherein a first, second and third cable exiting the first
connection element each enters the second connection element trough
the first open end and passes by and surrounds a correspondent
first, second and third pulley and are guided through the first
passage of its central portion to the second open end trough which
they exit the second connection element and wherein a fifth, sixth,
and seventh cable exiting the first connection element, enters the
second connection element trough the first open end and passes by
and surrounds a correspondent fourth, fifth and sixth pulley and
are guided through the second passage of its central portion to the
second open end trough which they exit the second connection
element; wherein a fourth cable is linked to the central portion of
the second connection element, thus connecting the second
connection element directly to a fourth stepper motor, thus driving
the second connection element; wherein the second connection
element is pivotally retained inside the second open rounded end of
the first connection element in such way that the whole first end
of the second connection element including the superior, central
and inferior rounded longitudinal walls and pulleys are retained
inside the second open rounded end of the first connection element
so that said second connection element is able to pivot up to
90.degree. to the front until reaching a position parallel to the Z
axis and to a side until reaching a position parallel to the X
axis, taking as reference the first connection element resting
position, when a fourth stepper motor pulls the fourth cable linked
to the second connection element and wherein the resting position
for this element comprises the position parallel to the X axis;
wherein the circular spring remains tightly retained between the
first connection element and the circular recess of the superior
rounded longitudinal wall of the second connecting element thus
applying a torsional force over said two elements, forcing the
second connecting element to return to its resting position; and
further including a first and a second lateral pulley each
respectively linked at a superior and inferior portion of the first
and second rounded lateral wall between them and inside the second
open end of the second connection element, and wherein the seventh
cable passing trough the second passage passes by said first and
second lateral pulley before emerging from the second connection
element by the second open end.
17. A robotic surgical device as claimed in claim 14, wherein the
third connection element including: a first open end and a second
open end, and a central portion including a first and a second
passage wherein the first end including a first rounded
longitudinal wall having a central superior circular recess, a
central rounded longitudinal wall, and an third rounded
longitudinal wall, each depending from the central portion and each
including a central coincident pin hole, wherein the pin hole of
the first rounded longitudinal wall is located at a central portion
of the circular recess and wherein the second open end includes a
first rounded lateral wall and a second rounded lateral wall each
extending from the central portion and including a correspondent
first and a second pin holes, and having: five pulleys having a
central perforation, each one located below the other forming a
linear row, and wherein a first and second pulley are located and
rotary retained between the first rounded longitudinal wall and the
central rounded longitudinal wall, and a third, fourth and fifth
pulley are located and rotary retained between the central rounded
longitudinal wall and the third rounded longitudinal wall; a pin
passing trough the pin hole of the first rounded longitudinal wall,
trough the central perforation of the first and second pulley,
trough the pin hole of the central rounded longitudinal wall,
through the central perforation of the third, fourth and fifth
pulley and trough the pinhole of the third rounded longitudinal
wall in that order, thus rotary retaining the five pulleys and
wherein the pin protrudes over the pinhole of the first rounded
longitudinal wall and below the third rounded longitudinal wall; a
circular spring tightly received inside the circular recess located
at the first rounded longitudinal wall; wherein a fifth, and a
sixth cable exiting the second connection element each enters the
third connection element trough the first open end and passes by
and surrounds a correspondent second, and first pulley and are
guided through the first passage of its central portion to the
second open end trough which they exit the third connection element
and wherein a first, second and third cable exiting the second
connection element, enters the third connection element trough the
first open end and passes by and surrounds a correspondent fifth,
fourth and third pulley and are guided through the second passage
of its central portion to the second open end trough which they
exit the third connection element; wherein a seventh cable is
linked to the central portion of the third connection element, thus
connecting the third connection element directly to a seventh
stepper motor, thus driving the third connection element; wherein
the third connection element is pivotally retained inside the
second open end of the second connection element in such way that
the whole first end of the third connection element including the
first, central and third rounded longitudinal walls and pulleys are
retained inside the second open end of the second connection
element in such way that said third connection element is able to
move up to 90.sup.0 upwards until reach an horizontal position
parallel to the X axis and downwards until reach a vertical
position parallel to the Y axis, taking as reference the second
connection element resting position, when a seventh stepper motor
pulls the seventh cable linked to the third connection element and
wherein the resting position comprises the position parallel to the
Y axis; and wherein the circular spring remains tightly retained
between the second connection element and the circular recess of
the first rounded longitudinal wall of the third connecting element
thus applying a torsional force over said two elements, forcing the
third connecting element to return to its resting position.
18. A robotic surgical device as claimed in claim 14, wherein the
fourth connection element including: a first open end and a second
open end, and an elongated central portion including a first and a
second passage and a central path having a longitudinal axis
defined by a first and a second lateral wall and by an inferior
longitudinal wall, wherein the first end including a first rounded
lateral wall having a central superior circular recess, a central
rounded lateral wall, and an third rounded lateral wall, each
depending from the central portion and each including a central
coincident pin hole, wherein the pin hole of the superior rounded
longitudinal wall is located at a central portion of the circular
recess and wherein the second open end includes a first rounded
lateral wall and a second rounded lateral wall extending from the
central portion each having a central pin hole, and having: four
pulleys having a central perforation, each one located below the
other forming a linear row, and wherein a first and a second pulley
are located and rotary retained between the first end first rounded
lateral wall and the first end central rounded longitudinal wall,
and a third and fourth pulley are located and rotary retained
between the first end central rounded longitudinal wall and the
first end third rounded longitudinal wall; a pin passing trough the
pin hole of the first end first rounded longitudinal wall, trough
the central perforation of the first and second pulley, trough the
pin hole of the first end central rounded longitudinal wall,
through the central perforation of the third and fourth pulley and
trough the pinhole of the first end third rounded longitudinal wall
in that order, thus rotary retaining the four pulleys and wherein
the pin protrudes over the first end first rounded longitudinal
wall and below the first end third rounded longitudinal wall; a
circular spring tightly received inside the circular recess located
at the first end first rounded longitudinal wall; wherein a sixth
and fifth cable exiting the third connection element each enters
the fourth connection element trough the first open end and passes
by and surrounds a correspondent first and second pulley and are
guided through the first passage of the central portion across the
central path to the second open end trough which they exit the
fourth connection element and wherein a second and third cable
exiting the third connection element, enters the fourth connection
element trough the first open end and passes by and surrounds a
correspondent fourth and third pulley and are guided through the
first passage of the central portion across the central path to the
second open end trough which they exit the fourth connection
element; wherein a first cable is linked to the first end third
rounded lateral wall of the fourth connection element, thus
connecting the fourth connection element directly to the first
stepper motor, thus driving the fourth connection element; wherein
the fourth connection element is pivotally retained inside the
second open end of the third connection element in such way that
the whole first end of the fourth connection element including the
first, central and third rounded longitudinal walls and pulleys are
retained inside the second open end of the third connection element
in such way that said fourth connection element is able to move up
to 90.sup.0 upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the third connection element
resting position, when a first stepper motor pulls the first cable
linked to the fourth connection element and wherein the resting
position for the fourth connection element comprises the position
parallel to the Y axis; wherein the circular spring remains tightly
retained between the third connection element and the circular
recess of the first end first rounded lateral wall of the fourth
connecting element thus applying a torsional force over said two
elements, forcing the fourth connecting element to return to its
resting position; and further including: a first sluing drum having
a first and a second end, and a longitudinal axis, wherein said
first sluing drum is rotary and transversally retained inside the
central path in such way that both ends are rotary retained between
the lateral walls of the central path with its longitudinal axis
being located perpendicularly to the central path longitudinal axis
and having one circular grove; a second sluing drum having a first
and a second end, and a longitudinal axis, wherein said second
sluing drum is rotary and transversally retained inside the central
path in such way that both ends are rotary retained between the
lateral walls of the central path with its longitudinal axis being
located perpendicularly to the central path longitudinal axis and
having a three circular groves; a first pulley, having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley, wherein the first end of the
axis member is rotary retained to the inferior longitudinal wall of
the central path in such way that it is positioned in a
perpendicularly relationship with respect to the central path
longitudinal axis; a second pulley, having a central elongated
member axis including a first end and a second end which is joined
to the center of the pulley, wherein the first end of the axis
member is rotary retained to the second longitudinal wall of the
central path in such way that it is positioned in a perpendicularly
relationship with respect to the central path longitudinal axis; a
third pulley, having a central elongated member axis including a
first end and a second end which is joined to the center of the
pulley, wherein the first end of the axis member is retained to
both lateral walls of the central path in such way that it is
positioned between them; wherein the first sluing drum, second
sluing drum and third pulley are located along the central path in
said order in a zig-zag pattern and retained to both central path
lateral walls as described above; wherein the first and second
pulley are located along the central path in said order in a
zig-zag pattern and retained to the second central path inferior
longitudinal wall as described above; wherein the second cable
passing trough the central path, passes by and surrounds the
circular grove of the first sluing drum and passes by and surrounds
the third pulley; wherein the third cable passes by and surrounds a
third circular groove of the second sluing drum, and passes by the
second and third pulleys; and wherein the fifth and sixth cable
passes by and surrounds a correspondent circular grove of the
second sluing drum.
19. A robotic surgical device as claimed in claim 14, wherein the
fifth connection element including: a first open end and a second
end having a cylindrical shape, a circular cross section and a
circular internal and external wall, an entrance opening, an exit
opening, and a longitudinal and transversal axis, wherein the first
end including a first rounded lateral wall, and a second rounded
longitudinal wall having a central circular recess, each depending
from the second end circular wall and each including a central
coincident pin hole, wherein the pin hole of the second rounded
lateral wall is located at a central portion of the circular recess
and wherein the second end includes cylindrical connection member
including an open transversal lateral housing opened to the
exterior of the rotary connection means and a cylindrical linking
member having two circular passages, and having: a circular spring
tightly received inside the circular recess located at the second
rounded lateral wall; a first sluing drum having a first and a
second end, each including an elongated longitudinal axis, wherein
the ends of the longitudinal axis member passes trough the pin hole
of the first and second rounded lateral wall respectively, thus
rotary and transversally retained between the first and second
rounded longitudinal wall in a central portion thereof and
including three circular groves, and wherein each end of the
elongated member axis protrudes over the pinhole of the first
rounded lateral wall and over the pinhole of the second rounded
lateral wall; a second sluing drum having a first and a second end,
and a longitudinal axis, wherein said second sluing drum is rotary
and transversally retained between the first and second rounded
lateral wall and including one circular grove, wherein the second
sluing drum is located next to the first sluing drum in a parallel
relationship and off center with respect to the longitudinal axis;
a third and a fourth sluing drums, each having a first and a second
end and a circular grove, and each parallely located with respect
to each other and aligned with respect to the transversal axis; a
first and a second pulley, each having a central elongated member
axis including a first end and a second end which is joined to the
center of the pulley, wherein the first end of the axis member of
the first pulley is attached to the interior circular wall of the
cylindrical connection member and the first end of the axis member
of the second pulley is attached to the interior circular wall of
the cylindrical linking member in such way that each axis is
positioned in a perpendicularly relationship with respect to the
longitudinal axis, and in a parallel relationship with respect to
the transversal axis, wherein the first pulley including only one
circular grove and the second pulley including a first and a second
circular grove and wherein the first pulley is located next to the
third and fourth parallel sluing drums and wherein the second
pulley is located next to the first pulley; a third pulley having a
central elongated member axis including a first end and a second
end which is joined to the center of the pulley, said third pulley
rotary retained inside the open transversal lateral housing wherein
the first end of the axis member is retained to a wall of the open
transversal lateral housing in such way that it is positioned in a
parallel relationship with respect to the longitudinal axis, and in
a perpendicular relationship with respect to the transversal axis;
wherein a third cable exiting the fourth connection element enters
the fifth connection element trough the first open end and passes
by and surrounds a correspondent grove of the first sluing drum and
third sluing drum and is guided trough the cylindrical connection
member and cylindrical linking member and exits the fifth
connection element trough the first circular passage; wherein a
fifth cable exiting the fourth connection element enters the fifth
connection element trough the first open end and passes by and
surrounds the respective grove of the first sluing drum and second
sluing drum and is guided trough the cylindrical connection member
inside of which it passes by the first pulley and the first grove
of the second pulley and trough the cylindrical linking member and
exits the fifth connection element through the second circular
passage; wherein the sixth cable exiting the fourth connection
element enters the fifth connection element trough the first open
end and passes by and surrounds a respective grove of the first and
fourth sluing drum and is guided through the cylindrical connection
member inside of which it passes by the first pulley, trough the
cylindrical linking member inside of which it passes by the second
grove of the second pulley, makes a turn of 90.sup.0, passes by the
third pulley and exits the fifth element trough the open
transversal lateral housing; wherein the second cable exiting the
fourth connection element is linked to the first open end second
rounded lateral wall; wherein the fifth connection element is
pivotally retained inside the second open end of the fourth
connection element in such way that the whole first end of the
fifth connection element is retained inside the second open end of
the fourth connection element so that said fourth connection
element is able to move up to 90.degree. upwards until reach an
horizontal position parallel to the Z axis and downwards until
reach a vertical position parallel to the Y axis, taking as
reference the fourth connection element resting position, when a
second stepper motor pulls the second cable linked to the first
open end second rounded lateral wall and wherein the resting
position for the fifth connection element comprises the position
parallel to the Y axis; and wherein the circular spring remains
tightly retained between the fourth connection element and the
circular recess of the fifth connection element second rounded
lateral wall thus applying a torsional force over said two
elements, forcing the fifth connecting element to return to its
resting position.
20. A robotic surgical device as claimed in claim 14, wherein the
sixth connection element including: a longitudinal and transversal
axis, a first open end having a cylindrical shape and a circular
cross section including a hollow rotary connection section having a
circular internal wall, rotary linked to the rotary linking means
of the fifth connection element thus rotary linking the fifth and
sixth connection element, and a second open end having a first
rounded lateral wall, a second rounded lateral wall each including
a central coincident pin hole and an inferior longitudinal wall
each depending from the first open end, and having: a first pulley
having a central elongated member axis including a first end and a
second end which is rotary joined to the center of the pulley,
wherein the first end of the axis member is retained to the
inferior longitudinal wall in such way that its central elongated
member axis is located perpendicularly to the longitudinal wall and
between both lateral walls; a second pulley having a central
elongated member axis including a first end and a second end which
is rotary joined to the center of the pulley, wherein the first end
of the axis member is retained to the inferior longitudinal wall,
next to the first pulley, in such way that its central elongated
member axis is located perpendicularly to the longitudinal wall and
between both lateral walls; a sluing drum having a first and a
second end, and a longitudinal axis, wherein said sluing drum is
rotary and transversally retained between the lateral walls, with
its longitudinal axis being located perpendicularly to the sixth
connection element longitudinal axis and over both pulleys and
having one circular grove; wherein the sixth cable which exits the
fifth connection element is linked to the circular internal wall of
the sixth connection element rotary connection section, thus
connecting the sixth connection element directly to a sixth stepper
motor, so that when the stepper motor pulls the sixth cable, it
laterally pulls the sixth connection element thus rotating it over
the rotary connection which connects it to the fifth connection
element; wherein the fifth cable exiting the fifth connection
element enters the sixth connection element trough the first open
end, passes by and surrounds the first pulley, passes by the second
pulley thereafter and exits the sixth connection element by the
second open end; wherein the third cable exiting the fifth
connection element enters the sixth connection element trough the
first open end passes by the sluing drum and exits the sixth
connection element by the second open end; and wherein the sixth
connection element is able to rotate over its own axis over the
rotary connection, and is able to move up to 90.degree. upwards
until reach an horizontal position parallel to the Z axis and
downwards until reach a vertical position parallel to the Y axis
together with the fifth connection element.
21. A robotic surgical device as claimed in claim 14, wherein the
griping tool comprising: a hollow main body having a rectangular
shape, including a first end having a semi-cylindrical wall having
a circular passage grove, an elongated cable receiving section
including a passage to the interior of the hollow main body located
next to the circular passage grove, a first and a second
longitudinal wall, a first and a second lateral walls, a hollow
interior a second open end, and a cable attaching element located
inside the hollow interior of the hollow main body at a central
portion thereof, wherein the first end of the hollow main body,
having a central superior circular recess at the first lateral
wall, wherein the first end of the hollow main body having a
coincident pin hole at each lateral wall, wherein the pin hole of
the first lateral wall is located at a central portion of the
circular recess, and wherein the first and second longitudinal
walls each including a coincident perforation at a central portion
thereof, and further having; a circular spring tightly received
inside the circular recess located at the first rounded lateral
wall; a fixed plier joined and depending from the second lateral
wall, first longitudinal wall and second longitudinal wall; a
pulley, having a central elongated member axis including a first
end and a second end which is joined to the center of the pulley,
each one rotary retained inside the griping tool hollow main body
wherein the first and second end passes trough a respective
perforation, of a respective lateral wall and each one protruding
over its respective lateral wall, thus rotary joining the pulley to
the first and second lateral walls, so that its elongated member
axis is located parallel to both longitudinal walls and
perpendicularly to the lateral walls and wherein it is positioned
in such way that the pulley is concentric with the first end
semi-cylindrical wall cross section and coinciding with the
circular passage grove; a pivotal second plier, having a first and
a second end, wherein the first end has a drum including a first
and a second end having a respective pin, a circular grove near the
second end and a longitudinal axis, wherein the drum is pivotally
joined inside the hollow main body at a central portion thereof so
that the pins of both ends are pivotally retained inside a
respective pin hole of a respective longitudinal wall, and thus
pivotally linking the pivotal plier and forming a complete and
symmetrical pair of pliers with the fixed plier; wherein the
griping tool hollow main body first end is pivotally retained
inside the second open end of the sixth connection element in such
way that the whole first end of the griping tool hollow main body
is retained inside the second open end of the sixth connection
element so that said griping tool hollow main body is able to move
up to 90.degree. upwards until reach an horizontal position
parallel to the Z axis and downwards until reach a vertical
position parallel to the Y axis, taking as reference the fifth
connection element resting position, and wherein the resting
position for the griping tool comprises the position parallel to
the Y axis; wherein the circular spring remains tightly retained
between the sixth connection element and the circular recess of the
first lateral wall of the griping tool hollow main body thus
applying a torsional force over said two elements, forcing the
griping tool hollow main body to return to its resting position
wherein the third cable exiting the sixth connection element is
received inside the elongated cable receiving section and enters
the griping tool hollow main body in order to be linked to the
cable attaching element, thus connecting the griping element hollow
main body directly to a third stepper motor, so that when the third
stepper motor pulls the third cable, it pulls the griping tool
causing it to move up to 90.sup.0 upwards until reach an horizontal
position parallel to the Z axis; wherein it is further included a
circular spring tightly retained around the drum near its first end
and between both griping tool hollow main body lateral walls, thus
forcing the pliers to open, which comprise its resting position;
wherein the fifth cable exiting the sixth connection element enters
the griping tool hollow main body by the circular passage grove,
passes by the pulley and is wound around the drum of the pivotal,
thus directly connecting a fifth stepper motor to the pivotal
plier, so that when the fifth stepper motor pulls the fifth cable
it causes the drum of the pivotal plier to rotate, thus pivoting
the pivotal plier and opening the pliers, wherein the resting
position for the pliers is at a closed position.
22. A robotic surgical device comprising: support means comprising
an elongated hollow cylinder having a first and a second end and
having a diameter size adequate for entering trough a standard
sized laparoscopic surgical opening; a first and a second robotic
arm each positioned in a parallel relationship from each other;
driving means for driving both robotic arms, comprising: a first
and a second group of seven stepper motors, each group attached to
a base and driving a correspondent robotic arm, wherein the motors
of each group are aligned in two parallel rows and wherein each
motor drives a rotary pulley located at a superior portion thereof;
movement transmission means for each stepper motor, each comprising
a cable attached to the pulley of a respective motor for a total of
fourteen cables divided in two groups of seven cables, each group
corresponding to a robotic arm wherein each of the cables attached
to its respective pulley, passes by a correspondent series of
circular groves, each located at subsequent pulleys, thus lineally
guiding each cable along subsequent pulleys so that a first pulley
has one circular grove, the second pulley has two circular groves,
one for its own cable and one for the passing cable of the previous
pulley and so on, thus avoiding the entanglement of the cables as
shown in FIG. 3, and wherein each cable is pulled when the pulley
rotates in one direction and is loosen when the pulley rotates in
an opposed direction, and wherein both groups of cables are aligned
and conducted trough the elongated cylinder entering a first end
and exiting trough the second end thereof; wherein each robotic arm
comprising: a first connection element comprising a hollow
quadrangular member having a first and a second longitudinal wall,
a central longitudinal axis, a first end and a second open rounded
end, including a first and a second pin holes located at each
longitudinal wall near the first end of the first connection
element, a rectangular aperture at a lateral side near the first
end, said first connection element been fixedly attached to the
second end of the hollow elongated cylinder in such way that its
longitudinal axis is located perpendicularly to the hollow
cylindrical tube and the lateral rectangular aperture coincide with
the second end of the hollow cylindrical tube and having: a
rotating sluing drum including a pin at each end, each pin rotary
received inside the pin holes so that the ends of the first rotary
sluing drum are rotary linked to both longitudinal walls and
located between them inside the first connection element near its
first end and aligned with its central longitudinal axis, having
seven concentric circular grooves; a first and a second opposed pin
holes each located at a correspondent longitudinal wall near the
second end of the first connection element, each aligned with the
central longitudinal axis; wherein the first corresponding group of
cables enter the first connection element trough the rectangular
aperture, each passing by the sluing drum and guided by a
respective concentric circular groove and exiting the first
connection element trough the second open end; and wherein the
resting position for this element comprises a position parallel to
the X axis; a second connection element including a first open end
and a second open end, and a central portion including a first and
a second passage, wherein the first end including a superior
rounded longitudinal wall having a central superior circular
recess, a central rounded longitudinal wall, and an inferior
rounded longitudinal wall, each depending from the central portion
and each including a central coincident pin hole, wherein the pin
hole of the superior rounded longitudinal wall is located at a
central portion of the circular recess and wherein the second open
end includes a first rounded lateral wall and a second opposed
rounded lateral wall each extending from the central portion and
each respectively having a first and a second pin hole at a central
portion thereof, said second connection element further having: six
pulleys having a central perforation, each one located below the
other forming a vertical row, and wherein a first, second and third
pulley are located and rotary retained between the superior rounded
longitudinal wall and the central rounded longitudinal wall, and a
fourth, fifth and sixth pulley are located and rotary retained
between the central rounded longitudinal wall and the inferior
rounded longitudinal wall; a pin passing trough the pin hole of the
superior rounded longitudinal wall, trough the central perforation
of the first, second and third pulley, trough the pin hole of the
central rounded longitudinal wall, through the central perforation
of the fourth, fifth and sixth pulley and trough the pinhole of the
inferior rounded longitudinal wall, thus rotary retaining the six
pulleys and wherein the pin protrudes over the pinhole of the
superior rounded longitudinal wall and below the inferior rounded
longitudinal wall; a circular spring tightly received inside the
circular recess located at the superior rounded longitudinal wall;
wherein a first, second and third cable exiting the first
connection element each enters the second connection element trough
the first open end and passes by and surrounds a correspondent
first, second and third pulley and are guided through the first
passage of its central portion to the second open end trough which
they exit the second connection element and wherein a fifth, sixth,
and seventh cable exiting the first connection element, enters the
second connection element trough the first open end and passes by
and surrounds a correspondent fourth, fifth and sixth pulley and
are guided through the second passage of its central portion to the
second open end trough which they exit the second connection
element; wherein a fourth cable is linked to the central portion of
the second connection element, thus connecting the second
connection element directly to a fourth stepper motor, thus driving
the second connection element; wherein the second connection
element is pivotally retained inside the second open rounded end of
the first connection element by locking the portions of the pin
protruding over the superior rounded longitudinal wall and below
the inferior rounded longitudinal wall inside the first and second
pin holes located at a correspondent longitudinal wall of the first
connection element in such way that the whole first end of the
second connection element including the superior, central and
inferior rounded longitudinal walls and pulleys are retained
between the first and second longitudinal walls in such way that
said second connection element is able to pivot up to 90.degree. to
the front until reaching a position parallel to the Z axis and to a
side until reaching a position parallel to the X axis, taking as
reference the first connection element resting position, when the
fourth stepper motor pulls the fourth cable linked to the second
connection element and wherein the resting position for this
element comprises the position parallel to the X axis; wherein the
circular spring remains tightly retained between the first
longitudinal wall inferior portion of the first connection element
and the circular recess of the superior rounded longitudinal wall
of the second connecting element thus applying a torsional force
over said two elements, forcing the second connecting element to
return to its resting position; and further including a first and a
second lateral pulley each respectively linked at a superior and
inferior portion of the first and second rounded lateral wall
between them and inside the second open end of the second
connection element, and wherein the seventh cable passing trough
the second passage passes by said first and second lateral pulley
before emerging from the second connection element by the second
open end; a third connection element including a first open end and
a second open end, and a central portion including a first and a
second passage wherein the first end including a first rounded
longitudinal wall having a central superior circular recess, a
central rounded longitudinal wall, and an third rounded
longitudinal wall, each depending from the central portion and each
including a central coincident pin hole, wherein the pin hole of
the first rounded longitudinal wall is located at a central portion
of the circular recess and wherein the second open end includes a
first rounded lateral wall and a second rounded lateral wall each
extending from the central portion and including a correspondent
first and a second pin holes, and having: five pulleys having a
central perforation, each one located below the other forming a
linear row, and wherein a first and second pulley are located and
rotary retained between the first rounded longitudinal wall and the
central rounded longitudinal wall, and a third, fourth and fifth
pulley are located and rotary retained between the central rounded
longitudinal wall and the third rounded longitudinal wall; a pin
passing trough the pin hole of the first rounded longitudinal wall,
trough the central perforation of the first and second pulley,
trough the pin hole of the central rounded longitudinal wall,
through the central perforation of the third, fourth and fifth
pulley and trough the pinhole of the third rounded longitudinal
wall in that order, thus rotary retaining the five pulleys and
wherein the pin protrudes over the pinhole of the first rounded
longitudinal wall and below the third rounded longitudinal wall; a
circular spring tightly received inside the circular recess located
at the first rounded longitudinal wall; wherein a fifth, and a
sixth cable exiting the second connection element each enters the
third connection element trough the first open end and passes by
and surrounds a correspondent second, and first pulley and are
guided through the first passage of its central portion to the
second open end trough which they exit the third connection element
and wherein a first, second and third cable exiting the second
connection element, enters the third connection element trough the
first open end and passes by and surrounds a correspondent fifth,
fourth and third pulley and are guided through the second passage
of its central portion to the second open end trough which they
exit the third connection element; wherein a seventh cable is
linked to the central portion of the third connection element, thus
connecting the third connection element directly to a seventh
stepper motor, thus driving the third connection element; wherein
the third connection element is pivotally retained inside the
second open end of the second connection element by locking the
portions of the pin protruding over the first rounded longitudinal
wall and below the third rounded longitudinal wall inside the first
and second pin hole located at a correspondent second open end
rounded lateral wall of the second connection element in such way
that the whole first end of the third connection element including
the first, central and third rounded longitudinal walls and pulleys
are retained between the first and second rounded longitudinal
walls in such way that said third connection element is able to
move up to 90.sup.0 upwards until reach an horizontal position
parallel to the X axis and downwards until reach a vertical
position parallel to the Y axis, taking as reference the second
connection element resting position, when the seventh stepper motor
pulls the seventh cable linked to the third connection element and
wherein the resting position comprises the position parallel to the
Y axis; and wherein the circular spring remains tightly retained
between an internal face of the second rounded lateral wall of the
second connection element and the circular recess of the first
rounded longitudinal wall of the third connecting element thus
applying a torsional force over said two elements, forcing the
third connecting element to return to its resting position; a
fourth connection element including a first open end and a second
open end, and an elongated central portion including a first and a
second passage and a central path having a longitudinal axis
defined by a first and a second lateral wall and by an inferior
longitudinal wall, wherein the first end including a first rounded
lateral wall having a central superior circular recess, a central
rounded lateral wall, and an third rounded lateral wall, each
depending from the central portion and each including a central
coincident pin hole, wherein the pin hole of the superior rounded
longitudinal wall is located at a central portion of the circular
recess and wherein the second open end includes a first rounded
lateral wall and a second rounded lateral wall extending from the
central portion each having a central pin hole, and having: four
pulleys having a central perforation, each one located below the
other forming a linear row, and wherein a first and a second pulley
are located and rotary retained between the first end first rounded
lateral wall and the first end central rounded longitudinal wall,
and a third and fourth pulley are located and rotary retained
between the first end central rounded longitudinal wall and the
first end third rounded longitudinal wall; a pin passing trough the
pin hole of the first end first rounded longitudinal wall, trough
the central perforation of the first and second pulley, trough the
pin hole of the first end central rounded longitudinal wall,
through the central perforation of the third and fourth pulley and
trough the pinhole of the first end third rounded longitudinal wall
in that order, thus rotary retaining the four pulleys and wherein
the pin protrudes over the first end first rounded longitudinal
wall and below the first end third rounded longitudinal wall; a
circular spring tightly received inside the circular recess located
at the first end first rounded longitudinal wall; wherein a sixth
and fifth cable exiting the third connection element each enters
the fourth connection element trough the first open end and passes
by and surrounds a correspondent first and second pulley and are
guided through the first passage of the central portion across the
central path to the second open end trough which they exit the
fourth connection element and wherein a second and third cable
exiting the third connection element, enters the fourth connection
element trough the first open end and passes by and surrounds a
correspondent fourth and third pulley and are guided through the
first passage of the central portion across the central path to the
second open end trough which they exit the fourth connection
element; wherein a first cable is linked to the first end third
rounded lateral wall of the fourth connection element, thus
connecting the fourth connection element directly to the first
stepper motor, thus driving the fourth connection element;
wherein the fourth connection element is pivotally retained inside
the second open end of the third connection element by locking the
portions of the pin protruding over the first end first rounded
lateral wall and below the first end third rounded longitudinal
wall inside the first and second pin holes located at a
correspondent second open end first and second rounded lateral wall
of the third connection element in such way that the whole first
end of the fourth connection element including the first, central
and third rounded longitudinal walls and pulleys are retained
between the second end first and second longitudinal walls in such
way that said fourth connection element is able to move up to
90.sup.0 upwards until reach an horizontal position parallel to the
Z axis and downwards until reach a vertical position parallel to
the Y axis, taking as reference the third connection element
resting position, when the first stepper motor pulls the first
cable linked to the fourth connection element and wherein the
resting position for the fourth connection element comprises the
position parallel to the Y axis; wherein the circular spring
remains tightly retained between an internal face of the second end
first rounded lateral wall of the third connection element and the
circular recess of the first end first rounded lateral wall of the
fourth connecting element thus applying a torsional force over said
two elements, forcing the fourth connecting element to return to
its resting position; and further including: a first sluing drum
having a first and a second end, and a longitudinal axis, wherein
said first sluing drum is rotary and transversally retained inside
the central path in such way that both ends are rotary retained
between the lateral walls of the central path with its longitudinal
axis being located perpendicularly to the central path longitudinal
axis and having one circular grove; a second sluing drum having a
first and a second end, and a longitudinal axis, wherein said
second sluing drum is rotary and transversally retained inside the
central path in such way that both ends are rotary retained between
the lateral walls of the central path with its longitudinal axis
being located perpendicularly to the central path longitudinal axis
and having a three circular groves; a first pulley, having a
central elongated member axis including a first end and a second
end which is joined to the center of the pulley, wherein the first
end of the axis member is rotary retained to the inferior
longitudinal wall of the central path in such way that it is
positioned in a perpendicularly relationship with respect to the
central path longitudinal axis; a second pulley, having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley, wherein the first end of the
axis member is rotary retained to the second longitudinal wall of
the central path in such way that it is positioned in a
perpendicularly relationship with respect to the central path
longitudinal axis; a third pulley, having a central elongated
member axis including a first end and a second end which is joined
to the center of the pulley, wherein the first end of the axis
member is retained to both lateral walls of the central path in
such way that it is positioned between them; wherein the first
sluing drum, second sluing drum and third pulley are located along
the central path in said order in a zig-zag pattern and retained to
both central path lateral walls as described above; wherein the
first and second pulley are located along the central path in said
order in a zig-zag pattern and retained to the second central path
inferior longitudinal wall as described above; wherein the second
cable passing trough the central path, passes by and surrounds the
circular grove of the first sluing drum and passes by and surrounds
the third pulley; wherein the third cable passes by and surrounds a
third circular groove of the second sluing drum, and passes by the
second and third pulleys; and wherein the fifth and sixth cable
passes by and surrounds a correspondent circular grove of the
second sluing drum; a fifth connection element including a first
open end and a second end having a cylindrical shape, a circular
cross section and a circular internal and external wall, an
entrance opening, an exit opening, and a longitudinal and
transversal axis, wherein the first end including a first rounded
lateral wall, and a second rounded longitudinal wall having a
central circular recess, each depending from the second end
circular wall and each including a central coincident pin hole,
wherein the pin hole of the second rounded lateral wall is located
at a central portion of the circular recess and wherein the second
end includes cylindrical connection member including an open
transversal lateral housing opened to the exterior of the rotary
connection means and a cylindrical linking member having two
circular passages and having: a circular spring tightly received
inside the circular recess located at the second rounded lateral
wall; a first sluing drum having a first and a second end, each
including an elongated longitudinal axis member, wherein the ends
of the longitudinal axis member passes trough the pin hole of the
first and second rounded lateral wall respectively, thus rotary and
transversally retained between the first and second rounded
longitudinal wall in a central portion thereof and including three
circular groves and wherein each end of the elongated member axis
protrudes over the pinhole of the first rounded lateral wall and
over the pinhole of the second rounded lateral wall; a second
sluing drum having a first and a second end, and a longitudinal
axis, wherein said second sluing drum is rotary and transversally
retained between the first and second rounded lateral wall and
including one circular grove, wherein the second sluing drum is
located next to the first sluing drum in a parallel relationship
and off center with respect to the longitudinal axis; a third and a
fourth sluing drums, each having a first and a second end and a
circular grove, and each parallely located with respect to each
other and aligned with respect to the transversal axis; a first and
a second pulley, each having a central elongated member axis
including a first end and a second end which is joined to the
center of the pulley, wherein the first end of the axis member of
the first pulley is attached to the interior circular wall of the
cylindrical connection member and the first end of the axis member
of the second pulley 98 is attached to the interior circular wall
of the cylindrical linking member in such way that each axis is
positioned in a perpendicularly relationship with respect to the
longitudinal axis, and in a parallel relationship with respect to
the transversal axis, wherein the first pulley including only one
circular grove and the second pulley including a first and a second
circular grove and wherein the first pulley is located next to the
third and fourth parallel sluing drums and wherein the second
pulley is located next to the first pulley; a third pulley having a
central elongated member axis including a first end and a second
end which is joined to the center of the pulley, said third pulley
rotary retained inside the open transversal lateral housing wherein
the first end of the axis member is retained to a wall of the open
transversal lateral housing in such way that it is positioned in a
parallel relationship with respect to the longitudinal axis, and in
a perpendicular relationship with respect to the transversal axis;
wherein a third cable exiting the fourth connection element enters
the fifth connection element trough the first open end and passes
by and surrounds a correspondent grove of the first sluing drum and
third sluing drum and is guided trough the cylindrical connection
member and cylindrical linking member and exits the fifth
connection element trough the first circular passage; wherein a
fifth cable exiting the fourth connection element enters the fifth
connection element trough the first open end and passes by and
surrounds the respective grove of the first sluing drum and second
sluing drum and is guided trough the cylindrical connection member
inside of which it passes by the first pulley and the first grove
of the second pulley and trough the cylindrical linking member and
exits the fifth connection element through the second circular
passage; wherein the sixth cable exiting the fourth connection
element enters the fifth connection element trough the first open
end and passes by and surrounds a respective grove of the first and
fourth sluing drum and is guided through the cylindrical connection
member inside of which it passes by the first pulley, trough the
cylindrical linking member inside of which it passes by the second
grove of the second pulley, makes a turn of 90.sup.0, passes by the
third pulley and exits the fifth element trough the open
transversal lateral housing; wherein the second cable exiting the
fourth connection element is linked to the first open end second
rounded lateral wall; wherein the fifth connection element is
pivotally retained inside the second open end of the fourth
connection element by locking the ends of the elongated
longitudinal axis member protruding over the first rounded lateral
wall and over the second rounded lateral wall inside the first and
second pin holes located at a correspondent second open end rounded
lateral wall of the fourth connection element in such way that the
whole first end of the fifth connection element is retained between
the second open end first and second lateral walls so that said
fourth connection element is able to move up to 90.degree. upwards
until reach an horizontal position parallel to the Z axis and
downwards until reach a vertical position parallel to the Y axis,
taking as reference the fourth connection element resting position,
when the second stepper motor pulls the second cable linked to the
first open end second rounded lateral wall and wherein the resting
position for the fifth connection element comprises the position
parallel to the Y axis; and wherein the circular spring remains
tightly retained between an internal face of the second end second
rounded lateral wall of the fourth connection element and the
circular recess of the fifth connection element second rounded
lateral wall thus applying a torsional force over said two
elements, forcing the fifth connecting element to return to its
resting position; a sixth connection element including a
longitudinal and transversal axis, a first open end having a
cylindrical shape and a circular cross section including a hollow
rotary connection section having a circular internal wall, rotary
receiving and linking the cylindrical linking member of the fifth
connection element thus rotary linking the fifth and sixth
connection element, and a second open end having a first rounded
lateral wall, a second rounded lateral wall each including a
central coincident pin hole and an "inferior" longitudinal wall
each depending from the first open end, and having: a first pulley
having a central elongated member axis including a first end and a
second end which is rotary joined to the center of the pulley,
wherein the first end of the axis member is retained to the
"inferior" longitudinal wall in such way that its central elongated
member axis is located perpendicularly to the longitudinal wall and
between both lateral walls; a second pulley having a central
elongated member axis including a first end and a second end which
is rotary joined to the center of the pulley, wherein the first end
of the axis member is retained to the inferior longitudinal wall,
next to the first pulley, in such way that its central elongated
member axis is located perpendicularly to the longitudinal wall and
between both lateral walls; a sluing drum having a first and a
second end, and a longitudinal axis, wherein said sluing drum is
rotary and transversally retained between the lateral walls, with
its longitudinal axis being located perpendicularly to the sixth
connection element longitudinal axis and over both pulleys and
having one circular grove; wherein the sixth cable which exits the
fifth connection element by open transversal lateral housing of the
Cylindrical connection member which is received and rotary retained
inside the hollow rotary connection section of the sixth connection
element, is linked to the circular internal wall of the sixth
connection element rotary connection section, thus connecting the
sixth connection element directly to a sixth stepper motor, so that
when the stepper motor pulls the sixth cable, it laterally pulls
the sixth connection element thus rotating it over the rotary
connection which connects it to the fifth connection element;
wherein the fifth cable exiting the fifth connection element enters
the sixth connection element trough the first open end, passes by
and surrounds the first pulley, passes by the second pulley
thereafter and exits the sixth connection element by the second
open end; wherein the third cable exiting the fifth connection
element enters the sixth connection element trough the first open
end passes by the sluing drum and exits the sixth connection
element by the second open end; and wherein the sixth connection
element is able to rotate over its own axis over the rotary
connection as previously described, and is able to move up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis together with the fifth connection element; a griping
tool comprising: a hollow main body having a rectangular shape,
including a first end having a semi-cylindrical wall having a
circular passage grove, an elongated cable receiving section
including a passage to the interior of the hollow main body located
next to the circular passage grove, a first and a second
longitudinal wall, a first and a second lateral walls, a hollow
interior a second open end, and a cable attaching element located
inside the hollow interior of the hollow main body at a central
portion thereof, wherein the first end of the hollow main body,
having a central superior circular recess at the first lateral
wall, wherein the first end of the hollow main body having a
coincident pin hole at each lateral wall, wherein the pin hole of
the first lateral wall is located at a central portion of the
circular recess, and wherein the first and second longitudinal
walls each including a coincident perforation at a central portion
thereof, and further having; a circular spring tightly received
inside the circular recess located at the first rounded lateral
wall; a fixed plier, joined and depending from the second lateral
wall, first longitudinal wall and second longitudinal wall; a
pulley, having a central elongated member axis including a first
end and a second end which is joined to the center of the pulley,
each one rotary retained inside the griping tool hollow main body
wherein the first and second end passes trough a respective
perforation of a respective lateral wall and each one protruding
over its respective lateral wall, thus rotary joining the pulley to
the first and second lateral walls, so that its elongated member
axis is located parallel to both longitudinal walls and
perpendicularly to the lateral walls and wherein it is positioned
in such way that the pulley is concentric with the first end
semi-cylindrical wall cross section and coinciding with the
circular passage grove;
a pivotal second plier, having a first and a second end, wherein
the first end has a drum including a first and a second end having
a respective pin, a circular grove near the second end and a
longitudinal axis, wherein the drum is pivotally joined inside the
hollow main body at a central portion thereof so that the pins of
both ends are pivotally retained inside a respective pin hole of a
respective longitudinal wall, and thus pivotally linking the
pivotal plier and forming a complete and symmetrical pair of pliers
with the fixed plier; wherein the griping tool hollow main body
first end is pivotally retained inside the second open end of the
sixth connection element by locking the ends of the first and
second end of the pulley central elongated member axis protruding
over the first and second lateral walls inside the first and second
coincident pin holes located at a correspondent second open end
rounded longitudinal wall of the sixth connection element in such
way that the whole first end of the griping tool hollow main body
is retained between the first and second longitudinal walls in such
way that said griping tool hollow main body is able to move up to
90.degree. upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the fifth connection element
resting position, and wherein the resting position for the griping
tool comprises the position parallel to the Y axis; wherein the
circular spring remains tightly retained between an internal face
of the first lateral wall of the sixth connection element and the
circular recess of the first lateral wall of the griping tool
hollow main body thus applying a torsional force over said two
elements, forcing the griping tool hollow main body to return to
its resting position wherein the third cable exiting the sixth
connection element is received inside the elongated cable receiving
section and enters the griping tool hollow main body in order to be
linked to the cable attaching element, thus connecting the griping
element hollow main body directly to a third stepper motor, so that
when the third stepper motor pulls the third cable, it pulls the
griping tool causing it to move up to 90.sup.0 upwards until reach
an horizontal position parallel to the Z axis; wherein it is
further included a circular spring tightly retained around the drum
near its first end and between both griping tool hollow main body
lateral walls, thus forcing the pliers to open, which comprise its
resting position. wherein the fifth cable exiting the sixth
connection element enters the griping tool hollow main body by the
circular passage grove, passes by the pulley and is wound around
the drum of the pivotal plier, thus directly connecting the fifth
stepper motor to the pivotal plier, so that when the fifth stepper
motor pulls the fifth cable it causes the drum of the pivotal plier
to rotate, thus pivoting the pivotal plier and opening the pliers,
wherein the resting position for the pliers is at a closed
position.
23. A method for performing minimal invasive surgery in a patient,
comprising: making one incision in patient's body and preparing
patient for a laparoscopic operation; introducing trough said
incision a robotic surgical device comprising two or more robotic
arms each having: at least six connection elements including
manipulating means; at least six joints; driving means connected to
each connection element and to the manipulating means for moving
each of the connection elements and the manipulating means and
remote control means for each robotic arm; wherein each of the arms
have at least fourteen degrees of movement; and operating each
robotic arm using the remote control means.
Description
BACKGROUND OF THE INVENTION
[0001] A. Field of the Invention
[0002] The present invention is related to robotic surgical
devices, and more particularly to a robotic surgical device for
using in laparoscopic surgery which includes two robotic arms and a
respective griping tool each reproducing the natural movements of
the human arm.
[0003] B. Description of the Related Art
[0004] The laparoscopic surgery systems available today including a
robotic arm, have limited degrees of movement, which are reduced to
simulate only some movements of the human wrist.
[0005] Said limited degree of movements limit the number of
maneuvers that can be done during a surgery, Furthermore, the
device that is introduced in the patients body normally have only
one robotic arm at a distal portion, and since some procedures such
as tissue cutting or suture procedures need at least two robotic
arms, it is necessary to practice two or more incisions in
patient's body in order to introduce an additional arm having a
corresponding griping tool thus complicating the whole surgery
procedure.
[0006] Consequently, surgeons are required to take a training
procedure which may take a time of-one year in order to be
qualified to operate a specific device.
[0007] There have been developed some devices which try to address
the above referred problem such as U.S. patent application No.
US2005/0096502, which describes "a robotic surgical device
configured for performing minimally invasive surgical procedures.
The robotic surgical device comprises an elongated body for
insertion into a patient's body through a small incision. In one
variation, the elongated body houses a plurality of robotic arms.
Once the distal portion of the elongated body is inserted into the
patient body, the operator may then deploy the plurality of robotic
arms to perform surgical procedures within the patient's body. An
image detector may be positioned at the distal portion of the
elongated body or on one of the robotic arms to provide visual
feedback to the operator of the device. In another variation, each
of the robotic arms comprises two or more joints, allowing the
operator to maneuver the robotic arms in a coordinated manner
within a region around the distal end of the device".
[0008] Although the above referred device provides two parallel
robotic arms, it doesn't describe a detailed implementation of the
robotic arms for the device nor a specific preferred embodiment for
a robotic arm including a specific number of joints, driving means,
etc.
[0009] Therefore, applicant's developed a specific implementation
of a robotic surgical device for using in laparoscopic surgery,
including two robotic arms each having at least six joints
providing a total of fourteen degrees of movement that accurately
reproduce the movements of a human torso complete with arms.
[0010] Applicant's device includes a torso, two superior
extremities each having a shoulder, arm, elbow, forearm, wrist and
"hand".
[0011] Since applicant's device simulates the movements of the
upper human extremities, it is easier for the surgeon to control
the device since it can be maneuvered using the same movements
learned during the standard training.
SUMMARY OF THE INVENTION
[0012] It is therefore a main object of the present invention to
provide a robotic surgical device for using in laparoscopic
surgery, including two robotic arms each having at least six
joints.
[0013] It is another main object of the present invention to
provide a robotic surgical device of the above disclosed nature
which have least six joints providing a total of fourteen degrees
of movement that accurately reproduce the movements of a human
torso complete with arms.
[0014] It is a further object of the present invention to provide a
robotic surgical device of the above disclosed nature which
accurately reproduces the movements of a human torso complete with
arms.
[0015] It is a further object of the present invention to provide a
robotic surgical device of the above disclosed nature which
simulates the movements of the upper human extremities, thus
allowing the surgeon to control the device since it can be
maneuvered using the same movements learned during the standard
training.
[0016] These and other objects and advantages of the robotic
surgical device of the present invention will become apparent to
those persons having an ordinary skill in the art, from the
following detailed description of the embodiments of the invention
which will be made with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] FIG. 1 is a perspective view of the robotical surgical
device of the present invention including both robotic arms.
[0018] FIG. 2 is a perspective view of the seven stepper motors and
movement transmission cables mounted over its base.
[0019] FIG. 3 is a close up perspective view of the seven stepper
motors and movement transmission cables mounted over its base.
[0020] FIG. 4 is a close up perspective view of the first, second
and third connection elements and movement transmission cables of
the second robotic arm.
[0021] FIG. 5 is a partially disembodied view of the first
connection element of the second robotic arm showing the circular
spring.
[0022] FIG. 6 is a close up disembodied perspective view of the
first, second and third connection elements and movement
transmission cables of the second robotic arm showing its internal
components.
[0023] FIG. 7 is a is a close up disembodied frontal view of the
first, second and third connection elements and movement
transmission cables of the second robotic arm showing its internal
components.
[0024] FIG. 8 is a close up partially disembodied perspective view
of the first, second and third connection elements and movement
transmission cables of the second robotic arm showing the internal
components of the first and second connection element.
[0025] FIG. 9 is a close up perspective view of the third and
fourth connection elements.
[0026] FIG. 10 is a close up front view of the third and fourth
connection elements.
[0027] FIG. 11 is a close up partially disembodied perspective view
of the third and fourth connection elements showing the circular
spring of the fourth connection element.
[0028] FIG. 12 is a close up partially disembodied perspective view
of the third and fourth connection elements showing the internal
components of the fourth connection element.
[0029] FIG. 13 is a close up partially disembodied frontal view of
the third and fourth connection elements showing the internal
components of the fourth connection element.
[0030] FIG. 14 is a close up perspective view of the fifth
connection element connected to the fourth and sixth connection
elements.
[0031] FIG. 15 is a close up perspective view of the fifth
connection element showing the cylindrical linking member.
[0032] FIG. 16 is a close up partially disembodied perspective view
of the fourth and fifth element showing the circular spring of the
fifth connection element.
[0033] FIG. 17 is a close up disembodied front view of the fifth
connection element showing its internal components.
[0034] FIG. 18 is a close up frontal view of the second end of the
fifth connection element partially showing its internal
components.
[0035] FIG. 19 is a close up left lateral disembodied view of the
fifth connection element showing its internal components.
[0036] FIG. 20 is a close up partially disembodied perspective view
of the fourth, fifth and sixth element showing the internal
elements of the fifth connection element.
[0037] FIG. 21 is a close up left perspective view of the sixth
connection element and griping tool.
[0038] FIG. 22 is a close up perspective partially disembodied view
of the fifth, sixth and griping tool showing the internal
components of the sixth connection element.
[0039] FIG. 23 is a close up frontal view of the sixth connection
element and griping tool partially showing the internal elements of
the sixth connection element.
[0040] FIG. 24 is a 21 is a close up right perspective view of the
sixth connection element and griping tool.
[0041] FIG. 25 is a close up partially disembodied perspective view
of the sixth connection element and griping tool lacking the fixed
plier showing the internal components of the second end of the
sixth connection element, and the circular spring located at a
first end of the griping tool hollow main body.
[0042] FIG. 26 is a close up disembodied perspective view of the
griping tool showing only the fixed plier and its internal
components.
[0043] FIG. 27 is a perspective view of the robotical surgical
device of the present invention including both robotic arms in an
extended position ready for entering to a patient's body trough a
surgical incision.
DETAILED DESCRIPTION OF THE INVENTION
[0044] The robotical surgical device of the present invention will
be described making reference to the X-Y-Z axis wherein the X axis
corresponds to the left and right directions, the Y axis
corresponds to the up and down directions and the Z axis
corresponds to the front and rear directions.
[0045] Now the robotical surgical device will be described in
accordance with its more general embodiment thereof,
comprising:
[0046] support means comprising a long elongated and hollow member
1 having first 2a and a second 3 end;
[0047] a first 4 and a second 5 robotic arm each positioned in a
parallel relationship from each other, each comprising: [0048] a
first connection element 6 fixedly attached to the second end of
the support means having pivoting linking means 7, wherein the
resting position for this element comprises a position parallel to
the X axis; [0049] a second connection element 8, pivotally linked
to the pivoting linking means of the first connection element 6,
said second connection element 8 able to pivot up to 90.sup.0 to
the front until reaching a position parallel to the Z axis and to a
side until reaching a position parallel to the X axis, taking as
reference the first connection element 6 resting position, having
pivoting linking means 9 allowing an forward and backward pivoting
movement and wherein the resting position comprises the position
parallel to the X axis; [0050] a third connection element 10,
pivotally linked to the pivoting linking means of the second
connection element, said third connection element 10 able to pivot
up to 90.sup.0 upwards until reach an horizontal position parallel
to the X axis and downwards until reach a vertical position
parallel to the Y axis, taking as reference the second connection
element resting position, having pivoting linking means 11 allowing
an upward and downward pivoting movement, and wherein the resting
position comprises the position parallel to the Y axis; [0051] a
fourth connection element 12, pivotally linked to the pivoting
linking means of the third connection element, said fourth
connection element able to pivot up to 90.sup.0 upwards until reach
an horizontal position parallel to the Z axis and downwards until
reach a vertical position parallel to the Y axis, taking as
reference the third connection element resting position, having
pivoting linking means 13 allowing an upward and downward pivoting
movement, and wherein the resting position comprises the position
parallel to the Y axis; [0052] a fifth connection element 14,
pivotally linked to the pivoting linking means of the fourth
connection element, said fifth connection element able to pivot up
to 90.sup.0 upwards until reach an horizontal position parallel to
the Z axis and downwards until reach a vertical position parallel
to the Y axis, taking as reference the fourth connection element
resting position, having rotating linking means 15 for linking an
additional connection element, allowing concentric rotation over a
single axis, and wherein the resting position comprises the
position parallel to the Y axis; [0053] a sixth connection element
16, rotary linked to the rotating linking means 15 of the fifth
connection element 14, said sixth connection element 16 able to
rotate 360.degree. over its own axis, having pivoting linking means
for linking a further element 17 allowing an upward and downward
pivoting movement, and wherein the resting position for this
element comprises the position parallel to the Y axis; [0054] a
griping tool 18, pivotally linked to the pivoting linking means of
the sixth connection element 16, said griping tool 18 able to pivot
up to 90.degree. upwards until reach an horizontal position
parallel to the Z axis and downwards until reach a vertical
position parallel to the Y axis, taking as reference the sixth
connection element resting position, and wherein the resting
position for the gripping tool comprises the position parallel to
the Y axis; and [0055] driving means connected to each connection
element and griping tool for driving each of the sixth connection
elements and to open and close the griping tool.
[0056] Thanks to the pivotal connections between each connection
element, the griping tool 18 of each robotic arm is able to move
inside a very ample operational area, which mimics the
functionality of a human torso including hands.
[0057] Now the robotical surgical device of the present invention
will be described making reference to a preferred embodiment
thereof, comprising:
[0058] support means comprising an elongated hollow cylinder 1
having a first 2a and a second end 3 and having a diameter size
adequate for entering trough a standard sized laparoscopic surgical
opening;
[0059] a first 4 and a second 5 robotic arm each positioned in a
parallel relationship from each other;
[0060] driving means for driving both robotic arms, comprising: a
first 19 and a second group (not shown) of seven stepper motors,
each group attached to a base 19a and driving a correspondent
robotic arm, wherein the motors of each group are aligned in two
parallel rows and wherein each motor drives a rotary pulley 20
located at a superior portion thereof;
[0061] movement transmission means for each stepper motor, each
comprising a cable (21a, 21b, 21c, 21d, 21e, 21f, 21g) attached to
the pulley of a respective motor for a total of fourteen cables
(only seven shown) divided in two groups of seven cables, each
group corresponding to a robotic arm 4, 5, wherein each of the
cables attached to its respective pulley 20, passes by a
correspondent series of circular groves 22, each located at
subsequent pulleys 20, thus lineally guiding each cable along
subsequent pulleys 20 so that a first pulley has one circular
grove, the second pulley has two circular groves, one for its own
cable and one for the passing cable of the previous pulley 20 and
so on, thus avoiding the entanglement of the cables as shown in
FIG. 3, and wherein each cable is pulled when the pulley 20 rotates
in one direction and is loosen when the pulley 20 rotates in an
opposed direction, and wherein both groups of cables are aligned
and conducted trough the elongated cylinder 1 entering a first end
2a and exiting trough the second end 3 thereof;
[0062] wherein each robotic arm comprising:
[0063] a first connection element 6 comprising a hollow
quadrangular member having a first 23 and a second (not shown)
longitudinal wall, a central longitudinal axis, a first end 24 and
a second open rounded end 25, including a first 25a and a second
(not shown) pin holes located at each longitudinal wall near the
first end 24 of the first connection element 6, a rectangular
aperture 26 at a lateral side near the first end 24, said first
connection element 6 been fixedly attached to the second end 3 of
the hollow elongated cylinder 1 in such way that its longitudinal
axis is located perpendicularly to the hollow cylindrical tube and
the lateral rectangular aperture 26 coincide with the second end 3
of the hollow cylindrical tube 1 and having: [0064] a rotating
sluing drum 27 including a pin 27a, 27b at each end, each pin
rotary received inside the pin holes 25a so that the ends of the
first rotary sluing drum 27 are rotary linked to both longitudinal
walls 23 and located between them inside the first connection
element 6 near its first end 24 and aligned with its central
longitudinal axis, having seven concentric circular grooves 28a,
28b, 28c, 28d, 28e, 28f, 28g; [0065] a first 29 and a second (not
shown) opposed pin holes each located at a correspondent
longitudinal wall 23 near the second end 25 of the first connection
element 6, each aligned with the central longitudinal axis;
[0066] wherein the first corresponding group of cables 21a, 21b,
21c, 21d, 21e, 21f, 21g enter the first connection element 6 trough
the rectangular aperture 26, each passing by the sluing drum 27 and
guided by a respective concentric circular groove 28a, 28b, 28c,
28d, 28e, 28f, 28g and exiting the first connection element 6
trough the second open end 25; and
[0067] wherein the resting position for this element comprises a
position parallel to the X axis;
[0068] a second connection element 8 including a first open end 29a
and a second open end 30, and a central portion 31 including a
first (not shown) and a second 32 passage, wherein the first end
29a including a superior rounded longitudinal wall 33 having a
central superior circular recess 34, a central rounded longitudinal
wall 35, and an inferior rounded longitudinal wall 36, each
depending from the central portion 31 and each including a central
coincident pin hole (not shown), wherein the pin hole of the
superior rounded longitudinal wall 33 is located at a central
portion of the circular recess 34 and wherein the second open end
30 includes a first rounded lateral wall 37 and a second opposed
rounded lateral wall 38 each extending from the central portion 31
and each respectively having a first (not shown) and a second 39
pin hole at a central portion thereof, said second connection
element 8 further having:
[0069] six pulleys 40 having a central perforation (not shown),
each one located below the other forming a vertical row, and
wherein a first 40a, second 40b and third pulley 40c are located
and rotary retained between the superior rounded longitudinal wall
33 and the central rounded longitudinal wall 35, and a fourth 40d,
fifth 40e and sixth 40f pulley are located and rotary retained
between the central rounded longitudinal wall 35 and the inferior
36 rounded longitudinal wall;
[0070] a pin 41 passing trough the pin hole of the superior rounded
longitudinal wall 33, trough the central perforation of the first
40a, second 40b and third 40c pulley, trough the pin hole of the
central rounded longitudinal wall 35, through the central
perforation of the fourth 40d, fifth 40e and sixth 40f pulley and
trough the pinhole of the inferior rounded longitudinal wall 36,
thus rotary retaining the six pulleys 40 and wherein the pin
protrudes over the pinhole of the superior rounded longitudinal
wall 33 and below the inferior rounded longitudinal wall 36;
[0071] a circular spring 42 tightly received inside the circular
recess 34 located at the superior rounded longitudinal wall 33;
[0072] wherein a first 21a, second 21b and third 21c cable exiting
the first connection element 6 each enters the second connection
element 8 trough the first open end 29a and passes by and surrounds
a correspondent first 40a, second 40b and third 40c pulley and are
guided through the first passage of its central portion 31 to the
second open end 30 trough which they exit the second connection
element 8 and wherein a fifth 21e, sixth 21f, and seventh 21g cable
exiting the first connection element 6, enters the second
connection element 8 trough the first open end 29a and passes by
and surrounds a correspondent fourth 40d, fifth 40e and sixth 40f
pulley and are guided through the second passage 32 of its central
portion 31 to the second open end 30 trough which they exit the
second connection element 8;
[0073] wherein a fourth cable 21d is linked to the central portion
31 of the second connection element 8, thus connecting the second
connection element 8 directly to a fourth stepper motor, thus
driving the second connection element 8;
[0074] wherein the second connection 8 element is pivotally
retained inside the second open rounded end 25 of the first 6
connection element by locking the portions of the pin 41 protruding
over the superior rounded longitudinal wall 33 and below the
inferior rounded longitudinal 36 wall inside the first 29 and
second pin holes located at a correspondent longitudinal wall 23,
25 of the first connection element 6 in such way that the whole
first end 29a of the second connection element 8 including the
superior 33, central 35 and inferior 36 rounded longitudinal walls
and pulleys 40 are retained between the first 23 and second
longitudinal walls in such way that said second connection element
8 is able to pivot up to 90.degree. to the front until reaching a
position parallel to the Z axis and to a side until reaching a
position parallel to the X axis, taking as reference the first
connection element 6 resting position, when the fourth stepper
motor pulls the fourth cable 21d linked to the second connection
element 8 and wherein the resting position for this element
comprises the position parallel to the X axis;
[0075] wherein the circular spring 42 remains tightly retained
between the first longitudinal wall 23 inferior portion of the
first connection element 6 and the circular recess 34 of the
superior rounded longitudinal wall 33 of the second connecting
element 8 thus applying a torsional force over said two elements,
forcing the second connecting element 8 to return to its resting
position; and
[0076] further including a first 43 and a second 44 lateral pulley
each respectively linked at a superior and inferior portion of the
first 37 and second 38 rounded lateral wall between them and inside
the second open end 30 of the second connection element 8, and
wherein the seventh cable 21g passing trough the second passage 32
passes by said first 43 and second 44 lateral pulley before
emerging from the second connection element 8 by the second open
end 30;
[0077] a third connection element 10 including a first open end 45
and a second open end 46, and a central portion 47 including a
first and a second passage (not shown) wherein the first end 45
including a first rounded longitudinal wall 48 having a central
superior circular recess 49, a central rounded longitudinal wall
50, and an third rounded longitudinal wall 51, each depending from
the central portion 47 and each including a central coincident pin
hole (not shown), wherein the pin hole of the first rounded
longitudinal wall 48 is located at a central portion of the
circular recess 49 and wherein the second open end 46 includes a
first rounded lateral wall 52 and a second rounded lateral wall 53
each extending from the central portion 47 and including a
correspondent first 54 and a second (not shown) pin holes, and
having:
[0078] five pulleys 55 having a central perforation (not shown),
each one located below the other forming a linear row, and wherein
a first 55a and second 55b pulley are located and rotary retained
between the first rounded longitudinal wall 48 and the central
rounded longitudinal wall 50, and a third 55c, fourth 55d and fifth
55e pulley are located and rotary retained between the central
rounded longitudinal wall 50 and the third rounded longitudinal
wall 51;
[0079] a pin 56 passing trough the pin hole of the first rounded
longitudinal wall 48, trough the central perforation of the first
55a and second 55b pulley, trough the pin hole of the central
rounded longitudinal wall 50, through the central perforation of
the third 55c, fourth 55d and fifth 55e pulley and trough the
pinhole of the third rounded longitudinal wall 51 in that order,
thus rotary retaining the five pulleys 55 and wherein the pin 56
protrudes over the pinhole of the first rounded longitudinal wall
48 and below the third rounded longitudinal wall 51;
[0080] a circular spring 57 tightly received inside the circular
recess 49 located at the first rounded longitudinal wall 48;
[0081] wherein a fifth 21e, and a sixth 21f cable exiting the
second connection element 8 each enters the third connection
element 10 trough the first open end 45 and passes by and surrounds
a correspondent second 55b, and first 55a pulley and are guided
through the first passage of its central portion 47 to the second
open end 46 trough which they exit the third connection element 10
and wherein a first 21a, second 21b and third 21c cable exiting the
second connection element 8, enters the third connection element 10
trough the first open end 45 and passes by and surrounds a
correspondent fifth 55e, fourth 55d and third 55c pulley and are
guided through the second passage of its central portion 47 to the
second open end 46 trough which they exit the third connection
element 10;
[0082] wherein a seventh cable 21g is linked to the central portion
47 of the third connection element 10, thus connecting the third
connection element directly to a seventh stepper motor, thus
driving the third connection element 10;
[0083] wherein the third connection element 10 is pivotally
retained inside the second open end 30 of the second connection
element 10 by locking the portions of the pin 56 protruding over
the first rounded longitudinal wall 48 and below the third rounded
longitudinal wall 51 inside the first and second 39 pin hole
located at a correspondent second open end 30 rounded lateral wall
37, 38 of the second connection element 8 in such way that the
whole first end 45 of the third connection element 10 including the
first 48, central 50 and third 51 rounded longitudinal walls and
pulleys 55 are retained between the first 37 and second 38 rounded
longitudinal walls in such way that said third connection element
10 is able to move up to 90.sup.0 upwards until reach an horizontal
position parallel to the X axis and downwards until reach a
vertical position parallel to the Y axis, taking as reference the
second connection element 8 resting position, when the seventh
stepper motor pulls the seventh cable 21g linked to the third
connection element 10 and wherein the resting position comprises
the position parallel to the Y axis; and
[0084] wherein the circular spring 57 remains tightly retained
between an internal face of the second rounded lateral wall 38 of
the second connection element 8 and the circular recess 49 of the
first rounded longitudinal wall 48 of the third connecting element
10 thus applying a torsional force over said two elements, forcing
the third connecting element 10 to return to its resting
position;
[0085] a fourth connection element 12 including a first open end 58
and a second 59 open end, and an elongated central portion 60
including a first and a second passage (not shown) and a central
path 61 having a longitudinal axis defined by a first 62 and a
second 63 lateral wall and by an "inferior" longitudinal wall 64,
wherein the first end 58 including a first rounded lateral wall 65
having a central superior circular recess 66, a central rounded
lateral wall 67, and an third rounded lateral wall 68, each
depending from the central portion 60 and each including a central
coincident pin hole (not shown), wherein the pin hole of the
superior rounded longitudinal wall is located at a central portion
of the circular recess 66 and wherein the second open end 59
includes a first rounded lateral wall 69 and a second rounded
lateral wall 70 extending from the central portion each having a
central pin hole 70a (only the pin hole of the second rounded
lateral wall 70 shown), and having:
[0086] four pulleys 71 having a central perforation (not shown),
each one located below the other forming a linear row, and wherein
a first 71a and a second pulley 71b are located and rotary retained
between the first end 58 first rounded lateral wall 65 and the
first end central rounded longitudinal wall 67, and a third 71c and
fourth 71d pulley are located and rotary retained between the first
end central rounded longitudinal wall 67 and the first end third
rounded longitudinal wall 68;
[0087] a pin 72 passing trough the pin hole of the first end first
rounded longitudinal wall 65, trough the central perforation of the
first 71a and second 71b pulley, trough the pin hole of the first
end central rounded longitudinal wall 67, through the central
perforation of the third 71c and fourth pulley 71d and trough the
pinhole of the first end third rounded longitudinal wall 68 in that
order, thus rotary retaining the four pulleys 71 and wherein the
pin 72 protrudes over the first end first rounded longitudinal wall
65 and below the first end third rounded longitudinal wall 68;
[0088] a circular spring 73 tightly received inside the circular
recess 66 located at the first end first rounded longitudinal wall
65;
[0089] wherein a sixth 21f and fifth 21e cable exiting the third
connection element 10 each enters the fourth connection element 12
trough the first open end 58 and passes by and surrounds a
correspondent first 71a and second 71b pulley and are guided
through the first passage of the central portion 60 across the
central path 61 to the second open end 59 trough which they exit
the fourth connection element 12 and wherein a second 21b and third
21c cable exiting the third connection element 10, enters the
fourth connection element 12 trough the first open end 58 and
passes by and surrounds a correspondent fourth 71d and third 71c
pulley and are guided through the first passage of the central
portion 60 across the central path 61 to the second open end 59
trough which they exit the fourth connection element 12;
[0090] wherein a first cable 21a is linked to the first end third
rounded lateral wall 68 of the fourth connection element, thus
connecting the fourth connection element directly to the first
stepper motor, thus driving the fourth connection element;
[0091] wherein the fourth connection element 12 is pivotally
retained inside the second open end 46 of the third connection
element 10 by locking the portions of the pin 72 protruding over
the first end first rounded lateral wall 65 and below the first end
third rounded longitudinal wall 68 inside the first 54 and second
pin holes located at a correspondent second open end first 52 and
second 53 rounded lateral wall of the third connection element 10
in such way that the whole first end 58 of the fourth connection
element 12 including the first 65, central 67 and third 68 rounded
longitudinal walls and pulleys 71 are retained between the second
end first 52 and second 53 longitudinal walls in such way that said
fourth connection element 12 is able to move up to 90.sup.0 upwards
until reach an horizontal position parallel to the Z axis and
downwards until reach a vertical position parallel to the Y axis,
taking as reference the third connection element 10 resting
position, when the first stepper motor pulls the first cable 21a
linked to the fourth connection element 12 and wherein the resting
position for the fourth connection element 12 comprises the
position parallel to the Y axis;
[0092] wherein the circular spring 73 remains tightly retained
between an internal face of the second end first rounded lateral
wall 52 of the third connection element 10 and the circular recess
66 of the first end first rounded lateral wall 65 of the fourth
connecting element 12 thus applying a torsional force over said two
elements, forcing the fourth connecting element 12 to return to its
resting position; and
[0093] further including: [0094] a first sluing drum 74 having a
first and a second end, and a longitudinal axis, wherein said first
sluing drum is rotary and transversally retained inside the central
path 61 in such way that both ends are rotary retained between the
lateral walls 62, 63 of the central path 61 with its longitudinal
axis being located perpendicularly to the central path longitudinal
axis and having one circular grove 75; [0095] a second sluing drum
76 having a first and a second end, and a longitudinal axis,
wherein said second sluing drum 76 is rotary and transversally
retained inside the central path 61 in such way that both ends are
rotary retained between the lateral walls 62, 63 of the central
path 61 with its longitudinal axis being located perpendicularly to
the central path longitudinal axis and having a three circular
groves 77a, 77b, 77c; [0096] a first pulley 78, having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley, wherein the first end of the
axis member is rotary retained to the inferior longitudinal wall 64
of the central path 61 in such way that it is positioned in a
perpendicularly relationship with respect to the central path
longitudinal axis; [0097] a second pulley 79, having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley, wherein the first end of the
axis member is rotary retained to the second longitudinal wall 64
of the central path 61 in such way that it is positioned in a
perpendicularly relationship with respect to the central path
longitudinal axis; [0098] a third pulley 80, having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley, wherein the first end of the
axis member is retained to both lateral walls 62, 63 of the central
path 61 in such way that it is positioned between them; [0099]
wherein the first sluing drum 74, second sluing drum 76 and third
pulley 80 are located along the central path 61 in said order in a
zig-zag pattern and retained to both central path 61 lateral walls
as described above; [0100] wherein the first 78 and second 79
pulley are located along the central path 61 in said order in a
zig-zag pattern and retained to the second central path 61 inferior
longitudinal wall 64 as described above; [0101] wherein the second
cable 21b passing trough the central path 61, passes by and
surrounds the circular grove 75 of the first sluing drum 74 and
passes by and surrounds the third pulley 78; [0102] wherein the
third cable 21c passes by and surrounds a third circular groove 77c
of the second sluing drum 76, and passes by the second 78 and third
79 pulleys; and [0103] wherein the fifth 21e and sixth 21f cable
passes by and surrounds a correspondent circular grove 77b, 77a of
the second sluing drum 76;
[0104] a fifth connection element 14 including a first open end 81
and a second end 82 having a cylindrical shape, a circular cross
section and a circular internal and external wall, an entrance
opening, an exit opening, and a longitudinal and transversal axis,
wherein the first end including a first rounded lateral wall 82,
and a second rounded longitudinal wall 83 having a central circular
recess 84, each depending from the second end circular wall and
each including a central coincident pin hole (not shown), wherein
the pin hole of the second rounded lateral wall is located at a
central portion of the circular recess 85 and wherein the second
end 82 includes cylindrical connection member 86 including an open
transversal lateral housing 87 opened to the exterior of the rotary
connection means 86 and a cylindrical linking member 86a having two
circular passages 88a, 88b, and having:
[0105] a circular spring 89 tightly received inside the circular
recess 85 located at the second rounded lateral wall 84;
[0106] a first sluing drum 90 having a first and a second end, each
including an elongated longitudinal axis member 90a, wherein the
ends of the longitudinal axis member passes trough the pin hole of
the first 83 and second 84 rounded lateral wall respectively, thus
rotary and transversally retained between the first 83 and second
84 rounded longitudinal wall in a central portion thereof and
including three circular groves 91a, 91b, 91c, and wherein each end
of the elongated member axis protrudes over the pinhole of the
first rounded lateral wall 83 and over the pinhole of the second
rounded lateral wall 84;
[0107] a second sluing drum 92 having a first and a second end, and
a longitudinal axis, wherein said second sluing drum is rotary and
transversally retained between the first 83 and second 84 rounded
lateral wall and including one circular grove 93, wherein the
second sluing drum 92 is located next to the first sluing drum 90
in a parallel relationship and off center with respect to the
longitudinal axis;
[0108] a third 94 and a fourth 96 sluing drums, each having a first
and a second end and a circular grove 95 (only the circular grove
of the third sluing drum shown), and each parallely located with
respect to each other and aligned with respect to the transversal
axis;
[0109] a first 97 and a second 98 pulley, each having a central
elongated member axis including a first end and a second end which
is joined to the center of the pulley 97, 98, wherein the first end
of the axis member of the first pulley 97 is attached to the
interior circular wall of the cylindrical connection member 86 and
the first end of the axis member of the second pulley 98 is
attached to the interior circular wall of the cylindrical linking
member 86a in such way that each axis is positioned in a
perpendicularly relationship with respect to the longitudinal axis,
and in a parallel relationship with respect to the transversal
axis, wherein the first pulley 97 including only one circular grove
97a and the second pulley 98 including a first 98a and a second 98b
circular grove and wherein the first pulley 97 is located next to
the third 94 and fourth 96 parallel sluing drums and wherein the
second pulley 98 is located next to the first pulley 97;
[0110] a third pulley 99 having a central elongated member axis
including a first end and a second end which is joined to the
center of the pulley, said third pulley rotary retained inside the
open transversal lateral housing 87 wherein the first end of the
axis member is retained to a wall of the open transversal lateral
housing 87 in such way that it is positioned in a parallel
relationship with respect to the longitudinal axis, and in a
perpendicular relationship with respect to the transversal
axis;
[0111] wherein a third cable 21c exiting the fourth connection
element 12 enters the fifth connection element 14 trough the first
open end 81 and passes by and surrounds a correspondent grove 91c
of the first sluing drum 90 and third sluing drum 94 and is guided
trough the cylindrical connection member 86 and cylindrical linking
member 86a and exits the fifth connection element 14 trough the
first circular passage 88a;
[0112] wherein a fifth cable 21e exiting the fourth connection
element 12 enters the fifth connection element 14 trough the first
open end 81 and passes by and surrounds the respective grove 91b of
the first sluing drum 90 and second sluing drum 92 and is guided
trough the cylindrical connection member 86 inside of which it
passes by the first pulley 97 and the first grove 98a of the second
pulley 98 and trough the cylindrical linking member and exits the
fifth connection element 14 through the second circular passage
88b;
[0113] wherein the sixth cable 21f exiting the fourth connection
element 12 enters the fifth connection element 14 trough the first
open end 81 and passes by and surrounds a respective grove 91a of
the first 90 and fourth 96 sluing drum and is guided through the
cylindrical connection member 86 inside of which it passes by the
first pulley 97, trough the cylindrical linking member 86a inside
of which it passes by the second grove 98b of the second pulley 98,
makes a turn of 900, passes by the third pulley 99 and exits the
fifth element 14 trough the open transversal lateral housing
87;
[0114] wherein the second cable 21b exiting the fourth connection
element 12 is linked to the first open end 81 second rounded
lateral wall 84;
[0115] wherein the fifth connection element 14 is pivotally
retained inside the second open end 59 of the fourth connection
element 12 by locking the ends of the elongated longitudinal axis
member 90a protruding over the first rounded lateral wall 83 and
over the second rounded lateral wall 84 inside the first and second
70a pin holes located at a correspondent second open end 59 rounded
lateral wall 69, 70 of the fourth connection element 12 in such way
that the whole first end 81 of the fifth connection element 14 is
retained between the second open end 59 first 52 and second 53
lateral walls so that said fourth connection element 12 is able to
move up to 90.degree. upwards until reach an horizontal position
parallel to the Z axis and downwards until reach a vertical
position parallel to the Y axis, taking as reference the fourth
connection element 12 resting position, when the second stepper
motor pulls the second cable 21b linked to the first open end 81
second rounded lateral wall 84 and wherein the resting position for
the fifth connection element comprises the position parallel to the
Y axis; and
[0116] wherein the circular spring 89 remains tightly retained
between an internal face of the second end 59 second rounded
lateral wall 70 of the fourth connection element 12 and the
circular recess 85 of the fifth connection element 14 second
rounded lateral wall 84 thus applying a torsional force over said
two elements, forcing the fifth connecting element 14 to return to
its resting position;
[0117] a sixth connection element 16 including a longitudinal and
transversal axis, a first open end 100 having a cylindrical shape
and a circular cross section including a hollow rotary connection
section (not shown) having a circular internal wall, rotary
receiving and linking the cylindrical linking member 86a of the
fifth connection element 14 thus rotary linking the fifth 14 and
sixth 16 connection element, and a second open end 101 having a
first rounded lateral wall 102, a second rounded lateral wall 103
each including a central coincident pin hole 103a, 103b and an
"inferior" longitudinal wall 104 each depending from the first open
end 100, and having:
[0118] a first pulley 105 having a central elongated member axis
including a first end and a second end which is rotary joined to
the center of the pulley, wherein the first end of the axis member
is retained to the "inferior" longitudinal wall 104 in such way
that its central elongated member axis is located perpendicularly
to the longitudinal wall 104 and between both lateral walls 102,
103;
[0119] a second pulley 106 having a central elongated member axis
including a first end and a second end which is rotary joined to
the center of the pulley, wherein the first end of the axis member
is retained to the "inferior" longitudinal wall 104, next to the
first pulley 105, in such way that its central elongated member
axis is located perpendicularly to the longitudinal wall 104 and
between both lateral walls 102, 103;
[0120] a sluing drum 107 having a first and a second end, and a
longitudinal axis, wherein said sluing drum is rotary and
transversally retained between the lateral walls 102, 103, with its
longitudinal axis being located perpendicularly to the sixth
connection 16 element longitudinal axis and "over" both pulleys
105, 106 and having one circular grove 108;
[0121] wherein the sixth cable 21f which exits the fifth connection
element 14 by open transversal lateral housing 87 of the
Cylindrical connection member 86 which is received and rotary
retained inside the hollow rotary connection section of the sixth
connection element 16, is linked to the circular internal wall of
the sixth connection element 16 rotary connection section, thus
connecting the sixth connection element 16 directly to a sixth
stepper motor, so that when the stepper motor pulls the sixth cable
21f, it laterally pulls the sixth connection element 16 thus
rotating it over the rotary connection which connects it to the
fifth connection element 14;
[0122] wherein the fifth cable 21e exiting the fifth connection
element 14 enters the sixth connection element 16 trough the first
open end 100, passes by and surrounds the first pulley 105, passes
by the second pulley 106 thereafter and exits the sixth connection
element 16 by the second open end 101;
[0123] wherein the third cable 21c exiting the fifth connection
element 14 enters the sixth connection element 16 trough the first
open end 100 passes by the sluing drum 107 and exits the sixth
connection element 16 by the second open end 101; and
[0124] wherein the sixth connection element 16 is able to rotate
over its own axis over the rotary connection as previously
described, and is able to move up to 90.degree. upwards until reach
an horizontal position parallel to the Z axis and downwards until
reach a vertical position parallel to the Y axis together with the
fifth connection element 14;
[0125] a griping tool 18 comprising:
[0126] a hollow main body 109 having a rectangular shape, including
a first end 110 having a semi-cylindrical wall having a circular
passage grove 111, an elongated cable receiving section 112
including a passage (not shown) to the interior of the hollow main
body 109 located next to the circular passage grove 111, a first
113 and a second (not shown) longitudinal wall, a first 114 and a
second 115 lateral walls, a hollow interior a second open end 116,
and a cable attaching element located (not shown) inside the hollow
interior of the hollow main body 109 at a central portion thereof,
wherein the first end of the hollow main body 109, having a central
superior circular recess 117 at the first lateral wall 114, wherein
the first end of the hollow main body 109 having a coincident pin
hole (not shown) at each lateral wall 114, 115, wherein the pin
hole of the first lateral wall 114 is located at a central portion
of the circular recess 117, and wherein the first 113 and second
longitudinal walls each including a coincident perforation at a
central portion thereof, and further having; [0127] a circular
spring 119 tightly received inside the circular recess 117 located
at the first rounded lateral wall 114; [0128] a fixed plier 120,
joined and depending from the second lateral wall, first
longitudinal wall 113 and second longitudinal wall 114; [0129] a
pulley 121, having a central elongated member axis including a
first end and a second end which is joined to the center of the
pulley, each one rotary retained inside the griping tool hollow
main body 18 wherein the first and second end passes trough a
respective perforation 103a, 103b of a respective lateral wall 114,
115 and each one protruding over its respective lateral wall 114,
115, thus rotary joining the pulley 121 to the first and second
lateral walls 114, 115, so that its elongated member axis is
located parallel to both longitudinal walls 113 and perpendicularly
to the lateral walls 113, 114 and wherein it is positioned in such
way that the pulley 121 is concentric with the first end 110
semi-cylindrical wall cross section and coinciding with the
circular passage grove 111; [0130] a pivotal second plier 122,
having a first 123 and a second end 124, wherein the first end 123
has a drum 125 including a first and a second end having a
respective pin 126 (only the pin of the first end shown), a
circular grove 127 near the second end and a longitudinal axis,
wherein the drum is pivotally joined inside the hollow main body at
a central portion thereof so that the pins of both ends 126 are
pivotally retained inside a respective pin hole 118 of a respective
longitudinal wall 113, and thus pivotally linking the pivotal plier
122 and forming a complete and symmetrical pair of pliers 120, 122
with the fixed plier 120;
[0131] wherein the griping tool hollow main body 109 first end 110
is pivotally retained inside the second open end 101 of the sixth
connection element 16 by locking the ends of the first and second
end of the pulley 121 central elongated member axis protruding over
the first 114 and second 115 lateral walls inside the first 103a
and second 103b coincident pin holes located at a correspondent
second open end 101 rounded longitudinal wall 102, 103 of the sixth
connection element 16 in such way that the whole first end 110 of
the griping tool hollow main body 109 is retained between the first
113 and second 114 longitudinal walls in such way that said griping
tool hollow main body 109 is able to move up to 90.degree. upwards
until reach an horizontal position parallel to the Z axis and
downwards until reach a vertical position parallel to the Y axis,
taking as reference the fifth connection element 14 resting
position, and wherein the resting position for the griping tool 18
comprises the position parallel to the Y axis;
[0132] wherein the circular spring 119 remains tightly retained
between an internal face of the first lateral wall 102 of the sixth
connection element 16 and the circular recess 117 of the first
lateral wall 114 of the griping tool 18 hollow main body 109 thus
applying a torsional force over said two elements, forcing the
griping tool 18 hollow main body to return to its resting
position
[0133] wherein the third cable 21c exiting the sixth connection
element 16 is received inside the elongated cable receiving section
112 and enters the griping tool 18 hollow main body 109 in order to
be linked to the cable attaching element, thus connecting the
griping element 18 hollow main body 109 directly to a third stepper
motor, so that when the third stepper motor pulls the third cable
21c, it pulls the griping tool causing it to move up to 90.sup.0
upwards until reach an horizontal position parallel to the Z
axis;
[0134] wherein it is further included a circular spring 128 tightly
retained around the drum 125 near its first end and between both
griping tool 18 hollow main body 109 lateral walls 114, 115, thus
forcing the pliers to open, which comprise its resting
position.
[0135] wherein the fifth cable 21e exiting the sixth connection
element 16 enters the griping tool 18 hollow main body 109 by the
circular passage grove 111, passes by the pulley 121 and is wound
around the drum 125 of the pivotal plier 122, thus directly
connecting the fifth stepper motor to the pivotal plier 122, so
that when the fifth stepper motor pulls the fifth cable 21e it
causes the drum of the pivotal plier 122 to rotate, thus pivoting
the pivotal plier 122 and opening the pliers, wherein the resting
position for the pliers is at a closed position;
[0136] A camera may be included in the second end of the support
means hollow cylinder, thus allowing the surgeon to have an impeded
view of both robotic arms inside the patient's body from a central
rear perspective.
[0137] Although it was described that the means for driving each
element comprises a system of cables and stepper motors, said means
may be comprised by any other known means, such as a transmission
system comprised by a plurality of gears.
[0138] Also, the invention is not limited to the above referred
number of movable elements, since it may be comprised by a further
number of movable elements thus increasing the flexibility and
movement combinations the device is capable to achieve.
[0139] Each one of the stepper motors are connected to control
means comprising a computer including a control interface for the
surgeon such a pair of joysticks, control gloves or an upper limb
exoskeleton for a more realistic control of both arms.
[0140] For performing a minimal invasive surgery using the device
of the present invention, it is necessary to practice only one
incision the enters the patient's body trough an incision by
parallely extending both arms, thus reducing the diameter necessary
for both arms to enter trough the incision as shown in FIG. 27.
[0141] Furthermore, in combination with the robotic surgical device
of the present invention, it is also provided a method for
performing a minimal invasive surgery in a patient using the device
of the present invention, wherein said method comprising the steps
of:
[0142] making one incision in patient's body and preparing patient
for a laparoscopic operation;
[0143] introducing trough said incision a robotic surgical device
comprising two or more robotic arms each having: at least six
connection elements including manipulating means; at least six
joints; driving means connected to each connection element and to
the manipulating means for moving each of the connection elements
and the manipulating means and remote control means for each
robotic arm; wherein each of the arms have at least fourteen
degrees of movement; and
[0144] operating each robotic arm using the remote control
means.
[0145] Finally it must be understood that the robotic surgical
device of the present invention, is not limited exclusively to the
embodiments above described and illustrated and that the persons
having ordinary skill in the art can, with the teaching provided by
the invention, to make modifications to the robotic surgical device
of the present invention, which will clearly be within of the true
inventive concept and of the scope of the invention which is
claimed in the following claims.
* * * * *