WO2008059263A3 - Mri compatible manipulators - Google Patents

Mri compatible manipulators Download PDF

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Publication number
WO2008059263A3
WO2008059263A3 PCT/GB2007/004376 GB2007004376W WO2008059263A3 WO 2008059263 A3 WO2008059263 A3 WO 2008059263A3 GB 2007004376 W GB2007004376 W GB 2007004376W WO 2008059263 A3 WO2008059263 A3 WO 2008059263A3
Authority
WO
WIPO (PCT)
Prior art keywords
unit
stage
mri compatible
motor
manipulators
Prior art date
Application number
PCT/GB2007/004376
Other languages
French (fr)
Other versions
WO2008059263A2 (en
Inventor
Michael Ulrich Lamperth
Ian Robert Young
Haytham Elhawary
Tsz Ho Tse
Original Assignee
Imp Innovations Ltd
Michael Ulrich Lamperth
Ian Robert Young
Haytham Elhawary
Tsz Ho Tse
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Imp Innovations Ltd, Michael Ulrich Lamperth, Ian Robert Young, Haytham Elhawary, Tsz Ho Tse filed Critical Imp Innovations Ltd
Priority to EP07824597A priority Critical patent/EP2101671A2/en
Publication of WO2008059263A2 publication Critical patent/WO2008059263A2/en
Publication of WO2008059263A3 publication Critical patent/WO2008059263A3/en

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/028—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors along multiple or arbitrary translation directions, e.g. XYZ stages
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00911—Material properties transparent or translucent for fields applied by a magnetic resonance imaging system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Abstract

A manipulator for moving a device (64) comprises a series of stages (10), (10a, 10c) including a first stage (10) and a final stage (10c). Each stage comprises a slider unit (12, 12a, 12c) and a motor unit (14, 14a, 14c) including a motor arranged to move the motor unit relative to the slider unit. The manipulator further comprises mounting means (61) arranged to mount one unit of the first stage (10) on a support, and attachment (means 65) arranged to attach the device (64) to one unit of the final stage (10c), wherein each stage is connected to the next in the series by connection of one unit of one of them to one unit of the other.
PCT/GB2007/004376 2006-11-15 2007-11-15 Mri compatible manipulators WO2008059263A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07824597A EP2101671A2 (en) 2006-11-15 2007-11-15 Mri compatible manipulators

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0622724.3 2006-11-15
GBGB0622724.3A GB0622724D0 (en) 2006-11-15 2006-11-15 MRI compatible manipulators

Publications (2)

Publication Number Publication Date
WO2008059263A2 WO2008059263A2 (en) 2008-05-22
WO2008059263A3 true WO2008059263A3 (en) 2009-03-12

Family

ID=37605297

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2007/004376 WO2008059263A2 (en) 2006-11-15 2007-11-15 Mri compatible manipulators

Country Status (3)

Country Link
EP (1) EP2101671A2 (en)
GB (1) GB0622724D0 (en)
WO (1) WO2008059263A2 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101650591B1 (en) * 2008-06-18 2016-08-23 엔지니어링 서비시스 인크. Mri compatible robot with calibration phantom and phantom
DE102012013511A1 (en) * 2012-07-06 2014-01-09 Alois Knoll Manipulator with serial and parallel kinematics
US9974619B2 (en) 2015-02-11 2018-05-22 Engineering Services Inc. Surgical robot
CN106826805B (en) * 2017-04-17 2019-05-03 菏泽学院 A kind of robot arm that multi-angle accurately controls

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0938144A2 (en) * 1998-02-20 1999-08-25 Seiko Instruments Inc. Stage utilizing ultrasonic motor and printer utilizing the stage
US20010039378A1 (en) * 2000-05-08 2001-11-08 Lampman David A. Breast biopsy and therapy system for magnetic resonance imagers
US6424077B1 (en) * 1999-04-15 2002-07-23 Minolta Co., Ltd. Manipulator
US20030226976A1 (en) * 2002-02-14 2003-12-11 Nikon Corporation Stage-actuators that do not generate fluctuating magnetic fields, and stage devices comprising same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0938144A2 (en) * 1998-02-20 1999-08-25 Seiko Instruments Inc. Stage utilizing ultrasonic motor and printer utilizing the stage
US6424077B1 (en) * 1999-04-15 2002-07-23 Minolta Co., Ltd. Manipulator
US20010039378A1 (en) * 2000-05-08 2001-11-08 Lampman David A. Breast biopsy and therapy system for magnetic resonance imagers
US20030226976A1 (en) * 2002-02-14 2003-12-11 Nikon Corporation Stage-actuators that do not generate fluctuating magnetic fields, and stage devices comprising same

Also Published As

Publication number Publication date
GB0622724D0 (en) 2006-12-27
EP2101671A2 (en) 2009-09-23
WO2008059263A2 (en) 2008-05-22

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