Tool constraint mechanism
A mechanism which constrains the spatial location of a working or a focal point of a tool ( 103 ), has a manipulator ( 101 ) and a remote center mechanism ( 102 ) mounted thereon. The manipulator ( 101 ) provides at least one degree of freedom for positioning the remote center mechanism ( 102 ) which itself provides at least a further degree of freedom for positioning a tool holder suitable for holding the tool ( 103 ) which is to be constrained in operation with respect to a remote center point. The orientation of the tool holder is adjustable while still maintaining the position of the remote center point fixed with respect to the manipulator ( 101 ).
1. A tool constraint mechanism comprising a manipulator and a remote center mechanism mounted thereon, the manipulator providing at least one degree of freedom for positioning the remote center mechanism, and the remote center mechanism providing further degrees of freedom for positioning a tool holder, said holder being suitable for holding a tool which is to be constrained in operation with respect to a remote center point, the orientation of the tool holder being adjustable while maintaining the position of the remote center point fixed with respect to the manipulator; wherein the remote center mechanism comprises a first rigid link coupled to the manipulator by a first revolute joint for rotation about a first axis, and a second rigid link coupled to the first rigid link by a second revolute joint for rotation about a second axis, the tool holder being mounted onto or forming part of the second link, with the first and the second axes intersecting at the remote center, the mechanism being characterised in that the first revolute joint is at a first end of the first rigid link, and that the tool holder is at a distal end of the second rigid link.
2. A tool constraint mechanism as claimed in claim 1 in which at least one remote center mechanism joint is motorized.
3. A tool constraint mechanism as claimed in claim 1 in which at least one remote center mechanism joint is position-tracked.
4. A tool constraint mechanism as claimed in claim 1 in which the tool holder provides a rotational mounting for a tool when held by the tool holder.
5. A tool constraint mechanism as claimed in claim 1 including a tool held by the tool holder.
6. A tool constraint mechanism as claimed in claim 5 in which the tool has a functional end which is held by the remote center mechanism at the remote center.
7. A tool constraint mechanism as claimed in claim 5 in which the tool has a functional end which is held by the remote center mechanism spaced from the remote center, the functional end thereby being held on a defined surface as the tool is positioned by the remote center mechanism.
8. A tool constraint mechanism as claimed in claim 5 in which the tool is manually graspable, its orientation being manually adjustable by a user.
9. A tool constraint mechanism as claimed in claim 5 in which the tool is a cutter.
10. A tool constraint mechanism as claimed in claim 5 in which the tool is a laser or an irradiation device.
11. A tool constraint mechanism as claimed in claim 5 in which the tool is a surgical instrument.
12. A tool constraint mechanism as claimed in claim 5 in which the tool is surrounded by a manually-graspable rotatable sleeve.