System and method for articulated arm stabilization
A system and method for an articulated arm stabilization includes an arm stabilizer for use with articulated arms of a computer-assisted medical device. The stabilizer includes a spine, a first vibration absorbing mount attached to the spine, a second vibration absorbing mount attached to the spine, a first clamp attached to the first vibration absorbing mount, and a second clamp attached to the second vibration absorbing mount. The first clamp is adapted to hold a first attachment point of a first articulated arm without slipping. The second clamp is adapted to hold a second attachment point of a second articulated arm without slipping. In some embodiments, the arm stabilizer stabilizes and reduces vibration in the first and second articulated arms. In some embodiments, the vibration is in a range from 0.5 to 14 Hz. In some embodiments, the spine limits relative motion between the first clamp and the second clamp.
1. An arm stabilizer for use with articulated arms of a computer-assisted medical device, the arm stabilizer comprising:
a spine;
a first vibration absorbing mount attached to the spine;
a second vibration absorbing mount attached to the spine;
a first clamp attached to the first vibration absorbing mount, the first clamp being adapted to hold an attachment point of a first articulated arm of the computer-assisted medical device without slipping;
a second clamp attached to the second vibration absorbing mount, the second clamp being adapted to hold an attachment point of a second articulated arm of the computer-assisted medical device without slipping; and
an adjustment feature configured to adjust a distance between a first central axis of the first clamp and a second central axis of the second clamp.
2. The arm stabilizer of claim 1 , wherein the spine is rigid or semi-rigid and limits relative motion between the first clamp and the second clamp.
3. The arm stabilizer of claim 1 , wherein the spine comprises one or more plastics selected from a group consisting of ABS, polycarbonate, polyethylene, and polystyrene.
4. The arm stabilizer of claim 1 , wherein the spine comprises a material having a Young's modulus between 1 and 5 GPa.
5. The arm stabilizer of claim 1 , wherein the first vibration absorbing mount and the second vibration absorbing mount are comprised in a single vibration absorbing mount.
6. The arm stabilizer of claim 1 , wherein the first vibration absorbing mount and the second vibration absorbing mount are each part of a vibration absorbing material conformally coating the spine.
7. The arm stabilizer of claim 1 , wherein the first vibration absorbing mount comprises a plurality of third vibration absorbing mounts.
8. The arm stabilizer of claim 1 , wherein the first vibration absorbing mount dampens vibrations with frequencies in a range from 0.5 to 14 Hz.
9. The arm stabilizer of claim 1 , wherein the first vibration absorbing mount comprises a material having an ASTM D2240 Shore A durometer between 30 and 70.
10. The arm stabilizer of claim 1 , wherein the first clamp has a first cross-sectional shape that is adjustable.
11. The arm stabilizer of claim 1 , wherein the first clamp has a first cross-sectional shape selected from a group consisting of a circle, an oval, and a polygon.
12. The arm stabilizer of claim 1 , wherein the first clamp comprises a ratcheting mechanism for tightening and releasing the first clamp.
13. The arm stabilizer of claim 1 , further comprising:
a second adjustment feature configured to adjust an alignment of the first central axis; or
a third adjustment feature configured to adjust an alignment of the second central axis.
14. The arm stabilizer of claim 1 , further comprising one or more second adjustment features configured to adjust an angle between the first central axis and the second central axis.
15. The arm stabilizer of claim 1 , wherein the first clamp is adapted to receive the attachment point of the first articulated arm of the computer-assisted medical device without having to insert a distal portion of the first articulated arm through the first clamp along the first central axis.
16. The arm stabilizer of claim 1 , wherein the first central axis of the first clamp is orientable relative to the spine.
17. The arm stabilizer of claim 1 , further comprising an elastomeric material on an interior surface of the first clamp.
18. The arm stabilizer of claim 1 , wherein the attachment point of the first articulated arm of the computer-assisted medical device is a part of a link of an end effector, a part of a link of a medical tool, or a part of a cannula.
19. A computer-assisted medical device comprising:
a control unit comprising one or more processors;
a first articulated arm comprising a first joint;
a second articulated arm comprising a second joint; and
an arm stabilizer comprising:
a spine;
a first vibration absorbing mount attached to the spine;
a second vibration absorbing mount attached to the spine;
a first clamp attached to the first vibration absorbing mount, the first clamp holding a first attachment point on the first articulated arm without slipping;
a second clamp attached to the second vibration absorbing mount, the second clamp holding a second attachment point on the second articulated arm without slipping; and
an adjustment feature configured to adjust a distance between a first central axis of the first clamp and a second central axis of the second clamp;
wherein the arm stabilizer stabilizes and reduces vibration in the first and second articulated arms.