Articulated handle for mechanical telemanipulator
Disclosed is a mechanical telemanipulator handle to control surgical instruments with articulated end-effectors, such as dissectors, scissors or graspers, enhancing a surgeon's performance during various surgical procedures. These surgical instruments may be inserted into surgical incisions in a body of a patient and the articulated end-effector is mounted on the distal extremity of the instrument shaft, comprising a plurality of links interconnected by a plurality of joints, whose movements are remotely controlled at the telemanipulator's proximal handle. This remote actuation is accomplished through mechanical transmission, optimally along flexible elements, which are able to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector at a predetermined scaled ratio. The articulated handle further comprises one or more movement-amplification systems that amplify the movements generated at the handle so that the gripping force at the instrument's end-effector can be increased and the surgeon's ergonomy improved.
1. An articulated handle for a mechanical telemanipulator comprising:
a plurality of handle links interconnected by a corresponding plurality of handle joints, at least one of the plurality of handle links coupled to a master link of a plurality of master links of a master manipulator, the plurality of master links interconnected by a corresponding plurality of master joints,
wherein the articulated handle is operatively coupled to an articulated end-effector comprising a plurality of end-effector links interconnected by a corresponding plurality of end-effector joints, at least one of the end-effector links coupled to a slave link of a plurality of slave links of a slave manipulator via a driven pulley, the plurality of slave links interconnected by a corresponding plurality of slave joints, such that movement applied to each master joint of the master manipulator is reproduced by the corresponding slave joint of the slave manipulator, and
wherein movement applied to a first handle link is reproduced, at a predetermined amplification, at a corresponding first end-effector link via an amplification pulley operatively coupled to the driven pulley.
2. The articulated handle of claim 1 , wherein movement applied to a second handle link is reproduced, at a second predetermined amplification, at a corresponding second end-effector link.
3. The articulated handle of claim 1 , wherein the angular movement of a single handle link is able to be reproduced, with a predetermined amplification factor, by two different end-effector links, which rotate in opposite directions.
4. The articulated handle of claim 1 , wherein movement transmission between a handle link and an end-effector link is accomplished by a single loop flexible transmission element, comprising a flexible element selected from the group consisting of wires, chains, ropes and belts.
5. The articulated handle of claim 1 , wherein movement transmission between a handle link and an end-effector link is accomplished by a multi loop transmission element.
6. The articulated handle of claim 5 , wherein a proximal stage of the multi loop transmission element comprises a rigid linkage mechanism.
7. The articulated handle of claim 5 , wherein a proximal stage of the multi loop transmission element is accomplished by contact force between at least two mechanical elements.
8. The articulated handle of claim 7 , wherein the contact force between the at least two mechanical elements is maximized by the use of teethed geometries.
9. The articulated handle of claim 1 , wherein the predetermined amplification is consistent with the movement applied to the first handle link.
10. The articulated handle of claim 1 , wherein the predetermined amplification is inconsistent with the movement applied to the first handle link.
11. The articulated handle of claim 1 , further comprising a spring element configured to bring the at least one handle link to a default position when it is not being actuated by a user and to bring the at least one end-effector link to a corresponding default position when the at least one handle link is not being actuated by the user.
12. The articulated handle of claim 1 , wherein the mechanical telemanipulator has a hand-held configuration, without any base support, so that a user can control movement of the articulated end-effector only by actuating the articulated handle.