Robot head comprising spindle drive
A robot head, for example for use in surgery, provides a back-drivable system allowing a surgeon to closely control the position of a cutter or other tool. The cutter is mounted at the end of a telescopic arm ( 20 ) which can be rotated about two independent perpendicular axes. Rotation about each axis is controlled by a separate motor ( 30 ′) which turns a lead screw ( 32 ). A bearing ( 34 ) travels along the lead screw and changes the angle of an offset crank ( 36 ) to cause the required rotation about the axis. The current rotational position about each axis is determined by a sensor at the output. A second sensor independently determines the position of the corresponding motor ( 30 ) and the two measured positions are compared. If they differ, the power to the cutter is immediately switched off.
1. A back-drivable surgical robot head comprising:
a frame;
an arm for carrying a tool the position of which is to be controlled;
a manually-graspable driving member on said arm; and
a first rotation control mechanism for rotating the arm about a first axis with respect to said frame, said first rotation control mechanism comprising:
a first lead screw having a rotational motor coupled at one end thereof, said lead screw and motor being mounted at said one end to pivot with respect to said frame;
a bearing which moves longitudinally of said first lead screw as it rotates, said bearing being coupled to an offset crank of or secured to said arm, said lead screw taking up a zero pivotal position when said bearing is at said one end of said lead screw, said lead screw pivoting away from the zero position as the bearing moves along said lead screw to a maximal pivotal position in which the bearing is part way along the lead screw, and returning to the zero position as the bearing reaches an extreme position at an end of the lead screw opposite said one end;
said head being back-drivable wherein manual forces applied to said driving member by a user grasping said driving member cause said arm to rotate to a desired position, said motor responding to said manual forces to ensure that said arm moves smoothly to said position with constant low resistance in an unconstrained region and with increasing resistance towards a constraint boundary.
2. A robot head as claimed in claim 1 in which the first motor is directly secured to the first lead screw, without any intervening gears.
3. A robot head as claimed in claim 1 further including a first output position encoder for measuring the angular position of the atm about the first axis.
4. A robot head as claimed in claim 3 in which the measurement from the first output position encoder is compared with an expected arm position based on the measurement from a safety sensor, and an alarm is raised if the expected position is inconsistent with the actual position.
5. A robot head as claimed in claim 1 further including a first input position encoder for measuring rotation of the first motor.
6. A robot head as claimed in claim 1 further including a second rotation control mechanism for rotating the arm about a second axis, the said mechanism comprising a second rotational motor coupled to a second lead screw and a bearing which moves longitudinally of the second lead screw as it rotates, the bearing being pivotably coupled to an offset crank of or secured to the arm.
7. A robot head as claimed in claim 6 in which the second motor and the second lead screw are mounted for pivotal motion with respect to a frame of the head.
8. A robot head as claimed in claim 6 in which the second motor is directly secured to the second lead screw, without any intervening gears.
9. A robot head as claimed in claim 6 in which the first axis is perpendicular to the second.
10. A robot head as claimed in claim 6 in which the arm is extendible along a third axis.
11. A robot head as claimed in claim 10 in which the first, second and third axes intersect at a point.
12. A robot head as claimed in claim 10 in which the arm is extendible on a third lead screw which is rotated by a third rotational motor.
13. A robot head as claimed in claim 1 further comprising a force sensor for sensing forces applied to the driving member by a user.
14. A robot head as claimed in claim 13 wherein the first rotational control mechanism is arranged to rotate the arm about the first axis is response to the sensed forces.