Robotic apparatus

Abstract

A robotic apparatus has eight actuators (M 0 -M 7 ) and a linkage (LINK 0 -LINK 5 ) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

1 - 37 . (canceled) 
     
     
         38 . A method for performing surgery on moving tissue, the method comprising:
 manipulating moving tissue using a distal end of a robotic manipulator, said distal end coupled to a wrist element, said wrist element coupled to an end effector, said wrist element having a plurality of wrist segments pivotally jointed together;   tracking motion of said moving tissue by directly contacting said moving tissue with a contacting surface of a motion sensor, wherein said motion sensor further comprises an articulated linkage and a plurality of encoders; and   moving said robotic manipulator to track the motion of said living tissue, such that said end effector is substantially stationary relative to the moving tissue.   
     
     
         39 . The method of  claim 38 , further comprising manipulating a remote master control to move the robotic manipulator relative to said moving tissue 
     
     
         40 . The method of  claim 38 , the plurality of encoders comprising optical encoders. 
     
     
         41 . The method of  claim 38 , the contacting surface of the motion sensor being of a horse-shoe shape comprising two coplanar linear terminals coupled to each other by a coplanar curved segment. 
     
     
         42 . The method of  claim 38 , said wrist element coupled by a wrist joint to an elongate shaft comprising a longitudinal axis, and wherein said wrist element comprises at least two wrist segments, wherein said causing said robotic manipulator to track said motion comprises causing at least one of said wrist segments to translate along a segment axis substantially parallel to said longitudinal axis without moving said instrument proximal of said wrist joint along said longitudinal axis. 
     
     
         43 . The method of  claim 38 , further comprising:
 capturing an image comprising said moving tissue; and   displaying said image to an operator performing the surgery, wherein the displayed image of said moving tissue is substantially stationary.   
     
     
         44 . The method of  claim 43 , wherein said capturing said image comprises moving an image capture device to track movement of said moving tissue. 
     
     
         45 . The method of  claim 43 , further comprising processing the image to remove perceived motion of the moving tissue. 
     
     
         46 . The method of  claim 38 , further comprising passing said robotic manipulator through an aperture. 
     
     
         47 . An apparatus for performing surgery on moving tissue, the apparatus comprising:
 means for manipulating moving tissue using a distal end of a robotic manipulator, said distal end coupled to a wrist element, said wrist element coupled to an end effector, said wrist element having a plurality of wrist segments pivotally jointed together;   means for tracking motion of said moving tissue by directly contacting said moving tissue with a contacting surface of a motion sensor, wherein said motion sensor further comprises an articulated linkage and a plurality of encoders; and   means for moving said robotic manipulator to track the motion of said living tissue, such that said end effector is substantially stationary relative to the moving tissue.