Device and Method for Controlled Motion of a Tool

Abstract

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

1 . A device for reducing tremor in a tool, comprising:
 a grip suitable for engaging a tool,   a sensor assembly connected to the grip,   a micromanipulator associated with the grip, and   at least one microprocessor operatively connected with the micromanipulator and the sensor assembly,   wherein when a force is applied to the grip, the sensor assembly sends an input signal to the microprocessor indicative of the applied force, upon receiving the input signal, the microprocessor sends an output signal to the micromanipulator directing the micromanipulator to apply movement to the grip in the direction of the applied force.   
     
     
         2 .- 23 . (canceled) 
     
     
         24 . The device of  claim 1 , wherein the grip comprises a first portion, and a second portion configured to hold the tool and to rotate relative to the first portion; wherein the first portion is configured to allow a user to apply forces to the first portion without causing the second portion to rotate relative to the first portion. 
     
     
         25 . The device of  claim 24 , wherein the second portion is configured so that the rotation of the second portion relative to the first portion has a fixed point on or near the tip of the tool. 
     
     
         26 . The device of  claim 24 , wherein the grip is configured so that the second portion can be rotated without transferring the external force to the flexible sensor assembly. 
     
     
         27 . The device of  claim 25 , wherein:
 the first portion of the grip comprises a body having substantially cylindrical member; and   the second portion of the grip comprises a body comprising a channel to hold the substantially cylindrical member, wherein the body of the second portion is configured to retain the substantially cylindrical portion in stable contact with the channel.