Back to results
US 10,433,923 B2Granted
Robotic arm with five-bar spherical linkage
AssigneeIntuitive Surgical Operations, Inc.
InventorBruce M. Schena
Life of this patent
Estimating the term…
Abstract
A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.
Claims14
A robotic arm for a minimally invasive surgical system, the robotic arm comprising:
- a parallel five-bar spherical linkage that includes
- a ground link having a first end and an opposing second end,
- a first pair of links pivotally coupled at a first intermediate joint and coupled at a first end of the first pair of links to the first end of the ground link, and
- a second pair of links pivotally coupled at a second intermediate joint, coupled at a first end of the second pair of links to the second end of the ground link, and coupled at a second end of the second pair of links to a second end of the first pair of links to form an outboard joint,
- the parallel five-bar spherical linkage having a range of compact poses in which the first pair of links and the second pair of links in the parallel five-bar spherical linkage have only a same handedness, the parallel five-bar spherical linkage configured to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation;
- and
- a constraint configured to limit the parallel five-bar spherical linkage to only the range of compact poses.
4 more elements
A robotic arm for a minimally invasive surgical system, the robotic arm comprising:
- a parallel five-bar spherical linkage means for spherically rotationally moving a robotic surgical tool about a remote center of spherical rotation, the parallel five-bar spherical linkage means including
- a ground link having a first end and an opposing second end,
- a first pair of links pivotally coupled at a first intermediate joint and coupled at a first end of the first pair of links to the first end of the ground link, and
- a second pair of links pivotally coupled at a second intermediate joint, coupled at a first end of the second pair of links to the second end of the ground link, and coupled at a second end of the second pair of links to a second end of the first pair of links to form an outboard joint,
- the parallel five-bar spherical linkage means moving within a range of compact poses in which the first pair of links and the second pair of links in the parallel five-bar spherical linkage have only a same handedness;
- means for limiting the parallel five-bar spherical linkage means to only the range of compact poses.
3 more elements
Dependencies are inferred from the claim text.