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US 11,123,881 B2Granted
Surgical system with passive and motorized joints
AssigneeMAKO Surgical Corp.
InventorHyosig Kang
Life of this patent
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Abstract
A surgical system includes a motor, a first link movable by operation of the motor, a plurality of non-driven, revolute joints coupled to the first link such that the first link separates the plurality of revolute joints from the motor, and an end effector coupled to the first link via the plurality of non-driven, revolute joints.
Claims20
A surgical system, comprising:
- a base;
- an actuator coupled to the base:
- a first link movable relative to the base by operation of the actuator;
- a passive joint coupled to the first link such that the first link is between the actuator and the passive joint;
- a second link coupled to the passive joint such that the second link is manually rotatable relative to the first link about the passive joint;
- and
- an end effector coupled to the second link such that the end effector is configured to move relative to the first link upon manual rotation of the second link about the passive joint by a user.
4 more elements
A surgical system, comprising:
- a motor;
- a first link movable by operation of the motor;
- a plurality of non-driven, revolute joints coupled to the first link such that the first link separates the plurality of revolute joints from the motor;
- and
- an end effector coupled to the first link via the plurality of non-driven, revolute joints such that the end effector is manually moveable relative to the first link by manual rotation of the plurality of non-driven, revolute joints.
2 more elements
A surgical system comprising:
- a motorized joint;
- a plurality of passive joints configured to be manually articulated by a user;
- and
- an end effector;
- wherein the motorized joint, the plurality of passive joints, and the end effector are connected in a series configuration with the plurality of passive joints between the end effector and the motorized joint such that the plurality of passive joints enable manual movement of the end effector relative to the motorized joint via manual articulation of the plurality of passive joints and in a space determined by the motorized joint.
2 more elements
Dependencies are inferred from the claim text.