Articulated apparatus for telemanipulator system
AssigneeBrock Rogers Surgical, Inc.
InventorsDavid L. Brock, Woojin Lee
Life of this patent
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Abstract
An articulated apparatus is disclosed that includes a first link member, a second link member, and a third link member. The second link member is coupled to the first link member at a proximal end of the second link member by a first joint having a first axis of rotation. The third link member is coupled to a distal end of the second link member by a second joint. The movement of the third link member with respect to the second link member is governed by at least one tendon that passes through the first axis of rotation of the first joint such that movement of the second member with respect to the first member does not cause movement of the third member with respect to the second member.
Claims16
An articulated apparatus comprising:
- a first link member;
- a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation;
- and
- a third link member coupled to a distal end of said second link member by a second joint, the movement of said third link member with respect to said second link member being governed by at least one tendon that passes through said first axis of rotation of said first joint such that movement of said second member with respect to said first member does not cause movement of said third member with respect to said second member.
An articulated apparatus comprising:
- a first link member;
- a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation;
- and
- at least one tendon extending through said first axis of rotation of said first joint such that movement of said second link member with respect to said first link member is independent of movement of said at least one tendon with respect to said first joint, said tendon being movable in a tendon direction that is transverse to the first axis of rotation to effect movement of a third link member with respect to said second link member.
An articulated apparatus comprising:
- a first link member;
- a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation;
- and
- a plurality of mutually independently longitudinally movable tendons each extending through said first axis of rotation of said first joint such that movement of said second link member with respect to said first link member is independent of longitudinal movement of said tendons with respect to said first joint, said tendons being movable in a longitudinal direction that is transverse to the first axis of rotation to effect movement of a plurality of distal link members that coupled to the distal end of said second link member.
An articulated apparatus comprising:
- a first link member;
- a second link member coupled to said first link member at a proximal end of said second link member by a first joint having a first axis of rotation;
- and
- a third link member coupled to a distal end of said second link member by a second joint, the movement of said third link member with respect to said second link member being governed by at least one tendon that passes through said first axis of rotation of said first joint such that movement of said at least one tendon with respect to said first joint does not cause movement of said second link member with respect to said first member.
Dependencies are inferred from the claim text.