Robotic apparatus

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.

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.