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US 2022/0015850 A1Published application
Offset remote center manipulator for robotic surgery
AssigneeIntuitive Surgical Operations, Inc.
InventorsThomas G. Cooper, Todd R. Solomon
Life of this patent
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Abstract
Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
Claims17
An apparatus comprising:
- a base link having a proximal end and a distal end;
- a first link having a proximal end and a distal end, the first link proximal end rotatably coupled to the base link distal end by a first rotational pivot joint;
- a second link having a proximal end and a distal end, the second link proximal end rotatably coupled to the first link distal end by a second rotational pivot joint;
- an instrument holder link rotatably coupled to the second link distal end by a third rotational pivot joint, the instrument holder link coupleable to a surgical instrument comprising an elongate shaft;
- wherein the first and second links and first, second, and third rotational pivot joints define a parallelogram so as to constrain the elongate shaft of the surgical instrument relative to a center of rotation when the instrument is coupled to the instrument holder link;
- and
- wherein at least two directly coupled links are offset from each other in different planes.
4 more elements
Dependencies are inferred from the claim text.