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US 8,256,319 B2Granted
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.
Claims10
An apparatus comprising:
- a mounting base;
- a parallelogram linkage base having a proximal end, a distal end, and a linkage axis coupling the proximal and distal ends, the parallelogram linkage base proximal end coupled to the mounting base, the parallelogram linkage base proximal end further rotatable relative to the mounting base about a first axis, the linkage axis and the first axis intersecting at the parallelogram linkage base proximal end;
- a first link having a proximal end and a distal end, the first link proximal end coupled to the parallelogram linkage base distal end;
- a second link having a proximal end and a distal end, the second link proximal end coupled to the first link distal end, the second link constrained from rotating relative to the parallelogram linkage base;
- and
- an instrument holder coupled to the second link distal end, the instrument holder constrained from rotating relative to the first link, the instrument holder configured to slide along an insertion axis.
3 more elements
Dependencies are inferred from the claim text.