Instrument support device for a manipulator of a robotic surgical system
US11452571B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 14, 2017 |
| Grant date | Sep 27, 2022 |
| Priority date | — |
| Expiry date | Nov 22, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/301
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An instrument support device for a manipulator of a robotic surgical system, comprising: an arm having first, second and third arm elements; an interface for connecting the first arm element to the manipulator via a rotational joint; a torsional joint connecting the first and second arm elements; a first rotational joint connecting the second and third arm elements; a sliding joint connecting the third arm element to an instrument mounting for receiving a surgical instrument with a longitudinal axis; and a controller with drives for moving the arm elements and instrument mounting. The instrument mounting is connected to the third arm element via a second rotational joint, the rotational axes of the first and second rotational joints lie parallel to each other, and the longitudinal axis is guidable through a pivot point on the rotational axis of the torsional joint in an extension from the second arm element, without constraint.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.