Surgical instrument manipulator aspects
US11737834B2 · kind B2 · utility
0Cited by
19References
18Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jul 11, 2019 |
| Grant date | Aug 29, 2023 |
| Priority date | — |
| Expiry date | Apr 26, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J18/007
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.