Manipulator positioning linkage for robotic surgery
US6246200A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 3, 1999 |
| Grant date | Jun 12, 2001 |
| Priority date | — |
| Expiry date | Aug 3, 2019 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S128/07
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode, the linkage allows the operating room personnel to manually move the linkage into alignment with the surgical site. Joints of the linkage translate the surgical instrument in three dimensions, and orient the surgical instrument about three axes of rotation. Sensors coupled to the joints allow a processor to perform coordinate transformations that can align displayed movements of robotically actuated surgical end effectors with a surgeon's hand inputs at a control station.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.