Master having redundant degrees of freedom
US6684129B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 11, 2002 |
| Grant date | Jan 27, 2004 |
| Priority date | — |
| Expiry date | Apr 11, 2022 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S128/923
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, to close the jaws of a surgical grasper.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.