Manipulator
US6702805B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 9, 2000 |
| Grant date | Mar 9, 2004 |
| Priority date | — |
| Expiry date | Nov 3, 2021 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/506
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link. The first and second connector links are parallel to each other and parallel to the first and second axes such that the first and second planes remain parallel as the first and second links respectively rotate about the third and fourth axes. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.