Software center and highly configurable robotic systems for surgery and other uses

US8004229B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• William C. Nowlin · Los Altos, US
• Paul W. Mohr · Mountain View, US
• Bruce M. Schena · Menlo Park, US
• David Q. Larkin · Menlo Park, US
• Gary S. Guthart · Foster City, US

Key dates

• Filing date: May 19, 2005
• Grant date: Aug 23, 2011
• Expiry date: Apr 17, 2029

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/45117
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.