Remote center positioner
First Claim
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1. Apparatus for moving an instrument about a spherical center of rotation at a desired location of said instrument comprising:
- a base support means adapted to be fixedly mounted to a surface;
a first linkage means, including at least a first rod, pivotally mounted on said base support means for rotation about an axis;
an instrument;
holding means holding said instrument in a position so that the desired remote center of spherical rotation of said instrument intersects said axis; and
a second linkage mans, including at least a second rod, connected to said holding means for moving said holding means in a plane parallel to said second linkage means, said second linkage means being pivotally connected to said first linkage means so that said second rod remains parallel to said axis and said first rod remains parallel to said instrument, whereby said spherical center of rotation is maintained at the desired location of said instrument.
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Abstract
The invention is directed to a remote center positioner used to support an instrument and provide a center of spherical rotation, remote from any bearings or mechanical supports, at a desired location of the instrument. The remote center positioner is particularly useful in laparoscopic surgery to constrain a surgical instrument to move around a fixed center of rotation remote from any bearings or mechanical supports and coincident with an entry incision in the abdominal wall.
30 Citations
1 Claim
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1. Apparatus for moving an instrument about a spherical center of rotation at a desired location of said instrument comprising:
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a base support means adapted to be fixedly mounted to a surface;
a first linkage means, including at least a first rod, pivotally mounted on said base support means for rotation about an axis;
an instrument;
holding means holding said instrument in a position so that the desired remote center of spherical rotation of said instrument intersects said axis; and
a second linkage mans, including at least a second rod, connected to said holding means for moving said holding means in a plane parallel to said second linkage means, said second linkage means being pivotally connected to said first linkage means so that said second rod remains parallel to said axis and said first rod remains parallel to said instrument, whereby said spherical center of rotation is maintained at the desired location of said instrument.
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Specification