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Microwrist system for surgical procedures

  • US 6,839,612 B2
  • Filed: 12/07/2001
  • Issued: 01/04/2005
  • Est. Priority Date: 12/07/2001
  • Status: Expired due to Term
First Claim
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1. A robotic master handle assembly that has only five degrees of freedom, comprising:

  • a spinning handle;

    a wrist joint coupled to said handle;

    a translator that is coupled to said wrist joint;

    an elbow joint coupled to said translator; and

    a shoulder joint coupled to said elbow joint, wherein said handle is manipulated by a user'"'"'s hand that has a centroid located between a thumb, an index finger and a middle finger, and said wrist joint allows said handle to rotate about a wrist axis that intersects the roll axis at the centroid of the user'"'"'s hand.

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