Offset remote center manipulator for robotic surgery
First Claim
1. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion into a body cavity of a patient through a remote center of manipulation, the remote center manipulator comprising:
- a mounting base;
a parallelogram linkage base coupled to the mounting base for rotation about a first axis, the first axis intersecting the remote center of manipulation;
a first link having a first link proximal end and a first link distal end, the first link proximal end coupled to the parallelogram linkage base at a base joint;
a second link having a second link proximal end and a second link distal end, the second link proximal end coupled to the first link distal end, the second link distal end coupled to the instrument holder;
the parallelogram linkage base having an offset axis angularly offset from the first axis; and
a first parallelogram axis intersecting the base joint and the remote center of manipulation, the first parallelogram axis being angularly offset from the first axis.
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Accused Products
Abstract
Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
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Citations
26 Claims
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1. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion into a body cavity of a patient through a remote center of manipulation, the remote center manipulator comprising:
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a mounting base; a parallelogram linkage base coupled to the mounting base for rotation about a first axis, the first axis intersecting the remote center of manipulation; a first link having a first link proximal end and a first link distal end, the first link proximal end coupled to the parallelogram linkage base at a base joint; a second link having a second link proximal end and a second link distal end, the second link proximal end coupled to the first link distal end, the second link distal end coupled to the instrument holder; the parallelogram linkage base having an offset axis angularly offset from the first axis; and a first parallelogram axis intersecting the base joint and the remote center of manipulation, the first parallelogram axis being angularly offset from the first axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A remote center manipulator for pivotal motion of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a proximal end and a distal working end configured for insertion through an incision in a body wall into a body cavity of a patient, the remote center manipulator comprising:
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a linkage base; a first linkage assembly pivotally supported by the linkage base, the first linkage assembly having a first outer housing; and a second linkage assembly cantilevered between a proximal pivotal joint and a distal pivotal joint and defining a second linkage assembly axis therebetween, the proximal pivotal joint coupling the second linkage assembly to the first linkage assembly, the distal pivotal joint coupling the second linkage assembly to the instrument holder, the first and second linkage assemblies constraining lateral motion of the shaft to pivotal motion about a center of rotation disposed along the shaft, the second linkage having a second outer housing, the second outer housing having a recess disposed between and separated from the first joint and the second joint so that the first outer housing of the first linkage assembly can protrude into the recess and across the second linkage axis when the proximal end of the shaft moves toward the linkage base. - View Dependent Claims (26)
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Specification