Manipulator
First Claim
1. A manipulator comprising first and second actuator systems each including three or more powered actuators, each powered actuator being capable of actuating a separate movement of at least a portion of the respective actuator system without any movement of the other actuator system, both the first and second actuator systems comprising serial actuator systems with each including first and second rotary joint actuators arranged in series and a four-bar linkage arranged in series with the two rotary joint actuators with one corner of each of the four-bar linkages comprising a third rotary joint actuator for driving motion of the respective four-bar linkage;
- and a body supported by the first and second actuator systems at first and second attachment points, respectively, such that the first and second actuator systems are capable of manipulating the body in five degrees of freedom.
2 Assignments
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Accused Products
Abstract
A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.
187 Citations
16 Claims
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1. A manipulator comprising first and second actuator systems each including three or more powered actuators, each powered actuator being capable of actuating a separate movement of at least a portion of the respective actuator system without any movement of the other actuator system, both the first and second actuator systems comprising serial actuator systems with each including first and second rotary joint actuators arranged in series and a four-bar linkage arranged in series with the two rotary joint actuators with one corner of each of the four-bar linkages comprising a third rotary joint actuator for driving motion of the respective four-bar linkage;
- and a body supported by the first and second actuator systems at first and second attachment points, respectively, such that the first and second actuator systems are capable of manipulating the body in five degrees of freedom.
- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
Specification