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Surgical manipulator for a telerobotic system

  • US 8,048,088 B2
  • Filed: 12/09/2009
  • Issued: 11/01/2011
  • Est. Priority Date: 06/07/1995
  • Status: Expired due to Fees
First Claim
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1. A manipulator assembly for holding and manipulating a surgical instrument, the assembly comprising:

  • a surgical instrument;

    an instrument holder having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder;

    a base coupled to a positioning device, the instrument holder movably mounted on the base; and

    a force sensing element mounted on the holder for detecting forces exerted on the surgical instrument and providing force feedback to a user of the manipulator assembly.

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