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Robotic arm with five-bar spherical linkage

  • US 8,506,556 B2
  • Filed: 03/27/2012
  • Issued: 08/13/2013
  • Est. Priority Date: 01/25/2006
  • Status: Active Grant
First Claim
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1. A method for posing a robotic arm in a minimally invasive surgical system, the method comprising:

  • coupling a robotic surgical tool to a parallel five-bar spherical linkage of the robotic arm;

    moving the robotic surgical tool about a remote center of spherical rotation; and

    posing the five-bar spherical linkage in only a range of compact poses in which the parallel five-bar spherical linkage maintain a first pair of links and a second pair of links in the parallel five-bar spherical linkage to have only a same handedness.

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