Robotic arm with five-bar spherical linkage
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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Abstract
A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.
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Citations
12 Claims
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1. A method for posing a robotic arm in a minimally invasive surgical system, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for posing a robotic arm that includes a parallel five-bar spherical linkage to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation in a minimally invasive surgical system, the method comprising:
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pivotally coupling a first pair of links in the five-bar spherical linkage at a first intermediate joint; coupling a first end of the first pair of links to a first end of a ground link in the five-bar spherical linkage; pivotally coupling a second pair of links in the five-bar spherical linkage at a second intermediate joint; coupling a first end of the second pair of links to a second end of the ground link; pivotally coupling a second end of the first pair of links to a second end of the second pair of links to form an outboard joint; and posing the five-bar spherical linkage with the first intermediate joint on a predetermined side of a first plane that includes the remote center, the outboard joint, and the first end of the ground link, and with the second intermediate joint on the predetermined side of a second plane that includes the remote center, the outboard joint, and the second end of the ground link. - View Dependent Claims (9, 10, 11, 12)
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Specification