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Software center and highly configurable robotic systems for surgery and other uses

  • US 8,786,241 B2
  • Filed: 07/01/2011
  • Issued: 07/22/2014
  • Est. Priority Date: 05/19/2005
  • Status: Active Grant
First Claim
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1. A robotic system comprising:

  • a manipulator assembly configured to robotically move a distal end effector relative to a proximal base, the manipulator assembly having a linkage extending distally between the base and the end effector, the linkage having a plurality of joints, the plurality of joints being configured to provide sufficient degrees of freedom to allow a range of joint states for a position of the end effector;

    an input configured to receive a command to effect a desired movement of the end effector;

    a force sensor system configured to sense an external articulation of at least one joint of the plurality of joints, the external articulation comprising a force applied against the manipulator assembly by a tissue adjacent a minimally invasive access site in a patient; and

    a processor coupling the input to the manipulator assembly and coupled to the force sensing system, the processor being configured to determine movements of the plurality of joints in response to the command so as to move the end effector with the desired movement, the processor being further configured to drive at least one other joint of the plurality of joints in response to the external articulation sensed by the force sensor system such that the commanded desired movement of the end effector is maintained.

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