OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY
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Accused Products
Abstract
Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
25 Citations
61 Claims
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1-50. -50. (canceled)
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51. An apparatus comprising:
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a base link having a proximal end and a distal end; a first link having a proximal end and a distal end, the first link proximal end rotatably coupled to the base link distal end; a second link having a proximal end and a distal end, the second link proximal end rotatably coupled to the first link distal end, the second link constrained from rotating relative to the base link; and an instrument holder link rotatably coupled to the second link distal end, the instrument holder link constrained from rotating relative to the first link; wherein the second link is bent at an angle so as to provide clearance for the first link to rest on the second link. - View Dependent Claims (52, 53, 54, 55, 56, 57, 58, 59, 60, 61)
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Specification