Manipulator positioning linkage for robotic surgery

  • US 6,246,200 B1
  • Filed: 08/03/1999
  • Issued: 06/12/2001
  • Est. Priority Date: 08/04/1998
  • Status: Expired due to Term
First Claim
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1. A robotic surgery system comprising:

  • a base;

    a surgical end effector; and

    a robotic linkage movably supporting the end effector relative to the base, the linkage comprising;

    a plurality of driven joints coupled to a servomechanism for moving the end effector so as to manipulate tissues;

    a plurality of releasably fixable joints for pre-configuring the linkage;

    a joint sensor system coupling the fixable joints to the servomechanism, the sensor system generating joint configuration signals; and

    a brake system coupled to the fixable joints, the brake system releasably inhibiting articulation of the fixable joints previously configured in an at least substantially fixed configuration, the brake system including a brake release actuator for releasing the fixable joints to a manually repositionable configuration in which the fixable joints can be manually articulated.

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