×

Offset remote center manipulator for robotic surgery

  • US 7,594,912 B2
  • Filed: 09/30/2004
  • Issued: 09/29/2009
  • Est. Priority Date: 09/30/2004
  • Status: Active Grant
First Claim
Patent Images

1. A remote center manipulator for constraining a position of a surgical instrument coupled to an instrument holder during minimally invasive robotic surgery, the surgical instrument including an elongate shaft, the shaft having a distal working end configured for insertion into a body cavity of a patient through a remote center of manipulation, the remote center manipulator comprising:

  • a mounting base;

    a parallelogram linkage base coupled to the mounting base for rotation about a first axis, the first axis intersecting the remote center of manipulation;

    a first link having a first link proximal end and a first link distal end, the first link proximal end coupled to the parallelogram linkage base at a base joint;

    a second link having a second link proximal end and a second link distal end, the second link proximal end coupled to the first link distal end, the second link distal end coupled to the instrument holder;

    the parallelogram linkage base having an offset axis angularly offset from the first axis; and

    a first parallelogram axis intersecting the base joint and the remote center of manipulation, the first parallelogram axis being angularly offset from the first axis.

View all claims
  • 3 Assignments
Timeline View
Assignment View
    ×
    ×