Manipulator positioning linkage for robotic surgery
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United States of America Patent
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Jun 12, 2001
Grant Date -
N/A
app pub date -
Aug 3, 1999
filing date -
Aug 4, 1998
priority date (Note) -
In Force
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Abstract
Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode, the linkage allows the operating room personnel to manually move the linkage into alignment with the surgical site. Joints of the linkage translate the surgical instrument in three dimensions, and orient the surgical instrument about three axes of rotation. Sensors coupled to the joints allow a processor to perform coordinate transformations that can align displayed movements of robotically actuated surgical end effectors with a surgeon's hand inputs at a control station.
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