Master having redundant degrees of freedom
Number of patents in Portfolio can not be more than 2000
United States of America Patent
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Jan 27, 2004
Grant Date -
Jan 30, 2003
app pub date -
Apr 11, 2002
filing date -
Sep 19, 1997
priority date (Note) -
In Force
status (Latency Note)
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Abstract
An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, to close the jaws of a surgical grasper.
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