Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator
A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechani...
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| creator | Duval, Eugene F Schena, Bruce Michael Ettinger, Gary C Devengenzo, Roman L Gomez, Daniel H Diolaiti, Nicola |
| description | A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery. |
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| subjects | DIAGNOSIS HUMAN NECESSITIES HYGIENE IDENTIFICATION MEDICAL OR VETERINARY SCIENCE SURGERY |
| title | Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator |
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