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Surgical manipulator for a telerobotic system    

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United States Patent5814038   
Link to this pagehttp://www.wikipatents.com/5814038.html
Inventor(s)Jensen; Joel F. (Redwood City, CA); Hill; John W. (Palo Alto, CA)
AbstractThe invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) by fixable by means of passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.
   














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Drawing from US Patent 5814038
Surgical manipulator for a telerobotic system - US Patent 5814038 Drawing
Surgical manipulator for a telerobotic system
Inventor     Jensen; Joel F. (Redwood City, CA); Hill; John W. (Palo Alto, CA)
Owner/Assignee     SRI International (Menlo Park, CA)
Patent assignment
All assignments
Company News
Publication Date     September 29, 1998
Application Number     08/824,977
PAIR File History     Application Data   Transaction History
Image File Wrapper   Patent Term   Fees
Litigation
Filing Date     March 27, 1997
US Classification     606/1 403/316 403/319 606/130
Int'l Classification     A61B 017/00
Examiner     Buiz; Michael Powell
Assistant Examiner     Shai; Daphna
Attorney/Law Firm     Townsend and Townsend and Crew LLP
Address
Parent Case     This is a Continuation of application Ser. No. 08/487,020 filed Jun. 7, 1995, abandoned, the disclosure of which is incorporated by reference.
Priority Data    
USPTO Field of Search     606/1 606/130 606/205 606/206 606/207 604/905 401/18 401/21 401/23 401/24 401/25 401/41 401/32 401/38 279/93 279/94 414/744.2 414/744.3 403/349 403/348 403/316
Patent Tags     surgical manipulator telerobotic
   
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