Paul Griffiths,Paul Mohr,Nitish Swarup,Michael Costa,David Larkin,Thomas Cooper,Michael Hanuschik
申请号：
US14995523
公开号：
US09999476B2
申请日:
2016.01.14
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
