Tsu-Chin Tsao,Steven D. Schwartz,Jean-Pierre Hubschman,Jason T. Wilson,Stephen W. Prince,Jean-Louis Bourges
申请号：
US13522313
公开号：
US09283043B2
申请日:
2011.01.14
申请国别(地区):
US
年份:
2016
代理人:
摘要：
A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.
