William C. Nowlin,Paul W. Mohr,Bruce M. Schena,David Q. Larkin,Gary S. Guthart
申请号：
US16667523
公开号：
US20200060777A1
申请日:
2019.10.29
申请国别(地区):
US
年份:
2020
代理人:
摘要：
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
