NOWLIN, WILLIAM C,MOHR, PAUL,SCHENA, BRUCE M,LARKIN, DAVID Q,GUTHART, GARY
申请号：
AT06752435
公开号：
AT544414T
申请日:
2006.05.08
申请国别(地区):
AT
年份:
2012
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 n 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 method for their use are also provided.
