Bruce Michael Schena,Roman L. Devengenzo,Gary C. Ettinger
申请号：
US16508526
公开号：
US20190328468A1
申请日:
2019.07.11
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
