Microdexterity Systems, Inc.

Robert S Stoughton

Steve T Charles

J Michael Stuart

Larry Bronisz

A surgical manipulator ( ) can manipulate a medical tool ( ) with one or more degrees of freedom. In preferred embodiments, the manipulator ( ) is a parallel mechanism including a plurality of arms ( ) pivotally supporting a medical tool ( ), with the orientation of the medical tool ( ) being adjusted by varying the position of joints ( ) mounted on the arms ( ). The motions of the joints ( ) can be controlled such that the tool ( ) is pivoted about a virtual pivot point located within the body wall of a patient ( ). The manipulator ( ) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

Surgical manipulator

A parallel mechanism is capable of positioning and orienting an end platform with up to six or more degrees of freedom. In preferred embodiments, the mechanism includes six links having a first and second ends. The first end is connected to an end platform for supporting a tool, while the second end is connected to an actuator capable of translating the second end. A rotational drive mechanism may be provided for rotating an object mounted on the end platform at varying orientations of the end platform independently of movement of the end platform as a whole. The links may be curved in order to avoid interference between adjoining links, thereby permitting an increased range of motion and improved dexterity of the mechanism.

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Albuquerque, NM, United States of America

Robert S Stoughton