The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 13, 2021
Filed:
Nov. 01, 2018
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Bruce Michael Schena, Menlo Park, CA (US);
Roman L. Devengenzo, San Jose, CA (US);
Gary C. Ettinger, Cupertino, CA (US);
Eugene F. Duval, Menlo Park, CA (US);
Nicola Diolaiti, Menlo Park, CA (US);
Daniel H. Gomez, Sunnyvale, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.