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:
Jun. 07, 2016
Filed:
Feb. 02, 2007
Emilio Ruiz Morales, Taino, IT;
Emilio Ruiz Morales, Taino, IT;
Abstract
A medical robotic system () for performing medical procedures comprises a robot manipulator () for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (). The robot manipulator () comprises a base (); a manipulator arm () with an essentially vertical part () supported by the base and with an essentially horizontal part () supported by the vertical part (); a manipulator wrist () supported by the manipulator arm (); and an effector unit () supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm () has a cylindrical PRP kinematic configuration for positioning the manipulator wrist. More particularly, the PRP kinematic configuration has the following joint sequence: a prismatic (P) first joint (J) for varying the height of the vertical part () by providing a translational degree of freedom along an essentially vertical axis, a revolute (R) second joint (J) for varying the rotational angle between the vertical part () and the horizontal part () by providing a rotational degree of freedom about an essentially vertical axis, and a prismatic (P) third joint (J) for varying the reach of the horizontal part by providing a translational degree of freedom along an essentially horizontal axis.