Is a
Patent attributes
Patent Jurisdiction
Patent Number
Patent Inventor Names
Bruce M. Schena0
Gary S. Guthart0
Paul W. Mohr0
William C. Nowlin0
David Q. Larkin0
Date of Patent
November 13, 2018
0Patent Application Number
154882270
Date Filed
April 14, 2017
0Patent Citations Received
0
...
Patent Primary Examiner
Patent abstract
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 in 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 methods for their use are also provided.
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