SOFTWARE CENTER AND HIGHLY CONFIGURABLE ROBOTIC SYSTEMS FOR SURGERY AND OTHER USES |
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| 申请号 | PCT/US2006017843 | 申请日 | 2006-05-08 | 公开(公告)号 | WO2006124390A2 | 公开(公告)日 | 2006-11-23 |
| 申请人 | INTUITIVE SURGICAL INC; | 发明人 | NOWLIN WILLIAM C; MOHR PAUL; SCHENA BRUCE M; LARKIN DAVID Q; GUTHART GARY; | ||||
| 摘要 | 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 n 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 method for their use are also provided. | ||||||
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| 说明书全文 | |||||||
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