Remote center of motion robotic system and method

Abstract

A remote center of motion robotic system including a base unit and a plurality of linking units. The base unit is rotatable about a first axis. The plurality of linking units are coupled with one another. At least two of the linking units are kept parallel to each another during motion. The plurality of linking units are coupled with that base unit at a first end. The plurality of linking units are rotatable about a second axis by changing an angle between each of the plurality of links.

Description

[0001] This application claims the priority of patent application No. 60 / 354,656 filed in the United States on February 6, 2002, entitled "ADJUSTABLE REMOTE CENTER OF MOTION ROBOTIC MODULE", and the full text of the priority application document is used as a reference in this specification. technical field [0002] The present invention relates to robotic devices and methods. In particular, the present invention relates to apparatus and methods for orienting an end effector about two axes intersecting at a fixed geometric point at a location remote from the apparatus, in particular A pivot point or Remote Center of Motion (RCM). Background technique [0003] In the field of robotics, the pivot point and movement principle used is often called RCM. Apparatus and methods for orienting components, tools, and devices about an RCM point remote from a facility are known in the art. See, for example, US Pat. [0004] The RCM principle is commonly used in freehand surgery. In ro...

AI Technical Summary

Problems solved by technology

There are limitations in the devices in the prior art, and it is expected to improve

In particular, RCM designs with rigid links suffer from limited range of motion

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