초록 ▼

Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode,

Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode, the linkage allows the operating room personnel to manually move the linkage into alignment with the surgical site. Joints of the linkage translate the surgical instrument in three dimensions, and orient the surgical instrument about three axes of rotation. Sensors coupled to the joints allow a processor to perform coordinate transformations that can align displayed movements of robotically actuated surgical end effectors with a surgeon's hand inputs at a control station.

대표청구항 ▼

[ What is claimed is:] [1.]1. A robotic surgery system comprising:a base;a surgical end effector; anda robotic linkage movably supporting the end effector relative to the base, the linkage comprising:a plurality of driven joints coupled to a servomechanism for moving the end effector so as to manipu

[ What is claimed is:] [1.]1. A robotic surgery system comprising:a base;a surgical end effector; anda robotic linkage movably supporting the end effector relative to the base, the linkage comprising:a plurality of driven joints coupled to a servomechanism for moving the end effector so as to manipulate tissues;a plurality of releasably fixable joints for pre-configuring the linkage;a joint sensor system coupling the fixable joints to the servomechanism, the sensor system generating joint configuration signals; anda brake system coupled to the fixable joints, the brake system releasably inhibiting articulation of the fixable joints previously configured in an at least substantially fixed configuration, the brake system including a brake release actuator for releasing the fixable joints to a manually repositionable configuration in which the fixable joints can be manually articulated.