|국가/구분||United States(US) Patent 등록|
|미국특허분류(USC)||700/245; 700/251; 700/257; 700/262; 700/264; 700/258; 606/001; 606/130; 606/139; 606/102; 606/595; 318/568.11; 901/001|
|발명자 / 주소|
|출원인 / 주소|
|대리인 / 주소||
|인용정보||피인용 횟수 : 137 인용 특허 : 218|
A medical robotic system with a handle assembly that is used to control a medical instrument. The handle assembly and medical instrument have five degrees of freedom. Five degrees of freedom may provide greater dexterity than medical robotic systems of the prior art with four or less degrees of freedom. Five degrees of freedom reduces the size and complexity of the instrument.
1. A robotic master handle assembly that has only five degrees of freedom, comprising:a spinning handle; a wrist joint coupled to said handle; a translator that is coupled to said wrist joint; an elbow joint coupled to said translator; and a shoulder joint coupled to said elbow joint, wherein said handle is manipulated by a user's hand that has a centroid located between a thumb, an index finger and a middle finger, and said wrist joint allows said handle to rotate about a wrist axis that intersects the roll axis at the centroid of the user's hand. 2. Th...