US 11,911,123 B2
Body mountable robot
Iulian I. Iordachita, Lutherville, MD (US); Jin Seob Kim, Ellicott City, MD (US); David Levi, Baltimore, MD (US); Kevin Cleary, Potomac, MD (US); and Reza Monfaredi, Rockville, MD (US)
Assigned to The Johns Hopkins University, Baltimore, MD (US)
Appl. No. 16/768,508
Filed by The Johns Hopkins University, Baltimore, MD (US)
PCT Filed Nov. 26, 2018, PCT No. PCT/US2018/062450
§ 371(c)(1), (2) Date May 29, 2020,
PCT Pub. No. WO2019/108477, PCT Pub. Date Jun. 6, 2019.
Claims priority of provisional application 62/592,467, filed on Nov. 30, 2017.
Prior Publication US 2022/0117684 A1, Apr. 21, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 90/11 (2016.01); A61B 90/00 (2016.01); A61B 17/34 (2006.01)
CPC A61B 34/32 (2016.02) [A61B 90/11 (2016.02); A61B 2017/3409 (2013.01); A61B 2090/374 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A body mountable robot, comprising:
a plurality of stages, disposed in a parallel configuration, comprising:
a first stage including a first actuating joint configured to rotate about a vertical axis with respect to the first stage, and
a second stage including a second actuating joint configured to rotate about the vertical axis with respect to the second stage;
one or more actuators configured to actuate at least one of the first actuating joint or the second actuating joint; and
plurality of sets of link bars, comprising:
a first set of link bars, coupled to the first actuating joint, configured to translate with respect to the first stage, and
a second set of link bars, coupled to the first actuating joint, configured to translate with respect to the second stage.