US 12,343,103 B2
Systems and methods for a kinematically-controlled remote center manipulator
Ashley Lynne Oliver, Piedmont, CA (US); Ryan C. Abbott, San Jose, CA (US); Bram Gilbert Antoon Lambrecht, Redwood City, CA (US); and John Ryan Steger, Los Gatos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 2, 2021, as Appl. No. 17/540,396.
Claims priority of provisional application 63/120,851, filed on Dec. 3, 2020.
Prior Publication US 2022/0175480 A1, Jun. 9, 2022
Int. Cl. A61B 34/00 (2016.01)
CPC A61B 34/70 (2016.02) 20 Claims
OG exemplary drawing
 
1. A manipulator for articulating a surgical instrument, the manipulator comprising:
an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion; and
a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion, wherein the linkage assembly comprises:
a first linkage arm;
a second linkage arm rotatably coupled to the first linkage arm, wherein a proximal end of the first linkage arm and a proximal end of the second linkage arm are coupled at a proximal pivot joint; and
a third linkage arm coupled to and translationally movable relative to the second linkage arm without rotation of the third linkage arm relative to the second linkage arm, wherein movement of the second linkage arm and the third linkage arm causes a distal end of the third linkage arm to trace an arc around the remote center of motion.