Patent ID: 9399298
Filing Date: 2016-07-26
CPC Classification: A61B,B25J,G05B

Claim Text:
1. An apparatus comprising: a mechanical positioner for an end-effector; and first and second physical stops controllable by a drive mechanism to constrain movement of the mechanical positioner and thereby to constrain the ability of a user to manipulate the end-effector outside a predetermined range of motion, and wherein the first and second physical stops are controllable by the drive mechanism to permit movement of the end-effector within the predetermined range of motion, wherein the drive mechanism is configured to control a location of at least one of the first physical stop and the second physical stop based on a position of a virtual object in a virtual space, a proximal link; a distal link; and a joint assembly for controlling the relative position of the proximal and distal links, wherein the joint assembly comprises an actuated linkage joint, and a passive linkage joint; and wherein the actuated linkage joint and the passive linkage joint in combination include the first and second physical stops and the mechanical positioner; wherein, within the predetermined range of motion, the passive linkage joint moves freely to permit free movement of the end-effector; and wherein, outside the predetermined range of motion, the passive linkage joint is constrained from moving by at least one of the first and second physical stops; wherein the joint assembly forms a prismatic joint assembly which permits a relative linear motion between the actuated linkage joint and the passive linkage joint.