Patent ID: 6441577
Filing Date: 2002-08-27
Classification: A61B,B25J,G05B,Y10S

Abstract:
A robotic surgery system comprising:a base; a surgical end effector; a manipulator supporting the end effector, the manipulator having a pivot point an imaging system oriented toward the end effector, the imaging system having a field of view defining an imaging coordinate system; a linkage supporting the manipulator relative to the base; a brake system restraining articulation of the linkage, the brake system releasable to allow manual movement of the pivot point of the manipulator relative to the base; a servomechanism drivingly engaging the manipulator for robotic manipulation of tissues with the end effector; a hand input controller coupled to a processor of the servomechanism, the controller having a controller coordinate system; and a sensor system coupled to the linkage so as to generate linkage configuration signals; wherein the processor is further coupled to the sensor system, the imaging system, and the servomechanism, the processor using the linkage configuration signals and the imaging coordinate system to calculate a coordinate system transformation so as to coordinate controller inputs with a displayed image of the end effector.