Patent ID: 7021173
Filing Date: 2006-04-04
Classification: A61B,B25J,Y10T

Abstract:
1. A remote center of motion robotic system comprising: a base link unit; a connecting link unit, the connecting link unit moveably coupled to the base link unit at a first rotating joint; the first rotating joint comprising a first round member and a first rotation axis, the connecting link unit rotates around the first rotation axis, and the first round member is coupled to the base link unit such that the angle of the first round member with respect to the base link unit is constant; an end link unit, the end link unit moveably coupled to the connecting link unit at a second rotating joint; the second rotating joint comprising a second round member, a third round member and a second rotation axis, the end link unit rotates around the second rotation axis, the second round member is coupled to the end link unit such that the angle of the second round member with respect to the end link unit is constant, the third round member is coupled to the connecting link unit such that the angle of the third round member with respect to the connecting link unit is constant, the first round member is coupled to the second round member so that the angle of the first round member with respect to the second round member is constant; a base unit, the base unit comprising a base rotating joint; and the base rotating joint comprising a base unit round member moveably coupled to the base unit so that the base unit can rotate around a base axis, the base unit round member configured to couple the base unit to a base, wherein the base link unit is moveably coupled to the base unit at a pivot joint, the pivot joint having a pivot axis that is not parallel to the base axis.