Patent ID: 6702805
Filing Date: 2004-03-09
Classification: A61B,B25J

Abstract:
A manipulator for producing a remote center of revolute motion comprising:a base, a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane, a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane, the first link being pivotal about a third axis perpendicular to the first axis and the second link being pivotal about a fourth axis perpendicular to the second axis, the first and second parallelogram linkages being pivotally connected together by a first connector link and a second connector link, the first and second connector links being parallel to each other and parallel to the first and second axes such that the first and second planes remain parallel as the first and second links respectively rotate about the third and fourth axes, a tool holder pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held thereby is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.