Patent ID: 6731988
Filing Date: 2004-05-04
Classification: A61B,B25J,H04N

Abstract:
A system for controlling a slave manipulator for performing minimally invasive surgery at a worksite from a remote control operator's station, the slave manipulator including a slave end effector movably coupled to a slave wrist member which is movably coupled to a slave manipulator arm, the system comprising:a hand-operated master linkage arrangement including a plurality of master linkages; and a servomechanism configured to couple the master linkages to the slave manipulator arm, the slave wrist member, and the slave end effector to move the slave manipulator arm, to articulate the slave wrist member, and to actuate the slave end effector in response to movement of the master linkages for performing minimally invasive surgery at a worksite from a remote control operator's station, wherein the master linkage arrangement is operable by a single hand to manipulate the master linkages to control movement of the slave manipulator arm, the slave wrist member, and the slave end effector; and wherein the master linkage arrangement includes a master manipulator arm, a master wrist member movably coupled to the master manipulator arm, and a master end effector movably coupled to the master wrist member, and wherein the servomechanism is configured to couple the slave manipulator arm to the master manipulator arm to move the slave manipulator arm in response to movement of the master manipulator arm by the hand, to couple the slave wrist member to the master wrist member to articulate the slave wrist member in response to movement of the master wrist member by the hand, and coupling the slave end effector to the master end effector to actuate the slave end effector in response to movement of the master end effector by the hand.