Patent ID: 6788018
Filing Date: 2004-09-07
Classification: A61B,B25J,Y10S

Abstract:
A robotic surgery system for performing a surgical procedure on a patient lying on an operating table within an operating room, the room having a ceiling-height support structure extending generally above the table and personnel-usable space adjacent the table, the system comprising:a mounting base; a surgical end effector; and a linkage movably supporting the end effector relative to the mounting base, the linkage comprising: a plurality of driven joints coupled to a servomechanism for moving the end effector so as to manipulate tissues; at least one pre-configuration link; and a plurality of releasably fixable joints coupled to the at least one pre-configuration link for pre-configuring the linkage, the releasably fixable joints accommodating vertical movement of the end effector relative to the mounting base; and the mounting base is mountable upon the ceiling-height support structure so as to permit the linkage to be pre-configured to extend generally downward from the mounting base to support the end effector adjacent the patient.