Patent ID: 8491604
Filing Date: 2013-07-23
Classification: A61B,B25J,Y10S,Y10T

Abstract:
1. A manipulator for use in medical procedures comprising first and second actuator systems each including three or more powered actuators with each of the three or more powered actuators being arranged in series relative to the others, each powered actuator being capable of actuating a separate movement of at least a portion of the respective actuator system without any movement of the other actuator system; a body supported by the first and second actuator systems at first and second attachment points, respectively, such that the first and second actuator systems are capable of manipulating the body in five degrees of freedom; and a third actuator system having first and second ends, the first end attached to the body, wherein the second end is movable relative to the body with at least one degree of freedom without any movement of either the first or second actuator system.