Patent ID: 8167872
Filing Date: 2012-05-01
Classification: A61B,Y10T

Abstract:
1. A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation, the robotic arm comprising: an endoscopic camera; two outboard links pivotally coupled together at an outboard axis, at least one of the two outboard links to support the endoscopic camera; a constraint to limit the rotation of the outboard links about the outboard axis such that the two outboard links are constrained to have a minimum angle between them of 15 degrees; two inboard links respectively pivotally coupled to the two outboard links such that the two inboard links cross over one another, the two inboard links to moveably support the two outboard links; and a ground link pivotally coupled to the two inboard links, the ground link to moveably support the two inboard links.