Patent ID: 10322514

Abstract:
Apparatus (10) for generating motion around a remote center of motion (RCM), comprising a distal link (L12) arranged to revolve about the remote center of motion and to translate through the remote center of motion, a proximal link (L10) arranged to revolve about a proximal center of motion (LCM), coupled to a base link (L1), through a rotational joint (150) and a sliding joint (181), a first mechanism comprising a first link (L9) pivotally coupled to the proximal link (L10) and to the distal link (L12) and operable to transfer motion of the proximal link relative to the proximal center of motion to a motion of the distal link relative to the remote center of motion by maintaining a parallelogram (PAR1), and a second mechanism operable to move the first link with two degrees of freedom in a plane parallel to the plane of motion of the proximal link, characterized in that the second mechanism comprises one link or a serial connection of links (L4, L8, L3, L7, L2, L6) connecting the base link to the first link, configured to have an orientation of instant motion which is different from an orientation of instant motion of the proximal link (L10), relative to the base link.