05814038 is referenced by 197 patents and cites 125 patents.

The invention is directed to manipulator assembly (2) for holding and manipulating a surgical instrument (14) in a telerobotic system. The assembly comprises a base (6) by fixable by means of passive or power driven positioning devices to a surface, such as an operating table, and an instrument holder (4) movably mounted on the base. The instrument holder comprises a chassis (6) and an instrument support (70) movably mounted on the body and having an interface engageable with the surgical instrument to releasably mount the instrument to the instrument holder. A drive assembly (7) is operatively coupled to the instrument holder for providing the instrument with at least two degrees of freedom. The instrument holder is separable from the base and the drive assembly so that the holder can be sterilized. The assembly further includes a force sensing element (52) mounted distal to the holder and the drive assembly for detecting forces exerted on the surgical instrument and providing feedback to the surgeon. The assembly is attached to a remote center positioner (300) for constraining the instrument to rotate about a point coincident with the entry incision and an inclinometer (350) for preventing gravitational forces acting on the system's mechanisms from being felt by the surgeon.

Title
Surgical manipulator for a telerobotic system
Application Number
487020
Publication Number
5814038
Application Date
March 27, 1997
Publication Date
September 29, 1998
Inventor
John W Hill
Palo Alto
CA, US
Joel F Jensen
Redwood City
CA, US
Agent
Townsend and Townsend and Crew
Assignee
SRI International
CA, US
IPC
B25J 9/00
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