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    • 33. 发明授权
    • Surgical system and methods for mimicked motion
    • 手术系统和模拟运动的方法
    • US09186220B2
    • 2015-11-17
    • US12971491
    • 2010-12-17
    • David StefanchikMichael J. Stokes
    • David StefanchikMichael J. Stokes
    • A61B19/00A61B17/29A61B17/34A61B17/00
    • A61B34/30A61B17/29A61B17/3417A61B34/35A61B34/37A61B34/70A61B34/71A61B34/74A61B2017/00477A61B2034/302A61B2034/305A61B2090/506B25J9/1689
    • The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.
    • 本发明总体上提供了用于控制末端执行器的运动的方法和装置,特别是用于在外科手术过程中在输入工具和末端执行器之间引起模拟运动。 在示例性实施例中,提供了具有主组件的外科系统,其具有输入工具和具有端部执行器的从动组件。 主组件和从属组件可以通过机械组件耦合在一起,机械组件被配置为将模拟而不是镜像的运动从输入工具机械地传递到端部执行器。 还提供浮动框架并且可以与外科系统一起使用。 浮动框架可以具有允许手术系统在患者身上“漂浮”的平衡物,并且为外科系统的移动提供失重的感觉。 浮动框架可为手术系统的移动提供额外的自由度。