Robotic arm with five-bar spherical linkage

摘要

A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.