MANIPULATOR POSITIONING LINKAGE FOR ROBOTIC SURGERY

摘要

Techniques, and structures are provided for aligning for robotics elements (58) with an internal surgical site with each other. Manually positional linkages (56) support surgical instruments. These linkages maintain a fixed configuration until a brake (124) system is released. While the brake is held in a released mode, the linkage allows the operating room personnel to manually move the linkage into alignment with the surgical site. Joints (82, 84) of the linkage translate the surgical instrument in three dimensions, and orient the surgical about three axis of rotation. Sensors (126) coupled to the joints allow a processor to perform coordinate transformations that can align displayed movements of robotics actuated surgical end effectors with a surgeon's hand input at a control station.