Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-11-08
2005-11-08
Picard, Leo (Department: 2125)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S264000, C600S117000, C600S118000, C606S046000, C606S139000
Reexamination Certificate
active
06963792
ABSTRACT:
A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and72L) for control of right and left manipulators (24R and24L) through use of a servomechanism that includes computer. The teleoperator system comprises a surgical system suited for endoscopic surgery. The surgical system includes a surgical instrument, a servomechanism and a controller. The surgical includes an insertion section and a control section. The insertion section comprises a forearm, a wrist and an end effector in the form of a surgical instrument head selected from the group consisting of retractors, electrosurgical cutters, electrosurgical coagulators, forceps, needle holders, scissors, blades and irrigators. The control section comprises a plurality of motors and linkages which operate to insert and retract the forearm, rotate the forearm, pivot the forearm, and pivot the wrist link about the wrist joint.
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US 5,100,411, 03
Barrish Mark D.
Garland Steven R.
Picard Leo
SRI - International
Townsend&Townsend&CrewLLP
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