Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or Surgical robotic devices, sys tems, and methods employ
Surgical robotic linkages that may have more degrees of freedom thananassociated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

Telerobotic, telesurgical, and/or Surgical robotic devices, sys tems, and methods employ
Surgical robotic linkages that may have more degrees of freedom thananassociated …

5,908.458 A 6, 1999 Rowe et al. 6,037,927 A 3/2000 Rosenberg 6,098,260 A 8, 2000 Sarh
6,246,200 B1 6/2001 Blumenkranz et al. 6,312.435 B1 1 1/2001 Wallace et al. 6,317,651 B1 …

Telerobotic, telesurgical, and/or Surgical robotic devices, sys tems, and methods employ
Surgical robotic linkages that may have more degrees of freedom thananassociated …

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ
surgical robotic linkages that may have more degrees of freedom than an associated …

5,737,500 A* 4/1998 Seraji et al.................... 7OO/251 5,823,980 A 10/1998 Kopfer 5,855,583
A 1/1999 Wang et al. 5,908.458 A 6, 1999 Rowe et al. 6,037,927 A 3/2000 Rosenberg …

Devices, systems, and methods for avoiding collisions between a manipulator arm and an
outer patient surface by moving the manipulator within a null-space. In response to a …