The present invention is directed to a tool having a wrist mechanism that provides pitch and
yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively …

Microsurgical techniques have been widely utilized in various surgical specialties, such as
ophthalmology, neurosurgery, and otolaryngology, which require intricate and precise …

Methods and systems are described for controlling movement of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

A method of force estimation for a minimally invasive medical system including a robot
manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque …

(57) ABSTRACT A robotic arm especially Suited for laparoscopic Surgery, having a torsional
joint and a flexural joint forming serially arranged joints is described. The joints provide …

A system and method of operating the same are disclosed. The system includes a surgical
instrument including an energy applicator and a manipulator including a plurality of links …

(*) Notice: Sibi lo any disclaimer, the term of this See application file for complete search
history. patent is extended or adjusted under 35 (56) References Cited USC 154 (b) by 0 …

2013-09-27 Assigned to STRYKER CORPORATION reassignment STRYKER
CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR …

A surgical system for selective connection to a robotic arm includes an instrument drive unit
and a surgical instrument detachably coupled to the instrument drive unit. The instrument …

A method of force estimation for a minimally invasive medical system comprising a robot
manipulator (10). The manipulator has an effector unit (12) equipped with a 6-degrees-of …