Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: The present invention provides a surgical manipulator which is capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a haptic interface and an associated position sensing system. A controller is provided that can be used to adjust movement information from the haptic interface based on the relative orientations of the manipulator and the haptic interface.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and is capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and is capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is connected to the body at a third attachment point and is capable of moving the third attachment point with at least one degree of freedom.

Abstract: A surgical system for use in performing medical procedures on a body of a patient is provided. The system includes a manipulator having a tool mounting arrangement including a power transmitter. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system has a tool support including a power receiver. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween. The power transmitter and power receiver can wirelessly transmit power across the sterile barrier between the manipulator and the tool support when the tool support is engaged with the tool mounting arrangement.

Abstract: A surgical system for use in performing medical procedures on a body of a patient is provided. The system can include a manipulator having a tool mounting arrangement including a modulated mechanical energy transmitter capable of transferring power. The manipulator is capable of moving the tool mounting arrangement with at least one degree of freedom. The system also includes a tool support including a modulated mechanical energy receiver capable of receiving power. A sterile barrier is arranged between the robotic mechanism and the tool support to isolate the robotic mechanism from the sterile environment. The tool support is engageable with the tool mounting arrangement with the sterile barrier therebetween and with the sterile barrier extending between the modulated mechanical energy transmitter and receiver.

Abstract: The present invention provides a surgical manipulator which capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a relatively lightweight, compact design as a result of the use of high force to mass ratio actuators. The manipulator includes a mounting fixture which permits the manipulator to be fixed relative to a portion of a body of a patient.

Abstract: A replacement joint for a human body and a method of installing such a replacement joint is provided. A ball portion of the replacement joint is installed on an end of a first bone. A receptacle having an engagement surface that has an aspherical configuration is formed in a second bone. A socket portion of the replacement joint is inserted in the receptacle so as to receive the ball portion on the first bone. The socket portion has an engagement surface with an aspherical configuration complementary to the engagement surface of the receptacle in the second bone. The configurations of the engagement surfaces of the socket portion and the receptacle in the second bone are such that inserting the socket portion in the receptacle in the second bone provides the socket portion with at least four degrees of constraint.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A spinal fusion implant system and a method of using the spinal fusion implant system are provided. The spinal fusion implant system includes a plurality of links with each link having a pair of opposing end portions. The spinal fusion implant system also includes a plurality of pedicle screws. Each pedicle screw has a head and a depending shank for fixing the pedicle screw to a bone. The head has a slotted recess configured to receive one end portion of at least two different links or two slotted recesses each of which is configured to receive an end portion of one of the links. Each recess has an associated set screw for clamping the end portions of the respective links in the recess.

Abstract: The present invention provides a surgical manipulator which is capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a haptic interface and an associated position sensing system. A controller is provided that can be used to adjust movement information from the haptic interface based on the relative orientations of the manipulator and the haptic interface.

Abstract: The present invention provides a surgical manipulator which capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a relatively lightweight, compact design as a result of the use of high force to mass ratio actuators. The manipulator includes a mounting fixture which permits the manipulator to be fixied relative to a portion of a body of a patient.

Abstract: A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

Abstract: A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link.

Abstract: A manipulator for producing a remote center of revolute motion is provided. The manipulator includes a base and a first parallelogram linkage mechanism including a first link pivotally mounted to the base for rotation about a first axis such that the first link moves in a first plane. The manipulator also includes a second parallelogram linkage mechanism including a second link pivotally mounted to the base for rotation about a second axis such that the second link moves in a second plane parallel to the first plane. The first link is pivotal about a third axis perpendicular to the first axis and the second link is pivotal about a fourth axis perpendicular to the second axis. The first and second parallelogram linkages are pivotally connected together by a first connector link and a second connector link.

Abstract: The present invention provides a surgical manipulator which capable of manipulating a surgical or medical tool in up to six degrees of freedom. The manipulator has a relatively lightweight, compact design as a result of the use of high force to mass ratio actuators. The manipulator includes a mounting fixture which permits the manipulator to be fixed relative to a portion of a body of a patient.

Abstract: A parallel mechanism for manipulating an object in space is provided. The parallel mechanism includes an end platform for supporting an object to be manipulated and an intermediate platform arranged in spaced relation from the end platform and connected to the end platform by a connecting element. A plurality of first links are connected to the end platform and a plurality of second links are connected to the intermediate platform. A linear motor is associated with each first link and each second link for translating the ends of the first and second links to move the end and intermediate platforms.