Surgical system with configurable rail-mounted mechanical arms

• US 10,159,533 B2
• Filed: 04/08/2016
• Issued: 12/25/2018
• Est. Priority Date: 07/01/2014
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Moll, Frederic, Yu, Alan
• Primary Examiner(s): Polito, Nicholas F
• Application Number:
  US15/094,179
• Publication Number:
  US 20160296294A1
• Time in Patent Office: 991 Days
• CPC Class Codes: A61B 2034/304 including a freely orientable platform, e.g. so called 'Stewart platforms'
• CPC Class Codes: A61B 2090/571 for clamping a support arm to a bed or other supports
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61G 13/04 tiltable around transverse or longitudinal axis
• CPC Class Codes: A61G 13/06 raising or lowering of the whole table surface A61G13/04 takes precedence
• CPC Class Codes: A61G 13/10 Parts, details or accessories surgical drape sheets A61B46/00
• CPC Class Codes: A61G 13/101 Clamping means for connecting accessories to the operating table supports as part of surgical instruments A61B90/50

Abstract

A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.

Claims

1. A medical device comprising:

a horizontal platform having a first lateral side, a second lateral side opposite the first lateral side, a top end, and a bottom end opposite the top end;

a first linear rail portion extending along the first lateral side of the horizontal platform;

a second linear rail portion extending along the second lateral side of the horizontal platform and toward and beyond the bottom end of the horizontal platform;

a carriage configured to translate along the second linear rail portion, the carriage being operatively coupled to the second linear rail portion; and

a robotic arm operatively coupled to the carriage,

wherein the robotic arm is configured to be moved about the horizontal platform by the carriage to perform a medical procedure on a patient on the horizontal platform, and

wherein the entirety of the carriage is configured to be moved beyond the bottom end of the horizontal platform along the second linear rail portion parallel to the second lateral side.

2. The medical device of claim 1, wherein a connecting section connects the first linear rail portion and the second linear rail portion.

3. The medical device of claim 2, wherein the first linear rail portion, the second linear rail portion, and the connection section form a rail path, wherein the rail path is U-shaped.

4. The medical device of claim 1, wherein the horizontal platform comprises an upper surface and a lower surface, wherein the upper surface is configured to support the patient thereon, and wherein the carriage and the robotic arm are positioned beneath the upper surface of the horizontal platform.

5. The medical device of claim 1, further comprising additional robotic arms, wherein at least one robotic arm of the additional robotic arms is continuously movable between the first and second lateral sides of the horizontal platform.

6. The medical device of claim 1, further comprising a central base, wherein the rail is positioned around the central base.

7. The medical device of claim 6, wherein the central base is shaped like a column.

8. The medical device of claim 6, wherein the horizontal platform is operatively coupled to the top of the central base.

9. The medical device of claim 6, wherein the horizontal platform is configured to one or more of translate horizontally relative to the central base, translate vertically relative to the central base, tilt relative to the central base, or rotate relative to the central base.

10. The medical device of claim 9, wherein the central base comprises a support stand for the horizontal platform, and wherein the support stand is configured to vertically translate to translate the horizontal platform vertically relative to the central base.

11. The medical device of claim 1, wherein the rail is disposed around the horizontal platform.

12. The medical device of claim 1, wherein the robotic arm is configured to be angled over the horizontal platform.

13. The medical device of claim 1, wherein the horizontal platform comprises a surgical bed, configured to support the weight of a patient.

14. The medical device of claim 1, further comprising additional robotic arms, wherein the additional robotic arms are configured to be delivered to a plurality of access points in the patient around the horizontal platform.

15. The medical device of claim 1, further comprising additional carriages configured to translate along the second linear rail portion.

16. The medical device of claim 15, wherein each individual robotic arm is operatively coupled to a corresponding individual carriage.

17. The medical device of claim 1, wherein the second linear rail portion includes a distal-most end that extends beyond the bottom end of the horizontal platform.

18. The medical device of claim 1, wherein the robotic arm is configured to hold one or more tools for performing a ureteroscopy or hysteroscopy.

19. The medical device of claim 1, wherein the first linear rail portion is aligned with the second linear rail portion along a first length of the second linear rail portion, and wherein the first linear rail portion is not aligned with the second rail portion along a second length of the second linear rail portion.