Hyperdexterous surgical system
First Claim
1. A surgical system, comprising:
- at least one electromechanical arm coupleable to a fixture, the at least one electromechanical arm comprising a first electromechanical joint comprising a first roll mechanism rotating around a roll axis, a second electromechanical joint comprising a pitch mechanism, at least one additional electromechanical joint comprising a second roll mechanism which together with the first and second electromechanical joints results in one or more redundant degrees of freedom, and a base link having a distal end connected to the second roll mechanism and a proximal end coupleable to the fixture, and wherein the distal end of the base link is operable to be positioned between the second roll mechanism and the first roll mechanism;
at least one electromechanical tool comprising a tool shaft axis, wherein the at least one electromechanical tool is supported by the at least one electromechanical arm to define an electromechanical arm and tool assembly wherein the pitch mechanism rotates the at least one electromechanical tool around a pitch axis; and
a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly,wherein the roll axis, the pitch axis, and the tool shaft axis intersect at a remote center,wherein when the electromechanical arm and tool assembly is coupled to the fixture, the second roll mechanism is positioned below the remote center, thus minimizing instances in which a dead zone is inside a body of a patient.
1 Assignment
0 Petitions
Accused Products
Abstract
A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
-
Citations
21 Claims
-
1. A surgical system, comprising:
-
at least one electromechanical arm coupleable to a fixture, the at least one electromechanical arm comprising a first electromechanical joint comprising a first roll mechanism rotating around a roll axis, a second electromechanical joint comprising a pitch mechanism, at least one additional electromechanical joint comprising a second roll mechanism which together with the first and second electromechanical joints results in one or more redundant degrees of freedom, and a base link having a distal end connected to the second roll mechanism and a proximal end coupleable to the fixture, and wherein the distal end of the base link is operable to be positioned between the second roll mechanism and the first roll mechanism; at least one electromechanical tool comprising a tool shaft axis, wherein the at least one electromechanical tool is supported by the at least one electromechanical arm to define an electromechanical arm and tool assembly wherein the pitch mechanism rotates the at least one electromechanical tool around a pitch axis; and a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly, wherein the roll axis, the pitch axis, and the tool shaft axis intersect at a remote center, wherein when the electromechanical arm and tool assembly is coupled to the fixture, the second roll mechanism is positioned below the remote center, thus minimizing instances in which a dead zone is inside a body of a patient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A surgical system, comprising:
-
at least one electromechanical arm coupleable to a fixture, the at least one electromechanical arm comprising a first electromechanical joint comprising a roll mechanism rotating around a roll axis, a second electromechanical joint comprising a pitch mechanism, and at least one proximal electromechanical joint comprising a redundant roll mechanism connected to a base link of the electromechanical arm, the base link having a distal end connected to the redundant roll mechanism and a proximal end that is coupleable to the fixture, and wherein the distal end of the base link is operable to be positioned between the redundant roll mechanism and the roll mechanism of the first electromechanical joint; at least one electromechanical tool comprising a tool shaft axis, wherein the at least one electromechanical tool is supported by a distal end of the at least one electromechanical arm to define an electromechanical arm and tool assembly wherein the pitch mechanism rotates the at least one electromechanical tool around a pitch axis; and a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly, wherein the roll axis, the pitch axis, and the tool shaft axis intersect at a remote center, wherein when the electromechanical arm and tool assembly is coupled to the fixture, the redundant roll mechanism is positioned below the remote center, thus minimizing instances in which a dead zone is inside a body of a patient. - View Dependent Claims (10, 11, 12, 13, 14)
-
-
15. A surgical system, comprising:
-
at least one electromechanical arm coupleable to a fixture, the at least one electromechanical arm comprising a first roll mechanism rotating around a roll axis, a pitch mechanism, a combination of one or more proximal joints which together result in a second roll mechanism with at least one redundant degree of freedom, and a base link having a distal end connected to the second roll mechanism and a proximal end coupleable to the fixture, the distal end of the base link is operable to be positioned between the second roll mechanism and the first roll mechanism, and wherein the roll mechanism, the pitch mechanism, and the one or more proximal joints are controlled through a user interface device; at least one electromechanical tool comprising a tool shaft axis, wherein the at least one electromechanical tool is supported by the at least one-electromechanical arm to define an electromechanical arm and tool assembly wherein the pitch mechanism rotates the at least one electromechanical tool around a pitch axis; and a control system configured to electronically communicate with and control the operation of the electromechanical arm and tool assembly, wherein the roll axis, the pitch axis, and the tool shaft axis intersect at a remote center, wherein when the electromechanical arm and tool assembly is coupled to the fixture, the second roll mechanism is positioned below the remote center, thus minimizing instances in which a dead zone is inside a body of a patient. - View Dependent Claims (16, 17, 18, 19, 20, 21)
-
Specification