Arm cart for telerobotic surgical system
First Claim
1. A robotic surgical system comprising:
- a first linkage assembly having a first base coupled to a first surgical end effector by a first robotic linkage;
a second linkage assembly having a second base coupled to a second surgical end effector by a second robotic linkage, the second base being independent of the first base;
a master controller having at least one handle manipulatable by a hand of an operator;
a processor transmitting movement commands to the first and second linkage assemblies, the processor deriving the movement commands at least in part from manipulation of the handle, and at least in part from a relative orientation signal indicating an orientation of the first base relative to the second base.
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Accused Products
Abstract
Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.
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Citations
18 Claims
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1. A robotic surgical system comprising:
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a first linkage assembly having a first base coupled to a first surgical end effector by a first robotic linkage;
a second linkage assembly having a second base coupled to a second surgical end effector by a second robotic linkage, the second base being independent of the first base;
a master controller having at least one handle manipulatable by a hand of an operator;
a processor transmitting movement commands to the first and second linkage assemblies, the processor deriving the movement commands at least in part from manipulation of the handle, and at least in part from a relative orientation signal indicating an orientation of the first base relative to the second base. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 17, 18)
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12. A robotic surgical system comprising:
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a first linkage assembly having a first base coupled to a first surgical end effector by a first robotic linkage;
a second linkage assembly having a second base coupled to a second surgical end effector by a second robotic linkage, the second base supporting the second end effector independently of the first base;
a relative orientation indicating system transmitting a relative orientation signal indicating a relative orientation between the first base and the second base;
a display having an image of a surgical worksite;
a master controller adjacent the display and having at least one input manipulatable by a hand of an operator;
a processor transmitting movement commands to the first and second linkage assemblies so that images of the first and second surgical end effectors shown in the display appear substantially connected to the at least one input, the processor deriving the movement commands in response to the relative orientation signal.
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15. A robotic arm system for use with a robotic surgical system having a processor generating movement command signals, the processor coupled to a first robotic linkage and at least one input of a master controller disposed adjacent to a display, the arm system comprising:
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a second robotic linkage supporting a surgical end effector relative to a base, the second linkage moving robotically in response to the command signals, the second robotic linkage manually movable in a first degree of freedom so as to change an orientation of the end effector, the base of the second robotic linkage manually movable in a second degree of freedom so as to effect translation of the end effector without changing an orientation of the end effector;
an orientation indicating system couplable to the processor, the orientation indicating system transmitting an orientation signal sufficient for use by the processor in deriving the movement commands for the second linkage so that an image of the surgical end effector shown in the display appears substantially connected to the at least one input, wherein no signal is transmitted to the processor from the arm indicating a position of the base of the second robotic linkage along the second degree of freedom for use by the processor in deriving the movement commands.
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16. A surgical robotic method comprising:
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moving a base of a first robotic linkage, the base supporting a first surgical end effector independently of a second robotic linkage supporting a second surgical end effector;
transmitting a relative orientation signal indicating an orientation of the first base relative to the second base;
deriving movement command signals by manipulating at least one input device and with reference to the relative orientation signal; and
moving the first and second surgical instruments with the first and second robotic linkages in response to the movement command signals.
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Specification