SURGICAL ROBOTICS SYSTEM

• US 20170172673A1
• Filed: 03/08/2017
• Published: 06/22/2017
• Est. Priority Date: 05/15/2015
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Surgical Robotics, Inc. (Johnson & Johnson)
• Inventors: Yu, Alan, Moll, Frederic H., Richter, Benjamin, Olson, Mark H., Gonzalez, Jason, Tucker, Kyle Andrew, Maeder-York, Paxton, Schulte, Gregory T.
• Granted Patent: US 10,500,001 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61G 13/02 Adjustable operating tables; Controls therefor
• 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 13/08 the table being divided into different adjustable sections
• CPC Class Codes: A61G 13/102 Fluid drainage means for collecting bodily fluids from the operating table, e.g. for blood, urine drainage on the patient A61M1/00
• CPC Class Codes: A61G 13/1245 Knees, upper or lower legs
• CPC Class Codes: A61G 7/005 tiltable around transverse horizontal axis, e.g. for Trendelenburg position rocking beds for physical therapy A61H1/003; hanging patient inclined downwardly for drawing him out A61H2203/0493
• CPC Class Codes: A61G 7/008 tiltable around longitudinal axis, e.g. for rolling
• CPC Class Codes: A61G 7/015 divided into different adjustable sections, e.g. for Gatch position
• CPC Class Codes: A61G 7/0755 for the legs or feet
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/27 Arm part
• CPC Class Codes: Y10S 901/28 Joint

Abstract

A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient'"'"'s body.

Claims

1. A system comprising:

a table for supporting a patient positioned on the table;

a column coupled to the table;

a column ring coupled to the column and configured to linearly translate relative to the platform; and

a robotic arm coupled to the robot base and configured to manipulate a medical instrument relative to the patient positioned on the platform.

2. The system of claim 1, wherein the column ring is further configured to rotate around the column.

3. The system of claim 1, wherein the table comprises of a table portion that is configured to be rotatable about a pivot.

4. The system of claim 1, wherein the table comprises a rail that is configured to translate the table relative to the column.

5. The system of claim 1, wherein the column ring further comprises an arm mount configured to position the robotic arm.

6. The system of claim 1, further comprising an angle rotation mechanism configured to change an angle of the table relative to the column.

7. The system of claim 6, wherein the angle rotation mechanism is configured to change the angle of the table relative to the column in at least two degrees of freedom.

8. The system of claim 1, wherein the column is cylindrical.

9. The system of claim 1, wherein the column ring is circular.

10. The system of claim 1, wherein the medical instrument comprises at least one of a catheter, an endoscope, and a laparoscope.

11. The system of claim 1, further comprising:

a base coupled to the column;

wherein the robotic arm is further configured to be stowable within a volume of the base.

12. The system of claim 11, wherein the base comprises a panel configured to cover the volume in the base.

13. The system of claim 12, wherein the panel of the base is mechanically actuated.

14. The system of claim 12, wherein the panel is configured to translate laterally in order to allow the robotic arm to be stowed within the volume.

15. The system of claim 12, wherein the volume is sized to stow the column ring.

16. The system of claim 15, wherein the column ring is configured to translate into the volume in the base for stowage of the column ring.

17. A method comprising:

positioning a patient on a table, the table coupled to a column and a base;

translating a column ring along the column, the column ring coupled to the column and comprising an arm mount;

positioning a robotic arm relative to the patient, the robotic arm coupled to the arm mount; and

directing a medical instrument towards a location within the patient, the medical instrument coupled to the robotic arm.

18. The method of claim 17, the method further comprising rotating the column ring around the column.

19. The method of claim 17, the method further comprising changing an angle of the table relative to the column, wherein the table comprises an angle rotation mechanism configured to change the angle of the table relative to the column.

20. The method of claim 19, wherein changing the angle of the table comprises changing the angle in two degrees of freedom.

21. The method of claim 17, the method further comprising translating a panel in the base, the panel being configured to cover the volume, and the volume being configured to stow the robotic arm and the column ring.

22. The method of claim 21, wherein the translating of the column ring comprises vertically translating the column ring from the volume in the base.

23. The method of claim 17, the method further comprising rotating a portion of the table about a pivot.

24. The method of claim 17, the method further comprising translating the table relative to the column.

25. The method of claim 17, wherein the positioning of the robotic arm comprises moving the arm mount to position the robotic arm proximate to the patient.

26. The method of claim 25, wherein the moving of the arm mount comprises rotating the arm mount along an arm mount axis.

27. The method of claim 17, wherein the directing of the medical instrument comprises directing the medical instrument through at least one of a small incision and a natural orifice.

28. The method of claim 27, wherein the medical instrument comprises at least one of a catheter, an endoscope, and a laparoscope.

29. The method of claim 17, wherein the translating the column ring, the positioning of the robotic arm, and the directing of the medical instrument are performed with minimal user intervention.

30. The method of claim 17, wherein the column ring is circular.

31. The method of claim 17, wherein the column is cylindrical.