SURGICAL SYSTEM WITH CONFIGURABLE RAIL-MOUNTED MECHANICAL ARMS

• US 20190083183A1
• Filed: 11/19/2018
• Published: 03/21/2019
• Est. Priority Date: 04/09/2015
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Moll, Frederic H., Yu, Alan Lau
• Granted Patent: US 10,702,348 B2
• Time in Patent Office: Days
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 1/2736 Gastroscopes
• CPC Class Codes: A61B 1/303 for the vagina, i.e. vaginoscopes
• CPC Class Codes: A61B 1/307 for the urinary organs, e.g. urethroscopes, cystoscopes
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 1/3132 for laparoscopy
• 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 34/00 Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 50/10 Furniture specially adapted for surgical or diagnostic appliances or instruments
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• 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

1-30. -30. (canceled)

31. A medical system comprising:

a base;

a stand coupled to the base;

a bed supported by the stand;

a first rail portion extending along a length of the bed; and

at least one arm attached to the first rail portion, wherein the at least one arm is configured to be stowed beneath the bed supported by the stand and raised to perform a medical procedure.

32. The medical system of claim 31, further comprising a second rail portion extending along a length of the bed.

33. The medical system of claim 32, further comprising at least one arm attached to the second rail portion.

34. The medical system of claim 31, wherein the bed is configured to translate horizontally relative to the at least one arm.

35. The medical system of claim 31, wherein the bed comprises a hinge such that a lower portion of the bed can be declined at a different angle from remaining portions of the bed.

36. The medical system of claim 31, wherein the at least one arm is capable of slidingly translating along the first rail portion.

37. The medical system of claim 31, wherein the at least one arm attached to the first rail portion comprises two arms forming a virtual rail to guide an endoscopic device.

38. The medical system of claim 31, wherein the first rail portion is capable of vertical translation.

39. The medical system of claim 31, further comprising a second rail portion extending along a length of the bed and at least one arm attached to the second rail portion, wherein the at least one arm attached to the first rail portion and the at least one arm attached to the second rail portion extend upwardly along opposing sides of the bed.

40. The medical system of claim 31, further comprising a second rail portion extending along a length of the bed, wherein at least two arms are coupled to the first rail portion and at least two arms are coupled to the second rail portion.

41. A medical system comprising:

a base;

a stand coupled to the base;

a bed supported by the stand;

a first rail portion extending along a length of the bed;

a second rail portion extending along a length of the bed;

at least one arm attached to the first rail portion; and

at least one arm attached to the second rail portion,

wherein the at least one arm attached to the first rail portion and the at least one arm attached to the second rail portion are configured to be stowed beneath the bed supported by the stand and raised to

perform a medical procedures.

42. The medical system of claim 41, wherein the at least one arm attached to the first rail portion and the at least one arm attached to the second rail portion are each capable of robotic control.

43. The medical system of claim 42, wherein the at least one arm attached to the first rail portion and the at least one arm attached to the second rail portion are capable of both manual and robotic control.

44. The medical system of claim 41, wherein the first rail portion and the second rail portion are capable of vertical translation.

45. The medical system of claim 41, wherein the at least one arm attached to the first portion comprises a pair of arms that form a virtual rail to guide an endoscopic device into an anatomical lumen.

46. The medical system of claim 45, wherein the endoscopic device is a tool used for ureteroscopy, hysteroscopy or colonoscopy.

47. The medical system of claim 41, wherein the bed comprises a hinge such that a lower portion of the bed can be declined at a different angle from remaining portions of the bed.

48. The medical system of claim 41, wherein the at least one arm attached to the first rail portion is coupled to a carriage that that translates along the first rail portion.

49. The medical system of claim 41, wherein the at least one arm attached to the first rail portion and the at least one arm attached to the second rail portion are capable of extending upwardly along opposing sides of the bed.

50. The medical system of claim 41, wherein the at least one arm attached to the first rail portion comprises at least two arms, wherein the at least one arm attached to the second rail portion comprises at least two arms such that there are at least four arms extending from the bed, wherein the at least four arms are capable of manual and robotic control.