SURGICAL ROBOTICS SYSTEMS WITH IMPROVED ROBOTIC ARMS
First Claim
1. A system, comprising:
- a table;
a table support below the table;
an arm support coupled to at least one of the table or table support;
a first robotic arm coupled to the arm support, wherein the first robotic arm comprises a proximal portion and a distal portion and at least four powered joints between the proximal portion and the distal portion, wherein each of the joints is capable of being actuated independently of the other joints, wherein the first robotic arm comprises an instrument drive mechanism configured to drive a surgical instrument;
an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis; and
a second robotic arm coupled to the arm support.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports and/or robotic arms can be configured to be deployed from low mount positions, for example, from positions below the surface of the table. The robotic arms can include a plurality of joints providing a plurality of degrees of freedom. The joints may be grouped into a proximal shoulder, an elbow, and a distal wrist. The robotic arms can include one or more redundant degrees of freedom. An insertion mechanism, associated with the robotic arm and configured for providing insertion of an instrument along an assertion axis, can be provided at a distal end of the robotic arms.
116 Citations
20 Claims
-
1. A system, comprising:
-
a table; a table support below the table; an arm support coupled to at least one of the table or table support; a first robotic arm coupled to the arm support, wherein the first robotic arm comprises a proximal portion and a distal portion and at least four powered joints between the proximal portion and the distal portion, wherein each of the joints is capable of being actuated independently of the other joints, wherein the first robotic arm comprises an instrument drive mechanism configured to drive a surgical instrument; an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis; and a second robotic arm coupled to the arm support. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A system, comprising:
-
a table; a table support below the table; an arm support coupled to at least one of the table or table support; a first robotic arm coupled to the arm support, wherein the first robotic arm comprises a proximal link and a distal link and at least three joints coupled to a distal end of the distal link, wherein each of the joints is capable of being actuated independently of the other joints, wherein the first robotic arm comprises an instrument drive mechanism configured to drive a surgical instrument; and an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
-
-
16. A system comprising:
-
a table; a table support for supporting the table; an arm support coupled to at least one of the table or the table support; a first robotic arm coupled to the arm support, the first robotic arm capable of being stowed below the table and elevated, wherein the first robotic arm comprises; a proximal portion and a distal portion, wherein the proximal portion comprises a base coupled to the arm support and the distal portion comprises an instrument drive mechanism comprising a plurality of motors, wherein the instrument drive mechanism is configured to drive a surgical instrument attached thereto; and a plurality of powered joints between the proximal portion and the distal portion thereby accommodating movement of the instrument in multiple degrees of freedom, wherein each of the joints is capable of being actuated independently of the other joints; an insertion mechanism associated with the first robotic arm to provide insertion of the instrument along an insertion axis; and a second robotic arm coupled to the arm support, the second robotic arm capable of being stowed below the table and elevated. - View Dependent Claims (17, 18, 19, 20)
-
Specification