Endoscopic robotic surgical tools and methods
First Claim
1. A robotic surgical system comprising:
- a surgical device including a robotic arm and a drive device coupled to the robotic arm, the robotic arm having a surgical tool at an end of the robotic arm; and
a control system at a remote location from the surgical device, the control system including a control circuit and an encoder device, the control circuit linked to the drive device, the encoder device capable of being moved by a surgeon, the control circuit capable of receiving an input corresponding to movement of the encoder device by the surgeon,wherein the drive device is capable of receiving output from the control circuit that operates the drive device to cause robotic arm movement corresponding to movement of a surgeon.
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Abstract
The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.
270 Citations
38 Claims
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1. A robotic surgical system comprising:
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a surgical device including a robotic arm and a drive device coupled to the robotic arm, the robotic arm having a surgical tool at an end of the robotic arm; and a control system at a remote location from the surgical device, the control system including a control circuit and an encoder device, the control circuit linked to the drive device, the encoder device capable of being moved by a surgeon, the control circuit capable of receiving an input corresponding to movement of the encoder device by the surgeon, wherein the drive device is capable of receiving output from the control circuit that operates the drive device to cause robotic arm movement corresponding to movement of a surgeon. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A robotic surgical system comprising:
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an encoder device for movement by a surgeon; a controller coupled to the encoder device to receive an input corresponding to movement of the encoder device; and a robotic arm having a surgical tool at an end of the robotic arm, wherein the robotic arm is coupled to the controller and the controller translates the input to mechanical motion of the robotic arm so that the robotic arm follows movement of the encoder device. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. A robotic surgical system comprising:
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an encoder device; a controller coupled to the encoder device; and a robotic arm having a surgical tool at an end of the robotic arm, the robotic arm being coupled to the controller, wherein the encoder device is capable of simulating the operation of the robotic arm through movement of the encoder device by a surgeon, the controller is capable of receiving an input corresponding to movement of the encoder device and translating the input to mechanical motion of the robotic arm so that the robotic arm follows movement of the encoder device.
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Specification