Surgical robotics system

• US 9,622,827 B2
• Filed: 05/13/2016
• Issued: 04/18/2017
• 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.
• Primary Examiner(s): NGUYEN, TUAN VAN
• Application Number:
  US15/154,762
• Publication Number:
  US 20160331477A1
• Time in Patent Office: 340 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 surgical robotics system comprising:

a base for supporting the system on a floor;

a column coupled to the base, the column having a center vertical axis oriented approximately perpendicular to the floor;

a table coupled to the column and configured to support a patient undergoing a surgical procedure;

one or more column rings coupled to the column, each column ring configured to vertically translate independently from each other ring along the center vertical axis, and configured to rotate independently from each other ring about the center vertical axis; and

a plurality of robotic arms, each robotic arm coupled to one of the column rings, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm segment, and wherein one or more of the robotic arms of the plurality of robotic arms are configured to manipulate a surgical instrument to perform the surgical procedure.

2. The system of claim 1, wherein each column ring comprises:

an arm mount pivot having a center horizontal axis oriented approximately parallel to the floor;

an arm mount base coupled to the arm mount pivot, the arm mount base configured to rotate relative to the arm mount pivot about the central horizontal axis; and

one or more arm mounts coupled to the arm mount base, each arm mount configured to rotate relative to the arm mount base about an axis orthogonal to the central horizontal axis, at least one arm mount coupled to one of the robotic arms.

3. The system of claim 2, wherein each arm mount is configured to extend in length along a longitudinal axis.

4. The system of claim 2, wherein the arm mount base is rotated such that the axis orthogonal to the central horizontal axis is parallel to the table.

5. The system of claim 1, wherein the one or more robotic arms are configurable in a first configuration to access a groin area of the patient, a second configuration to access an abdomen area of the patient, and a third configuration to access a head area of the patient.

6. The system of claim 1, wherein the plurality of arm segments includes at least seven arm segments, each of the arm segments configured to rotate relative to an adjacent arm segment.

7. The system of claim 1, wherein the one or more column rings includes at least two column rings and the plurality of robotic arms includes at least four robotic arms.

8. The system of claim 1, wherein the one or more column rings includes at least three column rings each coupled to at least one robotic arm of the plurality of robotic arms.

9. The system of claim 1, wherein the table comprises a first pivot and a second pivot, and wherein the table is configured to rotate about an axis of pitch using the first pivot and to rotate about an axis of row using the second pivot.

10. The system of claim 1, further comprising:

a first set of actuators for moving the plurality of robotic arms;

a second set of actuators for moving the one or more column rings; and

a control system configured to provide control signals to the first set of actuators and to the second set of actuators, the control signals causing the robotic arms and the column rings to move simultaneously.

11. The system of claim 1, wherein the surgical procedure is a robotically-assisted endoscopy, bronchoscopy, or ureteroscopy.

12. The system of claim 1, wherein the column comprises:

a first column segment coupled to the base; and

a second column segment coupled to the table and configured to vertically translate parallel to the center vertical axis relative to the first column segment.

13. The system of claim 1, wherein the base comprises:

one or more base rails movably coupled to the base, each base rail including one or more arm mounts configured to translate, independently from each other arm mount, along a longitudinal axis of the base rail parallel to the floor;

and wherein the plurality of robotic arms includes at least one robotic arm coupled to one of the arm mounts of one of the base rails.

14. The system of claim 13, wherein the one or more base rails includes at least a first base rail and a second base rail parallel to each other and each including at least one arm mount coupled to one of the robotic arms, the first base rail on a first side of a longitudinal axis of the base, the second base rail on a second side of the longitudinal axis.

15. The system of claim 13, wherein the one of the base rails includes at least two arm mounts each coupled to one of the robotic arms.

16. The system of claim 13, wherein one of the base rails is configured to translate along a longitudinal axis parallel to the floor, and wherein a robotic arm coupled to an arm mount of the base rail is positioned outside a footprint of the base.

17. A surgical robotics system comprising:

a base for supporting the system on a floor;

a column coupled to the base, the column having a center vertical axis oriented approximately perpendicular to the floor;

a plurality of column rings coupled to the column, each column ring configured to vertically translate independently from each other ring along the center vertical axis, and configured to rotate independently from each other ring about the center vertical axis; and

a plurality of robotic arms, each robotic arm coupled to one of the column rings, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm segment, and wherein one or more of the robotic arms of the plurality of robotic arms are configured to manipulate a surgical instrument to perform a surgical procedure.

18. A surgical robotics system comprising:

a base for supporting the system on a floor, comprising;

one or more base rails movably coupled to the base, each base rail including one or more arm mounts configured to translate, independently from each other arm mount, along a longitudinal axis of the base rail parallel to the floor;

a column coupled to the base, the column having a center vertical axis oriented approximately perpendicular to the floor;

a plurality of column rings coupled to the column, each column ring configured to vertically translate independently from each other ring along the center vertical axis, and configured to rotate independently from each other ring about the center vertical axis; and

a plurality of robotic arms, each robotic arm coupled to one of the column rings or coupled to one of the arm mounts of one of the base rails, each robotic arm comprising a plurality of arm segments, each arm segment configured to move independently from each other arm segment, and wherein one or more of the robotic arms of the plurality of robotic arms are configured to manipulate a surgical instrument to perform a surgical procedure.