Surgical arm
First Claim
1. A surgical robot comprising:
- a surgical instrument; and
an articulated arm having a base, a terminal portion, and a main arm portion extending between the base and the terminal portion;
wherein the main arm portion comprises;
a first shaft section comprising a first shaft joint permitting rotation relative to the base about a first shaft axis parallel to the first shaft section;
a second shaft section coupled to the first shaft section by a second shaft joint permitting relative rotation of the first shaft section and second shaft section about a second shaft axis perpendicular to the first shaft axis, the second shaft section comprising a third shaft joint permitting rotation about a third shaft axis parallel to the second shaft section; and
a third shaft section coupled to the second shaft section by a fourth shaft joint permitting relative rotation of the second shaft section and third shaft section about a fourth shaft axis perpendicular to the third shaft axis;
wherein the terminal portion comprises;
a distal segment attached to the surgical instrument;
an intermediate segment;
a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis;
a second articulation between the intermediate segment and the third shaft section, the second articulation permitting relative rotation of the intermediate segment and the third shaft section about a second axis; and
a third articulation included in the intermediate segment, the third articulation permitting relative rotation of the distal segment and the third shaft section about third and fourth axes, wherein the third and fourth axes intersect each other;
wherein the first, second, and third articulations are arranged such that in at least one configuration of the third articulation;
the first and second axes are parallel, the third and fourth axes are transverse to each other, and the third and fourth axes are transverse to the first axis; and
wherein the surgical instrument comprises an instrument shaft extending in a direction substantially along the first axis for each configuration of the third articulation.
2 Assignments
0 Petitions
Accused Products
Abstract
A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
196 Citations
14 Claims
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1. A surgical robot comprising:
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a surgical instrument; and an articulated arm having a base, a terminal portion, and a main arm portion extending between the base and the terminal portion; wherein the main arm portion comprises; a first shaft section comprising a first shaft joint permitting rotation relative to the base about a first shaft axis parallel to the first shaft section; a second shaft section coupled to the first shaft section by a second shaft joint permitting relative rotation of the first shaft section and second shaft section about a second shaft axis perpendicular to the first shaft axis, the second shaft section comprising a third shaft joint permitting rotation about a third shaft axis parallel to the second shaft section; and a third shaft section coupled to the second shaft section by a fourth shaft joint permitting relative rotation of the second shaft section and third shaft section about a fourth shaft axis perpendicular to the third shaft axis; wherein the terminal portion comprises; a distal segment attached to the surgical instrument; an intermediate segment; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; a second articulation between the intermediate segment and the third shaft section, the second articulation permitting relative rotation of the intermediate segment and the third shaft section about a second axis; and a third articulation included in the intermediate segment, the third articulation permitting relative rotation of the distal segment and the third shaft section about third and fourth axes, wherein the third and fourth axes intersect each other; wherein the first, second, and third articulations are arranged such that in at least one configuration of the third articulation;
the first and second axes are parallel, the third and fourth axes are transverse to each other, and the third and fourth axes are transverse to the first axis; andwherein the surgical instrument comprises an instrument shaft extending in a direction substantially along the first axis for each configuration of the third articulation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification