WO2014011238A2 - Single site robotic device and related systems and methods - Google Patents

Single site robotic device and related systems and methods Download PDF

Info

Publication number
WO2014011238A2
WO2014011238A2 PCT/US2013/032397 US2013032397W WO2014011238A2 WO 2014011238 A2 WO2014011238 A2 WO 2014011238A2 US 2013032397 W US2013032397 W US 2013032397W WO 2014011238 A2 WO2014011238 A2 WO 2014011238A2
Authority
WO
WIPO (PCT)
Prior art keywords
component
robotic
shoulder
arm
robotic device
Prior art date
Application number
PCT/US2013/032397
Other languages
French (fr)
Other versions
WO2014011238A3 (en
Inventor
Jack MONDRY
Shane Farritor
Eric MARKVICKA
Thomas Frederick
Joseph BARTELS
Original Assignee
Board Of Regents Of The University Of Nebraska
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Board Of Regents Of The University Of Nebraska filed Critical Board Of Regents Of The University Of Nebraska
Priority to EP13816521.2A priority Critical patent/EP2844181B1/en
Priority to EP21156999.1A priority patent/EP3845190B1/en
Priority to JP2015510277A priority patent/JP2015531608A/en
Priority to CA2871149A priority patent/CA2871149C/en
Publication of WO2014011238A2 publication Critical patent/WO2014011238A2/en
Publication of WO2014011238A3 publication Critical patent/WO2014011238A3/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361Image-producing devices, e.g. surgical cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2901Details of shaft
    • A61B2017/2906Multiple forceps
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2048Tracking techniques using an accelerometer or inertia sensor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046Tracking techniques
    • A61B2034/2051Electromagnetic tracking systems
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/302Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities

Definitions

  • the embodiments disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components. Certain embodiments include various robotic medical devices, including robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Further embodiment relate to methods of operating the above devices.
  • Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.
  • FIG. 1 is a top perspective view of a robotic surgical system according to one embodiment.
  • FIG. 2 is the same perspective view of the device of FIG. 1.
  • FIG. 3 is the same perspective view of the device of FIG. 1.
  • FIG. 4A is a schematic of a robotic medical device body from the top, according to one embodiment.
  • FIG. 4B is a schematic of a robotic medical device body from the side, according to the embodiment of FIG. 4A.
  • FIG. 4C is a perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 4D is an exploded perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 4E is an exploded perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 4E is a front view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 4G is a top view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 4H is a side view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
  • FIG. 5A is a top perspective separated schematic of the body of a robotic device and related equipment, according to one embodiment.
  • FIG. 5B is a top perspective separated schematic of the body of a robotic device and related equipment, according to the embodiment of FIG. 5 A.
  • FIG. 6A is a top perspective separated schematic of the internal components of body of a robotic device and related equipment, according to one embodiment.
  • FIG. 6B is a top perspective separated schematic of the internal components of a robotic device and related equipment, according to the embodiment of FIG. 6A.
  • FIG. 6C is an endlong schematic of the internal components of a robotic device and related equipment, according to the embodiment of FIG. 6A.
  • FIG. 7A is a top perspective separated schematic of the internal components and body of a robotic device and related equipment, according to one embodiment.
  • FIG. 7B is a top perspective schematic of a section of the body of a robotic device and related equipment, according to the embodiment of FIG. 7A.
  • FIG. 8A is a top perspective separated schematic of the internal components and body of a robotic device and related equipment, according to one embodiment.
  • FIG. 8B is a sectional view of the body of a robotic device and related equipment, according to the embodiment of FIG. 8 A.
  • FIG. 9A is another exploded perspective view of internal components of a robotic device, according to one embodiment.
  • FIG. 9B is a sectional view of the body of a robotic device and related equipment, according to the embodiment of FIG. 9 A.
  • FIG. 9C is a close exploded view of bevel gear and spur shaft of a robotic device and related equipment, according to the embodiment of FIG. 9A.
  • FIG. 10A is an perspective exploded view of the body segments of a robotic device and related equipment, according to another embodiment.
  • FIG. 10B is an perspective exploded view of the body segments of a robotic device and related equipment, according to the embodiment of FIG. 10A.
  • FIG. 11A is an perspective exploded view of a body segment of a robotic device and related equipment, according to another embodiment.
  • FIG. 11B is an endlong sectional view of a body segment of a robotic device and related equipment, according to the embodiment of FIG. 11 A.
  • FIG. 12A is an perspective exploded view of the body segments of a robotic device and related equipment, according to another embodiment.
  • FIG. 12B is an opposite perspective exploded view of the body segments of a robotic device and related equipment, according to the embodiment of FIG. 12A.
  • FIG. 13A is an perspective exploded view of the shoulder joint of a robotic device and related equipment, according to another embodiment.
  • FIG. 13B is a side view of the shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
  • FIG. 13C is a cross sectional view of a shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
  • FIG. 13D is a cross sectional view of a shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
  • FIG. 14A is a bottom view of the shoulder joint of a robotic device and related equipment, according to another embodiment.
  • FIG. 14B is a perspective view of the shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 14A.
  • FIG. 14C is a bottom view of the shoulder joints of a robotic device and related equipment, according to the embodiment of FIG. 14A.
  • FIG. 15 A is a perspective view of the upper arm of a robotic device and related equipment, according to another embodiment.
  • FIG. 15B is a side view of the upper arm of a robotic device and related equipment, according to the embodiment of FIG. 15 A.
  • FIG. 16A is an exploded perspective view of the motor and drive train of a robotic device and related equipment, according to another embodiment.
  • FIG. 16B is a side view of the motor and drive train of a robotic device and related equipment, according to the embodiment of FIG. 16A.
  • FIG. 17A is an exploded side view of the housing segments of a robotic device and related equipment, according to another embodiment.
  • FIG. 17B is an exploded perspective view of the housing segments of a robotic device and related equipment, according to the embodiment of FIG. 17 A.
  • FIG. 18A is an exploded side view of the housing and spur shaft of a robotic device and related equipment, according to another embodiment.
  • FIG. 18B is a side cross-sectional view of the housing and spur shaft of a robotic device and related equipment, according to the embodiment of FIG. 18 A.
  • FIG. 19A is an exploded side perspective view of the shaft housing and housing of a robotic device and related equipment, according to another embodiment.
  • FIG. 19B is an opposite exploded side perspective view of the shaft housing and housing a robotic device and related equipment, according to the embodiment of FIG. 19 A.
  • FIG. 19C is a cross-sectional view of the shaft housing and housing a robotic device and related equipment, according to the embodiment of FIG. 19 A.
  • FIG. 20A is a side view of the shaft of a robotic device and related equipment, according to another embodiment.
  • FIG. 20B is a perspective view of the shaft of a robotic device and related equipment, according to the embodiment of FIG. 20A.
  • FIG. 20C is another perspective view of the shaft of a robotic device and related equipment, according to the embodiment of FIG. 20A.
  • FIG. 21A is a perspective view of the forearm of a robotic device and related equipment, according to another embodiment.
  • FIG. 21B is a side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21C is another side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21D is an end view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21E is a cross sectional side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21F is a side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21G is an exploded perspective view of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 21H is a side view of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
  • FIG. 22A is an exploded close-up view of the proximal end of the forearm and internal components of a robotic device and related equipment, according to another embodiment.
  • FIG. 22B is a cutaway close-up view of the proximal end of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 22A.
  • FIG. 23A is a cutaway close-up view of the grasper end of the forearm and internal components of a robotic device and related equipment, according to another embodiment.
  • FIG. 23B is an exploded close-up view of the grasper end of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 23 A.
  • FIG. 24 is a perspective close-up view of the grasper of a robotic device and related equipment, according to another yet implementation.
  • FIG. 25A is a see-through side view of the forearm having a camera and internal components of a robotic device and related equipment, according to another embodiment.
  • FIG. 25B is an exploded and see-through view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
  • FIG. 25C is a close up perspective view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
  • FIG. 25D is another close up perspective view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
  • FIG. 25E is a perspective view of the forearm having a camera detailing the camera's field of vision for a robotic device and related equipment, according to the embodiment of FIG. 25 A.
  • FIG. 26A is a side view of the forearm and body of a robotic device and related equipment in one position, according to another embodiment.
  • FIG. 26B is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
  • FIG. 26C is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
  • FIG. 26D is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
  • FIG. 26E is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
  • FIG. 26F is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
  • FIG. 27A is a side view of the forearm and body of a robotic device and related equipment in one position inside the body, according to another embodiment.
  • FIG. 27B is a side view of the forearm and body of a robotic device and related equipment in one position inside the body according to the embodiment of FIG. 27A.
  • FIG. 27C is a perspective view of the forearm and body of a robotic device and related equipment in one position inside the body, according to the embodiment of FIG. 27 A.
  • FIG. 28 is front view of a robotic device and related equipment in one position inside the body, according to one embodiment.
  • FIG. 29 is a perspective view of an accelerometer according to one embodiment.
  • the various embodiments disclosed or contemplated herein relate to surgical robotic devices, systems, and methods. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods and systems. Certain implementations relate to such devices for use in laparo- endoscopic single-site (LESS) surgical procedures.
  • LESS laparo- endoscopic single-site
  • Patents 7,492,116 (filed on October 31, 2007 and entitled “Robot for Surgical Applications"), 7,772,796 (filed on April 3, 2007 and entitled “Robot for Surgical Applications”), and 8,179,073 (issued May 15, 2011, and entitled “Robotic Devices with Agent Delivery Components and Related Methods”), all of which are hereby incorporated herein by reference in their entireties.
  • Certain device and system implementations disclosed in the applications listed above can be positioned within a body cavity of a patient in combination with a support component similar to those disclosed herein.
  • an "in vivo device” as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is coupled to a support component such as a rod or other such component that is disposed through an opening or orifice of the body cavity, also including any device positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure.
  • the terms "robot,” and “robotic device” shall refer to any device that can perform a task either automatically or in response to a command.
  • Certain embodiments provide for insertion of the present invention into the cavity while maintaining sufficient insufflation of the cavity. Further embodiments minimize the physical contact of the surgeon or surgical users with the present invention during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the present invention. For example, some embodiments provide visualization of the present invention as it is being inserted into the patient's cavity to ensure that no damaging contact occurs between the system/device and the patient. In addition, certain embodiments allow for minimization of the incision size/length. Further implementations reduce the complexity of the access/insertion procedure and/or the steps required for the procedure. Other embodiments relate to devices that have minimal profiles, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use.
  • both “combination device” and “modular device” shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations.
  • the modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as “segments") that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components.
  • these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.
  • FIGS. 1, 2, and 3 An exemplary embodiment of a robotic device is depicted in FIGS. 1, 2, and 3.
  • the device has a main body, 100, a right arm A , and a left arm B.
  • each of the left B and right A arms is comprised of 2 segments: an upper arm (or first link) 300A, 300B and a forearm (or second link) 200A, 200B, thereby resulting in each arm A, B having a shoulder joint (or first joint) 300.1A, 300. IB and an elbow joint (or second joint) 200.1A, 200. IB.
  • each of the left arm B and right arm A is capable of four degrees of freedom.
  • the left shoulder joint 300.1B and right shoulder joint 300.1A have intersecting axes of rotation: shoulder yaw ( ⁇ 1) and shoulder pitch ( ⁇ 2).
  • the elbow joints 200.1A, 200. IB contribute a degree of freedom - elbow yaw ( ⁇ 3) - and the end effectors do as well: end effector roll ( ⁇ 4).
  • FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H depict the device body 100 according to an exemplary embodiment. More specifically, FIG. 4A depicts a front view of the body 100, while FIG. 4B depicts a side view. In addition, FIGS. 4C, 4D, 4E, 4F, 4G, and 4H depict various perspectives of the device body 100 in which various internal components of the body 100 are visible.
  • the body 100 contains four motors which control shoulder yaw ( ⁇ 1) and shoulder pitch ( ⁇ 2) for the right and left arms A, B. More specifically, as best shown in FIGS. 4C, 4G, and 13D, the proximal right motor 109A and distal right motor 122A control shoulder yaw ( ⁇ 1) and shoulder pitch ( ⁇ 2) for the right shoulder 300.1 A, while the proximal left motor 109B and distal left motor 122B control shoulder yaw ( ⁇ 1) and shoulder pitch ( ⁇ 2) for the left shoulder 300. IB. This discussion will focus on the right shoulder 300.1 A and arm A, but it is understood that a similar set of components are coupled in a similar fashion to control the yaw and pitch of the left shoulder 300. IB and left arm B.
  • the proximal right motor 109 A is operably coupled to the right shoulder subassembly 127 A of the right shoulder 300.1 A via gear 108 A, which is operably coupled to gear 115.1 A on the end of the right spur shaft 115 A, and the right bevel gear first right bevel gear at the opposite end of the right spur shaft 115 A is operably coupled to the bevel gear 130 A of the right shoulder subassembly 127 A.
  • distal right motor 122A is operably coupled to the right shoulder subassembly 127A via a right distal spur gear 121 A, which is operably coupled to a gear 119A, which is operably coupled to bevel gear second right bevel gear 117A, which is operably coupled to the bevel gear 130A of the right shoulder subassembly 127A.
  • the proximal right motor 109A and distal right motor 122A operate together to control both the shoulder yaw ( ⁇ 1) and shoulder pitch ( ⁇ 2) for the right shoulder 300.1A by rotating the first right bevel gear and second right bevel gear at predetermined directions and speeds as will be described in further detail below.
  • the four motors 109 A, 109B, 122 A, 122B, along with the motors in the arms as described elsewhere herein, are brushed direct current (DC) motors with integrated magnetic encoders and planetary gearheads.
  • DC direct current
  • the motors used in the device can vary in size depending on the particular device embodiment and the location and/or use of the motor, with the size ranging in diameter from about 6 mm to about 10 mm.
  • any known motors or other devices for converting electrical energy into rotational motion can be used.
  • the body 100 has a plurality of segments that result in separate housings or subassemblies that are coupled together.
  • these segments 101, 102, 103, 104, 105, and 106 create housings that provide protection for internal electronics and support for internal components, including motors and drivetrain components.
  • first segment 101 is configured to be coupled with second segment 102 such that second segment 102 is positioned at least partially within segment first 101, thereby creating first housing 100.1 as shown in FIGS. 4A, 4B, and 5A.
  • Third segment 103, fourth segment 104, and fifth segment 105 are also coupled together to create second housing 100.2 as shown in FIGS. 4A, 4B, and 5A. Finally, first housing 100.1 and second housing 100.2 are coupled together as best shown in FIG. 5A. The segments, housings, and their assembly into the body 100 are discussed in further detail below.
  • the distal end (or bottom) of the body 100 can also have a camera 99.
  • the camera 99 is a single fixed camera 99 positioned in direct line of sight of the surgical workspace.
  • the body 100 could have multiple cameras operating together to provide stereoscopic (3D) vision.
  • any known camera or set of cameras for use in medical devices could be used.
  • the body 100 can also have a lighting system such as LEDs and/or fiber optic lights to illuminate the body cavity and/or the surgical workspace.
  • the plurality of segments 101, 102, 103, 104, 105, 106 are made of a combination of machined aluminum and rapid prototyped plastic.
  • a process using such materials is described in "Rapid Prototyping Primer” by William Palm, May 1998 (revised July 30, 2002) (http://www.me.psu.edu/lamancusa/rapidpro/primer/chapter2.htm), which is hereby incorporated herein by reference in its entirety.
  • many other known materials for medical devices can be used, including, but not limited to, stainless steel and/or injection molded plastics.
  • FIGS. 5A and 5B depict the first and second housings 100.1, 100.2.
  • FIG. 5A depicts the front of the first and second housings 100.1, 100.2, while FIG. 5B depicts the back.
  • the proximal right motor 109A and proximal left motor 109B are positioned in the first housing 100.1, while the distal right motor 122A and distal left motor 122B are positioned in the second housing 100.2.
  • the first and second housings 100.1, 100.2 are coupled together using a plurality of threaded members 107 A, 107B, 107C as shown.
  • any coupling mechanism can be used to retain the first 100.1 and second housings 100.2 together.
  • FIGS. 6A, 6B, and 6C depict the second segment 102 and the positioning of the right 109A and left proximal motors 109B within.
  • each of the proximal motors 109 A, 109B has a diameter of 10 mm and is made up of three components: the right planetary gearhead 109A.1 and left planetary gearhead 109B.1, the proximal right motor drive component 109 A.2, proximal left motor drive component 109B.2, and the right 109A.3 and left encoders 109B.3.
  • the right 109A.1 and left 109B.1 planetary gearheads reduce the speed of the proximal motor drive components, 109 A.2, 109B.2 and thus increases the output torque. It is further understood that the right 109A.3 and left 109B.3 encoders control the position of the right proximal motor output shaft 108.1 A and left proximal motor output shaft 108. IB using electric pulses which can be generated by magnetic, optic, or resistance means. Thus, the right and left encoders 109A.3, 109B.3 provide accurate positioning of the right proximal motor output shaft 108.1 A and left proximal motor output shaft 108. IB.
  • each of the proximal right 108A, and proximal left spur gears is proximal right 108A, and proximal left spur gears
  • proximal spur gear 108A, 108B is rotationally constrained with a "D" shaped geometric feature 108.1A, 108. IB and, in some embodiments, a bonding material such as JB-Weld.
  • the second segment 102 has a plurality of partial lumens, in this implementation a right partial lumen 102 A and left partial lumen 102B defined within the second segment 102 that have inner walls that do not extend a full 360 degrees.
  • the right and left partial lumens 102A, 102B are configured to receive the right and left proximal motors 109 A, 109B.
  • the right and left proximal motors 109 A, 109B can be positioned in the right and left partial lumens 102A, 102B as shown in FIGS. 6B, and 6C.
  • the second segment 102 is configured to allow for the diameter of the walls of the right and left partial lumens 102 A, 102B to be reduced after the right and left proximal motors 109 A, 109B have been positioned therein, thereby providing frictional resistance to rotationally and translationally secure the right and left proximal motors 109 A, 109B within the right and left partial lumens 102A, 102B, thereby creating first subassembly 100.1A. More specifically, the second segment 102 allows for a clamping force to be applied to the right and left proximal motors 109 A, 109B by the tightening of the thread members 110. It is understood that the right and left proximal motors 109 A, 109B can also be constrained or secured by any other known method or mechanism.
  • FIGS. 7A and 7B show the attachment or coupling of the first subassembly 100.1 A with the first segment 101, thereby resulting in the first housing 100.1.
  • First segment 101 has a first segment mating feature 101A defined within the first segment 101 that is configured to receive the first subassembly 100.1 A. More specifically, in the embodiment depicted in FIG. 7A, the first segment mating feature 101A is an opening defined in the first segment 101 that mates with the first subassembly 100.1A such that the first subassembly 100.1A fits within the opening and couples with the first segment 101.
  • the first subassembly 100.1A fits within the first segment mating feature 101A such that the first subassembly 100.1A and the first segment 101 are rotationally constrained with respect to each other. Further, a first threaded member 107D is used to translationally constrain the components.
  • the 101 is configured or shaped to receive an external clamp (such as, for example, a commercially available external clamp available from Automated Medical Products Corp. (http://www.ironintern.com/).
  • the clamp can be attached to the first segment top portion 101.1 to easily and securely attach the clamp to the body 100.
  • the first housing 100.1 can have additional features, according to one embodiment. More specifically, the first segment 101 can have a notch or opening 101.2 defined at a bottom back portion of the first segment 101 that provides an exit site for cabling/wiring 101.4 coupled to at least one of the right and left proximal motors 109 A, 109B disposed within the first housing 100.1. According to one embodiment, the opening 101.2 can provide strain relief for the cabling/ wiring 101.4 to maintain the integrity of the electrical/electronic connections.
  • the opening 101.2 can provide a clamping feature that clamps or otherwise secures all of the cabling/wiring 101.4 that extend through the opening, such that any external forces applied to the cabling/wiring 101.4 do not extend past the opening 101.2, thereby preventing undesirable forces or strain on the connections of any of those cables/wires 101.4 to any internal components inside the first housing 100.1.
  • the clamping feature results from the coupling of first 100.1 and second housings 100.2 as best shown in FIG. 5B.
  • the opening 101.2 can also be filled prior to use with silicon or some other means of sealing against liquid contaminants, body fluids, etc., which can also provide additional strain relief similar to the clamping feature described above.
  • 100.1 can also have a cavity 101.3 defined within the first housing 100.1 that allows sufficient clearance for the cabling/wiring 101.4 to extend from at least one of the right and left proximal motors 109 A, 109B and exit through opening 101.2.
  • FIGS. 9A, 9B, and 9C depict the fourth segment 104, which is a component of the second housing
  • the fourth segment 104 has right 115.1 A, and left fourth segment lumens 115. IB defined in the fourth segment 104 that are configured to receive the right proximal spur shaft 115A and left proximal spur shaft 115B, both of which are part of the drive trains that operably couple the right and left proximal motors 109 A, 109B to the right and left shoulder subassemblies 127 A, 127B that constitute the right 300.1 A and left 300. IB shoulders of the device.
  • the fourth segment 104 also has right and left holes 122.1 A, 122. IB defined in the fourth segment 104. These holes 122.1 A, 122.
  • the right proximal spur shaft 115A is configured to be disposed through the right lumen 115.1 A of the fourth segment 104. It has a first right driven gear 115.2A at one end and is coupled to a first right bevel gear 112A at the other.
  • first right driven gear 115.2A is coupled to a first right bevel gear 112A at the other.
  • a first right ball bearing 111A is positioned within an opening or recess in the first right bevel gear 112A and is contacted only on its outer race by the inner wall of the opening in the first right bevel gear 112A. In the finished assembly, this contact will provide appropriate preload to this bearing. It is understood by those of ordinary skill in the art that "bearing preload” is a term and concept that is well known in the art as a mechanism or method by which to improve manufacturing tolerances from the ball bearing by applying a constant axial stress.
  • a second right ball bearing 113.1A is positioned on or around the hub of the first right bevel gear 112A so that its inner race is the only contact with the hub of the first right bevel gear 112A.
  • a third ball bearing 113.2A is positioned on or around the right proximal spur shaft 115A in a similar manner and further is positioned in a right bore hole 113.3 A in the right lumen 115.1 A, as best shown in FIG. 9B.
  • first right bevel gear 112A is coupled to the spur shaft 115A via a threaded coupling (not shown). That is, the first right bevel gear 112A has a bevel gear lumen 112.1 A as best shown in FIG.
  • a thread locker is used to permanently affix the first right bevel gear 112A to the right proximal spur shaft 115 A.
  • the thread locker can be Loctite, which is commercially available from Henkel Corp. in Dusseldorf, Germany.
  • the second and third ball bearings 113.1 A, 113.2A contact the inner walls of the lumen 115.1 A on their outer races and contact the outer surfaces of the first right bevel gear 112A and the right proximal spur shaft 115Awith their inner races.
  • the act of coupling the internal threads in the bevel gear lumen 112.1 A with the external threads on the outer surface of the spur shaft 115 A preloads the second and third ball bearings 113.1A, 113.2A.
  • FIGS. 10A and 10B depict the fifth 105 and sixth 106 segments, both of which are also components of the second housing 100.2 discussed above and depicted in FIGS. 5 A and 5B. It should be noted that FIGS. 10A and 10B depict the back side of these segments, while the other figures discussed herein relating to the other segments generally depict the front side.
  • the sixth segment 106 is an end cap segment that couples to the fifth segment 105.
  • the fifth segment, 105 like the fourth 104, has right and left lumens 119.1 A, 119.
  • IB defined in the fifth segment 105 that are configured to receive the right 119.3A and left distal spur shafts 119.3B, both of which are part of the drive trains that operably couple the right 122A and left 122B distal motors to the right 127A and left 127B shoulder subassemblies that constitute the right 300.1 A and left 300. IB shoulders of the device.
  • the segment 105 also has right and left fifth segment lumens 122.4A, 122.4B configured to receive the right 122A and left 122B distal motors as best shown in FIGS. 12A and 12B and discussed below.
  • the first left distal spur shaft 119.3B is configured to be disposed through the left fifth segment lumen 119. IB. It has a left distal driven gear 119.2B at one end and is coupled to a left distal bevel gear 117B at the other.
  • a fourth ball bearing 116B is positioned within an opening or recess in the left distal bevel gear 117B and is contacted only on its outer race by the inner wall of the opening in the left distal bevel gear 117B.
  • the fifth ball bearing 118. IB is positioned over/on the bore of left distal bevel gear 117B and within the left fifth segment lumen 119. IB, while the fifth ball bearing 118.2B is positioned on/over spur the left distal gear shaft 119B and within the left fifth segment lumen 119. IB at the opposite end of the fifth segment lumen 119. IB from fifth ball bearing 118. IB.
  • the left distal bevel gear 117B is coupled to the first left distal spur shaft 119.3B via a threaded coupling (not shown). That is, the left distal bevel gear 117B has a left distal bevel gear lumen 117. IB as best shown in FIG. 10B that contains internal threads (not shown) while the first left distal spur shaft 119.3B has external threads (not shown) defined on an outer surface at the end of the first left distal spur shaft 119.3B that comes into contact with left distal bevel gear 117B.
  • a thread locker is used to permanently affix the left distal bevel gear 117B to the first left distal spur shaft 119.3B.
  • the thread locker can be Loctite, as described above.
  • the act of coupling the internal threads in the left distal bevel gear lumen 117. IB with the external threads on the outer surface of the first left distal spur shaft 119.3B preloads the fifth and sixth ball bearings 118. IB, 118.2B.
  • FIGS. 11A and 11B depict the fourth segment 104 and, more specifically, the positioning of the right distal motor 122A and left distal motor 122B in the fourth segment holes 122.1A, 122. IB.
  • the right distal motor 122 A and left distal motor 122B are 10 mm motors that are similar or identical to the right and left proximal motors 109 A, 109B discussed above. Alternatively, any known motors can be used.
  • Each of the right distal motor 122A and left distal motor 122B have a second right distal spur gear 121A and second left distal spur gear 121B, respectively.
  • each second distal spur gear 121A, 121B is coupled to the distal motor 122A, 122B with "D" geometry as described above and, in some embodiments, adhesive such as JB-Weld.
  • the right distal motor 122A and left distal motor 122B are positioned in the right and left fourth segment holes 122.1A, 122. IB.
  • the right distal motor 122A and left distal motor 122B are positioned correctly when the right and left distal motor ends 122.2A, 122.2B contact or are substantially adjacent to the right and left distal stop tabs 122.3A, 122.3B.
  • the threaded members 123 are inserted in the right and left threaded member holes 123.1A, 123. IB and tightened, thereby urging the fourth segment crossbar 123.2 downward and thereby constraining the right distal motor 122A and left distal motor 122B rotationally and translationally within the fourth segment holes 122.1A, 122. IB.
  • FIGS. 12A and 12B depict the fourth, fifth and sixth segments 104, 105, 106 of the second housing 100.2 and how they are coupled together to form the second housing 100.2.
  • the fourth, fifth and sixth segments 104, 105, 106 couple together into a second housing 100.2 that forms the right 300.1 A and left shoulders 300. IB of the device.
  • the right distal motor 122A and left distal motor 122B are positioned through the fifth segment lumens 122.4A, 122.4B such that the second distal spur gears 121A, 121B that are coupled to the right distal motor 122A and left distal motor 122B are positioned against the fifth segment 105 and between the fifth 105 and sixth segments 106.
  • the second distal spur gears 121A, 121B transmit the rotational motion from the right distal motor 122A and left distal motor 122B, respectively to the distal spur shafts 119.3A, 119.3B, which are positioned such that they are coupled to the second distal spur gears 121 A, 121B.
  • the first distal spur shafts 119.3A, 119.3B are coupled to the second right bevel gear, 117B so that the motion is also transferred through the second right bevel gear, 117B.
  • a fifth segment projection 105A on the back of the fifth segment 105 is positioned in and mates with a fourth segment notch 104 A in the back of the fourth segment 104, as best shown in FIG. 12B. Further threaded members are then threaded through holes in the fourth segment (not shown) and into the projection 105A, thereby further securing the fourth and fifth segments 104,105.
  • This mated coupling of the fifth segment projection 105A and fourth segment notch 104A can, in one implementation, secure the fourth and fifth segments 104, 105 to each other such that neither component is rotational in relation to the other, while the threaded members secure the segments translationally.
  • the third segment 103 can serve as a protective cover that can be coupled or mated with the front portion of the fourth segment 104 and retained with a threaded member 126.
  • the third segment 103 can help to protect the motors and electronics in the second housing 100.2.
  • a gearcap cover segment 106 can be coupled or mated with the bottom portion of the fourth segment 104 and retained with threaded members 120. The cover segment 106 can help to cover and protects the various gears 119A, 119B, 121 A, 121B contained within the fourth segment 104.
  • the coupling of the fourth 104 and fifth 105 segments also results in the positioning of the second right bevel gear 117A in relation to the first right bevel gear, 112B such that the second right bevel gear 117A and the first right bevel gear 112A are positioned to couple with the right shoulder subassembly 127 A to form the right shoulder 300.1 A and the corresponding left bevel gears 117B, 112B are positioned to couple with the subassembly left shoulder subassembly 127B to form the left shoulder 300. IB. This is depicted and explained in further detail in FIGS. 13A-14C.
  • FIGS. 13A-13D and 14A-14C depict the shoulder subassembly design, according to one embodiment.
  • the components in these figures are numbered and will be described without reference to whether they are components of the right shoulder (designated with an "A" at the end of the number) or the left shoulder (designated with a "B" at the end of the number). Instead, it is understood that these components are substantially similar on both sides of the device and will be described as such.
  • the right output shaft 128 A is positioned in the lumen 130A and also has two projections (a first 128A.1, and second 128A.2) that are configured to be positioned in the lumens of the first and second right bevel gears 112A, 117A.
  • a plurality of ball bearings 111, 116 are positioned over the projections 128A.1, 128A.2 such that the inner race of the bearings 111, 116 contact the projections 128A.1, 128A.2.
  • a further ball bearing 129A is positioned on/over the right output shaft 128A such that the ball bearing 129 is positioned within the lumen 130A of the right output bevel gear 130A.
  • a further ball bearing 131 is positioned in the opposing side of the right output bevel gear lumen 130A and on/over a threaded member 132.
  • the threaded member 132 is configured to be threaded into the end of the right output shaft 128 A after the shaft 128 A has been positioned through the lumen 130A of the right output bevel gear 130A, thereby helping to retain the right output bevel gear 130A in position over the right output shaft 128A and coupled with the first and second right bevels gears 112A, 117A.
  • the full right shoulder subassembly 127 A is fully secured such that the right output bevel gear 130A is securely coupled to the first and second right bevel gears 112A, 117 A.
  • 117A rotates the right output bevel gear 130, which can cause rotation of the right shoulder subassembly 127 A along at least one of two axes— axis Al or axis A2— depending on the specific rotation and speed of each of the first and second right bevel gears 112A, 117 A.
  • first and second right bevel gears 112A, 117 A are rotated in the same direction at the same speed, the first and second right bevel gears 112A, 117A are essentially operating as if first and second right bevel gears 112A, 117A are a fixed, single unit that cause rotation of the shoulder subassembly 127 A around axis Al .
  • first and second right bevel gears 112A, 117 A are rotated in opposite directions, the right output bevel gear 130A is rotated around axis A2. It is understood that the first and second right bevel gears 112A, 117A can also work together to achieve any combination of rotation along both axes Al, A2. That is, since the first and second right bevel gears 112A, 117A are driven independently by the distal and proximal motors 122A, 109 A, any combination of ⁇ 1 and ⁇ 2 are achievable around axes Al and A2.
  • FIGS. 15A and 15B depict a right upper arm (or first link) 300A that is coupled to the device body
  • the upper arm 300A is coupled to the output bevel gear 130A with two threaded screws 301A.1.
  • the upper arm 300A has a notch 301 A.1 defined in the proximal end of the arm 300A into which the output bevel gear 130A is positioned, thereby providing additional mating geometry that further secures the upper arm 300A and the output bevel gear 130A.
  • the upper arm 300A has an upper arm motor 317A that actuates the movement of the forearm 200A at the elbow joint 200.1A of the arm A. That is, the motor 317 is coupled to an upper arm spur gear 318A, which is coupled to an upper arm driven gear 302A.
  • the driven gear 302A is coupled to a first right upper arm bevel gear 306A, which is coupled to a second right upper arm bevel gear 313A.
  • the second right upper arm bevel gear 313A is coupled to an upper arm output upper arm shaft 312AA, which is coupled to the right forearm 200A.
  • FIGS. 16A and 16B depict the right upper arm motor 317 A and the drive train coupled to the motor 317A in the upper arm 300A.
  • the motor 317A is an 8mm motor that is positioned in the upper arm 300A.
  • the upper arm spur gear 318A is coupled to the upper arm motor output shaft 317A and rotationally secured via a "D" geometry 317.1A. According to one embodiment, the upper arm spur gear 318A is further secured with JB-Weld.
  • the upper arm 300A also has a housing 304A positioned in the arm 300A that is configured to house or support the drive train that is coupled to the upper arm motor 317A.
  • the housing 304 has a hole 304.3A defined by two arms 304.1A, 304.2A that is configured to receive the motor 317A.
  • a screw 319A can be positioned through holes in both arms 304.1 A, 304.2A and tightened, thereby urging the arms 304.1 A, 304.2A together and securing the upper arm motor 317A both rotationally and translationally within the hole 304.3 A.
  • an adhesive such as epoxy can be added help to further restrict unwanted movement of the upper arm motor 317A in relation to the upper arm housing 304A. This securing of the motor 317A in the upper arm housing 304A ensures proper coupling of upper arm spur gear 318A with the upper arm spur shaft gear 302A.
  • FIGS. 17A and 17B depict the first 320A and second 232A segments (or “shells") that couple together to create the housing around the upper arm motor 317A.
  • the first shell 320A is positioned above the upper arm motor 317A and the second shell 323 A is positioned beneath the motor 317A.
  • the two shells 320A, 323 A are coupled together with screws 322A that are positioned through the second shell 323A and into the first shell 320A.
  • the two shells 320A, 323A are also coupled to the upper arm housing 304A, with the first shell 320A being coupled to the upper arm housing 304A with screws 321A and the second shell 323A being coupled to the upper arm housing 304A with further screws 324A.
  • FIGS. 18A and 18B depict the right upper arm housing 304A and further depict the right upper arm spur shaft 302A.1 positioned in the housing 304A.
  • the right upper arm spur shaft 302A has a right upper arm spur gear 302A.2 at one end of the spur shaft 302A.1 as best shown in FIG. 18 A.
  • the spur shaft 302A.1 is positioned in an upper arm housing lumen 304A.1 defined in the housing 304A.
  • There are two ball bearings 303, 305 positioned on/over the spur shaft 302A.1 and further positioned at the openings of the upper arm housing lumen 304A.1.
  • a first upper arm bearing 303 is positioned on/over the spur shaft 302A.1 so that only its inner race is contacting the shaft 302A.1.
  • a second upper arm bearing 305 A is positioned on/over spur shaft 302A.1 in the same manner.
  • the first right upper arm bevel gear 306A is coupled to the upper arm spur shaft 302A.1 at the end opposite the spur shaft gear 302A.2.
  • the upper arm bevel gear 306A is secured to the spur shaft 302A.1 with "D" geometry 302A.3.
  • the first right upper arm bevel gear 306A can also be further secured using adhesive such as JB-Weld.
  • a screw 307A is positioned through the first right upper arm bevel gear 306A and into the spur shaft 302A.1 such that when the screw 307 A is fully threaded into the spur shaft 302A.1, the screw 307 A translationally secures first right upper arm bevel gear 306A and also preloads the first 303 and second 305 upper arm bearings.
  • FIGS. 19A, 19B, and 19C depict the upper arm shaft housing 311 A coupled to the upper arm housing 304.
  • the upper arm shaft housing 311 A is made up of an upper shaft housing arm 311A.1 and a lower shaft housing arm 311A.2, both of which are coupled to the upper arm housing 304A.
  • the upper shaft housing arm 311A.1 is coupled to the housing 304A via a first pair of screws 307A.1, while the lower shaft housing arm 311A.2 is coupled via a second pair of screws 308A.1.
  • each of the shaft housing arms 311A.1, 311A.2 has a hole 311A.1A, 311A.2A.
  • the upper arm shaft 312AA as best shown in FIGS. 20A-20C, has a vertical shaft component 312A.1 and an appendage 312A.2 coupled to the vertical shaft component 312A.1.
  • the upper arm shaft 312AA is oriented in the assembled shaft housing 311 A such that an upper portion of the vertical shaft component 312A.1 is positioned in the hole 311A.1A and a lower portion of the vertical shaft component 312A.1 is positioned in the hole 311A.2A.
  • a vertical shaft bevel gear 313A is positioned over the vertical shaft component 312A.1 and above the lower shaft housing arm 311 A.2 such that the vertical shaft bevel gear 313A is coupled to the first right upper arm bevel gear 306A when all components are properly positioned as best shown in FIG. 19C.
  • the vertical shaft bevel gear 313A is coupled to the vertical shaft component 312A.1 rotationally by a "D" geometry 312A.4 as best shown in FIG. 20B.
  • the vertical shaft bevel gear 313A can be further secured using JB-Weld.
  • the vertical shaft component 312A.1 also has two ball bearings: a first vertical shaft ball bearing 315A is positioned over the vertical shaft component 312A.1 and through hole 311A.2A so that it is in contact with the vertical shaft bevel gear 313 A, while the second vertical shaft ball bearing 31 OA is positioned in the hole 311A.1A.
  • a screw 316 is positioned through the first ball bearing 315A and hole 311A.2A and threaded into the bottom of the vertical shaft component 312A.1, thereby helping to secure the upper arm shaft 312AA in the assemble shaft housing 311 A and the first ball bearing 315A in the hole 311A.2A.
  • a second screw 309 A is threaded into the top of the vertical shaft component 312A to secure and preload the second ball bearing 310.
  • FIGS. 20A, 20B, and 20C depict upper arm shaft 312A, according to one embodiment.
  • the upper arm shaft 312A has an appendage 312A.2 that is configured to be coupled to the forearm 300A.
  • the upper arm shaft 312A is rotatable in relation to the upper arm 300A as a result of the plurality of vertical shaft ball bearings, 31 OA and 315 A, as best depicted and described above in relation to FIGS. 19A-C.
  • the upper arm shaft 312A is rotatable by the right upper arm motor 317AA in the upper arm 300A as described above via the drive train that couples the right upper arm motor 317A to the vertical shaft bevel gear 313A, which in turn is coupled to the upper arm shaft 312A.
  • the appendage 312A.2 can be rotated around vertical upper arm shaft 312AA with a rotational radius or angle of cp3 as shown in FIG. 20A. In one specific implementation, the angle is 50 degrees.
  • the appendage 312A.2 is configured to be coupleable to a forearm 300A via the configuration or geometry of the appendage 312A.2 and the hole 312A.5 formed underneath the appendage 312A.2.
  • any known forearm component can be coupled to either upper arm 300A,
  • the forearm coupled to the upper arm 300A, 300B is the exemplary right forearm 410, which could apply equally to a right 410A or left 410B forearm, depicted in FIGS. 21A-21D.
  • the forearm has a cylindrical body or housing 412 and an end effector 414.
  • the housing 412 is made up of two separate forearm housing components 412.1, 412.2 that are coupled together with three bolts (or threaded members) 472.
  • the three bolts 472 pass through housing component 412.1 and into threaded holes in the housing component 412.2.
  • the two forearm housing components 412.1, 412.2 can be coupled together by any known coupling mechanism or method.
  • the end effector 414 is a grasper, but it is understood that any known end effector can be coupled to and used with this forearm 410.
  • the depicted embodiment can also have a circular valley 474 defined in the distal end of the forearm housing 412. This valley 474 can be used to retain an elastic band or other similar attachment mechanism for use in attaching a protective plastic bag or other protective container intended to be positioned around the forearm 410 and/or the entire device arm and/or the entire device to maintain a cleaner robot.
  • the forearm 410 has two motors - a rotation motor 416 and an end effector motor 418.
  • the rotation motor 416 is coupled via a forearm rotation motor gear 420 and a forearm rotation motor attachment gear 422 to the forearm attachment component 424, which is configured to be coupleable to an elbow joint, such as either elbow joint 200.1A, 200.
  • the forearm rotation motor attachment gear 422 transmits the rotational drive of the motor from the forearm rotation motor gear 420 to the forearm rotation motor attachment component 424.
  • the attachment component 424 as best shown in FIGS.
  • the shaft 426 has a D-shaped configuration 436 that mates with the D configuration of the hole 438 defined in the gear 422, thereby rotationally coupling the shaft 426 and gear 422.
  • any configuration that can rotationally couple the two components can be incorporated.
  • the bearing 430 is positioned on the shaft 426 between the attachment component 424 and the attachment gear 422, while the bearing 432 is positioned between the attachment gear 422 and the motor 416.
  • the bearing 430 is a ball bearing.
  • these bearings or bushings can be any roller bearings or bushings that can be used to support and couple any rotatable component to a non-rotatable component or housing.
  • the bearings 430, 432, attachment gear 422, and attachment component 424 are secured to each other via a bolt or other type of threaded member 434 that is threaded into the threaded lumen 428 of the shaft 426.
  • the two housing components 212A, 212B have structures defined on their interior walls that are configured to mate with the various components contained within the housing 212, including the gears 420, 422 and bearings 430, 432.
  • the bearings 430, 432 are configured to be positioned within the appropriate mating features in the housing components 212A, 212B. These features secure the bearings 430, 432 in their intended positions in the housing 212 when the two housing components 212A, 212B are coupled.
  • the rotation motor 416 is secured in its position within the housing 412 through a combination of the coupling or mating of the motor 416 with the features defined on the interior walls of the housing components 212A, 212B and two bolts or other type of threaded members 440A, 440B (one bolt - 440A - is depicted) that are threaded through the holes 442A, 442B and into holes 444A, 444B defined in the motor 416.
  • the attachment component 424 is an attachment nut 424.
  • the specific geometry or configuration of the attachment component 424 can vary depending on the specific robotic device and the specific elbow joint configuration.
  • the actuation of the rotation motor 416 actuates rotation of the attachment component 424, which results in rotation of the forearm 410, thereby rotating the end effector 414.
  • the rotation of the end effector 414 is accomplished by rotating the entire forearm 410, rather than just the end effector 414.
  • the forearm 410 rotates around the same axis as the axis of the end effector 414, such that rotation of the forearm 410 results in the end effector 414 rotating around its axis.
  • the two axes can be offset.
  • any known end effector can be coupled to the forearm 410.
  • the end effector is a grasper 414 having a yoke 414.2 that is positioned around the proximal ends of the grasper components 414.1.
  • the grasper 414 has a configuration and method of operation substantially similar to the grasper disclosed in U.S. Application 13/493,725, filed on June 11, 2012, which is hereby incorporated herein by reference in its entirety.
  • any known grasper configuration can be used.
  • the end effector motor 418 is configured to actuate the grasper 414 arms to open and close via the motor gear 450, which is coupled to the coupling gear 452, which is coupled to center drive rod 454, which is coupled to the grasper components 414.1.
  • the grasper yoke 414.2 is substantially fixed to the housing 412 so that it does not move relative to the housing 412. More specifically, the grasper yoke 414.2 is fixedly coupled to the yoke gear 460, which is positioned in the housing 412 such that it is mated with the ridged notch 462 defined in the inner wall of the housing 412, as best shown in FIG. 23B.
  • the teeth of the yoke gear 460 mate with the ridges of the ridge notch 462 to thereby couple the gear 460 and the housing 412.
  • glue can be placed between the yoke gear 460 and the housing as well, to further enhance the fixation of the grasper yoke 414.2 to the housing 412.
  • the coupler gear 452 has a center hole (not shown) that is internally threaded (not shown) such that the proximal end of the center drive rod 454 is positioned in the center hole. Because the center drive rod 454 has external threads (not shown) that mate with the internal threads of the center hole defined in the coupler gear 452, the rotation of the coupler gear 452 causes the internal threads of the center hole to engage the external threads of the drive rod 454 such that the drive rod 454 is moved translationally. This translational movement of the drive rod 454 actuates the grasper arms to move between the closed and open positions.
  • the coupler gear 452 is supported by two bearings 464, 466, which are secured within the housing 412 by appropriate features defined in the inner walls of the housing 412. In addition, the end effector motor 418 is secured in a fashion similar to the motor 416.
  • the grasper or other end effector can be actuated by any known configuration of actuation and/or drive train components.
  • the 410 can have a gap 470 between the two motors 416, 418.
  • the gap 470 can be a wiring gap 470 configured to provide space for the necessary wires and/or cables and any other connection components needed or desired to be positioned in the forearm 410.
  • any end effector can be used with the robotic device embodiments disclosed and contemplated herein.
  • a grasper 500 that can be used with those embodiments is depicted in FIG. 24.
  • the grasper 500 has two jaws (also referred to as arms) 502.1, 502.2 that both pivot around a single pivot point 504.
  • the grasper 500 is a "combination" or “hybrid” grasper 500 having structures configured to perform at least two tasks, thereby reducing the need to use one tool for one task and then replace it with another tool for another task.
  • each jaw 502.1, 502.2 has two sizes of ridges or toothlike formations (“teeth”): larger teeth 506.1, 506.2 and smaller teeth 508.1, 508.2.
  • the teeth can be any known size for use in grasper jaws, so long as one set (the larger set) is larger than the other set (the smaller set).
  • the larger teeth 506.1, 506.2 are intended for gross manipulations (dealing with larger amounts of tissue or larger bodies in the patient) while the smaller teeth 508.1, 508.2 are intended for finer work (such as manipulating thin tissue).
  • fine work when fine work is to be performed, only the distal ends or tips of the jaws 502.1, 502.2 are used such that only the smaller teeth 508.1, 508.2 are used.
  • the portion of the jaws 502, 502.2 having the smaller teeth 508.1, 508.2 is narrower in comparison to the portion having the larger teeth 506.1, 506.2, thereby providing a thinner point that can provide more precise control of the grasper 500.
  • a robotic device can also have at least one forearm 550 with a camera 552 as shown in FIGS. 25A-25E.
  • one embodiment of the forearm 550 with a camera 552 has a lumen 560A defined through a camera housing 556 positioned at the distal end of the forearm 550.
  • the forearm 550 also has an end cap 554 that defines a portion of the lumen 560B as well, as best shown in FIG. 25C.
  • the lumens 560A, 560B are coupled to produce a single lumen 560.
  • the end cap 554 is coupled to the distal end of the forearm 550 by sliding the cap 554 over the end effector 562 (which, in this particular embodiment, is a cautery component 562) and secured to the distal end of the forearm 550 using at least one screw 558.
  • the camera 552 can be positioned within the lumen 560 as best shown in FIGS. 25 A and 25D.
  • the camera 552 provides a secondary viewpoint of the surgical site (in addition to the main camera on the robotic device (such as, for example, the camera 99 described above) and could potentially prevent trauma by showing a close-up view of the site.
  • the camera 552 is positioned such that the field of view contains the tip of the cautery (or any other end effector) 562 and as much of the surgical site as possible.
  • One embodiment of the field of view 564 provided by the camera 552 is depicted in FIG. 25E, in which the field of view cone is 60 degrees.
  • the field of view can be any known size for a camera that can be incorporated into a medical device.
  • multiple cameras could be incorporated into the distal end of the forearm 550.
  • multiple cameras could be configured to provide stereoscopic ("3D") visualization.
  • the distal end of the forearm 550 could also have lights such as, for example, LED or fiber optic lights for illumination. While this particular embodiment depicts the camera 552 being used on a cautery forearm 550, the camera 552 or any similar variation of the camera 552 as contemplated herein can be incorporated into any robotic end effector in which an alternate view would be beneficial.
  • the camera unit could be positioned in a location on a robotic device other than the forearm.
  • the one or more additional viewpoints provided by one or more additional cameras can be shown as a Picture In Picture (PIP) on the surgical user interface or on separate monitors.
  • PIP Picture In Picture
  • the various embodiments of the robotic device disclosed and contemplated herein can be positioned in or inserted into a cavity of a patient.
  • the insertion method is the method depicted in FIGS. 26A-26F.
  • the entire device 602 can be inserted into the cavity as a single device, in contrast to those prior art devices that must be inserted in some unassembled state and then assembled after insertion. That is, many known surgical robotic devices prior to the embodiments disclosed herein require a relatively extensive process for insertion into the abdominal cavity. For such prior art devices, each arm must be inserted individually, aligned with a central connecting rod that is also inserted, and then coupled to the connecting rod to secure the arms in place.
  • FIGS. 26A-26F depict the various positions of the device arms 604 during the insertion procedure, according to one embodiment.
  • FIG. 26A depicts the base or homing position required by the control kinematics. That is, as is understood by those of ordinary skill in the art, robotic devices typically have encoders that track the current position of the moving parts of the device (such as, for example, the arms 604 on this device), but the encoders track the relative position, not the actual position.
  • FIG. 26B depicts the arms 604 in a transition position in which the arms 604 are moving from the homing position toward the fully extended vertical position of FIG. 26C.
  • the shoulders are then re-positioned to the configuration shown in FIG. 26D (and in further detail in FIG. 27A in which the insertion tube 600 is depicted) in which the arms 604 are rotated to a position in which they are no longer positioned along the same vertical axis (XI) as the device body 602, but instead are positioned such that the axis (X2) of the arms 604 is parallel to and behind the device body 602.
  • the rotation of the arms 604 to the position of 26D (and 27 A) also results in the cross-sectional profile of the device 602 along its width being reduced by the size of the arms 604. That is, while the arms 604 in 26C are positioned alongside the device body 602 such that the width of the body 602 is enlarged by the width of the arms 604 on each side of the body 602, the rotation of the arms 604 to a position behind the body 602 also results in the arms 604 being positioned such that they are positioned within the width of the body 602 (that is, they do not extend beyond the width of the body 602). It is the configuration of the shoulders as described above that allows for this particular repositioning. The end result is a device configuration in 26D that has a smaller width than the configuration in 26C, thereby reducing the profile of the device along its width and allowing for insertion of the device without having to remove the arms.
  • the device can begin to be inserted into the cavity. Due to the length of the arms, the device cannot be fully inserted into the cavity in this vertical position, so once the forearms are positioned inside the cavity, they are rotated to the position shown in FIG. 26E (and in further detail in FIG. 27B). Once in this configuration, the rest of the robot is fully inserted and then the device is configured into a typical operating arrangement such as that shown in FIG. 26F (and in further detail in FIG. 27C).
  • FIGS. 27A-27C depict an insertion tube (also called an insertion tube).
  • overtube 600 in which the robotic device can be stored prior to use. Further, prior to insertion, the tube 600 will be sealed to the abdominal wall after an incision has been made in the wall. Once sealed, the abdomen can be insufflated and the blue overtube and abdomen will be at equal pressures. The robot can then be inserted following the previously outlined steps discussed above.
  • any of the robotic devices disclosed or contemplated above can also incorporate sensors to assist in determining the absolute position of the device components.
  • the robotic device 650 has a body 652, a right arm 654, and a left arm 656.
  • the right arm 654 has an upper arm 654A and a forearm 654B
  • the left arm 656 also has an upper arm 656A and a forearm 656B.
  • each of the upper arms and forearms are also referred to as "links.”
  • the right arm 654 has a shoulder joint 654C and an elbow joint 654D
  • the left arm 656 also has a shoulder joint 656C and an elbow joint 656D.
  • various position sensors 658, 660A, 660B, 662A, 662B are positioned on the device 650 as shown in FIG. 28. More specifically, a first position sensor 658 is positioned on the device body 652, while a second position sensor 660A is positioned on the right upper arm 654A, a third position sensor 660B is positioned on the right forearm 654B, a fourth position sensor 662A is positioned on the left upper arm 656A, and a fifth position sensor 662B is positioned on the left forearm 656B.
  • the sensors are 3-axis sensors, as described in FIG. 29.
  • the position sensor 658 positioned on the device body 652 senses the orientation of the device body 652 and then the orientation of each of the sensors 660A, 660B, 662A, 662B on the links 654A, 654B, 656A, 656B can be used to determine the current position of each link of each arm 654, 656 and the joint angles at joints 654C, 654D, 656C, 656D.
  • each of the other sensors 660A, 660B, 662A, 662B can be used in conjunction with the sensor 658 to determine the position and orientation of both arms relative to the reference point.
  • each 3-axis sensor measures the spatial effect of the at least one environmental characteristic being measured and also determine the orientation of that sensor in all three spatial dimensions.
  • Each sensor 660A, 660B, 662A, 662B on a link 654A, 654B, 656A, 656B measures the environmental characteristic at that position on the link.
  • the measured value and orientation of the sensor 660A, 660B, 662A, 662B on that link can then be used to determine the spatial orientation of each link 654A, 654B, 656A, 656B.
  • the kinematic configuration of both robotic arms 654, 656 can be used with the link orientations determined from the sensors to directly calculate the position of the arms 654, 656 from the known reference point: sensor 658. This known orientation can then be used to determine the position and orientation of both arms 654, 656 relative to the reference point 658.
  • each link can be mounted on the link in any known or measureable position and orientation.
  • each of the sensors can be mounted in an interior location inside the particular component that the sensor is intended to be coupled to.
  • each sensor can be positioned on an exterior portion of the appropriate component as long as it is firmly attached to the component.
  • FIG. 28 depicts a robotic device 650 with two joints and two links per arm
  • the position sensors can be applied to and used with a robotic device with any number of joints and links per arm in any configuration.
  • the 3-axis sensors 658, 660A, 660B, 662A, 662B are 3-axis accelerometers that measure the acceleration due to gravity. It is understood that a 3-axis accelerometer operates in the following fashion: the acceleration due to gravity is measured and depending on the orientation of the arm link (or other device component), magnitudes of acceleration in proportion to the orientation angles of the accelerometer are sensed on the different axes 702, 704, 706 of the 3-axis accelerometer as best shown in FIG. 29. Given the acceleration measurements on each axis of the accelerometer, the orientation of the link that the accelerometer is mounted on can be determined with respect to gravity.
  • accelerometer sensors can also measure the acceleration of the link(s) they are attached to on the robotic device. As such, in certain embodiments, given a starting position for the robotic device and its links, this acceleration data can be integrated over time to provide a position for the links of the robot. The positions determined from this integration can be more accurate if the system model of the robot is known to help account for the effects of inertia and other internal forces.
  • sensors other than accelerometers can be used. Possible sensors include, but are not limited to, magnetometers (measuring magnetic field from earth's magnetic field, induced magnetic field, or other magnetic field), tilt sensors, radio frequency signal strength meters, capacitance meter, or any combination or extensions of these. Further, while 3 -axis sensors are used in the embodiment discussed above, single or dual or other multi-axis sensors could be used.
  • a gyroscope measures the rate of rotation in space.
  • the gyroscope can be combined with an accelerometer and magnetometer to form an inertial measurement unit, or IMU, that can be used to measure the static position of the robotic device or to calculate the position of the device while it is moving through integration of the measured data over time.
  • IMU inertial measurement unit
  • the sensors described above help to determine or provide information about the absolute position of a device component, such as an arm. This contrasts with many known robotic devices that use embedded encoders, which can only measure a relative change in a joint angle of an arm such that there is no way to determine what position the arm is in when the device is first powered up (or "turned on”).
  • the sensor system embodiments described herein help to determine the absolute position of one or more links on a robotic device.
  • the position tracking systems disclosed herein allow a robotic device or a user to autonomously determine what position the device and device arms are in at any time.
  • Such a system according to the embodiments disclosed herein can be used alone (as a primary position tracking system) or in combination with the embedded encoders (as a redundant position tracking system).
  • a primary position tracking system a primary position tracking system
  • the embedded encoders a redundant position tracking system
  • only one position sensor is used per link
  • other embodiments have multiple sensors per link.
  • the additional position sensors provide additional positional redundancy, and in some implementations the data collected from the multiple position sensors can be used with various filtering techniques, such as Kalman Filtering, to provide a more robust calculation of the position of the robot.

Abstract

The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various medical devices for in vivo medical procedures.

Description

CONFIDENTIAL
SINGLE SITE ROBOTIC DEVICE AND RELATED SYSTEMS AND METHODS
VIRTUAL INCISION CORPORATION
SINGLE SITE ROBOTIC DEVICE AND
RELATED SYSTEMS AND METHODS
CROSS REFERENCE TO RELATED APPLICATIONS
[001 ] This application claims priority from U.S. Provisional Application 61/640,879, filed May 1, 2012, and entitled "Single Site Robotic Device and Related Systems and Methods," which is hereby incorporated herein by reference in its entirety.
Government Support
[002] These inventions were made with government support under at least one of the following grants:
Grant No. NNX10AJ26G, awarded by the National Aeronautics and Space Administration; Grant No. W81XWH- 08-2-0043, awarded by Army Medical Research at the U.S. Department of Defense; Grant No. DGE-1041000, awarded by the National Science Foundation; and Grant No. 2009-147-SCl, awarded by the Experimental Program to Stimulate Competitive Research at the National Aeronautics and Space Administration. Accordingly, the government has certain rights in the invention.
TECHNICAL FIELD
[003] The embodiments disclosed herein relate to various medical devices and related components, including robotic and/or in vivo medical devices and related components. Certain embodiments include various robotic medical devices, including robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Further embodiment relate to methods of operating the above devices.
BACKGROUND
[004] Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.
[005] However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to 1) mobility restrictions resulting from using rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., located in Sunnyvale, CA) are also restricted by the access ports, as well as having the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities.
[006] There is a need in the art for improved surgical methods, systems, and devices.
BRIEF DESCRIPTION OF THE DRAWINGS [007] FIG. 1 is a top perspective view of a robotic surgical system according to one embodiment.
[008] FIG. 2 is the same perspective view of the device of FIG. 1.
[009] FIG. 3 is the same perspective view of the device of FIG. 1.
[010] FIG. 4A is a schematic of a robotic medical device body from the top, according to one embodiment.
[011 ] FIG. 4B is a schematic of a robotic medical device body from the side, according to the embodiment of FIG. 4A.
[012] FIG. 4C is a perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[013] FIG. 4D is an exploded perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[014] FIG. 4E is an exploded perspective schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[015] FIG. 4E is a front view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[016] FIG. 4G is a top view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[017] FIG. 4H is a side view see through schematic of a robotic medical device body, according to the embodiment of FIG. 4A.
[018] FIG. 5A is a top perspective separated schematic of the body of a robotic device and related equipment, according to one embodiment.
[019] FIG. 5B is a top perspective separated schematic of the body of a robotic device and related equipment, according to the embodiment of FIG. 5 A.
[020] FIG. 6A is a top perspective separated schematic of the internal components of body of a robotic device and related equipment, according to one embodiment.
[021 ] FIG. 6B is a top perspective separated schematic of the internal components of a robotic device and related equipment, according to the embodiment of FIG. 6A.
[022] FIG. 6C is an endlong schematic of the internal components of a robotic device and related equipment, according to the embodiment of FIG. 6A.
[023] FIG. 7A is a top perspective separated schematic of the internal components and body of a robotic device and related equipment, according to one embodiment.
[024] FIG. 7B is a top perspective schematic of a section of the body of a robotic device and related equipment, according to the embodiment of FIG. 7A.
[025] FIG. 8A is a top perspective separated schematic of the internal components and body of a robotic device and related equipment, according to one embodiment. [026] FIG. 8B is a sectional view of the body of a robotic device and related equipment, according to the embodiment of FIG. 8 A.
[027] FIG. 9A is another exploded perspective view of internal components of a robotic device, according to one embodiment.
[028] FIG. 9B is a sectional view of the body of a robotic device and related equipment, according to the embodiment of FIG. 9 A.
[029] FIG. 9C is a close exploded view of bevel gear and spur shaft of a robotic device and related equipment, according to the embodiment of FIG. 9A.
[030] FIG. 10A is an perspective exploded view of the body segments of a robotic device and related equipment, according to another embodiment.
[031 ] FIG. 10B is an perspective exploded view of the body segments of a robotic device and related equipment, according to the embodiment of FIG. 10A.
[032] FIG. 11A is an perspective exploded view of a body segment of a robotic device and related equipment, according to another embodiment.
[033] FIG. 11B is an endlong sectional view of a body segment of a robotic device and related equipment, according to the embodiment of FIG. 11 A.
[034] FIG. 12A is an perspective exploded view of the body segments of a robotic device and related equipment, according to another embodiment.
[035] FIG. 12B is an opposite perspective exploded view of the body segments of a robotic device and related equipment, according to the embodiment of FIG. 12A.
[036] FIG. 13A is an perspective exploded view of the shoulder joint of a robotic device and related equipment, according to another embodiment.
[037] FIG. 13B is a side view of the shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
[038] FIG. 13C is a cross sectional view of a shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
[039] FIG. 13D is a cross sectional view of a shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 13 A.
[040] FIG. 14A is a bottom view of the shoulder joint of a robotic device and related equipment, according to another embodiment.
[041 ] FIG. 14B is a perspective view of the shoulder joint of a robotic device and related equipment, according to the embodiment of FIG. 14A.
[042] FIG. 14C is a bottom view of the shoulder joints of a robotic device and related equipment, according to the embodiment of FIG. 14A.
[043] FIG. 15 A is a perspective view of the upper arm of a robotic device and related equipment, according to another embodiment. [044] FIG. 15B is a side view of the upper arm of a robotic device and related equipment, according to the embodiment of FIG. 15 A.
[045] FIG. 16A is an exploded perspective view of the motor and drive train of a robotic device and related equipment, according to another embodiment.
[046] FIG. 16B is a side view of the motor and drive train of a robotic device and related equipment, according to the embodiment of FIG. 16A.
[047] FIG. 17A is an exploded side view of the housing segments of a robotic device and related equipment, according to another embodiment.
[048] FIG. 17B is an exploded perspective view of the housing segments of a robotic device and related equipment, according to the embodiment of FIG. 17 A.
[049] FIG. 18A is an exploded side view of the housing and spur shaft of a robotic device and related equipment, according to another embodiment.
[050] FIG. 18B is a side cross-sectional view of the housing and spur shaft of a robotic device and related equipment, according to the embodiment of FIG. 18 A.
[051 ] FIG. 19A is an exploded side perspective view of the shaft housing and housing of a robotic device and related equipment, according to another embodiment.
[052] FIG. 19B is an opposite exploded side perspective view of the shaft housing and housing a robotic device and related equipment, according to the embodiment of FIG. 19 A.
[053] FIG. 19C is a cross-sectional view of the shaft housing and housing a robotic device and related equipment, according to the embodiment of FIG. 19 A.
[054] FIG. 20A is a side view of the shaft of a robotic device and related equipment, according to another embodiment.
[055] FIG. 20B is a perspective view of the shaft of a robotic device and related equipment, according to the embodiment of FIG. 20A.
[056] FIG. 20C is another perspective view of the shaft of a robotic device and related equipment, according to the embodiment of FIG. 20A.
[057] FIG. 21A is a perspective view of the forearm of a robotic device and related equipment, according to another embodiment.
[058] FIG. 21B is a side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[059] FIG. 21C is another side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[060] FIG. 21D is an end view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[061 ] FIG. 21E is a cross sectional side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A. [062] FIG. 21F is a side view of the forearm of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[063] FIG. 21G is an exploded perspective view of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[064] FIG. 21H is a side view of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 21 A.
[065] FIG. 22A is an exploded close-up view of the proximal end of the forearm and internal components of a robotic device and related equipment, according to another embodiment.
[066] FIG. 22B is a cutaway close-up view of the proximal end of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 22A.
[067] FIG. 23A is a cutaway close-up view of the grasper end of the forearm and internal components of a robotic device and related equipment, according to another embodiment.
[068] FIG. 23B is an exploded close-up view of the grasper end of the forearm and internal components of a robotic device and related equipment, according to the embodiment of FIG. 23 A.
[069] FIG. 24 is a perspective close-up view of the grasper of a robotic device and related equipment, according to another yet implementation.
[070] FIG. 25A is a see-through side view of the forearm having a camera and internal components of a robotic device and related equipment, according to another embodiment.
[071 ] FIG. 25B is an exploded and see-through view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
[072] FIG. 25C is a close up perspective view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
[073] FIG. 25D is another close up perspective view of the forearm having a camera of a robotic device and related equipment, according to the embodiment of FIG. 25 A.
[074] FIG. 25E is a perspective view of the forearm having a camera detailing the camera's field of vision for a robotic device and related equipment, according to the embodiment of FIG. 25 A.
[075] FIG. 26A is a side view of the forearm and body of a robotic device and related equipment in one position, according to another embodiment.
[076] FIG. 26B is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
[077] FIG. 26C is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
[078] FIG. 26D is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
[079] FIG. 26E is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A. [080] FIG. 26F is a side view of the forearm and body of a robotic device and related equipment in one position, according to the embodiment of FIG. 26A.
[081 ] FIG. 27A is a side view of the forearm and body of a robotic device and related equipment in one position inside the body, according to another embodiment.
[082] FIG. 27B is a side view of the forearm and body of a robotic device and related equipment in one position inside the body according to the embodiment of FIG. 27A.
[083] FIG. 27C is a perspective view of the forearm and body of a robotic device and related equipment in one position inside the body, according to the embodiment of FIG. 27 A.
[084] FIG. 28 is front view of a robotic device and related equipment in one position inside the body, according to one embodiment.
[085] FIG. 29 is a perspective view of an accelerometer according to one embodiment.
Detailed Description
[086] The various embodiments disclosed or contemplated herein relate to surgical robotic devices, systems, and methods. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods and systems. Certain implementations relate to such devices for use in laparo- endoscopic single-site (LESS) surgical procedures.
[087] It is understood that the various embodiments of robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods. For example, the various embodiments disclosed herein may be incorporated into or used with any of the medical devices and systems disclosed in copending U.S. Applications 11/766,683 (filed on June 21, 2007 and entitled "Magnetically Coupleable Robotic Devices and Related Methods"), 11/766,720 (filed on June 21, 2007 and entitled "Magnetically Coupleable Surgical Robotic Devices and Related Methods"), 11/966,741 (filed on December 28, 2007 and entitled "Methods, Systems, and Devices for Surgical Visualization and Device Manipulation"), 61/030,588 (filed on February 22, 2008), 12/171,413 (filed on July 11, 2008 and entitled "Methods and Systems of Actuation in Robotic Devices"), 12/192,663 (filed August 15, 2008 and entitled Medical Inflation, Attachment, and Delivery Devices and Related Methods"), 12/192,779 (filed on August 15, 2008 and entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), 12/324,364 (filed November 26, 2008 and entitled "Multifunctional Operational Component for Robotic Devices"), 61/640,879 (filed on May 1, 2012), 13/493,725 (filed June 11, 2012 and entitled "Methods, Systems, and Devices Relating to Surgical End Effectors" ), 13/546,831 (filed July 11, 2012 and entitled "Robotic Surgical Devices, Systems, and Related Methods"), 61/680,809 (filed August 8, 2012), 13/573,849 (filed October 9, 2012 and entitled "Robotic Surgical Devices, Systems, and Related Methods"), and 13/738,706 (filed January 10, 2013 and entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), and U.S. Patents 7,492,116 (filed on October 31, 2007 and entitled "Robot for Surgical Applications"), 7,772,796 (filed on April 3, 2007 and entitled "Robot for Surgical Applications"), and 8,179,073 (issued May 15, 2011, and entitled "Robotic Devices with Agent Delivery Components and Related Methods"), all of which are hereby incorporated herein by reference in their entireties. [088] Certain device and system implementations disclosed in the applications listed above can be positioned within a body cavity of a patient in combination with a support component similar to those disclosed herein. An "in vivo device" as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is coupled to a support component such as a rod or other such component that is disposed through an opening or orifice of the body cavity, also including any device positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms "robot," and "robotic device" shall refer to any device that can perform a task either automatically or in response to a command.
[089] Certain embodiments provide for insertion of the present invention into the cavity while maintaining sufficient insufflation of the cavity. Further embodiments minimize the physical contact of the surgeon or surgical users with the present invention during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the present invention. For example, some embodiments provide visualization of the present invention as it is being inserted into the patient's cavity to ensure that no damaging contact occurs between the system/device and the patient. In addition, certain embodiments allow for minimization of the incision size/length. Further implementations reduce the complexity of the access/insertion procedure and/or the steps required for the procedure. Other embodiments relate to devices that have minimal profiles, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use.
[090] Certain implementations disclosed herein relate to "combination" or "modular" medical devices that can be assembled in a variety of configurations. For purposes of this application, both "combination device" and "modular device" shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations. The modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as "segments") that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one embodiment these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.
[091 ] An exemplary embodiment of a robotic device is depicted in FIGS. 1, 2, and 3. The device has a main body, 100, a right arm A , and a left arm B. As best shown in FIG. 2, each of the left B and right A arms is comprised of 2 segments: an upper arm (or first link) 300A, 300B and a forearm (or second link) 200A, 200B, thereby resulting in each arm A, B having a shoulder joint (or first joint) 300.1A, 300. IB and an elbow joint (or second joint) 200.1A, 200. IB. As best shown in FIGS. 2-32, in certain implementations, each of the left arm B and right arm A is capable of four degrees of freedom. The left shoulder joint 300.1B and right shoulder joint 300.1A have intersecting axes of rotation: shoulder yaw (Θ1) and shoulder pitch (Θ2). The elbow joints 200.1A, 200. IB contribute a degree of freedom - elbow yaw (Θ3) - and the end effectors do as well: end effector roll (Θ4).
[092] FIGS. 4A, 4B, 4C, 4D, 4E, 4F, 4G, and 4H depict the device body 100 according to an exemplary embodiment. More specifically, FIG. 4A depicts a front view of the body 100, while FIG. 4B depicts a side view. In addition, FIGS. 4C, 4D, 4E, 4F, 4G, and 4H depict various perspectives of the device body 100 in which various internal components of the body 100 are visible.
[093] The body 100 contains four motors which control shoulder yaw (Θ1) and shoulder pitch (Θ2) for the right and left arms A, B. More specifically, as best shown in FIGS. 4C, 4G, and 13D, the proximal right motor 109A and distal right motor 122A control shoulder yaw (Θ1) and shoulder pitch (Θ2) for the right shoulder 300.1 A, while the proximal left motor 109B and distal left motor 122B control shoulder yaw (Θ1) and shoulder pitch (Θ2) for the left shoulder 300. IB. This discussion will focus on the right shoulder 300.1 A and arm A, but it is understood that a similar set of components are coupled in a similar fashion to control the yaw and pitch of the left shoulder 300. IB and left arm B.
[094] As best shown in FIG. 4G (and as will be explained in further detail elsewhere herein), the proximal right motor 109 A is operably coupled to the right shoulder subassembly 127 A of the right shoulder 300.1 A via gear 108 A, which is operably coupled to gear 115.1 A on the end of the right spur shaft 115 A, and the right bevel gear first right bevel gear at the opposite end of the right spur shaft 115 A is operably coupled to the bevel gear 130 A of the right shoulder subassembly 127 A. In addition, the distal right motor 122A is operably coupled to the right shoulder subassembly 127A via a right distal spur gear 121 A, which is operably coupled to a gear 119A, which is operably coupled to bevel gear second right bevel gear 117A, which is operably coupled to the bevel gear 130A of the right shoulder subassembly 127A. The proximal right motor 109A and distal right motor 122A operate together to control both the shoulder yaw (Θ1) and shoulder pitch (Θ2) for the right shoulder 300.1A by rotating the first right bevel gear and second right bevel gear at predetermined directions and speeds as will be described in further detail below.
[095] In one embodiment, the four motors 109 A, 109B, 122 A, 122B, along with the motors in the arms as described elsewhere herein, are brushed direct current (DC) motors with integrated magnetic encoders and planetary gearheads. According to various embodiments, the motors used in the device can vary in size depending on the particular device embodiment and the location and/or use of the motor, with the size ranging in diameter from about 6 mm to about 10 mm. Alternatively, any known motors or other devices for converting electrical energy into rotational motion can be used.
[096] As best shown in FIGS. 4 A and 4B, according to one implementation, the body 100 has a plurality of segments that result in separate housings or subassemblies that are coupled together. In the implementation depicted in FIGS. 4A and 4B, there are six segments, but other numbers are possible. These segments 101, 102, 103, 104, 105, and 106 create housings that provide protection for internal electronics and support for internal components, including motors and drivetrain components. In the implementation shown in FIGS. 4A and 4B, first segment 101 is configured to be coupled with second segment 102 such that second segment 102 is positioned at least partially within segment first 101, thereby creating first housing 100.1 as shown in FIGS. 4A, 4B, and 5A. Third segment 103, fourth segment 104, and fifth segment 105 are also coupled together to create second housing 100.2 as shown in FIGS. 4A, 4B, and 5A. Finally, first housing 100.1 and second housing 100.2 are coupled together as best shown in FIG. 5A. The segments, housings, and their assembly into the body 100 are discussed in further detail below.
[097] As best shown in FIG. 4A, in certain embodiments, the distal end (or bottom) of the body 100 can also have a camera 99. In the implementation shown in FIG. 4A, the camera 99 is a single fixed camera 99 positioned in direct line of sight of the surgical workspace. Alternatively, the body 100 could have multiple cameras operating together to provide stereoscopic (3D) vision. In a further alternative, any known camera or set of cameras for use in medical devices could be used. In further embodiments, the body 100 can also have a lighting system such as LEDs and/or fiber optic lights to illuminate the body cavity and/or the surgical workspace.
[098] In one implementation, the plurality of segments 101, 102, 103, 104, 105, 106 are made of a combination of machined aluminum and rapid prototyped plastic. One example of a process using such materials is described in "Rapid Prototyping Primer" by William Palm, May 1998 (revised July 30, 2002) (http://www.me.psu.edu/lamancusa/rapidpro/primer/chapter2.htm), which is hereby incorporated herein by reference in its entirety. Alternatively, it is understood by those skilled in the art that many other known materials for medical devices can be used, including, but not limited to, stainless steel and/or injection molded plastics.
[099] FIGS. 5A and 5B depict the first and second housings 100.1, 100.2. FIG. 5A depicts the front of the first and second housings 100.1, 100.2, while FIG. 5B depicts the back. As best shown in FIGS. 4C-4H in combination with FIGS. 5A and 5B, the proximal right motor 109A and proximal left motor 109B are positioned in the first housing 100.1, while the distal right motor 122A and distal left motor 122B are positioned in the second housing 100.2. the first and second housings 100.1, 100.2 are coupled together using a plurality of threaded members 107 A, 107B, 107C as shown. Alternatively, any coupling mechanism can be used to retain the first 100.1 and second housings 100.2 together.
[0100] FIGS. 6A, 6B, and 6C depict the second segment 102 and the positioning of the right 109A and left proximal motors 109B within. In this specific embodiment, each of the proximal motors 109 A, 109B has a diameter of 10 mm and is made up of three components: the right planetary gearhead 109A.1 and left planetary gearhead 109B.1, the proximal right motor drive component 109 A.2, proximal left motor drive component 109B.2, and the right 109A.3 and left encoders 109B.3. It is understood that the right 109A.1 and left 109B.1 planetary gearheads reduce the speed of the proximal motor drive components, 109 A.2, 109B.2 and thus increases the output torque. It is further understood that the right 109A.3 and left 109B.3 encoders control the position of the right proximal motor output shaft 108.1 A and left proximal motor output shaft 108. IB using electric pulses which can be generated by magnetic, optic, or resistance means. Thus, the right and left encoders 109A.3, 109B.3 provide accurate positioning of the right proximal motor output shaft 108.1 A and left proximal motor output shaft 108. IB.
[0101] Thus, in certain implementations, each of the proximal right 108A, and proximal left spur gears
108B is used to transmit the rotational motion from the corresponding proximal motor 109 A, 109B which further comprises a proximal motor drive component 109A.2, 109B.2 which acts through a planetary gearhead 109A.1, 109B.1). Each proximal spur gear 108A, 108B is rotationally constrained with a "D" shaped geometric feature 108.1A, 108. IB and, in some embodiments, a bonding material such as JB-Weld.
[0102] As shown in FIGS. 6A, 6B, and 6C, the second segment 102 has a plurality of partial lumens, in this implementation a right partial lumen 102 A and left partial lumen 102B defined within the second segment 102 that have inner walls that do not extend a full 360 degrees. The right and left partial lumens 102A, 102B are configured to receive the right and left proximal motors 109 A, 109B. The right and left proximal motors 109 A, 109B can be positioned in the right and left partial lumens 102A, 102B as shown in FIGS. 6B, and 6C. In one embodiment, the second segment 102 is configured to allow for the diameter of the walls of the right and left partial lumens 102 A, 102B to be reduced after the right and left proximal motors 109 A, 109B have been positioned therein, thereby providing frictional resistance to rotationally and translationally secure the right and left proximal motors 109 A, 109B within the right and left partial lumens 102A, 102B, thereby creating first subassembly 100.1A. More specifically, the second segment 102 allows for a clamping force to be applied to the right and left proximal motors 109 A, 109B by the tightening of the thread members 110. It is understood that the right and left proximal motors 109 A, 109B can also be constrained or secured by any other known method or mechanism.
[0103] FIGS. 7A and 7B show the attachment or coupling of the first subassembly 100.1 A with the first segment 101, thereby resulting in the first housing 100.1. First segment 101 has a first segment mating feature 101A defined within the first segment 101 that is configured to receive the first subassembly 100.1 A. More specifically, in the embodiment depicted in FIG. 7A, the first segment mating feature 101A is an opening defined in the first segment 101 that mates with the first subassembly 100.1A such that the first subassembly 100.1A fits within the opening and couples with the first segment 101. In one embodiment, the first subassembly 100.1A fits within the first segment mating feature 101A such that the first subassembly 100.1A and the first segment 101 are rotationally constrained with respect to each other. Further, a first threaded member 107D is used to translationally constrain the components.
[0104] In accordance with one implementation, the first segment top portion 101.1 of the first segment
101 is configured or shaped to receive an external clamp (such as, for example, a commercially available external clamp available from Automated Medical Products Corp. (http://www.ironintern.com/). The clamp can be attached to the first segment top portion 101.1 to easily and securely attach the clamp to the body 100.
[0105] As shown in FIGS. 8A and 8B, the first housing 100.1 can have additional features, according to one embodiment. More specifically, the first segment 101 can have a notch or opening 101.2 defined at a bottom back portion of the first segment 101 that provides an exit site for cabling/wiring 101.4 coupled to at least one of the right and left proximal motors 109 A, 109B disposed within the first housing 100.1. According to one embodiment, the opening 101.2 can provide strain relief for the cabling/ wiring 101.4 to maintain the integrity of the electrical/electronic connections. That is, the opening 101.2 can provide a clamping feature that clamps or otherwise secures all of the cabling/wiring 101.4 that extend through the opening, such that any external forces applied to the cabling/wiring 101.4 do not extend past the opening 101.2, thereby preventing undesirable forces or strain on the connections of any of those cables/wires 101.4 to any internal components inside the first housing 100.1. The clamping feature results from the coupling of first 100.1 and second housings 100.2 as best shown in FIG. 5B. The urging of all the cabling/wiring 101.4 into the opening 101.2 for purposes of allowing for coupling of the housings 100.1 and 100.2 results in a "clamping" of the cabling/wiring 101.4 resulting from the frictional restriction of the cabling/wiring 101.4 in the opening 101.2. In some alternative embodiments, the opening 101.2 can also be filled prior to use with silicon or some other means of sealing against liquid contaminants, body fluids, etc., which can also provide additional strain relief similar to the clamping feature described above. In addition, the first housing
100.1 can also have a cavity 101.3 defined within the first housing 100.1 that allows sufficient clearance for the cabling/wiring 101.4 to extend from at least one of the right and left proximal motors 109 A, 109B and exit through opening 101.2.
[0106] FIGS. 9A, 9B, and 9C depict the fourth segment 104, which is a component of the second housing
100.2 discussed above and depicted in FIGS. 5A and 5B. The fourth segment 104 has right 115.1 A, and left fourth segment lumens 115. IB defined in the fourth segment 104 that are configured to receive the right proximal spur shaft 115A and left proximal spur shaft 115B, both of which are part of the drive trains that operably couple the right and left proximal motors 109 A, 109B to the right and left shoulder subassemblies 127 A, 127B that constitute the right 300.1 A and left 300. IB shoulders of the device. The fourth segment 104 also has right and left holes 122.1 A, 122. IB defined in the fourth segment 104. These holes 122.1 A, 122. IB are discussed in further detail in relation to FIGS. 11 A and 11B below. While the drive train that includes the right proximal spur shaft 115 A will be discussed in detail in this paragraph, it is understood that the drive train that includes the left proximal spur shaft 115B has the same components that are coupled and function in the same manner. As discussed above with respect to FIGS. 4C and 4G, the right proximal spur shaft 115A is configured to be disposed through the right lumen 115.1 A of the fourth segment 104. It has a first right driven gear 115.2A at one end and is coupled to a first right bevel gear 112A at the other. In addition, as best shown in FIGS. 9A and 9B, a first right ball bearing 111A is positioned within an opening or recess in the first right bevel gear 112A and is contacted only on its outer race by the inner wall of the opening in the first right bevel gear 112A. In the finished assembly, this contact will provide appropriate preload to this bearing. It is understood by those of ordinary skill in the art that "bearing preload" is a term and concept that is well known in the art as a mechanism or method by which to improve manufacturing tolerances from the ball bearing by applying a constant axial stress.
[0107] Further, a second right ball bearing 113.1A is positioned on or around the hub of the first right bevel gear 112A so that its inner race is the only contact with the hub of the first right bevel gear 112A. A third ball bearing 113.2A is positioned on or around the right proximal spur shaft 115A in a similar manner and further is positioned in a right bore hole 113.3 A in the right lumen 115.1 A, as best shown in FIG. 9B. According to one embodiment, first right bevel gear 112A is coupled to the spur shaft 115A via a threaded coupling (not shown). That is, the first right bevel gear 112A has a bevel gear lumen 112.1 A as best shown in FIG. 9C that contains internal threads (not shown) while the spur shaft 115 A has external threads (not shown) defined on an outer surface at the end of the shaft 115 A that comes into contact with first right bevel gear 112A. In one implementation, a thread locker is used to permanently affix the first right bevel gear 112A to the right proximal spur shaft 115 A. According to one particular exemplary embodiment, the thread locker can be Loctite, which is commercially available from Henkel Corp. in Dusseldorf, Germany. As such, the second and third ball bearings 113.1 A, 113.2A contact the inner walls of the lumen 115.1 A on their outer races and contact the outer surfaces of the first right bevel gear 112A and the right proximal spur shaft 115Awith their inner races. Further, in one embodiment, the act of coupling the internal threads in the bevel gear lumen 112.1 A with the external threads on the outer surface of the spur shaft 115 A preloads the second and third ball bearings 113.1A, 113.2A.
[0108] FIGS. 10A and 10B depict the fifth 105 and sixth 106 segments, both of which are also components of the second housing 100.2 discussed above and depicted in FIGS. 5 A and 5B. It should be noted that FIGS. 10A and 10B depict the back side of these segments, while the other figures discussed herein relating to the other segments generally depict the front side. In one implementation, the sixth segment 106 is an end cap segment that couples to the fifth segment 105. The fifth segment, 105, like the fourth 104, has right and left lumens 119.1 A, 119. IB defined in the fifth segment 105 that are configured to receive the right 119.3A and left distal spur shafts 119.3B, both of which are part of the drive trains that operably couple the right 122A and left 122B distal motors to the right 127A and left 127B shoulder subassemblies that constitute the right 300.1 A and left 300. IB shoulders of the device. In addition, the segment 105 also has right and left fifth segment lumens 122.4A, 122.4B configured to receive the right 122A and left 122B distal motors as best shown in FIGS. 12A and 12B and discussed below.
[0109] While the drive train that includes the first left distal spur shaft 119.3B will be discussed in detail in this paragraph, it is understood that the drive train that includes the first right distal spur shaft 119.3A has the same components that are coupled and function in the same manner. The first left distal spur shaft 119.3B is configured to be disposed through the left fifth segment lumen 119. IB. It has a left distal driven gear 119.2B at one end and is coupled to a left distal bevel gear 117B at the other. In addition, a fourth ball bearing 116B is positioned within an opening or recess in the left distal bevel gear 117B and is contacted only on its outer race by the inner wall of the opening in the left distal bevel gear 117B. Further, the fifth ball bearing 118. IB is positioned over/on the bore of left distal bevel gear 117B and within the left fifth segment lumen 119. IB, while the fifth ball bearing 118.2B is positioned on/over spur the left distal gear shaft 119B and within the left fifth segment lumen 119. IB at the opposite end of the fifth segment lumen 119. IB from fifth ball bearing 118. IB. According to one embodiment, the left distal bevel gear 117B is coupled to the first left distal spur shaft 119.3B via a threaded coupling (not shown). That is, the left distal bevel gear 117B has a left distal bevel gear lumen 117. IB as best shown in FIG. 10B that contains internal threads (not shown) while the first left distal spur shaft 119.3B has external threads (not shown) defined on an outer surface at the end of the first left distal spur shaft 119.3B that comes into contact with left distal bevel gear 117B. In one implementation, a thread locker is used to permanently affix the left distal bevel gear 117B to the first left distal spur shaft 119.3B. According to one particular exemplary embodiment, the thread locker can be Loctite, as described above. In one embodiment, the act of coupling the internal threads in the left distal bevel gear lumen 117. IB with the external threads on the outer surface of the first left distal spur shaft 119.3B preloads the fifth and sixth ball bearings 118. IB, 118.2B.
[0110] FIGS. 11A and 11B depict the fourth segment 104 and, more specifically, the positioning of the right distal motor 122A and left distal motor 122B in the fourth segment holes 122.1A, 122. IB. The right distal motor 122 A and left distal motor 122B, according to one embodiment, are 10 mm motors that are similar or identical to the right and left proximal motors 109 A, 109B discussed above. Alternatively, any known motors can be used. Each of the right distal motor 122A and left distal motor 122B have a second right distal spur gear 121A and second left distal spur gear 121B, respectively. In one embodiment, each second distal spur gear 121A, 121B is coupled to the distal motor 122A, 122B with "D" geometry as described above and, in some embodiments, adhesive such as JB-Weld. As shown in FIGS. 11 A, the right distal motor 122A and left distal motor 122B are positioned in the right and left fourth segment holes 122.1A, 122. IB. In one implementation, the right distal motor 122A and left distal motor 122B are positioned correctly when the right and left distal motor ends 122.2A, 122.2B contact or are substantially adjacent to the right and left distal stop tabs 122.3A, 122.3B. When the right distal motor 122A and left distal motor 122B are positioned as desired, the threaded members 123 are inserted in the right and left threaded member holes 123.1A, 123. IB and tightened, thereby urging the fourth segment crossbar 123.2 downward and thereby constraining the right distal motor 122A and left distal motor 122B rotationally and translationally within the fourth segment holes 122.1A, 122. IB.
[011 1 ] FIGS. 12A and 12B depict the fourth, fifth and sixth segments 104, 105, 106 of the second housing 100.2 and how they are coupled together to form the second housing 100.2. As will be explained in detail below, the fourth, fifth and sixth segments 104, 105, 106 couple together into a second housing 100.2 that forms the right 300.1 A and left shoulders 300. IB of the device. The right distal motor 122A and left distal motor 122B are positioned through the fifth segment lumens 122.4A, 122.4B such that the second distal spur gears 121A, 121B that are coupled to the right distal motor 122A and left distal motor 122B are positioned against the fifth segment 105 and between the fifth 105 and sixth segments 106. The second distal spur gears 121A, 121B transmit the rotational motion from the right distal motor 122A and left distal motor 122B, respectively to the distal spur shafts 119.3A, 119.3B, which are positioned such that they are coupled to the second distal spur gears 121 A, 121B. As described in detail with respect to FIGS. 10A and 10B, the first distal spur shafts 119.3A, 119.3B are coupled to the second right bevel gear, 117B so that the motion is also transferred through the second right bevel gear, 117B.
[0112] When the fourth, fifth and sixth segments 104, 105, 106 are coupled together to form the second housing 100.2, in one embodiment, a fifth segment projection 105A on the back of the fifth segment 105 is positioned in and mates with a fourth segment notch 104 A in the back of the fourth segment 104, as best shown in FIG. 12B. Further threaded members are then threaded through holes in the fourth segment (not shown) and into the projection 105A, thereby further securing the fourth and fifth segments 104,105. This mated coupling of the fifth segment projection 105A and fourth segment notch 104A can, in one implementation, secure the fourth and fifth segments 104, 105 to each other such that neither component is rotational in relation to the other, while the threaded members secure the segments translationally.
[0113] In one implementation best shown in FIG. 12A, the third segment 103 can serve as a protective cover that can be coupled or mated with the front portion of the fourth segment 104 and retained with a threaded member 126. In these embodiments, the third segment 103 can help to protect the motors and electronics in the second housing 100.2. In addition, a gearcap cover segment 106 can be coupled or mated with the bottom portion of the fourth segment 104 and retained with threaded members 120. The cover segment 106 can help to cover and protects the various gears 119A, 119B, 121 A, 121B contained within the fourth segment 104. The coupling of the fourth 104 and fifth 105 segments also results in the positioning of the second right bevel gear 117A in relation to the first right bevel gear, 112B such that the second right bevel gear 117A and the first right bevel gear 112A are positioned to couple with the right shoulder subassembly 127 A to form the right shoulder 300.1 A and the corresponding left bevel gears 117B, 112B are positioned to couple with the subassembly left shoulder subassembly 127B to form the left shoulder 300. IB. This is depicted and explained in further detail in FIGS. 13A-14C.
[0114] FIGS. 13A-13D and 14A-14C depict the shoulder subassembly design, according to one embodiment. The components in these figures are numbered and will be described without reference to whether they are components of the right shoulder (designated with an "A" at the end of the number) or the left shoulder (designated with a "B" at the end of the number). Instead, it is understood that these components are substantially similar on both sides of the device and will be described as such.
[0115] The shoulder subassemblies 127 A, 127B of the right shoulder 300.1 A and left shoulder 300. IB respectively, have output bevel gears 130A, 130B (which couples with the right bevel gears 112A, 117A and left bevel gears 112B, 117B) having a right lumen 130A and left lumen (not pictured) configured to receive the right output shaft 128 A and left output shaft. The right output shaft 128 A is positioned in the lumen 130A and also has two projections (a first 128A.1, and second 128A.2) that are configured to be positioned in the lumens of the first and second right bevel gears 112A, 117A. In addition, a plurality of ball bearings 111, 116 are positioned over the projections 128A.1, 128A.2 such that the inner race of the bearings 111, 116 contact the projections 128A.1, 128A.2.
[0116] A further ball bearing 129A is positioned on/over the right output shaft 128A such that the ball bearing 129 is positioned within the lumen 130A of the right output bevel gear 130A. Yet a further ball bearing 131 is positioned in the opposing side of the right output bevel gear lumen 130A and on/over a threaded member 132. The threaded member 132 is configured to be threaded into the end of the right output shaft 128 A after the shaft 128 A has been positioned through the lumen 130A of the right output bevel gear 130A, thereby helping to retain the right output bevel gear 130A in position over the right output shaft 128A and coupled with the first and second right bevels gears 112A, 117A. Once the threaded member 132 is positioned in the right output shaft 128 A and fully threaded therein, the full right shoulder subassembly 127 A is fully secured such that the right output bevel gear 130A is securely coupled to the first and second right bevel gears 112A, 117 A.
[0117] In operation, as best shown in FIG. 13B, rotation of the first and second right bevel gears 112A,
117A rotates the right output bevel gear 130, which can cause rotation of the right shoulder subassembly 127 A along at least one of two axes— axis Al or axis A2— depending on the specific rotation and speed of each of the first and second right bevel gears 112A, 117 A. For example, if both first and second right bevel gears 112A, 117 A are rotated in the same direction at the same speed, the first and second right bevel gears 112A, 117A are essentially operating as if first and second right bevel gears 112A, 117A are a fixed, single unit that cause rotation of the shoulder subassembly 127 A around axis Al . In an alternative example, if the first and second right bevel gears 112A, 117 A are rotated in opposite directions, the right output bevel gear 130A is rotated around axis A2. It is understood that the first and second right bevel gears 112A, 117A can also work together to achieve any combination of rotation along both axes Al, A2. That is, since the first and second right bevel gears 112A, 117A are driven independently by the distal and proximal motors 122A, 109 A, any combination of Θ1 and Θ2 are achievable around axes Al and A2. As an example, if both gears 112A, 117A are rotated in the same direction but at different speeds, this will result in a combined rotation of the subassembly around both the Al axis and the A2 axis, as would be clear to one of skill in the art
[0118] FIGS. 15A and 15B depict a right upper arm (or first link) 300A that is coupled to the device body
100 at right shoulder 300.1A (as also shown in FIGS. 1 and 2). While the following figures and discussion focus on the right upper arm 300A, it is understood that the left upper arm 300B can have the same or similar components and thus that the discussion is relevant for the left upper arm 300B as well. As shown in FIGS. 15A and 15B, the upper arm 300A is coupled to the output bevel gear 130A with two threaded screws 301A.1. In addition, according to certain embodiments, the upper arm 300A has a notch 301 A.1 defined in the proximal end of the arm 300A into which the output bevel gear 130A is positioned, thereby providing additional mating geometry that further secures the upper arm 300A and the output bevel gear 130A.
[0119] As best shown in FIG. 15B, the upper arm 300A has an upper arm motor 317A that actuates the movement of the forearm 200A at the elbow joint 200.1A of the arm A. That is, the motor 317 is coupled to an upper arm spur gear 318A, which is coupled to an upper arm driven gear 302A. The driven gear 302A is coupled to a first right upper arm bevel gear 306A, which is coupled to a second right upper arm bevel gear 313A. The second right upper arm bevel gear 313A is coupled to an upper arm output upper arm shaft 312AA, which is coupled to the right forearm 200A. Each of these components and how they are coupled to each other will now be described in further detail below.
[0120] FIGS. 16A and 16B depict the right upper arm motor 317 A and the drive train coupled to the motor 317A in the upper arm 300A. In this embodiment, the motor 317A is an 8mm motor that is positioned in the upper arm 300A. The upper arm spur gear 318A is coupled to the upper arm motor output shaft 317A and rotationally secured via a "D" geometry 317.1A. According to one embodiment, the upper arm spur gear 318A is further secured with JB-Weld. The upper arm 300A also has a housing 304A positioned in the arm 300A that is configured to house or support the drive train that is coupled to the upper arm motor 317A. The housing 304 has a hole 304.3A defined by two arms 304.1A, 304.2A that is configured to receive the motor 317A. When the motor 317A and upper arm spur gear 318A have positioned correctly within the hole 304.3A such that the upper arm spur gear 318A is coupled to the upper arm spur shaft gear 302A, a screw 319A can be positioned through holes in both arms 304.1 A, 304.2A and tightened, thereby urging the arms 304.1 A, 304.2A together and securing the upper arm motor 317A both rotationally and translationally within the hole 304.3 A. In one alternative, an adhesive such as epoxy can be added help to further restrict unwanted movement of the upper arm motor 317A in relation to the upper arm housing 304A. This securing of the motor 317A in the upper arm housing 304A ensures proper coupling of upper arm spur gear 318A with the upper arm spur shaft gear 302A.
[0121 ] FIGS. 17A and 17B depict the first 320A and second 232A segments (or "shells") that couple together to create the housing around the upper arm motor 317A. The first shell 320A is positioned above the upper arm motor 317A and the second shell 323 A is positioned beneath the motor 317A. The two shells 320A, 323 A are coupled together with screws 322A that are positioned through the second shell 323A and into the first shell 320A. In addition, the two shells 320A, 323A are also coupled to the upper arm housing 304A, with the first shell 320A being coupled to the upper arm housing 304A with screws 321A and the second shell 323A being coupled to the upper arm housing 304A with further screws 324A.
[0122] FIGS. 18A and 18B depict the right upper arm housing 304A and further depict the right upper arm spur shaft 302A.1 positioned in the housing 304A. The right upper arm spur shaft 302A has a right upper arm spur gear 302A.2 at one end of the spur shaft 302A.1 as best shown in FIG. 18 A. The spur shaft 302A.1 is positioned in an upper arm housing lumen 304A.1 defined in the housing 304A. There are two ball bearings 303, 305 positioned on/over the spur shaft 302A.1 and further positioned at the openings of the upper arm housing lumen 304A.1. A first upper arm bearing 303 is positioned on/over the spur shaft 302A.1 so that only its inner race is contacting the shaft 302A.1. A second upper arm bearing 305 A is positioned on/over spur shaft 302A.1 in the same manner. The first right upper arm bevel gear 306A is coupled to the upper arm spur shaft 302A.1 at the end opposite the spur shaft gear 302A.2. The upper arm bevel gear 306A is secured to the spur shaft 302A.1 with "D" geometry 302A.3. In a further embodiment, the first right upper arm bevel gear 306A can also be further secured using adhesive such as JB-Weld. A screw 307A is positioned through the first right upper arm bevel gear 306A and into the spur shaft 302A.1 such that when the screw 307 A is fully threaded into the spur shaft 302A.1, the screw 307 A translationally secures first right upper arm bevel gear 306A and also preloads the first 303 and second 305 upper arm bearings.
[0123] FIGS. 19A, 19B, and 19C depict the upper arm shaft housing 311 A coupled to the upper arm housing 304. The upper arm shaft housing 311 A is made up of an upper shaft housing arm 311A.1 and a lower shaft housing arm 311A.2, both of which are coupled to the upper arm housing 304A. The upper shaft housing arm 311A.1 is coupled to the housing 304A via a first pair of screws 307A.1, while the lower shaft housing arm 311A.2 is coupled via a second pair of screws 308A.1. As best shown in FIG. 19B, each of the shaft housing arms 311A.1, 311A.2 has a hole 311A.1A, 311A.2A. The upper arm shaft 312AA, as best shown in FIGS. 20A-20C, has a vertical shaft component 312A.1 and an appendage 312A.2 coupled to the vertical shaft component 312A.1. The upper arm shaft 312AA is oriented in the assembled shaft housing 311 A such that an upper portion of the vertical shaft component 312A.1 is positioned in the hole 311A.1A and a lower portion of the vertical shaft component 312A.1 is positioned in the hole 311A.2A. In addition, a vertical shaft bevel gear 313A is positioned over the vertical shaft component 312A.1 and above the lower shaft housing arm 311 A.2 such that the vertical shaft bevel gear 313A is coupled to the first right upper arm bevel gear 306A when all components are properly positioned as best shown in FIG. 19C. The vertical shaft bevel gear 313A is coupled to the vertical shaft component 312A.1 rotationally by a "D" geometry 312A.4 as best shown in FIG. 20B. In a further implementation, the vertical shaft bevel gear 313A can be further secured using JB-Weld. The vertical shaft component 312A.1 also has two ball bearings: a first vertical shaft ball bearing 315A is positioned over the vertical shaft component 312A.1 and through hole 311A.2A so that it is in contact with the vertical shaft bevel gear 313 A, while the second vertical shaft ball bearing 31 OA is positioned in the hole 311A.1A. A screw 316 is positioned through the first ball bearing 315A and hole 311A.2A and threaded into the bottom of the vertical shaft component 312A.1, thereby helping to secure the upper arm shaft 312AA in the assemble shaft housing 311 A and the first ball bearing 315A in the hole 311A.2A. A second screw 309 A is threaded into the top of the vertical shaft component 312A to secure and preload the second ball bearing 310.
[0124] FIGS. 20A, 20B, and 20C depict upper arm shaft 312A, according to one embodiment. The upper arm shaft 312A has an appendage 312A.2 that is configured to be coupled to the forearm 300A. In addition, the upper arm shaft 312A is rotatable in relation to the upper arm 300A as a result of the plurality of vertical shaft ball bearings, 31 OA and 315 A, as best depicted and described above in relation to FIGS. 19A-C. As such, in operation, the upper arm shaft 312A is rotatable by the right upper arm motor 317AA in the upper arm 300A as described above via the drive train that couples the right upper arm motor 317A to the vertical shaft bevel gear 313A, which in turn is coupled to the upper arm shaft 312A. In one embodiment, the appendage 312A.2 can be rotated around vertical upper arm shaft 312AA with a rotational radius or angle of cp3 as shown in FIG. 20A. In one specific implementation, the angle is 50 degrees. In accordance with one embodiment, the appendage 312A.2 is configured to be coupleable to a forearm 300A via the configuration or geometry of the appendage 312A.2 and the hole 312A.5 formed underneath the appendage 312A.2.
[0125] It is understood that any known forearm component can be coupled to either upper arm 300A,
300B. According to one embodiment, the forearm coupled to the upper arm 300A, 300B is the exemplary right forearm 410, which could apply equally to a right 410A or left 410B forearm, depicted in FIGS. 21A-21D. In this exemplary embodiment, the forearm has a cylindrical body or housing 412 and an end effector 414. As shown in FIGS. 21G and 21H, the housing 412 is made up of two separate forearm housing components 412.1, 412.2 that are coupled together with three bolts (or threaded members) 472. The three bolts 472 pass through housing component 412.1 and into threaded holes in the housing component 412.2. Alternatively, the two forearm housing components 412.1, 412.2 can be coupled together by any known coupling mechanism or method.
[0126] In this embodiment, the end effector 414 is a grasper, but it is understood that any known end effector can be coupled to and used with this forearm 410. The depicted embodiment can also have a circular valley 474 defined in the distal end of the forearm housing 412. This valley 474 can be used to retain an elastic band or other similar attachment mechanism for use in attaching a protective plastic bag or other protective container intended to be positioned around the forearm 410 and/or the entire device arm and/or the entire device to maintain a cleaner robot.
[0127] As best shown in FIGS 21E, 21G, and 21H, the forearm 410 has two motors - a rotation motor 416 and an end effector motor 418. The rotation motor 416 is coupled via a forearm rotation motor gear 420 and a forearm rotation motor attachment gear 422 to the forearm attachment component 424, which is configured to be coupleable to an elbow joint, such as either elbow joint 200.1A, 200. IB. The forearm rotation motor attachment gear 422 transmits the rotational drive of the motor from the forearm rotation motor gear 420 to the forearm rotation motor attachment component 424. The attachment component 424, as best shown in FIGS. 22A and 22B, has a forearm rotation motor shaft 426 that defines a forearm rotation motor lumen 428 having a threaded interior wall. Further, the attachment gear 422 and first and second forearm bearings 430, 432 are positioned on/over this shaft 426, thereby operably coupling the attachment gear 422 to the attachment component 424. In one embodiment as shown, the shaft 426 has a D-shaped configuration 436 that mates with the D configuration of the hole 438 defined in the gear 422, thereby rotationally coupling the shaft 426 and gear 422. Alternatively, any configuration that can rotationally couple the two components can be incorporated. The bearing 430 is positioned on the shaft 426 between the attachment component 424 and the attachment gear 422, while the bearing 432 is positioned between the attachment gear 422 and the motor 416. In one embodiment, the bearing 430 is a ball bearing. Alternatively, as with all of the bearings described in this application, these bearings or bushings can be any roller bearings or bushings that can be used to support and couple any rotatable component to a non-rotatable component or housing. The bearings 430, 432, attachment gear 422, and attachment component 424 are secured to each other via a bolt or other type of threaded member 434 that is threaded into the threaded lumen 428 of the shaft 426.
[0128] As best shown in FIGS. 21G and 22A, the two housing components 212A, 212B have structures defined on their interior walls that are configured to mate with the various components contained within the housing 212, including the gears 420, 422 and bearings 430, 432. As such, the bearings 430, 432 are configured to be positioned within the appropriate mating features in the housing components 212A, 212B. These features secure the bearings 430, 432 in their intended positions in the housing 212 when the two housing components 212A, 212B are coupled. In addition, the rotation motor 416 is secured in its position within the housing 412 through a combination of the coupling or mating of the motor 416 with the features defined on the interior walls of the housing components 212A, 212B and two bolts or other type of threaded members 440A, 440B (one bolt - 440A - is depicted) that are threaded through the holes 442A, 442B and into holes 444A, 444B defined in the motor 416.
[0129] In the depicted embodiment, the attachment component 424 is an attachment nut 424. However, it is understood that the specific geometry or configuration of the attachment component 424 can vary depending on the specific robotic device and the specific elbow joint configuration.
[0130] In use, the actuation of the rotation motor 416 actuates rotation of the attachment component 424, which results in rotation of the forearm 410, thereby rotating the end effector 414. As such, in one embodiment, the rotation of the end effector 414 is accomplished by rotating the entire forearm 410, rather than just the end effector 414. In the depicted embodiment, the forearm 410 rotates around the same axis as the axis of the end effector 414, such that rotation of the forearm 410 results in the end effector 414 rotating around its axis. Alternatively, the two axes can be offset.
[0131] Any known end effector can be coupled to the forearm 410. In this particular embodiment as shown in FIG. 21E, the end effector is a grasper 414 having a yoke 414.2 that is positioned around the proximal ends of the grasper components 414.1. In this embodiment, the grasper 414 has a configuration and method of operation substantially similar to the grasper disclosed in U.S. Application 13/493,725, filed on June 11, 2012, which is hereby incorporated herein by reference in its entirety. Alternatively, any known grasper configuration can be used.
[0132] As best shown in FIGS. 21E, 23A, and 23B, the end effector motor 418 is configured to actuate the grasper 414 arms to open and close via the motor gear 450, which is coupled to the coupling gear 452, which is coupled to center drive rod 454, which is coupled to the grasper components 414.1. The grasper yoke 414.2 is substantially fixed to the housing 412 so that it does not move relative to the housing 412. More specifically, the grasper yoke 414.2 is fixedly coupled to the yoke gear 460, which is positioned in the housing 412 such that it is mated with the ridged notch 462 defined in the inner wall of the housing 412, as best shown in FIG. 23B. The teeth of the yoke gear 460 mate with the ridges of the ridge notch 462 to thereby couple the gear 460 and the housing 412. In addition, according to certain embodiments, glue can be placed between the yoke gear 460 and the housing as well, to further enhance the fixation of the grasper yoke 414.2 to the housing 412.
[0133] The coupler gear 452 has a center hole (not shown) that is internally threaded (not shown) such that the proximal end of the center drive rod 454 is positioned in the center hole. Because the center drive rod 454 has external threads (not shown) that mate with the internal threads of the center hole defined in the coupler gear 452, the rotation of the coupler gear 452 causes the internal threads of the center hole to engage the external threads of the drive rod 454 such that the drive rod 454 is moved translationally. This translational movement of the drive rod 454 actuates the grasper arms to move between the closed and open positions. The coupler gear 452 is supported by two bearings 464, 466, which are secured within the housing 412 by appropriate features defined in the inner walls of the housing 412. In addition, the end effector motor 418 is secured in a fashion similar to the motor 416.
[0134] In an alternative embodiment, the grasper or other end effector can be actuated by any known configuration of actuation and/or drive train components.
[0135] In one implementation, when the forearm 410 and the end effector 414 are assembled, the forearm
410 can have a gap 470 between the two motors 416, 418. In accordance with one embodiment, the gap 470 can be a wiring gap 470 configured to provide space for the necessary wires and/or cables and any other connection components needed or desired to be positioned in the forearm 410.
[0136] As discussed above, any end effector can be used with the robotic device embodiments disclosed and contemplated herein. One exemplary implementation of a grasper 500 that can be used with those embodiments is depicted in FIG. 24. The grasper 500 has two jaws (also referred to as arms) 502.1, 502.2 that both pivot around a single pivot point 504. According to one embodiment, the grasper 500 is a "combination" or "hybrid" grasper 500 having structures configured to perform at least two tasks, thereby reducing the need to use one tool for one task and then replace it with another tool for another task. More specifically, each jaw 502.1, 502.2 has two sizes of ridges or toothlike formations ("teeth"): larger teeth 506.1, 506.2 and smaller teeth 508.1, 508.2. It is understood that the teeth can be any known size for use in grasper jaws, so long as one set (the larger set) is larger than the other set (the smaller set). The larger teeth 506.1, 506.2 are intended for gross manipulations (dealing with larger amounts of tissue or larger bodies in the patient) while the smaller teeth 508.1, 508.2 are intended for finer work (such as manipulating thin tissue). In use, when fine work is to be performed, only the distal ends or tips of the jaws 502.1, 502.2 are used such that only the smaller teeth 508.1, 508.2 are used.
[0137] In one embodiment, the portion of the jaws 502, 502.2 having the smaller teeth 508.1, 508.2 is narrower in comparison to the portion having the larger teeth 506.1, 506.2, thereby providing a thinner point that can provide more precise control of the grasper 500.
[0138] In accordance with one implementation, a robotic device according to any of the embodiments disclosed herein can also have at least one forearm 550 with a camera 552 as shown in FIGS. 25A-25E. As best shown in FIGS. 25A, 25B, and 25C, one embodiment of the forearm 550 with a camera 552 has a lumen 560A defined through a camera housing 556 positioned at the distal end of the forearm 550. In addition, the forearm 550 also has an end cap 554 that defines a portion of the lumen 560B as well, as best shown in FIG. 25C. When the end cap 554 is positioned on the distal end of the forearm 550, the lumens 560A, 560B are coupled to produce a single lumen 560. In one embodiment, the end cap 554 is coupled to the distal end of the forearm 550 by sliding the cap 554 over the end effector 562 (which, in this particular embodiment, is a cautery component 562) and secured to the distal end of the forearm 550 using at least one screw 558. The camera 552 can be positioned within the lumen 560 as best shown in FIGS. 25 A and 25D.
[0139] In use, the camera 552 provides a secondary viewpoint of the surgical site (in addition to the main camera on the robotic device (such as, for example, the camera 99 described above) and could potentially prevent trauma by showing a close-up view of the site. In one embodiment, the camera 552 is positioned such that the field of view contains the tip of the cautery (or any other end effector) 562 and as much of the surgical site as possible. One embodiment of the field of view 564 provided by the camera 552 is depicted in FIG. 25E, in which the field of view cone is 60 degrees. Alternatively, the field of view can be any known size for a camera that can be incorporated into a medical device. In a further alternative, multiple cameras could be incorporated into the distal end of the forearm 550. In one embodiment, multiple cameras could be configured to provide stereoscopic ("3D") visualization. In a further alternative implementation, the distal end of the forearm 550 could also have lights such as, for example, LED or fiber optic lights for illumination. While this particular embodiment depicts the camera 552 being used on a cautery forearm 550, the camera 552 or any similar variation of the camera 552 as contemplated herein can be incorporated into any robotic end effector in which an alternate view would be beneficial. According to further alternative implementations, the camera unit could be positioned in a location on a robotic device other than the forearm. In accordance with one embodiment, the one or more additional viewpoints provided by one or more additional cameras can be shown as a Picture In Picture (PIP) on the surgical user interface or on separate monitors.
[0140] In use, the various embodiments of the robotic device disclosed and contemplated herein can be positioned in or inserted into a cavity of a patient. In certain implementations, the insertion method is the method depicted in FIGS. 26A-26F. In this method, the entire device 602 can be inserted into the cavity as a single device, in contrast to those prior art devices that must be inserted in some unassembled state and then assembled after insertion. That is, many known surgical robotic devices prior to the embodiments disclosed herein require a relatively extensive process for insertion into the abdominal cavity. For such prior art devices, each arm must be inserted individually, aligned with a central connecting rod that is also inserted, and then coupled to the connecting rod to secure the arms in place. Other similar procedures require some similar set of steps relating to the insertion of various separate parts of a device, followed by some assembly of the parts once they are positioned as desired in relation to the patient. These insertion-then-assembly procedures are generally time-consuming procedures that expose the robotic arms to fluids within the cavity for the duration of the process. As such, these procedures can often lead to premature failure of the robots due to moisture damage of the electronics and undue stress on the arms during assembly.
[0141] In contrast, the device embodiments disclosed herein allow for inserting the entire device without any post-insertion assembly, thereby eliminating the problems described above. More specifically, the shoulder joint configuration and the reduced profile created by that configuration allows the entire device to be inserted as a single unit with both arms intact. FIGS. 26A-26F depict the various positions of the device arms 604 during the insertion procedure, according to one embodiment. FIG. 26A depicts the base or homing position required by the control kinematics. That is, as is understood by those of ordinary skill in the art, robotic devices typically have encoders that track the current position of the moving parts of the device (such as, for example, the arms 604 on this device), but the encoders track the relative position, not the actual position. As such, the homing position is necessary in order for the device to start from a known configuration. FIG. 26B depicts the arms 604 in a transition position in which the arms 604 are moving from the homing position toward the fully extended vertical position of FIG. 26C. The shoulders are then re-positioned to the configuration shown in FIG. 26D (and in further detail in FIG. 27A in which the insertion tube 600 is depicted) in which the arms 604 are rotated to a position in which they are no longer positioned along the same vertical axis (XI) as the device body 602, but instead are positioned such that the axis (X2) of the arms 604 is parallel to and behind the device body 602. In addition, the rotation of the arms 604 to the position of 26D (and 27 A) also results in the cross-sectional profile of the device 602 along its width being reduced by the size of the arms 604. That is, while the arms 604 in 26C are positioned alongside the device body 602 such that the width of the body 602 is enlarged by the width of the arms 604 on each side of the body 602, the rotation of the arms 604 to a position behind the body 602 also results in the arms 604 being positioned such that they are positioned within the width of the body 602 (that is, they do not extend beyond the width of the body 602). It is the configuration of the shoulders as described above that allows for this particular repositioning. The end result is a device configuration in 26D that has a smaller width than the configuration in 26C, thereby reducing the profile of the device along its width and allowing for insertion of the device without having to remove the arms.
[0142] Once the device is in the configuration of FIG 26D, the device can begin to be inserted into the cavity. Due to the length of the arms, the device cannot be fully inserted into the cavity in this vertical position, so once the forearms are positioned inside the cavity, they are rotated to the position shown in FIG. 26E (and in further detail in FIG. 27B). Once in this configuration, the rest of the robot is fully inserted and then the device is configured into a typical operating arrangement such as that shown in FIG. 26F (and in further detail in FIG. 27C).
[0143] The alternative embodiment depicted in FIGS. 27A-27C depict an insertion tube (also called an
"overtube") 600 in which the robotic device can be stored prior to use. Further, prior to insertion, the tube 600 will be sealed to the abdominal wall after an incision has been made in the wall. Once sealed, the abdomen can be insufflated and the blue overtube and abdomen will be at equal pressures. The robot can then be inserted following the previously outlined steps discussed above.
[0144] According to another embodiment, any of the robotic devices disclosed or contemplated above can also incorporate sensors to assist in determining the absolute position of the device components. As depicted in FIG. 28, the robotic device 650 has a body 652, a right arm 654, and a left arm 656. The right arm 654 has an upper arm 654A and a forearm 654B, and the left arm 656 also has an upper arm 656A and a forearm 656B. Note that each of the upper arms and forearms are also referred to as "links." In addition, the right arm 654 has a shoulder joint 654C and an elbow joint 654D, while the left arm 656 also has a shoulder joint 656C and an elbow joint 656D. [0145] In this embodiment, various position sensors 658, 660A, 660B, 662A, 662B are positioned on the device 650 as shown in FIG. 28. More specifically, a first position sensor 658 is positioned on the device body 652, while a second position sensor 660A is positioned on the right upper arm 654A, a third position sensor 660B is positioned on the right forearm 654B, a fourth position sensor 662A is positioned on the left upper arm 656A, and a fifth position sensor 662B is positioned on the left forearm 656B. In accordance with one implementation, the sensors are 3-axis sensors, as described in FIG. 29. In one embodiment, the position sensor 658 positioned on the device body 652 senses the orientation of the device body 652 and then the orientation of each of the sensors 660A, 660B, 662A, 662B on the links 654A, 654B, 656A, 656B can be used to determine the current position of each link of each arm 654, 656 and the joint angles at joints 654C, 654D, 656C, 656D.
[0146] More specifically, the sensor 658 positioned on the device body 652 is used as the known reference point, and each of the other sensors 660A, 660B, 662A, 662B can be used in conjunction with the sensor 658 to determine the position and orientation of both arms relative to the reference point. In one implementation, each 3-axis sensor measures the spatial effect of the at least one environmental characteristic being measured and also determine the orientation of that sensor in all three spatial dimensions. Each sensor 660A, 660B, 662A, 662B on a link 654A, 654B, 656A, 656B measures the environmental characteristic at that position on the link. For each link 654A, 654B, 656A, 656B, the measured value and orientation of the sensor 660A, 660B, 662A, 662B on that link can then be used to determine the spatial orientation of each link 654A, 654B, 656A, 656B. When sensors are mounted on every link as in FIG. 28, the kinematic configuration of both robotic arms 654, 656 can be used with the link orientations determined from the sensors to directly calculate the position of the arms 654, 656 from the known reference point: sensor 658. This known orientation can then be used to determine the position and orientation of both arms 654, 656 relative to the reference point 658.
[0147] While the sensors 660A, 660B, 662A, 662B in FIG. 28 are shown to be attached to an exterior surface of each link as shown, in alternative embodiments the sensors can be mounted on the link in any known or measureable position and orientation. In a further alternative, each of the sensors can be mounted in an interior location inside the particular component that the sensor is intended to be coupled to. In yet another alternative, each sensor can be positioned on an exterior portion of the appropriate component as long as it is firmly attached to the component.
[0148] In addition, it is understood that while the embodiment in FIG. 28 depicts a robotic device 650 with two joints and two links per arm, the position sensors can be applied to and used with a robotic device with any number of joints and links per arm in any configuration.
[0149] In one embodiment, the 3-axis sensors 658, 660A, 660B, 662A, 662B are 3-axis accelerometers that measure the acceleration due to gravity. It is understood that a 3-axis accelerometer operates in the following fashion: the acceleration due to gravity is measured and depending on the orientation of the arm link (or other device component), magnitudes of acceleration in proportion to the orientation angles of the accelerometer are sensed on the different axes 702, 704, 706 of the 3-axis accelerometer as best shown in FIG. 29. Given the acceleration measurements on each axis of the accelerometer, the orientation of the link that the accelerometer is mounted on can be determined with respect to gravity. [0150] Aside from being able to measure the acceleration of gravity, one additional characteristic of accelerometer sensors is that they can also measure the acceleration of the link(s) they are attached to on the robotic device. As such, in certain embodiments, given a starting position for the robotic device and its links, this acceleration data can be integrated over time to provide a position for the links of the robot. The positions determined from this integration can be more accurate if the system model of the robot is known to help account for the effects of inertia and other internal forces.
[0151] Alternatively, sensors other than accelerometers can be used. Possible sensors include, but are not limited to, magnetometers (measuring magnetic field from earth's magnetic field, induced magnetic field, or other magnetic field), tilt sensors, radio frequency signal strength meters, capacitance meter, or any combination or extensions of these. Further, while 3 -axis sensors are used in the embodiment discussed above, single or dual or other multi-axis sensors could be used.
[0152] Another type of sensor that can be used with a robotic device is a gyroscope. The gyroscope measures the rate of rotation in space. The gyroscope can be combined with an accelerometer and magnetometer to form an inertial measurement unit, or IMU, that can be used to measure the static position of the robotic device or to calculate the position of the device while it is moving through integration of the measured data over time.
[0153] In use, the sensors described above help to determine or provide information about the absolute position of a device component, such as an arm. This contrasts with many known robotic devices that use embedded encoders, which can only measure a relative change in a joint angle of an arm such that there is no way to determine what position the arm is in when the device is first powered up (or "turned on"). The sensor system embodiments described herein help to determine the absolute position of one or more links on a robotic device. In fact, in accordance with some implementations, the position tracking systems disclosed herein allow a robotic device or a user to autonomously determine what position the device and device arms are in at any time. Such a system according to the embodiments disclosed herein can be used alone (as a primary position tracking system) or in combination with the embedded encoders (as a redundant position tracking system). Although as previously described only one position sensor is used per link, other embodiments have multiple sensors per link. The additional position sensors provide additional positional redundancy, and in some implementations the data collected from the multiple position sensors can be used with various filtering techniques, such as Kalman Filtering, to provide a more robust calculation of the position of the robot.
[0154] While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.
[0155] Although the present invention has been described with reference to preferred embodiments, persons skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention.

Claims

I Claim:
1. A surgical robotic system, comprising:
a. a port traversing the body of a patient;
b. a robotic device comprising:
i. a plurality of coupleable bodies, further comprising a first shoulder component and a second shoulder component, the coupleable bodies capable of traversing the port from the exterior to interior of the patient;
ii. a first movable segmented robotic arm operationally connected to the first shoulder component;
iii. a second movable segmented robotic arm operationally connected to the second shoulder component;
iv. a first operational component operationally connected to the first robotic arm; and v. a second operational component operationally connected to the second robotic arm; and c. an operations system for control of the robotic device from outside the patient by way of the port and coupleable bodies, the operations system in electrical communication with the robotic device.
2. The surgical robotic system of claim 1, wherein the robotic device may be assembled within the body cavity of the patient.
3. The surgical robotic system of claim 1, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.
4. The surgical robotic system of claim 1, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.
5. The surgical robotic system of claim 1, further comprising one or more motors for operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.
6. The surgical robotic system of claim 1, wherein the port creates an insufflation seal in the body.
7. The surgical robotic system of claim 1, wherein the robotic device further comprises at least one absolute position sensor.
8. The surgical robotic system of claim 1, wherein the robotic device further comprises at least one relative position sensor.
9. The surgical robotic system of claim 7 or 8, wherein the robotic device further comprises a pixel array and an LED array.
10. The surgical robotic system of claim 1, wherein the robotic device further comprises a linear encoder.
11. The surgical robotic system of claim 1 , wherein the robotic device further comprises a slip ring assembly.
12. A surgical robotic system, comprising:
a. a robotic device comprising:
i. a port;
ii. a first shoulder component;
iii. a second shoulder component;
iv. a first movable segmented robotic arm operationally connected to the body component by way of the first shoulder component;
v. a second movable segmented robotic arm operationally connected to the body component by way of the second shoulder component;
vi. a first operational component operationally connected to the first robotic arm; and vii. a second operational component operationally connected to the second robotic arm; b. an operations system for control of the robotic device from outside the patient by way of the port and coupleable bodies, the operations system in electrical communication with the robotic device.
13. The surgical robotic system of claim 12, wherein the robotic device may be assembled within the body cavity of the patient.
14. The surgical robotic system of claim 12, wherein the first operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.
15. The surgical robotic system of claim 12, wherein the second operational component is chosen from a group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, an operational arm component, a sensor component, and a lighting component.
16. The surgical robotic system of claim 12, further comprising one or more motors for operation, rotation or movement of at least one of the first shoulder, the second shoulder, the first segmented arm, the second segmented arm, the first operational component, and the second operational component.
17. A method of performing minimally invasive surgery, comprising:
a. providing a robotic device comprising:
i. a plurality of coupleabe bodies, further comprising a first shoulder component and a second shoulder component, the coupleable bodies capable of traversing the port from the exterior to interior of the patient;
ii. a first movable segmented robotic arm operationally connected to the first shoulder component;
iii. a second movable segmented robotic arm operationally connected to the second shoulder component;
iv. a first operational component operationally connected to the first robotic arm; and v. a second operational component operationally connected to the second robotic arm; and b. providing an operations system for control of the robotic device from outside the patient by way of the port and coupleable bodies, the operations system in electrical communication with the robotic device.
18. The method of performing minimally invasive surgery of claim 17, further comprising providing a fluidly sealed port disposed across the body cavity wall of a patient and transversed by the coupleable bodies.
19. The method of performing minimally invasive surgery of claim 17, further comprising inserting the surgical robotic system components into the body of the patient by way of the port using the support rod; and
20. The method of performing minimally invasive surgery of claim 17, further comprising assembling the surgical robotic system inside the body of the patient for use.
PCT/US2013/032397 2012-05-01 2013-03-15 Single site robotic device and related systems and methods WO2014011238A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP13816521.2A EP2844181B1 (en) 2012-05-01 2013-03-15 Single site robotic device and related systems
EP21156999.1A EP3845190B1 (en) 2012-05-01 2013-03-15 Single site robotic device and related systems
JP2015510277A JP2015531608A (en) 2012-05-01 2013-03-15 Single-hole robotic equipment and related systems and methods
CA2871149A CA2871149C (en) 2012-05-01 2013-03-15 Single site robotic device and related systems and methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261640879P 2012-05-01 2012-05-01
US61/640,879 2012-05-01

Publications (2)

Publication Number Publication Date
WO2014011238A2 true WO2014011238A2 (en) 2014-01-16
WO2014011238A3 WO2014011238A3 (en) 2015-05-21

Family

ID=49916634

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2013/032397 WO2014011238A2 (en) 2012-05-01 2013-03-15 Single site robotic device and related systems and methods

Country Status (5)

Country Link
US (5) US9498292B2 (en)
EP (2) EP2844181B1 (en)
JP (2) JP2015531608A (en)
CA (1) CA2871149C (en)
WO (1) WO2014011238A2 (en)

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016132773A1 (en) * 2015-02-18 2016-08-25 ソニー株式会社 Information processing device, information processing method, and support arm device
WO2017013449A1 (en) * 2015-07-22 2017-01-26 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
EP2996545A4 (en) * 2013-03-15 2017-02-15 Board of Regents of the University of Nebraska Robotic surgical devices, systems, and related methdos
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9757187B2 (en) 2011-06-10 2017-09-12 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9883911B2 (en) 2006-06-22 2018-02-06 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CN107972065A (en) * 2016-10-21 2018-05-01 和硕联合科技股份有限公司 Mechanical arm localization method and apply its system
US9956043B2 (en) 2007-07-12 2018-05-01 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and procedures
EP3217890A4 (en) * 2014-11-11 2018-08-22 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
US10111711B2 (en) 2011-07-11 2018-10-30 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US10219870B2 (en) 2012-05-01 2019-03-05 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US10307199B2 (en) 2006-06-22 2019-06-04 Board Of Regents Of The University Of Nebraska Robotic surgical devices and related methods
US10335024B2 (en) 2007-08-15 2019-07-02 Board Of Regents Of The University Of Nebraska Medical inflation, attachment and delivery devices and related methods
US10342561B2 (en) 2014-09-12 2019-07-09 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
US10470828B2 (en) 2012-06-22 2019-11-12 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US10582973B2 (en) 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US10702347B2 (en) 2016-08-30 2020-07-07 The Regents Of The University Of California Robotic device with compact joint design and an additional degree of freedom and related systems and methods
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10806538B2 (en) 2015-08-03 2020-10-20 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
US11173617B2 (en) 2016-08-25 2021-11-16 Board Of Regents Of The University Of Nebraska Quick-release end effector tool interface
US11284958B2 (en) 2016-11-29 2022-03-29 Virtual Incision Corporation User controller with user presence detection and related systems and methods
US11357595B2 (en) 2016-11-22 2022-06-14 Board Of Regents Of The University Of Nebraska Gross positioning device and related systems and methods
US11883065B2 (en) 2012-01-10 2024-01-30 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
CN112091924B (en) * 2020-08-07 2022-02-01 西南石油大学 Wheel-arm hybrid reconfigurable robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4922782A (en) 1985-09-20 1990-05-08 Doryokuro Kakunenryo Kaihatsu Jigyodan Manipulator shoulder mechanism
WO2001089405A1 (en) 2000-05-22 2001-11-29 Siemens Aktiengesellschaft Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions
US20080109014A1 (en) 2006-11-06 2008-05-08 De La Pena Alejandro Ramos Robotic surgical device
WO2011135503A1 (en) 2010-04-26 2011-11-03 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Robotic apparatus for minimally invasive surgery
DE102010040405A1 (en) 2010-09-08 2012-03-08 Siemens Aktiengesellschaft Instrument system for an endoscopic robot

Family Cites Families (537)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2858947A (en) 1953-11-16 1958-11-04 Garrett Corp Remote control manipulating apparatus
FR2183584B1 (en) 1972-05-10 1974-09-27 Commissariat Energie Atomique
US3870264A (en) 1973-03-26 1975-03-11 William I Robinson Stand
US3971266A (en) 1973-07-17 1976-07-27 Nippondenso Co., Ltd. Power transmission device
DE2339827B2 (en) 1973-08-06 1977-02-24 A6 In 3-02 DENTAL EQUIPMENT
US3922930A (en) 1974-12-23 1975-12-02 Nasa Remotely operable articulated manipulator
US4258716A (en) 1978-02-06 1981-03-31 The University Of Melbourne Microsurgical instruments
JPS5519124A (en) 1978-07-27 1980-02-09 Olympus Optical Co Camera system for medical treatment
US4246661A (en) 1979-03-15 1981-01-27 The Boeing Company Digitally-controlled artificial hand
US4353677A (en) 1980-03-05 1982-10-12 Thermwood Corporation Wrist construction for industrial robots
JPH0659635B2 (en) 1981-10-07 1994-08-10 株式会社日立製作所 Robot wrist
JPS58132490A (en) 1982-01-29 1983-08-06 株式会社日立製作所 Transmitting mechanism of angle
US4645409A (en) 1982-02-05 1987-02-24 American Cimflex Corporation Outer arm assembly for industrial robot
US4636138A (en) 1982-02-05 1987-01-13 American Robot Corporation Industrial robot
JPS5959371A (en) 1982-09-30 1984-04-05 フアナツク株式会社 Industrial robot
US5307447A (en) 1982-10-29 1994-04-26 Kabushiki Kaisha Toshiba Control system of multi-joint arm robot apparatus
GB2130889B (en) 1982-11-26 1986-06-18 Wolf Gmbh Richard Rectoscope
JPS6076986A (en) 1983-09-30 1985-05-01 株式会社東芝 Robot
GB2162814B (en) 1984-01-13 1988-02-24 Mitsubishi Electric Corp Wrist apparatus for industrial robot
DE3536747A1 (en) 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Joint mechanism
DE3441332A1 (en) 1984-11-12 1986-05-22 Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Institutsgemeinschaft Stuttgart e.V., 7000 Stuttgart JOINT DRIVE, ESPECIALLY FOR INDUSTRIAL ROBOTS
DE3525806A1 (en) 1985-07-19 1987-01-29 Kuka Schweissanlagen & Roboter TRANSMISSION HEAD FOR MANIPULATORS
DE3545068A1 (en) 1985-12-19 1987-06-25 Kuka Schweissanlagen & Roboter TRANSMISSION HEAD FOR MANIPULATORS
DE3612498A1 (en) 1986-04-14 1987-10-29 Norske Stats Oljeselskap SELF-DRIVING VEHICLE FOR PIPELINES
US4787270A (en) 1987-02-11 1988-11-29 Cincinnati Milacron Inc. Robotic manipulator
US4762455A (en) * 1987-06-01 1988-08-09 Remote Technology Corporation Remote manipulator
IT1211195B (en) 1987-07-10 1989-10-12 Bruno Bisiach INDUSTRIAL ROBOT WITH MULTIPLE ARTICULATIONS WITH MULTI-DEGREE FREEDOM OF MOVEMENT
JP2610330B2 (en) 1987-11-30 1997-05-14 ロスヘイム,マーク・イー Robot wrist joint
JP2591968B2 (en) 1987-12-28 1997-03-19 株式会社日立製作所 Industrial robot wrist
US5019968A (en) 1988-03-29 1991-05-28 Yulan Wang Three-dimensional vector processor
US5187796A (en) 1988-03-29 1993-02-16 Computer Motion, Inc. Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units
US5108140A (en) 1988-04-18 1992-04-28 Odetics, Inc. Reconfigurable end effector
JPH0224075A (en) 1988-07-13 1990-01-26 Mitsubishi Electric Corp Industrial robot
US4896015A (en) 1988-07-29 1990-01-23 Refractive Laser Research & Development Program, Ltd. Laser delivery system
US4897014A (en) 1988-09-06 1990-01-30 Harbor Branch Oceanographic Institution, Inc. Device for interchange of tools
US5271384A (en) 1989-09-01 1993-12-21 Mcewen James A Powered surgical retractor
US5201325A (en) 1989-09-01 1993-04-13 Andronic Devices Ltd. Advanced surgical retractor
US5562448A (en) 1990-04-10 1996-10-08 Mushabac; David R. Method for facilitating dental diagnosis and treatment
JP2914388B2 (en) 1990-04-17 1999-06-28 株式会社ユアサコーポレーション Polymer solid electrolyte
IT1241621B (en) 1990-10-04 1994-01-25 Comau Spa ARTICULATED ROBOT
IT1241622B (en) 1990-10-04 1994-01-25 Comau Spa ROBOT WRIST
JPH04144533A (en) 1990-10-05 1992-05-19 Olympus Optical Co Ltd Endoscope
US5176649A (en) 1991-01-28 1993-01-05 Akio Wakabayashi Insertion device for use with curved, rigid endoscopic instruments and the like
US5217003A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5172639A (en) 1991-03-26 1992-12-22 Gas Research Institute Cornering pipe traveler
EP0835639A3 (en) 1991-05-29 1999-04-07 Origin Medsystems, Inc. Retraction apparatus for endoscopic surgery
US5632761A (en) 1991-05-29 1997-05-27 Origin Medsystems, Inc. Inflatable devices for separating layers of tissue, and methods of using
US5370134A (en) 1991-05-29 1994-12-06 Orgin Medsystems, Inc. Method and apparatus for body structure manipulation and dissection
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5284096A (en) 1991-08-06 1994-02-08 Osaka Gas Company, Limited Vehicle for use in pipes
US5674030A (en) 1991-08-27 1997-10-07 Sika Equipment Ag. Device and method for repairing building branch lines in inacessible sewer mains
JP2526537B2 (en) 1991-08-30 1996-08-21 日本電装株式会社 Pipe energy supply system
US5305653A (en) 1991-09-30 1994-04-26 Tokico Ltd. Robot wrist mechanism
JPH05115425A (en) 1991-10-25 1993-05-14 Olympus Optical Co Ltd Endoscope
US6731988B1 (en) 1992-01-21 2004-05-04 Sri International System and method for remote endoscopic surgery
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5631973A (en) 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
ATE238140T1 (en) 1992-01-21 2003-05-15 Stanford Res Inst Int SURGICAL SYSTEM
US5624380A (en) 1992-03-12 1997-04-29 Olympus Optical Co., Ltd. Multi-degree of freedom manipulator
US5263382A (en) 1992-04-13 1993-11-23 Hughes Aircraft Company Six Degrees of freedom motion device
US5372147A (en) 1992-06-16 1994-12-13 Origin Medsystems, Inc. Peritoneal distension robotic arm
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US7074179B2 (en) 1992-08-10 2006-07-11 Intuitive Surgical Inc Method and apparatus for performing minimally invasive cardiac procedures
US5754741A (en) 1992-08-10 1998-05-19 Computer Motion, Inc. Automated endoscope for optimal positioning
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US5515478A (en) 1992-08-10 1996-05-07 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5588442A (en) 1992-08-12 1996-12-31 Scimed Life Systems, Inc. Shaft movement control apparatus and method
US5297536A (en) 1992-08-25 1994-03-29 Wilk Peter J Method for use in intra-abdominal surgery
US5458131A (en) 1992-08-25 1995-10-17 Wilk; Peter J. Method for use in intra-abdominal surgery
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5769640A (en) 1992-12-02 1998-06-23 Cybernet Systems Corporation Method and system for simulating medical procedures including virtual reality and control method and system for use therein
US5353807A (en) 1992-12-07 1994-10-11 Demarco Thomas J Magnetically guidable intubation device
CA2112271A1 (en) 1992-12-28 1994-06-29 Kiichi Suyama Intrapipe work robot apparatus and method of measuring position of intrapipe work robot
DE69427901T2 (en) 1993-01-07 2002-04-04 Medical Innovations Corp CATHETER SYSTEM FOR GASTROSTOMY
US6346074B1 (en) 1993-02-22 2002-02-12 Heartport, Inc. Devices for less invasive intracardiac interventions
US6832996B2 (en) 1995-06-07 2004-12-21 Arthrocare Corporation Electrosurgical systems and methods for treating tissue
US5363935A (en) 1993-05-14 1994-11-15 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5791231A (en) 1993-05-17 1998-08-11 Endorobotics Corporation Surgical robotic system and hydraulic actuator therefor
JP3349197B2 (en) 1993-06-30 2002-11-20 テルモ株式会社 Trocar tube
US5441494A (en) 1993-07-29 1995-08-15 Ethicon, Inc. Manipulable hand for laparoscopy
US5382885A (en) 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5728599A (en) 1993-10-28 1998-03-17 Lsi Logic Corporation Printable superconductive leadframes for semiconductor device assembly
JP3476878B2 (en) 1993-11-15 2003-12-10 オリンパス株式会社 Surgical manipulator
US5876325A (en) 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5458598A (en) 1993-12-02 1995-10-17 Cabot Technology Corporation Cutting and coagulating forceps
WO1995016396A1 (en) 1993-12-15 1995-06-22 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5436542A (en) 1994-01-28 1995-07-25 Surgix, Inc. Telescopic camera mount with remotely controlled positioning
US5471515A (en) 1994-01-28 1995-11-28 California Institute Of Technology Active pixel sensor with intra-pixel charge transfer
JPH07223180A (en) 1994-02-10 1995-08-22 Tescon:Kk Horizontal articulated robot
JP3226710B2 (en) 1994-05-10 2001-11-05 株式会社東芝 Inspection image processing device and method
US5620417A (en) 1994-07-07 1997-04-15 Cardiovascular Imaging Systems Incorporated Rapid exchange delivery catheter
US5623582A (en) 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
US5603702A (en) 1994-08-08 1997-02-18 United States Surgical Corporation Valve system for cannula assembly
US6463361B1 (en) 1994-09-22 2002-10-08 Computer Motion, Inc. Speech interface for an automated endoscopic system
US7053752B2 (en) 1996-08-06 2006-05-30 Intuitive Surgical General purpose distributed operating room control system
US6646541B1 (en) 1996-06-24 2003-11-11 Computer Motion, Inc. General purpose distributed operating room control system
US5797538A (en) 1994-10-05 1998-08-25 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5653705A (en) 1994-10-07 1997-08-05 General Surgical Innovations, Inc. Laparoscopic access port for surgical instruments or the hand
US6071274A (en) 1996-12-19 2000-06-06 Ep Technologies, Inc. Loop structures for supporting multiple electrode elements
US5672168A (en) 1994-10-07 1997-09-30 De La Torre; Roger A. Laparoscopic access port for surgical instruments or the hand
US5645520A (en) 1994-10-12 1997-07-08 Computer Motion, Inc. Shape memory alloy actuated rod for endoscopic instruments
US5814062A (en) 1994-12-22 1998-09-29 Target Therapeutics, Inc. Implant delivery assembly with expandable coupling/decoupling mechanism
JP3610110B2 (en) 1995-02-23 2005-01-12 オリンパス株式会社 Medical manipulator
GB2301187B (en) 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
US5657584A (en) 1995-07-24 1997-08-19 Rensselaer Polytechnic Institute Concentric joint mechanism
US6714841B1 (en) 1995-09-15 2004-03-30 Computer Motion, Inc. Head cursor control interface for an automated endoscope system for optimal positioning
US5825982A (en) 1995-09-15 1998-10-20 Wright; James Head cursor control interface for an automated endoscope system for optimal positioning
US6283951B1 (en) 1996-10-11 2001-09-04 Transvascular, Inc. Systems and methods for delivering drugs to selected locations within the body
US5624398A (en) 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5971976A (en) 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US6063095A (en) 1996-02-20 2000-05-16 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5895417A (en) 1996-03-06 1999-04-20 Cardiac Pathways Corporation Deflectable loop design for a linear lesion ablation apparatus
US6652480B1 (en) 1997-03-06 2003-11-25 Medtronic Ave., Inc. Methods for reducing distal embolization
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6544276B1 (en) 1996-05-20 2003-04-08 Medtronic Ave. Inc. Exchange method for emboli containment
US5807377A (en) 1996-05-20 1998-09-15 Intuitive Surgical, Inc. Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6496099B2 (en) 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US6911916B1 (en) 1996-06-24 2005-06-28 The Cleveland Clinic Foundation Method and apparatus for accessing medical data over a network
US6642836B1 (en) 1996-08-06 2003-11-04 Computer Motion, Inc. General purpose distributed operating room control system
US6106521A (en) 1996-08-16 2000-08-22 United States Surgical Corporation Apparatus for thermal treatment of tissue
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
DE69732120T2 (en) 1996-09-13 2005-12-08 Schering Corp. TRICYCLIC INHIBITORS OF FARNESYL PROTEIN TRANSFERASE
US6520951B1 (en) 1996-09-13 2003-02-18 Scimed Life Systems, Inc. Rapid exchange catheter with detachable hood
IT1285533B1 (en) 1996-10-22 1998-06-08 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna ENDOSCOPIC ROBOT
US5845646A (en) 1996-11-05 1998-12-08 Lemelson; Jerome System and method for treating select tissue in a living being
US6293282B1 (en) 1996-11-05 2001-09-25 Jerome Lemelson System and method for treating select tissue in living being
US6286514B1 (en) 1996-11-05 2001-09-11 Jerome Lemelson System and method for treating select tissue in a living being
US6058323A (en) 1996-11-05 2000-05-02 Lemelson; Jerome System and method for treating select tissue in a living being
US6132441A (en) 1996-11-22 2000-10-17 Computer Motion, Inc. Rigidly-linked articulating wrist with decoupled motion transmission
US5993467A (en) 1996-11-27 1999-11-30 Yoon; Inbae Suturing instrument with rotatably mounted spreadable needle holder
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US5910129A (en) 1996-12-19 1999-06-08 Ep Technologies, Inc. Catheter distal assembly with pull wires
US6332880B1 (en) 1996-12-19 2001-12-25 Ep Technologies, Inc. Loop structures for supporting multiple electrode elements
US6086529A (en) 1997-05-13 2000-07-11 Wisconsin Medical, Inc. Bronchoscopic manifold with compressible diaphragmatic valve for simultaneous airway instrumentation
US6066090A (en) 1997-06-19 2000-05-23 Yoon; Inbae Branched endoscope system
CA2298540A1 (en) 1997-08-20 1999-02-25 David J. Julius Nucleic acid sequences encoding capsaicin receptor and capsaicin receptor-related polypeptides and uses thereof
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6139563A (en) 1997-09-25 2000-10-31 Allegiance Corporation Surgical device with malleable shaft
JP3342021B2 (en) 1997-10-17 2002-11-05 サーコン コーポレーション Medical device system that penetrates tissue
US6240312B1 (en) 1997-10-23 2001-05-29 Robert R. Alfano Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment
FR2771280B1 (en) 1997-11-26 2001-01-26 Albert P Alby RESILIENT VERTEBRAL CONNECTION DEVICE
US20020095175A1 (en) 1998-02-24 2002-07-18 Brock David L. Flexible instrument
US7371210B2 (en) 1998-02-24 2008-05-13 Hansen Medical, Inc. Flexible instrument
US20020128662A1 (en) 1998-02-24 2002-09-12 Brock David L. Surgical instrument
US6692485B1 (en) 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US7789875B2 (en) 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US6810281B2 (en) 2000-12-21 2004-10-26 Endovia Medical, Inc. Medical mapping system
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6030365A (en) 1998-06-10 2000-02-29 Laufer; Michael D. Minimally invasive sterile surgical access device and method
US6352503B1 (en) 1998-07-17 2002-03-05 Olympus Optical Co., Ltd. Endoscopic surgery apparatus
WO2000007503A1 (en) 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6951535B2 (en) 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6554790B1 (en) 1998-11-20 2003-04-29 Intuitive Surgical, Inc. Cardiopulmonary bypass device and method
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6468265B1 (en) 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6162171A (en) 1998-12-07 2000-12-19 Wan Sing Ng Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US7125403B2 (en) 1998-12-08 2006-10-24 Intuitive Surgical In vivo accessories for minimally invasive robotic surgery
USD444555S1 (en) 1998-12-08 2001-07-03 Intuitive Surgical, Inc. Interface for a medical instrument
US6770081B1 (en) 2000-01-07 2004-08-03 Intuitive Surgical, Inc. In vivo accessories for minimally invasive robotic surgery and methods
US6309397B1 (en) 1999-12-02 2001-10-30 Sri International Accessories for minimally invasive robotic surgery and methods
USD441862S1 (en) 1998-12-08 2001-05-08 Intuitive Surgical, Inc. Portion of an interface for a medical instrument
USD438617S1 (en) 1998-12-08 2001-03-06 Intuitive Surgical, Inc. Portion of an adaptor for a medical instrument
US6620173B2 (en) 1998-12-08 2003-09-16 Intuitive Surgical, Inc. Method for introducing an end effector to a surgical site in minimally invasive surgery
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
USD441076S1 (en) 1998-12-08 2001-04-24 Intuitive Surgical, Inc. Adaptor for a medical instrument
US6799065B1 (en) 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6720988B1 (en) 1998-12-08 2004-04-13 Intuitive Surgical, Inc. Stereo imaging system and method for use in telerobotic systems
US6451027B1 (en) 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US8636648B2 (en) 1999-03-01 2014-01-28 West View Research, Llc Endoscopic smart probe
US6159146A (en) 1999-03-12 2000-12-12 El Gazayerli; Mohamed Mounir Method and apparatus for minimally-invasive fundoplication
JP3596340B2 (en) 1999-03-18 2004-12-02 株式会社日立製作所 Surgical insertion device
US6565554B1 (en) 1999-04-07 2003-05-20 Intuitive Surgical, Inc. Friction compensation in a minimally invasive surgical apparatus
US6594552B1 (en) 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6820653B1 (en) 1999-04-12 2004-11-23 Carnegie Mellon University Pipe inspection and repair system
US6292678B1 (en) 1999-05-13 2001-09-18 Stereotaxis, Inc. Method of magnetically navigating medical devices with magnetic fields and gradients, and medical devices adapted therefor
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
US6450992B1 (en) 1999-07-02 2002-09-17 Smith & Nephew, Inc. Cannula interface
US6788018B1 (en) 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
US6454775B1 (en) 1999-12-06 2002-09-24 Bacchus Vascular Inc. Systems and methods for clot disruption and retrieval
US6661571B1 (en) 1999-09-21 2003-12-09 Olympus Optical Co., Ltd. Surgical microscopic system
US6817972B2 (en) 1999-10-01 2004-11-16 Computer Motion, Inc. Heart stabilizer
US7217240B2 (en) 1999-10-01 2007-05-15 Intuitive Surgical, Inc. Heart stabilizer
US6936001B1 (en) 1999-10-01 2005-08-30 Computer Motion, Inc. Heart stabilizer
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6206903B1 (en) 1999-10-08 2001-03-27 Intuitive Surgical, Inc. Surgical tool with mechanical advantage
US6491691B1 (en) 1999-10-08 2002-12-10 Intuitive Surgical, Inc. Minimally invasive surgical hook apparatus and method for using same
JP3326472B2 (en) 1999-11-10 2002-09-24 独立行政法人 航空宇宙技術研究所 Articulated robot
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
US6548982B1 (en) 1999-11-19 2003-04-15 Regents Of The University Of Minnesota Miniature robotic vehicles and methods of controlling same
US6591239B1 (en) 1999-12-09 2003-07-08 Steris Inc. Voice controlled surgical suite
US6817975B1 (en) 2000-01-14 2004-11-16 Intuitive Surgical, Inc. Endoscope
AU2001233098A1 (en) 2000-01-27 2001-08-07 Sterilis, Inc. Cavity enlarger method and apparatus
US7039453B2 (en) 2000-02-08 2006-05-02 Tarun Mullick Miniature ingestible capsule
US6428539B1 (en) 2000-03-09 2002-08-06 Origin Medsystems, Inc. Apparatus and method for minimally invasive surgery using rotational cutting tool
AU2001249308A1 (en) 2000-03-24 2001-10-15 Johns Hopkins University Peritoneal cavity device and method
US6837846B2 (en) 2000-04-03 2005-01-04 Neo Guide Systems, Inc. Endoscope having a guide tube
US6468203B2 (en) 2000-04-03 2002-10-22 Neoguide Systems, Inc. Steerable endoscope and improved method of insertion
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
US6508413B2 (en) 2000-04-06 2003-01-21 Siemens Westinghouse Power Corporation Remote spray coating of nuclear cross-under piping
US6450104B1 (en) 2000-04-28 2002-09-17 North Carolina State University Modular observation crawler and sensing instrument and method for operating same
US6645196B1 (en) 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
JP2002000524A (en) 2000-06-20 2002-01-08 Hitachi Ltd Vacuum cleaner
FR2812067B1 (en) 2000-07-18 2003-05-16 Commissariat Energie Atomique MOBILE ROBOT ABLE TO WORK IN PIPES OR OTHER NARROW PASSAGES
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6726699B1 (en) 2000-08-15 2004-04-27 Computer Motion, Inc. Instrument guide
US6860877B1 (en) 2000-09-29 2005-03-01 Computer Motion, Inc. Heart stabilizer support arm
US6475215B1 (en) 2000-10-12 2002-11-05 Naim Erturk Tanrisever Quantum energy surgical device and method
US6601468B2 (en) 2000-10-24 2003-08-05 Innovative Robotic Solutions Drive system for multiple axis robot arm
DE10055293A1 (en) 2000-11-03 2002-05-29 Storz Karl Gmbh & Co Kg Device for holding and positioning an endoscopic instrument
JP3996057B2 (en) 2000-11-27 2007-10-24 タイコ ヘルスケア グループ リミテッド パートナーシップ Tissue extractor
EP2932884B1 (en) 2000-11-28 2020-09-09 Intuitive Surgical Operations, Inc. Endoscopic beating-heart stabilizer and vessel occlusion fastener
DE60135497D1 (en) 2000-12-06 2008-10-02 Honda Motor Co Ltd MORE FINGER HAND DEVICE
JP4655175B2 (en) 2000-12-19 2011-03-23 ソニー株式会社 MANIPULATOR SYSTEM, MASTER MANIPULATOR, SLAVE MANIPULATOR, CONTROL METHOD THEREOF, AND RECORDING MEDIUM
US6934589B2 (en) 2000-12-29 2005-08-23 Medtronic, Inc. System and method for placing endocardial leads
US6840938B1 (en) 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
US7519421B2 (en) 2001-01-16 2009-04-14 Kenergy, Inc. Vagal nerve stimulation using vascular implanted devices for treatment of atrial fibrillation
KR100380181B1 (en) 2001-02-10 2003-04-11 한국과학기술연구원 Micro Robot for Test the Large Intestines
US6871563B2 (en) 2001-02-26 2005-03-29 Howie Choset Orientation preserving angular swivel joint
ES2249599T3 (en) 2001-03-07 2006-04-01 Carnegie Mellon University ROBOTIZED SYSTEM TO INSPECT GAS DRIVES.
US6774597B1 (en) 2001-03-30 2004-08-10 The Regents Of The University Of Michigan Apparatus for obstacle traversion
US6870343B2 (en) 2001-03-30 2005-03-22 The University Of Michigan Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
US6512345B2 (en) 2001-03-30 2003-01-28 The Regents Of The University Of Michigan Apparatus for obstacle traversion
WO2002082979A2 (en) 2001-04-18 2002-10-24 Bbms Ltd. Navigating and maneuvering of an in vivo vechicle by extracorporeal devices
US6783524B2 (en) 2001-04-19 2004-08-31 Intuitive Surgical, Inc. Robotic surgical tool with ultrasound cauterizing and cutting instrument
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
KR100413058B1 (en) 2001-04-24 2003-12-31 한국과학기술연구원 Micro Robotic Colonoscope with Motor Locomotion
US6687571B1 (en) 2001-04-24 2004-02-03 Sandia Corporation Cooperating mobile robots
KR100402920B1 (en) 2001-05-19 2003-10-22 한국과학기술연구원 Micro robot
KR100426613B1 (en) 2001-05-19 2004-04-08 한국과학기술연구원 Micro robot driving system
US7607440B2 (en) * 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US6440085B1 (en) 2001-06-12 2002-08-27 Jacek Krzyzanowski Method of assembling a non-metallic biopsy forceps jaw and a non-metallic biopsy forceps jaw
US9226699B2 (en) 2002-04-19 2016-01-05 Sanofi-Aventis Deutschland Gmbh Body fluid sampling module with a continuous compression tissue interface surface
EP1408846B1 (en) 2001-06-29 2012-03-07 Intuitive Surgical Operations, Inc. Platform link wrist mechanism
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
US20050083460A1 (en) 2001-07-16 2005-04-21 Nippon Sheet Glass Co., Ltd. Semi-transmitting mirror-possessing substrate, and semi-transmitting type liquid crystal display apparatus
JP4744026B2 (en) 2001-07-30 2011-08-10 オリンパス株式会社 Capsule endoscope and capsule endoscope system
JP3926119B2 (en) 2001-08-10 2007-06-06 株式会社東芝 Medical manipulator
US6676684B1 (en) 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
US6728599B2 (en) 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
US6764441B2 (en) 2001-09-17 2004-07-20 Case Western Reserve University Peristaltically self-propelled endoscopic device
US6587750B2 (en) 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
WO2003028542A2 (en) 2001-10-02 2003-04-10 Arthrocare Corporation Apparatus and methods for electrosurgical removal and digestion of tissue
US6835173B2 (en) 2001-10-05 2004-12-28 Scimed Life Systems, Inc. Robotic endoscope
WO2003034158A2 (en) 2001-10-17 2003-04-24 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
US7182025B2 (en) 2001-10-17 2007-02-27 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
US6730021B2 (en) 2001-11-07 2004-05-04 Computer Motion, Inc. Tissue spreader with force measurement, force indication or force limitation
KR100417163B1 (en) 2001-11-12 2004-02-05 한국과학기술연구원 Micro capsule robot
EP1443991A4 (en) 2001-11-13 2007-03-14 Applied Med Resources Multi-seal trocar system
US7294146B2 (en) 2001-12-03 2007-11-13 Xtent, Inc. Apparatus and methods for delivery of variable length stents
US6839612B2 (en) 2001-12-07 2005-01-04 Institute Surgical, Inc. Microwrist system for surgical procedures
US6793653B2 (en) 2001-12-08 2004-09-21 Computer Motion, Inc. Multifunctional handle for a medical robotic system
US20030114731A1 (en) 2001-12-14 2003-06-19 Cadeddu Jeffrey A. Magnetic positioning system for trocarless laparoscopic instruments
US6780191B2 (en) 2001-12-28 2004-08-24 Yacmur Llc Cannula system
US6676660B2 (en) 2002-01-23 2004-01-13 Ethicon Endo-Surgery, Inc. Feedback light apparatus and method for use with an electrosurgical instrument
US7967816B2 (en) 2002-01-25 2011-06-28 Medtronic, Inc. Fluid-assisted electrosurgical instrument with shapeable electrode
US7637919B2 (en) 2002-01-30 2009-12-29 Olympus Corporation Anastomosis system for performing anastomosis in body
AU2003218050A1 (en) 2002-02-11 2003-09-04 Arthrocare Corporation Electrosurgical apparatus and methods for laparoscopy
EP1351009B1 (en) 2002-03-05 2006-07-12 WIWA WILHELM WAGNER GMBH & CO. KG Device and process for lining a pipe
WO2003077101A2 (en) 2002-03-06 2003-09-18 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US7831292B2 (en) 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
US20030179308A1 (en) 2002-03-19 2003-09-25 Lucia Zamorano Augmented tracking using video, computed data and/or sensing technologies
JP3869291B2 (en) 2002-03-25 2007-01-17 オリンパス株式会社 Capsule medical device
JP3917885B2 (en) 2002-04-08 2007-05-23 オリンパス株式会社 Capsule endoscope system
US6860346B2 (en) 2002-04-19 2005-03-01 Regents Of The University Of Minnesota Adjustable diameter wheel assembly, and methods and vehicles using same
US7674270B2 (en) 2002-05-02 2010-03-09 Laparocision, Inc Apparatus for positioning a medical instrument
FR2839440B1 (en) 2002-05-13 2005-03-25 Perception Raisonnement Action POSITIONING SYSTEM ON A PATIENT OF AN OBSERVATION AND / OR INTERVENTION DEVICE
US6678582B2 (en) 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
US20030230372A1 (en) 2002-06-13 2003-12-18 Kurt Schmidt Method for placing objects on the inner wall of a placed sewer pipe and device for carrying out said method
US6801325B2 (en) 2002-06-25 2004-10-05 Intuitive Surgical, Inc. Method and devices for inspecting and calibrating of stereoscopic endoscopes
EP2070487B1 (en) 2002-08-13 2014-03-05 NeuroArm Surgical, Ltd. Microsurgical robot system
MXPA05001734A (en) 2002-08-13 2005-07-22 Wyeth Corp PEPTIDES AS SOLUBILIZING EXCIPIENTS FOR TRANSFORMING GROWTH FACTOR ß PROTEINS.
WO2004016224A2 (en) 2002-08-19 2004-02-26 Pharmacia Corporation Antisense modulation of vegf co-regulated chemokine-1 expression
US6776165B2 (en) 2002-09-12 2004-08-17 The Regents Of The University Of California Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles
US7645510B2 (en) 2002-09-13 2010-01-12 Jds Uniphase Corporation Provision of frames or borders around opaque flakes for covert security applications
JP4133188B2 (en) 2002-10-07 2008-08-13 株式会社ハーモニック・ドライブ・システムズ Robot hand finger unit
US7794494B2 (en) 2002-10-11 2010-09-14 Boston Scientific Scimed, Inc. Implantable medical devices
JP3700848B2 (en) 2002-10-23 2005-09-28 Necエンジニアリング株式会社 Micro light source position measuring device
US6936003B2 (en) 2002-10-29 2005-08-30 Given Imaging Ltd In-vivo extendable element device and system, and method of use
JP4148763B2 (en) 2002-11-29 2008-09-10 学校法人慈恵大学 Endoscopic surgery robot
JP3686947B2 (en) 2002-12-09 2005-08-24 国立大学法人 東京大学 High-rigid forceps tip structure for active forceps and active forceps including the same
EP1593337B1 (en) 2003-02-11 2008-08-13 Olympus Corporation Overtube
US7083615B2 (en) 2003-02-24 2006-08-01 Intuitive Surgical Inc Surgical tool having electrocautery energy supply conductor with inhibited current leakage
JP4612280B2 (en) 2003-02-25 2011-01-12 本田技研工業株式会社 Automatic working device and automatic working device control program
JP2004283940A (en) 2003-03-20 2004-10-14 Harada Denshi Kogyo Kk Coordinate driving mechanism, and joint mechanism for robot using it
US7105000B2 (en) 2003-03-25 2006-09-12 Ethicon Endo-Surgery, Inc. Surgical jaw assembly with increased mechanical advantage
JP3752494B2 (en) 2003-03-31 2006-03-08 株式会社東芝 Master-slave manipulator, control device and control method thereof
JP4329394B2 (en) 2003-04-30 2009-09-09 株式会社島津製作所 Small photographing device
DE10323216B3 (en) 2003-05-22 2004-12-23 Siemens Ag Endoscope apparatus has cameras which are provided at respective ends of endoscope capsule, such that one of camera is tilted or rotated to change photography range
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
JP4532188B2 (en) 2003-06-30 2010-08-25 カール−ツアイス−スチフツング Holding device, in particular for medical optical instruments, with means for compensating the load rotational moment
GB0315479D0 (en) 2003-07-02 2003-08-06 Paz Adrian Virtual ports devices
US20080058989A1 (en) 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
US7042184B2 (en) 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7126303B2 (en) 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7066879B2 (en) 2003-07-15 2006-06-27 The Trustees Of Columbia University In The City Of New York Insertable device and system for minimal access procedure
US20100081875A1 (en) 2003-07-15 2010-04-01 EndoRobotics Inc. Surgical Device For Minimal Access Surgery
US20050021069A1 (en) 2003-07-24 2005-01-27 Gerald Feuer Inflatable apparatus for accessing body cavity and methods of making
JP2005074031A (en) 2003-09-01 2005-03-24 Pentax Corp Capsule endoscope
JP4128505B2 (en) 2003-09-05 2008-07-30 オリンパス株式会社 Capsule endoscope
JP4128504B2 (en) 2003-09-05 2008-07-30 オリンパス株式会社 Capsule endoscope
US7993384B2 (en) 2003-09-12 2011-08-09 Abbott Cardiovascular Systems Inc. Delivery system for medical devices
DE10343494B4 (en) 2003-09-19 2006-06-14 Siemens Ag Magnetically navigable device for use in the field of medical endoscopy
US7594815B2 (en) 2003-09-24 2009-09-29 Toly Christopher C Laparoscopic and endoscopic trainer including a digital camera
US7789825B2 (en) 2003-09-29 2010-09-07 Ethicon Endo-Surgery, Inc. Handle for endoscopic device
US7785294B2 (en) 2003-09-30 2010-08-31 Ethicon Endo-Surgery, Inc. Woven protector for trocar seal assembly
US20050096502A1 (en) 2003-10-29 2005-05-05 Khalili Theodore M. Robotic surgical device
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
US8162925B2 (en) 2003-11-07 2012-04-24 Carnegie Mellon University Robot for minimally invasive interventions
US7429259B2 (en) 2003-12-02 2008-09-30 Cadeddu Jeffrey A Surgical anchor and system
US7625338B2 (en) 2003-12-31 2009-12-01 Given Imaging, Ltd. In-vivo sensing device with alterable fields of view
US7344494B2 (en) 2004-02-09 2008-03-18 Karl Storz Development Corp. Endoscope with variable direction of view module
US8277373B2 (en) 2004-04-14 2012-10-02 Usgi Medical, Inc. Methods and apparaus for off-axis visualization
US8562516B2 (en) 2004-04-14 2013-10-22 Usgi Medical Inc. Methods and apparatus for obtaining endoluminal access
US20050272977A1 (en) 2004-04-14 2005-12-08 Usgi Medical Inc. Methods and apparatus for performing endoluminal procedures
JP4923231B2 (en) 2004-04-15 2012-04-25 クック メディカル テクノロジーズ エルエルシー Endoscopic surgical access instrument and method for articulating an external accessory channel
US7857767B2 (en) 2004-04-19 2010-12-28 Invention Science Fund I, Llc Lumen-traveling device
US20070244520A1 (en) 2004-04-19 2007-10-18 Searete Llc Lumen-traveling biological interface device and method of use
US8512219B2 (en) 2004-04-19 2013-08-20 The Invention Science Fund I, Llc Bioelectromagnetic interface system
US7998060B2 (en) 2004-04-19 2011-08-16 The Invention Science Fund I, Llc Lumen-traveling delivery device
US7734375B2 (en) 2004-06-09 2010-06-08 Boston Dynamics Robot and robot leg mechanism
US8353897B2 (en) 2004-06-16 2013-01-15 Carefusion 2200, Inc. Surgical tool kit
US7241290B2 (en) 2004-06-16 2007-07-10 Kinetic Surgical, Llc Surgical tool kit
MXPA06015146A (en) 2004-06-24 2007-10-23 Philip L Gildenberg Semi-robotic suturing device.
EP1773227B1 (en) 2004-06-24 2016-04-13 ArthroCare Corporation Electrosurgical device having planar vertical electrodes
US20050288555A1 (en) 2004-06-28 2005-12-29 Binmoeller Kenneth E Methods and devices for illuminating, vievwing and monitoring a body cavity
US9968290B2 (en) 2004-06-30 2018-05-15 Given Imaging Ltd. Apparatus and methods for capsule endoscopy of the esophagus
US7979157B2 (en) 2004-07-23 2011-07-12 Mcmaster University Multi-purpose robotic operating system and method
US20060046226A1 (en) 2004-08-27 2006-03-02 Bergler Hans J Dental imaging system and method of use
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
JP4541091B2 (en) 2004-10-04 2010-09-08 本田技研工業株式会社 Processing transfer device
WO2006052927A2 (en) 2004-11-08 2006-05-18 The Johns Hopkins University Bioptome
US7163525B2 (en) 2004-12-17 2007-01-16 Ethicon Endo-Surgery, Inc. Duckbill seal protector
US8128680B2 (en) 2005-01-10 2012-03-06 Taheri Laduca Llc Apparatus and method for deploying an implantable device within the body
US20060152591A1 (en) 2005-01-13 2006-07-13 Sheng-Feng Lin Automatic focus mechanism of an image capturing device
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US8463439B2 (en) 2009-03-31 2013-06-11 Intuitive Surgical Operations, Inc. Optic fiber connection for a force sensing instrument
US20060241570A1 (en) 2005-04-22 2006-10-26 Wilk Patent, Llc Intra-abdominal medical method
US7785251B2 (en) 2005-04-22 2010-08-31 Wilk Patent, Llc Port extraction method for trans-organ surgery
US20110020779A1 (en) * 2005-04-25 2011-01-27 University Of Washington Skill evaluation using spherical motion mechanism
US7762960B2 (en) 2005-05-13 2010-07-27 Boston Scientific Scimed, Inc. Biopsy forceps assemblies
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
JP2006321027A (en) 2005-05-20 2006-11-30 Hitachi Ltd Master slave type manipulator system and its operation input device
US7708687B2 (en) 2005-05-27 2010-05-04 Bern M Jonathan Endoscope propulsion system and method
JP2009501563A (en) 2005-07-14 2009-01-22 エンハンスド・メデイカルシステム・エルエルシー Robot for minimizing invasive procedures
JP2009507617A (en) 2005-09-14 2009-02-26 ネオガイド システムズ, インコーポレイテッド Method and apparatus for performing transluminal and other operations
US9198728B2 (en) 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
US20070106113A1 (en) 2005-11-07 2007-05-10 Biagio Ravo Combination endoscopic operative delivery system
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7761137B2 (en) 2005-12-16 2010-07-20 Suros Surgical Systems, Inc. Biopsy site marker deployment device
US7762825B2 (en) 2005-12-20 2010-07-27 Intuitive Surgical Operations, Inc. Electro-mechanical interfaces to mount robotic surgical arms
US7678043B2 (en) 2005-12-29 2010-03-16 Given Imaging, Ltd. Device, system and method for in-vivo sensing of a body lumen
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US7785333B2 (en) 2006-02-21 2010-08-31 Olympus Medical Systems Corp. Overtube and operative procedure via bodily orifice
EP1815950A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US20060253109A1 (en) 2006-02-08 2006-11-09 David Chu Surgical robotic helping hand system
WO2007111571A1 (en) 2006-03-27 2007-10-04 Nanyang Technological University Surgical robotic system for flexible endoscopy
US7789861B2 (en) 2006-04-18 2010-09-07 Ethicon Endo-Surgery, Inc. Pleated trocar seal
US8585733B2 (en) 2006-04-19 2013-11-19 Vibrynt, Inc Devices, tools and methods for performing minimally invasive abdominal surgical procedures
US7862573B2 (en) 2006-04-21 2011-01-04 Darois Roger E Method and apparatus for surgical fastening
AU2007243484B2 (en) 2006-04-24 2013-08-15 Transenterix Inc. Natural orifice surgical system
US7731727B2 (en) 2006-04-26 2010-06-08 Lsi Solutions, Inc. Medical instrument to place a pursestring suture, open a hole and pass a guidewire
JP2009535161A (en) 2006-04-29 2009-10-01 ボード・オブ・リージエンツ,ザ・ユニバーシテイ・オブ・テキサス・システム Device for use in transmural and intraluminal surgery
US8986196B2 (en) 2006-06-13 2015-03-24 Intuitive Surgical Operations, Inc. Minimally invasive surgery instrument assembly with reduced cross section
US8377045B2 (en) 2006-06-13 2013-02-19 Intuitive Surgical Operations, Inc. Extendable suction surface for bracing medial devices during robotically assisted medical procedures
EP2034921B1 (en) 2006-06-19 2018-10-10 Robarts Research Institute Apparatus for guiding a medical tool
US8974440B2 (en) 2007-08-15 2015-03-10 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
CA3068216C (en) 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8679096B2 (en) * 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9585714B2 (en) 2006-07-13 2017-03-07 Bovie Medical Corporation Surgical sealing and cutting apparatus
US8231610B2 (en) 2006-09-06 2012-07-31 National Cancer Center Robotic surgical system for laparoscopic surgery
WO2008076194A2 (en) 2006-11-13 2008-06-26 Raytheon Sarcos Llc Serpentine robotic crawler
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
WO2008083044A1 (en) 2006-12-27 2008-07-10 Boston Scientific Limited Rf ablation probe array advancing device
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US7655004B2 (en) 2007-02-15 2010-02-02 Ethicon Endo-Surgery, Inc. Electroporation ablation apparatus, system, and method
US8700213B2 (en) 2007-03-01 2014-04-15 Tokyo Institute Of Technology Maneuvering system having inner force sense presenting function
US9596980B2 (en) 2007-04-25 2017-03-21 Karl Storz Endovision, Inc. Endoscope system with pivotable arms
US8591399B2 (en) 2007-04-25 2013-11-26 Karl Storz Endovision, Inc. Surgical method utilizing transluminal endoscope and instruments
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
JP5483834B2 (en) 2007-06-28 2014-05-07 キヤノン株式会社 Image processing apparatus and image processing method
WO2009004616A2 (en) 2007-07-02 2009-01-08 M.S.T. Medical Surgery Technologies Ltd System for positioning endoscope and surgical instruments
DE102007031957A1 (en) 2007-07-10 2009-01-22 Pierburg Gmbh Combined non-return and control valve
US8343171B2 (en) * 2007-07-12 2013-01-01 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
WO2009023801A1 (en) 2007-08-14 2009-02-19 Hansen Medical, Inc. Robotic instrument systems and methods utilizing optical fiber sensor
JP2010536435A (en) 2007-08-15 2010-12-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ Medical inflation, attachment and delivery devices and associated methods
US8920300B2 (en) * 2007-09-19 2014-12-30 Walter A. Roberts Direct visualization robotic intra-operative radiation therapy device with radiation ablation capsule
GB2454017A (en) 2007-10-26 2009-04-29 Prosurgics Ltd A control assembly
JP5364255B2 (en) 2007-10-31 2013-12-11 テルモ株式会社 Medical manipulator
EP2217132B1 (en) 2007-11-02 2013-05-15 The Trustees of Columbia University in the City of New York Insertable surgical imaging device
US8758342B2 (en) 2007-11-28 2014-06-24 Covidien Ag Cordless power-assisted medical cauterization and cutting device
US20100262162A1 (en) 2007-12-28 2010-10-14 Terumo Kabushiki Kaisha Medical manipulator and medical robot system
WO2009114613A2 (en) 2008-03-11 2009-09-17 Health Research Inc. System and method for robotic surgery simulation
US8020741B2 (en) 2008-03-18 2011-09-20 Barosense, Inc. Endoscopic stapling devices and methods
US8328802B2 (en) 2008-03-19 2012-12-11 Covidien Ag Cordless medical cauterization and cutting device
WO2009120992A2 (en) 2008-03-27 2009-10-01 St. Jude Medical, Arrial Fibrillation Division Inc. Robotic castheter system input device
US9895813B2 (en) 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
US8727966B2 (en) 2008-03-31 2014-05-20 Intuitive Surgical Operations, Inc. Endoscope with rotationally deployed arms
US8636686B2 (en) 2008-04-28 2014-01-28 Ethicon Endo-Surgery, Inc. Surgical access device
US8562513B2 (en) 2008-05-20 2013-10-22 Olympus Medical Systems Corp. Endoscope device
WO2009144729A1 (en) 2008-05-28 2009-12-03 Technion Research & Development Foundation Ltd. Laparoscopic camera array
US8771260B2 (en) 2008-05-30 2014-07-08 Ethicon Endo-Surgery, Inc. Actuating and articulating surgical device
JP5195054B2 (en) 2008-06-11 2013-05-08 パナソニック株式会社 Arm joint and robot having the same
US9179832B2 (en) 2008-06-27 2015-11-10 Intuitive Surgical Operations, Inc. Medical robotic system with image referenced camera control using partitionable orientational and translational modes
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
US20100010294A1 (en) 2008-07-10 2010-01-14 Ethicon Endo-Surgery, Inc. Temporarily positionable medical devices
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
EP3108800B1 (en) 2008-07-18 2019-01-02 Boston Scientific Scimed, Inc. Endoscope with guide
JP2010041156A (en) 2008-08-01 2010-02-18 Toshiba Corp Semiconductor integrated circuit
WO2010022088A1 (en) 2008-08-18 2010-02-25 Encision, Inc. Enhanced control systems including flexible shielding and support systems for electrosurgical applications
US20100069710A1 (en) 2008-09-02 2010-03-18 Ken Yamatani treatment method
US8834353B2 (en) 2008-09-02 2014-09-16 Olympus Medical Systems Corp. Medical manipulator, treatment system, and treatment method
CA2736870A1 (en) 2008-09-12 2010-03-18 Ethicon Endo-Surgery, Inc. Ultrasonic device for fingertip control
JP5115425B2 (en) 2008-09-24 2013-01-09 豊田合成株式会社 Group III nitride semiconductor light emitting device
WO2010042611A1 (en) 2008-10-07 2010-04-15 The Trustees Of Columbia University In The City Of New York Systems, devices, and method for providing insertable robotic sensory and manipulation platforms for single port surgery
ITFI20080201A1 (en) 2008-10-20 2010-04-21 Scuola Superiore Di Studi Universit Ari E Di Perfe ENDOLUMINAL ROBOTIC SYSTEM
US8333129B2 (en) 2008-10-29 2012-12-18 S.A. Robotics Robotic manipulator arm
KR101075363B1 (en) * 2008-10-31 2011-10-19 정창욱 Surgical Robot System Having Tool for Minimally Invasive Surgery
US9033958B2 (en) 2008-11-11 2015-05-19 Perception Raisonnement Action En Medecine Surgical robotic system
US20100331856A1 (en) 2008-12-12 2010-12-30 Hansen Medical Inc. Multiple flexible and steerable elongate instruments for minimally invasive operations
EP2381873A2 (en) 2009-01-16 2011-11-02 The Board Of Regents Of The University Of Texas System Medical devices and methods
US8858547B2 (en) 2009-03-05 2014-10-14 Intuitive Surgical Operations, Inc. Cut and seal instrument
US8120301B2 (en) 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
DE102009017581B4 (en) 2009-04-18 2021-06-24 Igus Gmbh Multi-axis joint especially for robotics
KR101030427B1 (en) 2009-04-28 2011-04-20 국립암센터 Endoscope manipulator for minimal invasive surgery
JP5827219B2 (en) 2009-05-29 2015-12-02 ナンヤン テクノロジカル ユニヴァーシティNanyang Technological University Robot system for flexible endoscopy
EP2286756B1 (en) * 2009-08-21 2013-04-03 Novineon Healthcare Technology Partners Gmbh Surgical manipulator means
JP2011045500A (en) 2009-08-26 2011-03-10 Terumo Corp Medical manipulator
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US8551115B2 (en) 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
JP2011077339A (en) 2009-09-30 2011-04-14 Sony Corp Semiconductor laser
US8504134B2 (en) 2009-10-01 2013-08-06 Intuitive Surgical Operations, Inc. Laterally fenestrated cannula
US8888687B2 (en) 2009-10-28 2014-11-18 Boston Scientific Scimed, Inc. Method and apparatus related to a flexible assembly at a distal end portion of a medical device
JP5499647B2 (en) 2009-11-10 2014-05-21 株式会社安川電機 Robot and robot system
EP2489323B1 (en) 2009-11-13 2018-05-16 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
US8870759B2 (en) 2009-12-04 2014-10-28 Covidien Lp Suspension system for minimally invasive surgery
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US9877744B2 (en) 2010-02-12 2018-01-30 Intuitive Surgical Operations, Inc. Entry guide for multiple instruments in a single port surgical system
US20110238079A1 (en) 2010-03-18 2011-09-29 SPI Surgical, Inc. Surgical Cockpit Comprising Multisensory and Multimodal Interfaces for Robotic Surgery and Methods Related Thereto
EP2551071A4 (en) 2010-03-24 2015-05-06 Yaskawa Denki Seisakusho Kk Robot hand and robot device
US20110238080A1 (en) * 2010-03-25 2011-09-29 Date Ranjit Robotic Surgical Instrument System
US9498298B2 (en) 2010-04-23 2016-11-22 Kenneth I. Lipow Ring form surgical effector
JP5311294B2 (en) * 2010-04-28 2013-10-09 株式会社安川電機 Robot contact position detector
US9918787B2 (en) 2010-05-05 2018-03-20 St. Jude Medical, Atrial Fibrillation Division, Inc. Monitoring, managing and/or protecting system and method for non-targeted tissue
JP5653073B2 (en) 2010-05-19 2015-01-14 キヤノン株式会社 Robot cell device and production system
US20120116362A1 (en) 2010-06-25 2012-05-10 Kieturakis Maciej J Single port laparoscopic access with laterally spaced virtual insertion points
US8437884B2 (en) 2010-07-28 2013-05-07 GM Global Technology Operations LLC System and method for detecting vehicle motion
US8968267B2 (en) 2010-08-06 2015-03-03 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
IT1404527B1 (en) 2011-02-24 2013-11-22 Comau Spa ARTICULATED ROBOT WRIST.
JP6174017B2 (en) 2011-06-10 2017-08-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ In vivo vascular seal end effector and in vivo robotic device
JP5582313B2 (en) 2011-06-28 2014-09-03 株式会社安川電機 Robot system
EP2732344B1 (en) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotic surgical system
WO2013052137A2 (en) 2011-10-03 2013-04-11 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
CN102499759B (en) 2011-10-31 2013-11-20 上海交通大学 Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery
CN103121215A (en) 2011-11-18 2013-05-29 鸿富锦精密工业(深圳)有限公司 Robot arm part
US9622825B2 (en) 2011-11-28 2017-04-18 National University Of Singapore Robotic system for flexible endoscopy
EP2806941B1 (en) 2012-01-10 2021-10-27 Board of Regents of the University of Nebraska Systems and devices for surgical access and insertion
CA2871149C (en) 2012-05-01 2020-08-25 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
WO2013181516A1 (en) 2012-06-01 2013-12-05 Intuitive Surgical Operations, Inc. Systems and methods for avoiding collisions between manipulator arms using a null-space
JP2015528713A (en) 2012-06-21 2015-10-01 グローバス メディカル インコーポレイティッド Surgical robot platform
EP3680071B1 (en) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Local control robotic surgical devices
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9839480B2 (en) 2012-07-09 2017-12-12 Covidien Lp Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska Robotic surgical devices, systems, and related methods
JP5959371B2 (en) 2012-08-28 2016-08-02 三菱鉛筆株式会社 Shaft cylinder forming method
JP5549950B2 (en) 2012-11-19 2014-07-16 株式会社安川電機 robot
JP5418704B1 (en) 2013-01-17 2014-02-19 株式会社安川電機 robot
JP6375309B2 (en) 2013-02-01 2018-08-15 デカ・プロダクツ・リミテッド・パートナーシップ Endoscope with camera capable of panning
US10616491B2 (en) 2013-02-01 2020-04-07 Deka Products Limited Partnership Endoscope with pannable camera and related method
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US9326767B2 (en) 2013-03-01 2016-05-03 Ethicon Endo-Surgery, Llc Joystick switch assemblies for surgical instruments
US9234606B2 (en) 2013-03-11 2016-01-12 Kohler Co. Transverse handle assembly for a valve
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP3970604A1 (en) 2013-03-15 2022-03-23 Board of Regents of the University of Nebraska Robotic surgical devices and systems
KR102540134B1 (en) 2013-03-15 2023-06-07 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 Inter-operative switching of tools in a robotic surgical system
ITMI20130666A1 (en) 2013-04-23 2014-10-24 Valuebiotech S R L ROBOT STRUCTURE, PARTICULARLY FOR MINI-INVASIVE SURGERY THROUGH SINGLE PARIETAL ENGRAVING OR NATURAL ORIFICE.
US9797486B2 (en) 2013-06-20 2017-10-24 Covidien Lp Adapter direct drive with manual retraction, lockout and connection mechanisms
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10744646B2 (en) 2013-08-29 2020-08-18 Wayne State University Camera control system and method
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
US10561417B2 (en) 2013-12-09 2020-02-18 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
CN105813580B (en) 2013-12-12 2019-10-15 柯惠Lp公司 Gear train for robotic surgical system
CN106132322B (en) 2014-03-31 2019-11-08 柯惠Lp公司 The wrist units and clamp assemblies of robotic surgical system
US10080552B2 (en) 2014-04-21 2018-09-25 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US11154183B2 (en) 2014-04-22 2021-10-26 Bio-Medical Engineering (HK) Limited Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
EP3868322A1 (en) 2014-09-12 2021-08-25 Board of Regents of the University of Nebraska Quick-release effectors and related systems
US9849586B2 (en) 2014-10-27 2017-12-26 Ross-Hime Designs, Incorporated Robotic manipulator
US9814640B1 (en) 2014-10-31 2017-11-14 Space Technology Research LLC Robotic arm bed assist
JP6608928B2 (en) 2014-11-11 2019-11-20 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ Robotic device with miniature joint design and related systems and methods
CN204337044U (en) 2014-12-17 2015-05-20 上海交通大学 A kind of operating theater instruments end structure of micro-wound operation robot
CN104523309B (en) 2015-01-23 2017-01-18 哈尔滨工业大学 Intraperitoneal traction surgical robot for minimally invasive surgery
US9857786B2 (en) 2015-03-31 2018-01-02 Recognition Robotics, Inc. System and method for aligning a coordinated movement machine reference frame with a measurement system reference frame
WO2016176755A1 (en) 2015-05-01 2016-11-10 Titan Medical Inc. Instrument collision detection and feedback
JP6494404B2 (en) 2015-05-01 2019-04-03 キヤノン株式会社 Vibration type driving device, image forming apparatus, positioning stage, and medical system
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
CA2994823A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
EP3340905A1 (en) 2015-08-28 2018-07-04 Atropos Limited An access port device
ITUB20155057A1 (en) 2015-10-16 2017-04-16 Medical Microinstruments S R L Robotic surgery set
JP6416746B2 (en) 2015-12-24 2018-10-31 ファナック株式会社 Industrial articulated robot with miniaturized joints
CN109219412B (en) 2016-03-07 2022-02-08 伊西康有限责任公司 Robot bipolar instrument
CA3024623A1 (en) 2016-05-18 2017-11-23 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10702347B2 (en) 2016-08-30 2020-07-07 The Regents Of The University Of California Robotic device with compact joint design and an additional degree of freedom and related systems and methods
US10917543B2 (en) 2017-04-24 2021-02-09 Alcon Inc. Stereoscopic visualization camera and integrated robotics platform
JP7405432B2 (en) 2017-09-27 2023-12-26 バーチャル インシジョン コーポレイション Robotic surgical device with tracking camera technology and related systems and methods
US10751883B2 (en) 2018-08-16 2020-08-25 Mitutoyo Corporation Robot system with supplementary metrology position coordinates determination system
JP2022516937A (en) 2019-01-07 2022-03-03 バーチャル インシジョン コーポレイション Equipment and methods related to robot-assisted surgery systems
EP4084721A4 (en) 2019-12-31 2024-01-03 Auris Health Inc Anatomical feature identification and targeting

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4922782A (en) 1985-09-20 1990-05-08 Doryokuro Kakunenryo Kaihatsu Jigyodan Manipulator shoulder mechanism
WO2001089405A1 (en) 2000-05-22 2001-11-29 Siemens Aktiengesellschaft Fully-automatic, robot-assisted camera guidance using position sensors for laparoscopic interventions
US20080109014A1 (en) 2006-11-06 2008-05-08 De La Pena Alejandro Ramos Robotic surgical device
WO2011135503A1 (en) 2010-04-26 2011-11-03 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Robotic apparatus for minimally invasive surgery
DE102010040405A1 (en) 2010-09-08 2012-03-08 Siemens Aktiengesellschaft Instrument system for an endoscopic robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2844181A4

Cited By (70)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9883911B2 (en) 2006-06-22 2018-02-06 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US10376323B2 (en) 2006-06-22 2019-08-13 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US10959790B2 (en) 2006-06-22 2021-03-30 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US10307199B2 (en) 2006-06-22 2019-06-04 Board Of Regents Of The University Of Nebraska Robotic surgical devices and related methods
US10695137B2 (en) 2007-07-12 2020-06-30 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and procedures
US9956043B2 (en) 2007-07-12 2018-05-01 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and procedures
US10335024B2 (en) 2007-08-15 2019-07-02 Board Of Regents Of The University Of Nebraska Medical inflation, attachment and delivery devices and related methods
US10350000B2 (en) 2011-06-10 2019-07-16 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US11832871B2 (en) 2011-06-10 2023-12-05 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US9757187B2 (en) 2011-06-10 2017-09-12 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US11065050B2 (en) 2011-06-10 2021-07-20 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US11032125B2 (en) 2011-07-11 2021-06-08 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US11595242B2 (en) 2011-07-11 2023-02-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10111711B2 (en) 2011-07-11 2018-10-30 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US11909576B2 (en) 2011-07-11 2024-02-20 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US11883065B2 (en) 2012-01-10 2024-01-30 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
US11819299B2 (en) 2012-05-01 2023-11-21 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US11529201B2 (en) 2012-05-01 2022-12-20 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US10219870B2 (en) 2012-05-01 2019-03-05 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US11484374B2 (en) 2012-06-22 2022-11-01 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US10470828B2 (en) 2012-06-22 2019-11-12 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices and related methods
US11832902B2 (en) 2012-08-08 2023-12-05 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US11617626B2 (en) 2012-08-08 2023-04-04 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10624704B2 (en) 2012-08-08 2020-04-21 Board Of Regents Of The University Of Nebraska Robotic devices with on board control and related systems and devices
US11051895B2 (en) 2012-08-08 2021-07-06 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US10582973B2 (en) 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US11806097B2 (en) 2013-03-14 2023-11-07 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US10603121B2 (en) 2013-03-14 2020-03-31 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US10743949B2 (en) 2013-03-14 2020-08-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US11633253B2 (en) 2013-03-15 2023-04-25 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
EP3970604A1 (en) * 2013-03-15 2022-03-23 Board of Regents of the University of Nebraska Robotic surgical devices and systems
EP2996545A4 (en) * 2013-03-15 2017-02-15 Board of Regents of the University of Nebraska Robotic surgical devices, systems, and related methdos
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US11826032B2 (en) 2013-07-17 2023-11-28 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10342561B2 (en) 2014-09-12 2019-07-09 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
US11576695B2 (en) 2014-09-12 2023-02-14 Virtual Incision Corporation Quick-release end effectors and related systems and methods
US11406458B2 (en) 2014-11-11 2022-08-09 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
US10376322B2 (en) 2014-11-11 2019-08-13 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
EP3689257A1 (en) * 2014-11-11 2020-08-05 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
EP3217890A4 (en) * 2014-11-11 2018-08-22 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
EP4286104A3 (en) * 2014-11-11 2024-02-14 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
WO2016132773A1 (en) * 2015-02-18 2016-08-25 ソニー株式会社 Information processing device, information processing method, and support arm device
CN107848119A (en) * 2015-07-22 2018-03-27 剑桥医疗机器人技术有限公司 Drive arrangement for robot arm
US10792820B2 (en) 2015-07-22 2020-10-06 Cmr Surgical Limited Drive arrangements for robot arms
GB2590835B (en) * 2015-07-22 2021-11-03 Cmr Surgical Ltd Drive arrangements for robot arms
US11577409B2 (en) 2015-07-22 2023-02-14 Cmr Surgical Limited Drive arrangements for robot arms
GB2590835A (en) * 2015-07-22 2021-07-07 Cmr Surgical Ltd Drive arrangements for robot arms
WO2017013449A1 (en) * 2015-07-22 2017-01-26 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
US10806538B2 (en) 2015-08-03 2020-10-20 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US11872090B2 (en) 2015-08-03 2024-01-16 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
US11826014B2 (en) 2016-05-18 2023-11-28 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US11173617B2 (en) 2016-08-25 2021-11-16 Board Of Regents Of The University Of Nebraska Quick-release end effector tool interface
US10702347B2 (en) 2016-08-30 2020-07-07 The Regents Of The University Of California Robotic device with compact joint design and an additional degree of freedom and related systems and methods
CN107972065A (en) * 2016-10-21 2018-05-01 和硕联合科技股份有限公司 Mechanical arm localization method and apply its system
CN107972065B (en) * 2016-10-21 2020-06-16 和硕联合科技股份有限公司 Mechanical arm positioning method and system applying same
US11813124B2 (en) 2016-11-22 2023-11-14 Board Of Regents Of The University Of Nebraska Gross positioning device and related systems and methods
US11357595B2 (en) 2016-11-22 2022-06-14 Board Of Regents Of The University Of Nebraska Gross positioning device and related systems and methods
US11284958B2 (en) 2016-11-29 2022-03-29 Virtual Incision Corporation User controller with user presence detection and related systems and methods
US11701193B2 (en) 2016-11-29 2023-07-18 Virtual Incision Corporation User controller with user presence detection and related systems and methods
US11786334B2 (en) 2016-12-14 2023-10-17 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
US11504196B2 (en) 2018-01-05 2022-11-22 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods

Also Published As

Publication number Publication date
EP2844181B1 (en) 2021-03-10
US20230092901A1 (en) 2023-03-23
CA2871149C (en) 2020-08-25
WO2014011238A3 (en) 2015-05-21
EP2844181A2 (en) 2015-03-11
US10219870B2 (en) 2019-03-05
JP6949894B2 (en) 2021-10-13
US11529201B2 (en) 2022-12-20
US20240041546A1 (en) 2024-02-08
US20170119482A1 (en) 2017-05-04
EP2844181A4 (en) 2016-06-15
CA2871149A1 (en) 2014-01-16
JP2019107524A (en) 2019-07-04
US9498292B2 (en) 2016-11-22
US11819299B2 (en) 2023-11-21
EP3845190A1 (en) 2021-07-07
US20140039515A1 (en) 2014-02-06
US20190201133A1 (en) 2019-07-04
JP2015531608A (en) 2015-11-05
EP3845190B1 (en) 2023-07-12

Similar Documents

Publication Publication Date Title
US11819299B2 (en) Single site robotic device and related systems and methods
US20210344554A1 (en) Robotic Surgical Devices, Systems and Related Methods
US20200155130A1 (en) Systems and methods for confirming disc engagement
ES2365359T3 (en) ROBOTIC SURGICAL SYSTEM TO PERFORM MINIMALLY INVASIVE MEDICAL PROCEDURES.
Zemiti et al. Mechatronic design of a new robot for force control in minimally invasive surgery
EP3679884B1 (en) Sterile barrier between surgical instrument and teleoperated actuator
EP2907467A1 (en) Master devices for surgical robots and control methods thereof
De Donno et al. Introducing STRAS: A new flexible robotic system for minimally invasive surgery
EP2364825B1 (en) Instrument for robotic surgery
AU2012332099A1 (en) Steady hand micromanipulation robot
Rosen et al. Roboscope: A flexible and bendable surgical robot for single portal minimally invasive surgery
EP4084723A1 (en) Manual actuator for a robotic medical system
Liu Design and prototyping of a three degrees of freedom robotic wrist mechanism for a robotic surgery system
Jinno et al. Improved integrated robotic intraocular snake
Jinno et al. Improved integrated robotic intraocular snake: Analyses of the kinematics and drive mechanism of the dexterous distal unit
GB2555111A (en) Appartus for remote operation of an endoscopy device
WO2022140614A1 (en) System and method for implementing a multi-turn rotary concept in an actuator mechanism of a surgical robotic arm
WO2024006503A1 (en) Systems and methods for pitch angle motion about a virtual center
Mintenbeck et al. A three-armed slave-manipulator with snake-like instruments for laparoscopic surgery
Darbemamieh et al. Design and analysis of a mechanism for enhanced flexibility in minimally invasive surgical instruments
Suzuki et al. Development of master-slave robotic system for laparoscopic surgery
Duan et al. Medical manipulators for surgical applications
Koller et al. Desing, actuation, control and evaluation of a robot-assisted manipulator for minimally invasive surgery.
Platt et al. Modular wireless wheeled in vivo surgical robots

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13816521

Country of ref document: EP

Kind code of ref document: A2

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
ENP Entry into the national phase

Ref document number: 2871149

Country of ref document: CA

WWE Wipo information: entry into national phase

Ref document number: 2013816521

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2015510277

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE