Devices and methods for robotic assemblies

Inventors

Sachs, Adam • VAN ALBERT, Eric • KHALIFA, Sammy • White, Jr., Robert • Fish, Ryan • Kline, Eric • WENTWORTH, Marshall

Assignees

Vicarious Surgical Inc

Abstract

Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

Core Innovation

A surgical robotic system is described in which a first component of the surgical robot is coupled at a proximal end to a support tube, where the first component comprises a camera or a robotic arm. The system is inserted through a trocar by inserting the first component and the support tube into the trocar, and as the first component exits the trocar, at least a portion of the support tube moves radially outward toward an inner wall of the trocar.

The radially outward movement of the support tube clears a space within the trocar for passage of a second component of the surgical robot through the trocar. In one described approach, the trocar diameter is too small to permit the trocar to enclose the first component and the second component simultaneously, and the clearing of space by the support tube enables sequential passage of the components.

The disclosure also includes mechanics for the support tube movement, including stiffness and/or elastic elements such as a spring, and a transition element that supports the coupling between the first component and the support tube. It further describes robotic assembly aspects including joints and split-arm configurations with independently movable robotic elbow joint(s), magnetic joint displacement sensing, and routing of electrical communication components through joints using hinges/rotary joints with coil-wrapping or moving-bend channels.

Claims Coverage

The provided independent claim set comprises two independent methods. Both center on inserting a first robot component through a trocar together with a support tube, and using radial outward motion of the support tube as the first component exits to clear space for a second component; one independent claim further adds that the trocar diameter is too small for simultaneous enclosure of both components.

The independent claims require a support-tube-coupled first component inserted into a trocar, and radial outward movement of the support tube upon exit of the first component to clear trocar space for a second component. The second independent claim additionally requires that the trocar diameter is too small to enclose both components simultaneously.

Stated Advantages

Documented Applications

No documented applications found