Virtual reality surgical device
Inventors
Sachs, Adam • KHALIFA, Sammy • Greene, Barry Stuart
Assignees
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Publication Number
US-11744660-B2
Publication Date
2023-09-05
Expiration Date
Abstract
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
Core Innovation
The invention relates to a surgical robotic system that includes a robotic device having a first robotic arm and a second robotic arm. Each robotic arm includes a plurality of robotic arm actuators, where the actuators include hinged actuators or rotational actuators, each constrained by a bearing system that allows motion in all degrees of freedom except rotation about a specified axis. The hinged or rotational actuator includes an actuator cable configured to actuate a pulley or to actuate the second body.
A contoured pathway formed by the hinged actuator, or a hole defined by the rotational actuator, enables a plurality of additional cables to pass from one or more proximal systems to one or more distal systems. The shape and position of the contoured pathway or hole are formed such that lengths of the plurality of additional cables are substantially constant for substantially an entire range of motion of the hinged or rotational actuator.
The system further includes a camera assembly with a camera housing mounting a first camera element and a second camera element, a light source, and a temperature sensor for measuring a temperature of a portion of an external environment or of a portion of the camera housing. A pan and tilt system coupled to the camera housing provides at least two degrees of freedom of movement of the camera housing, and the robotic device and the camera assembly are sized and configured to be inserted within a patient.
Claims Coverage
The document provides two independent claims, both directed to a surgical robotic system with two robotic arms and a patient-insertable camera assembly. Across these independent claims, the inventive features focus on hinged or rotational constrained actuators with contoured cable pathways or holes, and a camera assembly that is pan and tilt movable and includes a temperature sensor and light source.
Hinged actuators with constrained motion and contoured cable pathway
The plurality of robot arm actuators of each of the first and second robotic arms includes a plurality of hinged actuators, each constrained by a bearing system in all degrees of freedom except rotation about one axis, with an actuator cable configured to actuate a pulley and at least one contoured surface defining a contoured pathway for additional cables, where the shape and position are formed so lengths of the additional cables are substantially constant for substantially an entire range of motion of the hinged actuator.
Camera assembly with light, temperature sensor, and pan/tilt for patient insertion
A camera assembly includes a camera housing mounting a first camera element and a second camera element, a light source, and a temperature sensor for measuring a temperature of a portion of an external environment or of a portion of the camera housing, together with a pan and tilt system providing at least two degrees of freedom of movement, wherein the camera assembly and the robotic device are sized and configured to be inserted within a patient.
Rotational actuators with constrained motion and a hole for cable routing with substantially constant cable lengths
The plurality of robot arm actuators of each of the first and second robotic arms includes a plurality of rotational actuators, each constrained by a bearing system in all degrees of freedom except rotation about a distal-proximal axis, with an actuator cable configured to actuate the second body and a hole defined by the second body for additional cables, where the shape and position of the hole are formed so lengths of the additional cables are substantially constant for substantially an entire range of motion of the rotational actuator.
Overall claim coverage includes two independent claim sets that share the camera assembly concept. The primary differentiation across the independent claims is the actuator subsystem: hinged actuators with a contoured pathway for additional cables, or rotational actuators with a hole sized to route additional cables while keeping their lengths substantially constant over the actuator range of motion.
Stated Advantages
Documented Applications
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