Co-manipulation surgical system having automated preset robot arm configurations
Inventors
Wu, Victoria Cheng-Tan • MAMO, Moran Gera • Basafa, Ehsan • Noonan, David Paul
Assignees
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Publication Number
US-12042241-B2
Publication Date
2024-07-23
Expiration Date
Abstract
Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.
Core Innovation
The co-manipulation surgical system assists with laparoscopic surgery performed using a surgical instrument. The system includes a plurality of robot arms, each having a plurality of links and a plurality of joints, with a proximal region operatively coupled to a base and a distal region configured to be removably coupled to the surgical instrument. In a surgical mode, each robot arm extends away from a rear of the platform and towards a surgical site.
The system further includes a platform coupled to the base of each robot arm and a controller configured to, upon actuation of a stow mode, cause each robot arm to transition to a retracted stow configuration above the platform via its respective links and joints and to rotate about its respective base. In the retracted stow configuration, the distal region of each robot arm extends away from the surgical site and each robot arm is within a footprint of the platform above the platform.
The disclosed approach addresses stow configuration and platform fit by coordinating motion of the robot arms relative to the platform during stow mode. The system also supports compact mode with a semi-retracted configuration for transportation and drape mode where the plurality of robot arms are covered with a sterile drape in an extended configuration.
Claims Coverage
The document contains two independent claims covering a co-manipulation surgical system for laparoscopic surgery and a method of assisting laparoscopic surgery. Across these independent claims, the inventive coverage centers on multiple robot arms on a platform, automated stow-mode retraction above the platform, and rotation about each robot arm’s base such that the distal regions extend away from the surgical site and each arm remains within a platform footprint.
Co-manipulation surgical system with multiple robot arms and a platform
A co-manipulation surgical system to assist with laparoscopic surgery comprising a plurality of robot arms, each having a plurality of links, a plurality of joints, a proximal region operatively coupled to a base, and a distal region removably coupled to the surgical instrument, and a platform coupled to the base of each robot arm, wherein, in a surgical mode, each robot arm extends away from a rear of the platform and towards a surgical site.
Stow mode retraction above the platform within the platform footprint
A controller configured to, upon actuation of a stow mode, cause each robot arm to transition to a retracted stow configuration above the platform via the robot arm’s plurality of links and joints and rotate about the robot arm’s base such that the distal region of each robot arm extends away from the surgical site and towards the rear of the platform and each robot arm is within a footprint of the platform in the retracted stow configuration above the platform.
Method of assisting laparoscopic surgery with stow mode transition
A method comprising providing a plurality of robot arms, each having a plurality of links, a plurality of joints, a proximal region operatively coupled to a base, and a distal region removably coupled to a surgical instrument, where each base is coupled to a platform such that, in a surgical mode, each robot arm extends away from a rear of the platform and towards a surgical site.
Automatically causing retracted stow configuration above the platform
Automatically causing, upon actuation of a stow mode, each robot arm to transition to a retracted stow configuration above the platform via the robot arm’s plurality of links and joints and rotate about the robot arm’s base such that the distal region of each robot arm extends away from the surgical site and towards the rear of the platform and each robot arm is within a footprint of the platform in the retracted stow configuration above the platform.
Overall, claim coverage is directed to a coordinated multi-arm laparoscopic co-manipulation system and method where, after stow mode actuation, each robot arm retracts above a platform and rotates about its base to position the distal region away from the surgical site while remaining within the platform footprint.
Stated Advantages
Enables transition of robot arms into a retracted stow configuration above the platform such that the distal regions extend away from the surgical site and each robot arm is within a footprint of the platform.
Supports compact mode with a semi-retracted configuration for transportation.
Supports drape mode where the plurality of robot arms are covered with a sterile drape in an extended configuration.
Documented Applications
Assisting with laparoscopic surgery performed using a surgical instrument via a co-manipulation surgical system.
Transportation of the platform using compact mode with a semi-retracted configuration.
Drape mode use where the plurality of robot arms are covered with a sterile drape in an extended configuration.
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