Robotic arm and robotic surgical system
Inventors
Koenig, Karen Shakespear • Garcia Kilroy, Pablo Eduardo • Nia Kosari, Sina • Egan, Thomas D.
Assignees
Publication Number
US-12064194-B2
Publication Date
2024-08-20
Expiration Date
2036-07-22
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Abstract
A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.
Core Innovation
The invention primarily discloses a robotic arm and a robotic surgical system characterized by a unique combination of a Cartesian arm section and a spherical arm section, equipped with multiple joints and motors, and a tool driver designed to hold, translate, and rotate surgical tools with high dexterity. Central to the design is the ability to dynamically control the remote center of motion (RCM) of the trocar and surgical tool, which corresponds to the intersection of the roll axis, a tool pitch axis parallel to the robotic arm's pitch axis, and the tool axis. The tool driver and arm arrangement enable precise manipulation and reach inside the patient's body, with the end effector capable of accessing a defined spherical workspace bounded by patient-specific anatomical constraints.
The patent addresses prevailing challenges in robotic surgery systems. Existing platforms can be complex to set up, difficult to manage in the operating room, impose logistical constraints in terms of port placement, and are often associated with high costs. Furthermore, maintaining sterility during tool actuation and preventing backlash in mechanical coupling across sterile barriers are stated problems. The new robotic arm system incorporates direct linear actuation for surgical tools via a specialized tool driver and an interface with a sterile barrier. This configuration reduces mechanical complexity, improves reliability in maintaining sterility without requiring rotational couplings, and allows for antagonistic actuation of tool linkages.
Additional innovations include the integration of force and/or torque sensors to measure loads on the trocar or surgical tool, as well as processor-controlled adjustment of the RCM during surgery. The system can notify users when excessive force is detected at the trocar and suggests new RCM locations, supporting either manual or semi-automatic RCM adjustments. The robotic arm design also facilitates multiple control modes—setup, teleoperation, repositioning, virtual RCM, dismount, tool change, and vibration compensation—enhancing adaptability for different surgical scenarios and intraoperative requirements.
Claims Coverage
The independent claim in this patent covers one core inventive feature related to a robotic surgery system with specific arm kinematics, tool driver, trocar, sensing, and automated control of the remote center of motion.
Robotic surgery system with dynamic control of remote center of motion based on measured force
A robotic surgery system comprises: - A robotic arm with roll and pitch axes. - A tool driver coupled to the arm, enabling translation of a surgical tool along a tool axis and rotation around that axis. - A trocar that is detachable and replaceable, coupled to the tool driver. - A surgical tool disposed within the trocar, coupled to the tool driver. - A controller executing instructions to measure a force on the trocar or surgical tool when in use inside a patient. Based on the measured force, the controller determines a new location for the remote center of motion (RCM)—that is, the intersection point of the roll axis, a parallel tool pitch axis, and the tool axis—provides a suggestion to the user to change the RCM via a user interface, receives a response, and then controls the RCM accordingly. The inventive feature is defined by the measurement and use of force feedback from the trocar or tool to dynamically control and adjust the RCM during surgery, including suggesting changes to the user and acting on user input.
The claim coverage centers on a robotic surgery system capable of measuring force at the operative site and dynamically adjusting the trocar's remote center of motion through user-interactive control, enhancing surgical flexibility and safety.
Stated Advantages
Improved ease of use and a simpler, more logical setup process.
Enhanced accessibility to internal organs within the body, permitting greater reach regardless of port placement.
Reduces mechanical complexity and cost of the tool and sterile barrier interface region by using direct linear actuation and avoiding rotational couplings.
Enables the arm to assume multiple configurations, providing flexibility for transport, draping, cart operation, and bed-mounted operation.
Allows dynamic adjustment of the remote center of motion, compensating for patient size or non-ideal mounting, and minimizing force at the trocar.
Reduced risk of pathogen migration due to a sterile barrier interface that does not require penetrating rotational couplings.
Reduces or eliminates backlash in tool actuation, improving precision.
Permits arms to be positioned closer together, accommodating multiple arms without collision and facilitating procedures involving multiple ports.
Shorter and more compact robotic arm components reduce exterior momentum, increasing safety for surgical staff.
Documented Applications
Robotic manipulation of minimally invasive surgical tools for use in minimally invasive surgical procedures.
Performing a range of surgical operations requiring precise tool actuation through trocars, including multi-quadrant and single quadrant procedures.
Dynamic intraoperative adjustment of tool port locations and remote center of motion to accommodate patient-specific anatomical or procedural needs.
Automated or manual tool exchange during surgical procedures using the robotic arm.
Active vibration compensation of surgical tools during robotic surgeries.
Repositioning robotic arms to prevent collisions or optimize configuration in multi-arm robotic surgical systems.
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