Co-manipulation surgical system having automated preset robot arm configurations

Inventors

Wu, Victoria Cheng-Tan • MAMO, Moran Gera • Basafa, Ehsan • Noonan, David Paul • ALVAREZ, Jeffery Byron

Assignees

Moon Surgical SAS

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 invention relates to a co-manipulation surgical system for assisting with laparoscopic surgery using a surgical instrument. The system includes a robot arm with a proximal region having a base, a plurality of links, an elbow joint, and a shoulder joint, and a distal region having a distal end removably coupled to the surgical instrument. The robot arm is supported by a platform configured to be moveable on a floor, and a controller is operatively coupled to the robot arm.

In a drape mode, the controller causes a link between the elbow joint and the shoulder joint to extend away from the base at a first angle, and causes a link distal to the elbow joint to extend away from the base at a second angle so that the robot arm posture is aligned with the floor to facilitate draping. During the drape mode, the controller applies a temporary localized virtual haptic boundary at the robot arm such that movement of the robot arm is more viscous.

This increased viscous movement stabilizes the robot arm while it is positioned for draping. After the controller causes the robot arm to transition out of the drape mode, the controller removes the temporary localized virtual haptic boundary at the robot arm.

Claims Coverage

The document includes two independent claims, a system claim and a method claim, that share the same core inventive concept. Both independent claims center on transitioning a robot arm into drape mode by setting first and second link angles, stabilizing the arm in drape mode by applying a temporary localized virtual haptic boundary that makes movement more viscous, and removing that virtual haptic boundary after transitioning out of drape mode.

Across both independent claims, the claim coverage is anchored in a drape-mode posture defined by first and second angles for links, stabilization accomplished by a temporary localized virtual haptic boundary that increases viscous movement, and termination of that haptic boundary after leaving drape mode.

Stated Advantages

Documented Applications