Hyperdexterous surgical system
Inventors
Garcia Kilroy, Pablo Eduardo • Egan, Thomas D. • Koenig, Karen Shakespear
Assignees
Publication Number
US-12220285-B2
Publication Date
2025-02-11
Expiration Date
2034-03-13
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Abstract
A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
Core Innovation
The invention provides a hyperdexterous surgical system comprising at least one electromechanical or robotic surgical arm that is selectively coupleable to a fixture, such as a bed or operating table, and supports one or more surgical tools. The system features a redundant degree of freedom in the arm via an extra electromechanical joint, such as a redundant roll mechanism, which allows the arm to move while maintaining a remote center fixed in space—typically the surgical entry point. This design enables various configurations and poses of the arm while avoiding dead zones within the patient and increasing workspace flexibility.
A core aspect of the system is the integration of one or more portable handheld controllers, notably 'pinchers' with finger rings worn by the surgeon. These controllers can generate and communicate control signals to both the surgical arm and the supported tool, allowing the movement about configurable control points on the assembly. The surgeon can perform tool manipulations from different locations in the operating arena, thus remaining mobile and able to reposition for optimal surgical access, while also providing the capacity for simultaneous use of manual tools.
The background identifies several shortcomings of current minimally invasive surgical and robotic systems: limited mobility for the surgeon, bulky and collision-prone robotic arms, complex translation mechanisms, inflexible operating room configurations, inability to simultaneously use manual and robotic tools, and poor alignment of frames of reference. The invention addresses these problems by providing a compact, modular, and highly movable system that maximizes free space around the patient, improves access and dexterity inside the patient, and enables seamless interaction and control by the surgeon from any location, while also allowing for direct manual tool use in parallel with robotic assistance.
Claims Coverage
The patent includes two independent claims, each defining a surgical system with inventive features directed to the structure and function of an electromechanical surgical arm, a control system, and portable controllers.
Electromechanical arm with redundant degree of freedom and remote center preservation
The surgical system includes at least one electromechanical arm that is selectively coupleable to a fixture and has a redundant degree of freedom via one or more electromechanical joints. This configuration permits arm motion while preserving a remote center that is substantially fixed in space (typically the tool entry point into a patient), improving dexterity and access within the patient.
Portable handheld controllers with pinchers enabling movement control about selectable control points
The system incorporates at least one portable handheld controller comprising two pinchers (each with a pair of rings for finger placement). The controllers are actuatable to send control signals, allowing the electromechanical tool to be manipulated about control points located on the arm and tool assembly, with the selection of the control point configurable between at least two different points.
Control system configured to coordinate operation of the arm and tool assembly
A control system is provided that electronically communicates with and governs the operation of the arm and tool assembly. It manages the pairing and assignment of control points to the portable handheld controllers, allowing for coordinated manipulations and dynamic arm configuration.
Fixture and mounting arrangement for enhanced workspace and repositionability
The system's fixture allows the electromechanical arm to be selectively positioned in multiple vertical and laterally outward positions relative to a patient bed. The redundant degree of freedom and fixture design enable repositioning of the arm to increase free space around the patient, so the user can stand adjacent to the bed and simultaneously control both electromechanical and manual tools.
Overall, the inventive features defined in the independent claims encompass a modular, repositionable electromechanical surgical arm with a redundant degree of freedom, a handheld controller enabling natural manipulation at selectable control points, and a coordinated control system—collectively enabling increased workspace flexibility, surgeon mobility, and simultaneous use of robotic and manual surgical tools.
Stated Advantages
The hyperdexterous surgical system is small and compact, permitting mounting in various ways to different fixtures and maximizing free space around the patient.
The system allows the surgical arm to follow patient orientation, including tilting, during a procedure for improved anatomical access.
It enables simultaneous use of hyperdexterous surgical tools and manual tools by a surgeon in the same workspace.
The modular design provides flexibility in the operating room setup, allowing arms to be added, removed, or repositioned as needed.
The surgeon can remain mobile, operate from a plurality of locations, and seamlessly transition between manual and robotic tool use.
Enhanced information and visual cues are provided to the surgeon, making control of surgical tools more natural and intuitive.
Redundant degrees of freedom in the arm increase reachability, minimize dead zones, and permit more arm arrangements while avoiding collisions.
The minimized size and weight of mechanisms reduce power requirements and allow more flexible and closer placement of multiple arms.
The system permits alignment, partial alignment, or independence of the frames of reference for manual and electromechanical tool control.
Documented Applications
Use in minimally invasive surgical procedures, including laparoscopic surgery with simultaneous robotic and manual tool operation.
Manipulation of hyperdexterous surgical tools for percutaneous insertion during medical procedures.
Application in non-percutaneous procedures, such as taking skin biopsies.
Use in conjunction with living patients for surgery or with cadavers for autopsy.
Support for any appropriate medical procedure requiring dexterous tool manipulation.
Use in manufacturing or assembly tasks, such as on an assembly line or in a clean room.
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