Mechanical teleoperated device comprising an interchangeable distal instrument
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Publication Number
US-12329481-B2
Publication Date
2025-06-17
Expiration Date
Abstract
Described herein are surgical teleoperated devices for performing a surgery on a patient. For example, the surgical teleoperated device may comprise an instrument including a shaft and an end effector. The instrument may be spaced apart from a handle configured to be operated by a user. The end effector may be configured to contact tissue of the patient during the surgery. The device may further comprise one or more driving elements, a plurality of independently rotatable elements configured to be rotated via the one or more driving elements based on movements of the handle, and a plurality of driven elements each being removably couplable to one of the plurality of independently rotatable elements via mating parts configured to be removably mounted inside of corresponding mating receptacles.
Core Innovation
The invention relates to a mechanically teleoperated surgical device for performing a surgery on a patient. The device includes an instrument with a shaft and an end effector, where the instrument is spaced apart from a handle configured to be operated by a user, and the end effector is configured to contact tissue during the surgery. One or more driving elements are controlled based on movements of the handle.
The device further includes a plurality of independently rotatable elements that are configured to be rotated via the one or more driving elements based on movements of the handle. Each independently rotatable element is associated with a plurality of driven elements, where the driven elements are removably couplable to the independently rotatable elements via mating parts configured to be removably mounted inside corresponding mating receptacles. When coupled, the driven elements are configured to be driven by the driving elements to cause movement of the end effector corresponding to movements of the handle.
In described embodiments, the driven elements include driving cables and driven cables with pulley-routed cables, and guiding means guide driven cable segments in a planar path. The planar path is preferably a circular trajectory centered on an axis of a rotatable element, thereby reducing cable twisting and wear. The document also describes modular coupling and decoupling between proximal and distal transmission means using mating receptacles and removable pins, and the ability to swap end-effector types such as scissors, scalpels, cutters, and needle holders.
Claims Coverage
The document includes one independent claim, which defines a surgical teleoperated device architecture with independently rotatable elements driven by movements of a user handle, and driven elements that are removably couplable via mating receptacles. The dependent claim refinements focus on removably coupled guidance geometry, cable-based driven elements, end-effector pulley-and-link rotation, and an explicit master/slave unit link/joint arrangement; overall, the inventive features are centered on modular driven-element coupling and handle-to-end-effector kinematic mapping via independently rotatable elements.
Handle-driven rotation of independently rotatable elements for end-effector motion
A surgical teleoperated device with a handle operated by a user, one or more driving elements, and a plurality of independently rotatable elements configured to be rotated via the one or more driving elements based on movements of the handle.
Removably couplable driven elements via mating receptacles to move the end effector
A plurality of driven elements each removably couplable to a corresponding independently rotatable element via mating parts removably mounted inside corresponding mating receptacles, where the driven elements when coupled are configured to be driven by the plurality of driving elements to cause movement of the end effector corresponding to movements of the handle.
Planar guidance of removably coupled driven-element segments relative to the rotation axis
The driven elements are removably connected and each driven-element segment is guided along a planar path within a plane that is perpendicular to the rotation axis of the corresponding independently rotatable element.
Circular trajectory centered on an axis
A path follows a circular trajectory with a center point centered on a single axis passing through the path’s center point.
Cable-based driven elements driven by corresponding rotatable-element rotation
A plurality of driven elements formed by cables that are driven by the rotation of corresponding independently rotatable elements.
End-effector with multiple pulleys and end-effector links rotating about a common pulley axis
The end effector includes a plurality of pulleys and a plurality of end-effector links, configured such that the links rotate about a common pulley axis when actuated by the plurality of driven elements.
Master/slave unit defined by slave links and master links joined by corresponding joints
A surgical teleoperated device includes a slave unit with a plurality of slave links joined by slave joints and a master unit with a plurality of master links joined by master joints.
Overall claim coverage centers on handle-driven rotation of independently rotatable elements and removably couplable driven elements using mating parts and mating receptacles to cause end-effector movement, with dependent refinements specifying planar and circular guidance geometry for cable-driven segments, pulley-and-link end-effector actuation, and a master/slave unit link/joint structure.
Stated Advantages
Reduces cable twisting and wear.
Documented Applications
Teleoperated surgical performing a surgery on a patient, where an end effector contacts tissue during the surgery.
Swapping end-effector types including scissors, scalpels, cutters, and needle holders for surgical use.
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