Robotic arms of a surgical robotic system
Inventors
Sachs, Adam • KHALIFA, Sammy • Greene, Barry Stuart
Assignees
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Publication Number
US-12370003-B2
Publication Date
2025-07-29
Expiration Date
Abstract
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
Core Innovation
The invention describes a surgical robotic system that includes a camera assembly and a robotic device with a first robotic arm and a second robotic arm. Each robotic arm includes a plurality of actuators mechanically coupled to one another, and the plurality of actuators includes cable-driven rotational actuators and cable-driven hinged actuators, where the hinged actuators provide hinged movement relative to the rotational actuators.
The rotational and hinged actuators are arranged in a coupled sequence so that the second cable-driven rotational actuator connects the first and second hinged actuators, and the third cable-driven rotational actuator connects the second and third hinged actuators. A surgical end effector is coupled to the third hinged actuator, and the plurality of actuators is configured to form and mimic movement of a human arm when in use.
The disclosed system further includes a camera assembly and visualization concepts that connect head-mounted display tracking to a camera pan system and a camera tilt system that adjust field of view based on head position and orientation. The disclosed camera concepts include digital field-of-view adjustment/cropping and stereoscopic imaging from left and right cameras, including software interlacing/panorama from multiple cameras.
Claims Coverage
The provided independent claim set contains 1 independent claim. Across the claim, there are 3 main groups of inventive features: a camera assembly, a two-arm cable-driven actuator robotic device, and a human-arm movement mimicry coupling.
Camera assembly with camera housing
A camera assembly having a camera housing for mounting one or more camera elements.
Two robotic arms with mechanically coupled plurality of actuators
A robotic device having a first robotic arm and a second robotic arm, wherein each of the first robotic arm and the second robotic arm includes a plurality of actuators that are mechanically coupled to each other.
Cable-driven rotational and hinged actuator chain
A plurality of actuators that includes a first cable-driven rotational actuator; a first cable-driven hinged actuator operatively and hingedly coupled to the first rotational actuator; a second cable-driven rotational actuator; a second cable-driven hinged actuator operatively and hingedly coupled to the second rotational actuator, wherein the second cable-driven rotational actuator connects the first cable-driven hinged actuator and the second cable-driven hinged actuator; a third cable-driven rotational actuator; and a third cable-driven hinged actuator operatively and hingedly coupled to the third rotational actuator, wherein the third cable-driven rotational actuator connects the second cable-driven hinged actuator and the third cable-driven hinged actuator.
Surgical end effector coupled to the third hinged actuator
A surgical end effector coupled to the third hinged actuator.
Plurality of actuators forming and mimicking human arm movement
Wherein the plurality of actuators, in combination and when in use, form and mimic the movement of a human arm.
The claim coverage centers on a two-arm surgical robotic system combining a camera assembly with a cable-driven rotational and hinged actuator chain, coupled to a surgical end effector, to form and mimic human arm movement.
Stated Advantages
Documented Applications
No documented applications found
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