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Publication Number
US-12376924-B2
Publication Date
2025-08-05
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
A surgical robotic system includes a camera assembly having a camera housing for mounting one or more camera elements, and a robotic device having a first robotic arm and a second robotic arm. Each of the first robotic arm and the second robotic arm includes a plurality of actuators that are mechanically coupled to each other. One or more of the plurality of actuators includes a main intermediate body including an outwardly extending first connection component for connection to an adjacent first actuator or first component of the robotic arm and a pulley element configured to receive one or more actuation cables for actuating the actuator.
The actuator architecture further includes a male main housing and a female main housing arranged to receive the male main housing. The male main housing includes a first male housing component and a second male housing component coupled to opposite sides of the main intermediate body, and the female main housing includes a first female housing component and a second female housing component coupled to outer surfaces of the male housing components.
The main intermediate body and the male main housing are configured to have an arcuate, contoured shape defining a contoured pathway. The contoured pathway enables a neutral axis of the one or more actuation cables when passed therethrough to remain at approximately a same length across an entire range of motion of the actuator.
Claims Coverage
The document provides two independent inventive claim sets that share a common system architecture: a camera assembly and a two-arm robotic device with mechanically coupled, cable-actuated actuators. Across the independent claims, the main inventive features focus on an actuator architecture that defines an arcuate, contoured pathway to maintain an approximately constant cable neutral axis length across an entire range of motion, using pulley elements and mating male and female housings.
Arcuate contoured pathway actuator with pulley and mating male/female housings
A surgical robotic system including a camera assembly with a camera housing for mounting one or more camera elements and a robotic device having first and second robotic arms with mechanically coupled actuators. The actuators include a main intermediate body with an outwardly extending connection component and a pulley element receiving one or more actuation cables. The actuators further include male main housing components and female main housing components that receive the male main housing. The main intermediate body and male main housing have an arcuate, contoured shape defining a contoured pathway enabling a neutral axis of the actuation cables to remain at approximately a same length across an entire range of motion.
Arcuate contoured pathway cable neutral axis maintained across range of motion with cross-sectional housing portions
A surgical robotic system including a camera assembly with a camera housing for mounting one or more camera elements and a robotic device having first and second robotic arms with mechanically coupled actuators. The actuators include a main intermediate body with a pulley element receiving one or more actuation cables, a male main housing coupled to the main intermediate body, and a female main housing configured to receive the male main housing. The main intermediate body and male main housing include housing portions having an arcuate, contoured shape in cross-section parallel to a longitudinal axis to define a contoured pathway. The contoured pathway enables a neutral axis of the actuation cables to remain at approximately a same length across an entire range of motion of the actuator.
Both independent claims cover a surgical robotic system with a camera assembly and dual robotic arms whose cable-driven actuator architecture uses a pulley element and mating male/female housings to define an arcuate contoured pathway. The contoured pathway is configured so that the neutral axis of actuation cables remains approximately the same length across an entire range of motion of the actuator.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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