Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
Inventors
CHASSOT, Julien • Friedrich, Michael • SCHOENEICH, Patrick • SALEHIAN, Mehrnaz
Assignees
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Publication Number
US-12376927-B2
Publication Date
2025-08-05
Expiration Date
Abstract
Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integratable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery.
Core Innovation
The patent describes a remotely actuated surgical robot system comprising a master console, a slave console, and a surgical instrument. The slave console includes a slave hub, an alignment joint disposed proximal of the slave hub, and slave links coupled to a base. A removable incision pointer couples to the alignment joint to facilitate alignment of the alignment joint with a surgical site.
A controller establishes a virtual remote center-of-motion for the surgical instrument based on the alignment of the alignment joint and the surgical site. Responsive to movement applied at a handle of the master console, slave links distal to the alignment joint move the surgical instrument. The controller restricts instrument movements about the virtual remote center-of-motion while maintaining alignment during robotic surgery.
Claims Coverage
The claims identify one independent claim comprising four inventive features directed to a remotely controlled surgical manipulation system and its alignment and motion-control arrangement.
Slave console and surgical instrument arrangement
A slave console comprises a slave hub, an alignment joint disposed proximal of the slave hub, and a plurality of slave links coupled to a base, wherein a surgical instrument is received in the slave hub and includes a distal region configured to be inserted into a patient at a surgical site to perform robotic surgery.
Incision pointer alignment
An incision pointer is configured to be removably coupled to the alignment joint to facilitate alignment of the alignment joint and the surgical site.
Virtual remote center-of-motion setting
A controller is configured to set a virtual remote center-of-motion of the surgical instrument based on the alignment of the alignment joint and the surgical site.
Controlled slave-link movement about the remote center-of-motion
The controller causes at least one slave link distal to the alignment joint to move responsive to movement applied at a handle of a master console operatively coupled to the slave console, thereby moving the surgical instrument while restricting movements about the virtual remote center-of-motion and maintaining alignment of the alignment joint with the surgical site.
The independent claim integrates incision-pointer alignment with controller-established virtual remote center-of-motion constraints, governing slave-link motion via a master-console handle while preserving alignment during robotic surgery.
Stated Advantages
Provides top-down handle access, reduced console depth, adjustable arms, improved surgical dexterity, and operating-room integration.
Maintains alignment of the alignment joint with the surgical site while restricting surgical-instrument movement about the virtual remote center-of-motion during robotic surgery.
Supports sterility and sterile surgeon access.
Retracting the slave links away from the patient exposes the surgical site for non-robotic surgery.
The incision pointer facilitates alignment of the alignment joint with the surgical site.
Documented Applications
Robotic surgery performed with a surgical instrument inserted into a patient at a surgical site via remote manipulation.
Non-robotic surgery at the surgical site following retraction of the slave links away from the patient.
Integrated laparoscopy with the surgical site exposed by retracting the slave links.
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