Robotic surgery system, method, and apparatus
AssigneeDEKA Products Limited Partnership
InventorsChristopher C. Langenfeld, Michael J. Slate, Prashant Bhat, Dirk A. van der Merwe, David D. B. Cannan, Keith D. Violette
Life of this patent
Estimating the term…
Abstract
A surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.
Claims20
An apparatus for performing robotic surgery comprising:
- a drive component having at least one motor and an associated drive element for each of the at least one motor, the associated drive element having a drive screw, a nut translationally displacing about a longitudinal axis of the drive screw in response to rotation of the drive screw about the longitudinal axis, and a projection oriented at an angle transverse to the longitudinal axis;
- a manipulator including at least one driven element, the at least one driven element having a receiving feature engaging the projection, the at least one driven element achieving translational displacement with the projection when the projection is engaged in the receiving feature;
- a continuous barrier separating at least the projection and the receiving feature, at least a portion of the continuous barrier covering the projection, the projection engaging the receiving feature through the continuous barrier, the continuous barrier maintaining sterility of the drive component, the continuous barrier accommodating the translational displacement;
- and
- at least one actuator having a first end coupled to the driven element and a second end coupled to an end effector,
- wherein the at least one actuator being driven by the drive component to perform the robotic surgery using the end effector.
A method for performing robotic surgery using a robotic surgery apparatus, the robotic surgery apparatus including a drive component having at least one motor and an associated at least one drive element for each of the at least one motor, the at least one motor being associated with a load sensor, the associated at least one drive element having a drive screw, a nut translationally displacing about a longitudinal axis of the drive screw in response to rotation of the drive screw about the longitudinal axis, and a projection oriented at an angle transverse to the longitudinal axis, the robotic surgery apparatus having a manipulator including at least one driven element, the at least one driven element having a receiving feature engaging the projection, the method comprising:
- translationally displacing the at least one driven element with the projection when the projection is engaged in the receiving feature;
- engaging the receiving feature through a continuous barrier, the continuous barrier separating the projection and the receiving feature, at least a portion of the continuous barrier covering the projection, the continuous barrier maintaining sterility of the drive component, the continuous barrier accommodating the translationally displacing;
- and
- performing the robotic surgery by driving, by the drive component, at least one actuator coupled with an end effector, the at least one actuator having a first end coupled to the at least one driven element and a second end coupled to the end effector.
Dependencies are inferred from the claim text.