# US 10,500,003 B2 · Control of device including mechanical arms

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,500,003 B2
- Document ID: US10500003B2
- Status: Granted
- Kind: B2
- Application number: 16/271,915
- Filed: 2019-02-11
- Published: 2019-06-06
- Granted: 2019-12-10
- Earliest claimed: 2014-09-04
- Assignees: Memic Innovative Surgery Ltd.
- Applicants: Memic Innovative Surgery Ltd.
- Inventors: Dvir Cohen; Eli Shapira
- Web page: https://patentgrep.com/patent/US10500003B2

## CPC

- A61B 34/30: Surgical robots
- A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B 1/303: for the vagina, i.e. vaginoscopes
- A61B 17/29: Forceps for use in minimally invasive surgery
- A61B 17/320016: {Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes (A61B10/0233, A61B17/29, A61B17/3207 take precedence)}
- A61B 17/3201: Scissors (for biopsy A61B10/02)
- A61B 18/1492: {having a flexible, catheter-like structure, e.g. for heart ablation (A61B18/1477 takes precedence)}
- A61B 34/35: for telesurgery
- A61B 34/70: {Manipulators specially adapted for use in surgery}
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 34/77: {Manipulators with motion or force scaling}
- A61B 90/03: {Automatic limiting or abutting means, e.g. for safety}
- A61B 90/06: {Measuring instruments not otherwise provided for}
- A61B 90/37: {Surgical systems with images on a monitor during operation}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- A61B 90/57: Accessory clamps
- B25J 9/0084: {comprising a plurality of manipulators}
- B25J 9/065: {Snake robots}
- B25J 9/1674: {characterised by safety, monitoring, diagnostic}
- B25J 13/065: {comprising joy-sticks}
- B25J 13/088: {with position, velocity or acceleration sensors}
- A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 2017/00115: {with audible or visual output}
- A61B 2017/00123: {and automatic shutdown}
- A61B 2017/00207: {with hand gesture control or hand gesture recognition}
- A61B 2017/00309: {Cut-outs or slits}
- A61B 2017/00314: {Separate linked members}
- A61B 2017/00424: {ergonomic, e.g. fitting in fist}
- A61B 2017/00991: {Telescopic means}
- A61B 2017/2906: {Multiple forceps}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B 2034/742: {Joysticks}
- A61B 2034/743: {Keyboards}
- A61B 2034/744: {Mouse}
- A61B 2090/065: {for measuring contact or contact pressure}
- A61B 2090/067: {for measuring angles}
- A61B 2090/374: {NMR or MRI}
- A61B 2090/3762: {using computed tomography systems [CT]}
- A61B 2090/378: {using ultrasound}
- A61B 2090/571: {for clamping a support arm to a bed or other supports}
- G05B 2219/45117: Medical, radio surgery manipulator
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

## Claims

### Claim 1

A method of providing feedback during surgery to a user controlling, via an input device, motor-actuated-movement of a surgical device limb, the surgical device limb comprising at least two spaced apart joints, said method comprising:
introducing said surgical device limb into the body through an incision or a natural body orifice such that said at least two spaced apart joints are inside the body;
controlling movement of said at least two spaced apart joints, when inside the body, via said input device;
identifying one or more disallowed anatomical regions in the patient's body in which movement of said surgical device limb should be avoided;
calculating a position of at least one of said two spaced apart joints with respect to said one or more disallowed anatomical regions based on at least one of: data obtained by position sensors, data obtained from captured images, and motor control signals;
wherein said calculating is not based on contact with tissue of said one or more disallowed anatomical regions; and
upon said user attempting movement of at least one of said joints of said surgical device limb to said one or more disallowed anatomical regions, providing feedback to said user via said input device, said feedback including at least one of force feedback, visual feedback, and audible feedback.

### Claim 2 (depends on 1)

The method according to claim 1, wherein said identifying comprises collecting images by an imager inserted into the patient's body.

### Claim 3 (depends on 1)

The method according to claim 1, wherein said identifying comprises producing an anatomical map according to CT and/or MRI scans of the patient.

### Claim 4 (depends on 1)

The method according to claim 1, wherein said input device comprises input arms and wherein said feedback is in the form of force resistance in response to the user's manipulation of said input arms.

### Claim 5 (depends on 4)

The method according to claim 4, wherein said avatar input arm is shaped to reflect a shape of said surgical device limb.

### Claim 6 (depends on 1)

The method according to claim 1, comprising moving said surgical device limb within the patient's body to define edges of an allowed region, and saving indications of said allowed region to a system memory.

### Claim 7 (depends on 1)

The method according to claim 1, comprising filtering movements of said surgical device limb according to said identified disallowed anatomical regions.

### Claim 8 (depends on 7)

The method according to claim 7, wherein said filtering prevents accidental movement of said surgical device limb when an undesired movement of said input device is performed.

### Claim 9 (depends on 1)

The method according to claim 1, further comprising measuring at least one of a position and orientation of said input device.

### Claim 10

A surgical system comprising:
a surgical device sized and shaped for insertion into a human body through an incision or a natural body orifice, said surgical device comprising at least one articulated limb, said limb comprising a plurality of sequentially coupled surgical device portions defining at least two spaced apart joints;
an input device, comprising at least one articulated limb, said limb comprising a plurality of sequentially coupled input device portions; said input device configured to control motor-actuated movement of said at least two spaced apart joints of said surgical device when said at least two spaced apart joints are inside the body;
a memory which stores one or more boundary lines defining one or more anatomical regions in which movement of each of said sequentially coupled surgical device portions is allowed; and
a controller which limits movement of one or more portions of said surgical device articulated limb based on said one or more stored boundary lines and based on a position of at least one of said two spaced apart joints, said position calculated based on at least one of: data obtained by position sensors, data obtained from captured images, and motor control signals.

### Claim 11 (depends on 10)

The system according to claim 10, further comprising an imager insertable into the patient body, said imager configured to collect images for identifying said one or more boundary lines.

### Claim 12 (depends on 10)

The system according to claim 10, comprising at least one of an audio alarm and a display alarm for alarming a user that said surgical device or a portion thereof is being moved in proximity to said one or more boundary lines.

### Claim 13 (depends on 10)

The system according to claim 10, wherein said position sensors comprises one or both of a pressure sensor and a motion sensor for indicating a position of said surgical device inside the patient's body.

### Claim 14 (depends on 10)

The system according to claim 10, wherein said memory stores a map of disallowed anatomical regions.

### Claim 15 (depends on 10)

The system according to claim 10, wherein said input device comprises one or more sensors for detecting user contact with said input device.

### Claim 16 (depends on 15)

The system according to claim 15, wherein said surgical device comprises one or more locks for limiting movement of said surgical device upon said detecting loss of contact or insufficient contact.

### Claim 17 (depends on 10)

The system according to claim 10, comprising a control mode in which movement of said surgical device, including angles of rotation and a degree of flexion of said at least two joints, is restricted to human freedom of movement of corresponding human arm segments.

### Claim 18 (depends on 10)

The system according to claim 10, wherein said controller is configured to filter signals received from said input device.

### Claim 19 (depends on 18)

The system according to claim 18, wherein said controller is configured to filter signals to remove one or more of: large user movements, sudden movements of the user, and tremors of the user.

### Claim 20 (depends on 18)

The system according to claim 18, wherein said controller is configured to filter signals to remove movements into or adjacent disallowed anatomical regions.

### Claim 21 (depends on 10)

The system according to claim 10, wherein a maximal diameter of said surgical device limb is 10 mm.

### Claim 22 (depends on 10)

The system according to claim 10, including a motor unit for actuating movement of said articulated surgical device limb, and wherein said position sensors are configured within said motor unit.