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US 11,589,936 B1Granted
Robotic surgical system
OwnerArthur John Ulm, IIIinventor
Life of this patent
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Abstract
A robotic surgical system is described. In some embodiments, the robotic surgical system includes a physician-side shaft controlled by a physician, the movement of which is tracked by a plurality of physician-side balls and transmitted to a plurality of patient-side balls, which in turn, move a patient-side shaft and attached surgical device, such as a stent retriever.
Claims22
A robotic surgical system comprising:
- a physician-side shaft having a physician-side shaft proximal end, a physician-side shaft distal end, a physician-side shaft length extending from the physician-side shaft proximal end to the physician-side shaft distal end, the physician-side shaft configured to be moved by a physician in the proximal direction, in the distal direction, and to rotate clockwise and counterclockwise relative to the physician-side shaft length;
- a first physician-side set of at least four spherical balls surrounding the physician-side shaft, the at least four spherical balls in the first physician-side set of at least four spherical balls configured to move in response to movement of the physician-side shaft;
- a physician-side sensor configured to measure movement of the first physician-side set of at least four spherical balls;
- a physician-side transmitter configured to transmit signals received from the physician-side sensor;
- a patient-side receiver configured to receive signals transmitted by the physician-side transmitter;
- a patient-side shaft having a patient-side shaft proximal end, a patient-side shaft distal end, a patient-side shaft length extending from the patient-side shaft proximal end to the patient-side shaft distal end, the patient-side shaft configured to move in the proximal direction, in the distal direction, and to rotate clockwise and counterclockwise relative to the patient-side shaft length in response to signals received by the patient-side receiver;
- and
- a distal body comprising a distal body interior, a distal body perimeter, a distal body proximal end connected to the patient-side shaft, a distal body distal end, a distal body length extending from the distal body proximal end to the distal body distal end, and a distal body height and width perpendicular to the distal body length, the distal body comprising a distal body framework formed by a plurality of memory metal strips, wherein the distal body has a relaxed state wherein the distal body has a first height and a first width, and a collapsed state wherein the distal body has a second height and a second width, the second height of the distal body less than the first height of the distal body, the second width of the distal body less than the first width of the distal body.
5 more elements
A method of using a robotic surgical system comprising:
- a) providing robotic surgical system comprising:
- i) a physician-side shaft having a physician-side shaft proximal end, a physician-side shaft distal end, a physician-side shaft length extending from the physician-side shaft proximal end to the physician-side shaft distal end, the physician-side shaft configured to be moved by a physician in the proximal direction, in the distal direction, and to rotate clockwise and counterclockwise relative to the physician-side shaft length;
- ii) a first physician-side set of at least four spherical balls surrounding the physician-side shaft, the at least four spherical balls in the first physician-side set of at least four spherical balls configured to move in response to movement of the physician-side shaft;
- iii) a physician-side sensor configured to measure movement of the first physician-side set of at least four spherical balls;
- iv) a physician-side transmitter configured to transmit signals received from the physician-side sensor;
- v) a patient-side receiver configured to receive signals transmitted by the physician-side transmitter;
- vi) a patient-side shaft having a patient-side shaft proximal end, a patient-side shaft distal end, a patient-side shaft length extending from the patient-side shaft proximal end to the patient-side shaft distal end, the patient-side shaft configured to move in the proximal direction, in the distal direction, and to rotate clockwise and counterclockwise relative to the patient-side shaft length in response to signals received by the patient-side receiver;
- vii) patient-side force applicator configured to move the patient-side shaft in the proximal direction, in the distal direction, and to rotate the patient-side shaft clockwise and counterclockwise relative to the patient-side shaft length in response to signals received by the patient-side receiver;
- and
- viii) a surgical instrument connected to the patient-side shaft;
- b) moving the physician-side shaft;
- c) moving at least one spherical ball of the first physician-side set of four spherical balls in response to step b);
- d) measuring movement of the at least one spherical ball in step c);
- e) sending signals from the physician-side sensor to the physician-side transmitter;
- f) sending signals from the physician-side transmitter to the patient-side receiver;
- and
- g) moving the patient-side shaft and the surgical body using the patient-side force applicator.
14 more elements
Dependencies are inferred from the claim text.