US 11,690,692 B2Granted

Virtual reality surgical tools system

AssigneeVicarious Surgical Inc.

InventorsDaniel Wang, Sammy Khalifa, Adam David Sachs

Life of this patent

Estimating the term…

Loading patent…

Abstract

A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.

Claims16

Dependent claims

A method for using a surgical robot, the method comprising:

(a) inserting the surgical robot inside of an abdomen of a patient, wherein the surgical robot is operably coupled to at least one lever of a first tool via a grasper of the surgical robot, the first tool having a proximal end and a distal end and including a first tool fulcrum disposed between the proximal end and the distal end of the first tool, and the at least one lever of the first tool operably connected to the first tool fulcrum and extending from the first tool fulcrum to the proximal end of the first tool;
(b) decoupling the first tool from the surgical robot while the surgical robot is within the abdomen of the patient;
and
(c) operably coupling at least one lever of a second tool with the grasper of the surgical robot while the surgical robot is within the abdomen of the patient, the second tool having a proximal end and a distal end and including a second tool fulcrum disposed between the proximal end and the distal end of the second tool, and the at least one lever of the second tool extending from the second tool fulcrum to the proximal end of the second tool;
and
wherein contact between the grasper and the at least one lever of the first tool rotates the at least one lever of the first tool about the first tool fulcrum and rotation of the at least one lever of the first tool about the first tool fulcrum actuates the first tool, and rotation of the at least one lever of the second tool about the second tool fulcrum actuates the second tool when the respective first tool or second tool is coupled with the surgical robot.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/019,045Filed 11 Sep 2020 · continuation
Priority: 9 Feb 2017
Published: US 2021/0068913 A111 Mar 2021
Granted: 4 Jul 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

A61B 34/71
Manipulators specially adapted for use in surgery: manipulators operated by drive cable mechanisms
A61B 17/29
Surgical forceps: forceps for use in minimally invasive surgery
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 17/3201
Surgical cutting instruments: scissors

Family

Application62/456,926Us provisional application · filed 9 Feb 2017
Application62/532,054Us provisional application · filed 13 Jul 2017
Application15/891,865Parent of this continuation · filed 8 Feb 2018
US 2021/0068913 A1Pre-grant publication · published 11 Mar 2021
US 10,799,308 B2Parent of this continuation
US 2018/0221102 A1Published application
US 11,690,692 B2This patent

From the US filing history. Foreign family members aren’t listed.