US 11,707,835 B2Granted

Robotic arm system with gear-driven end-effector assembly

AssigneeBio-Medical Engineering (HK) Limited

InventorsChung Kwong Yeung, Jianwei Zhang, Tsun Ping Jimmy To, Wai Lik Alik Chan

Life of this patent

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Abstract

Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

Claims19

Dependent claims

A robotic arm assembly, the robotic arm assembly comprising:

an end-effector assembly, the end-effector assembly having:
an instrument assembly having:
an instrument, the instrument having an elongated body with a proximal end and a distal end, the elongated body of the instrument having an instrument central axis formed through the elongated body of the instrument, the distal end of the instrument for use in performing a surgical action;
and
an instrument driven portion, the instrument driven portion having a first central axis formed through the instrument driven portion, the instrument driven portion secured to the proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate relative to the first central axis, the distal end of the instrument rotates relative to the first central axis;
a first instrument drive assembly, the first instrument drive assembly having:
a first instrument drive portion, the first instrument drive portion having a second central axis formed through the first instrument drive portion, the first instrument drive portion configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis, wherein the second central axis intersects with the first central axis, wherein the second central axis is orthogonal to the first central axis.

4 more elements

A robotic arm assembly, the robotic arm assembly comprising:

an end-effector assembly, the end-effector assembly having:
an instrument assembly having:
an instrument, the instrument having an elongated body with a proximal end and a distal end, the elongated body of the instrument having an instrument central axis formed through the elongated body of the instrument, the distal end of the instrument for use in performing a surgical action;
and
an instrument driven portion, the instrument driven portion having a first central axis formed through the instrument driven portion, the instrument driven portion secured to the proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate relative to the first central axis, the distal end of the instrument rotates relative to the first central axis;
a first instrument drive assembly, the first instrument drive assembly having:
a first instrument drive portion, the first instrument drive portion having a second central axis formed through the first instrument drive portion, the first instrument drive portion configured to drive the instrument driven portion to rotate relative to the first central axis, wherein the second central axis intersects with the first central axis;
and
a second instrument drive assembly, the second instrument drive assembly having:
a second instrument drive portion, the second instrument drive portion having the second central axis formed through the second instrument drive portion, the second instrument drive portion configured to rotate the distal end of the instrument relative to the second central axis.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/459,857Filed 27 Aug 2021 · continuation
Priority: 1 Mar 2019
Published: US 2021/0387329 A116 Dec 2021
Granted: 25 Jul 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification18 codes

B25J 9/102
Characterised by positioning means for manipulator elements: gears specially adapted therefor, e.g. reduction gears
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/76
Manipulators specially adapted for use in surgery: manipulators having means for providing feel, e.g. force or tactile feedback
B25J 9/126
Electric: rotary actuators

Family

Application16/290,402Parent of this continuation · filed 1 Mar 2019
Application16/860,593Parent of this continuation · filed 28 Apr 2020
US 10,632,613 B1Parent of this continuation · filed 28 Apr 2020
US 2021/0387329 A1Pre-grant publication · published 16 Dec 2021
US 11,130,228 B2Parent of this continuation
US 2020/0254608 A1Published application
US 11,707,835 B2This patent

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