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US 12,702,515 B2Granted
Drape for arms of a robotic surgical system
AssigneeAuris Health, Inc.
InventorsKandice H. Lau, Benjamin L. Smith
Life of this patent
Estimating the term…
Abstract
Certain aspects relate to systems and techniques for an assembly for draping two or more robotic arms of a robotic surgical system. In one aspect, the system includes a first tube including a first pocket for receiving a first robotic arm. The first tube can be configured to be downwardly draped over the first arm. The system may include a second tube including a second pocket for receiving a second robotic arm. The second tube can be configured to be downwardly draped over the second arm.
Claims18
A robotic surgical system, comprising:
- a first robotic arm comprising a first proximal end, a first distal end, a first series of links between the first proximal end and the first distal end, and a first series of joints connecting the first series of links, the first robotic arm being configured to maintain a drape pose in which the first distal end and the first series of links are directed upwards and positioned above the first proximal end;
- a second robotic arm comprising a second proximal end, a second distal end, a second series of links between the second proximal end and the second distal end, and a second series of joints connecting the second series of links, the second robotic arm being configured to maintain a drape pose in which the second distal end and the second series of links are directed upwards and positioned above the second proximal end;
- a first tube including a first pocket for receiving the first robotic arm, the first tube having a proximal end, a distal end, a drape material extending between the proximal end and the distal end of the first tube, and a first cuff positioned at the proximal end of the first tube, the first cuff being formed of a stiffer material than the drape material of the first tube, the first tube configured to be downwardly draped over the first robotic arm while the first robotic arm is in the drape pose, the first cuff being configured to hold open the proximal end of the first tube to receive the first robotic arm;
- and
- a second tube including a second pocket for receiving the second robotic arm, the second tube having a proximal end, a distal end, a drape material extending between the proximal end and the distal end of the second tube, and a second cuff positioned at the proximal end of the second tube, the second cuff being formed of a stiffer material than the drape material of the second tube, the second tube configured to be downwardly draped over the second robotic arm while the second robotic arm is in the drape pose, the second cuff being configured to hold open the proximal end of the second tube to receive the second robotic arm.
2 more elements
A robotic surgical system, comprising:
- a first robotic arm comprising a first proximal end, a first distal end, and a first series of links connected by a first series of joints;
- a second robotic arm comprising a second proximal end, a second distal end, and a second series of links connected by a second series of joints;
- one or more processors;
- a computer readable medium storing instructions that, when executed by the one or more processors, cause the first robotic arm and the second robotic arm to be positioned in a drape pose in which the first series of links and the first distal end are directed upwards above the first proximal end and the second series of links and the second distal end are directed upwards above the second proximal end;
- a first tube-shaped drape including a first pocket for receiving the first robotic arm, the first tube-shaped drape having a proximal end, a distal end, a first sleeve portion extending between the proximal end and the distal end of the first tube-shaped drape, and a first cuff positioned at the proximal end of the first tube-shaped drape, the first cuff being stiffer than the first sleeve portion, the first tube-shaped drape configured to be downwardly draped over the first robotic arm while the first robotic arm is in the drape pose, the first cuff being configured to hold open the proximal end of the first tube-shaped drape to receive the first robotic arm;
- and
- a second tube-shaped drape including a second pocket for receiving the second robotic arm, the second tube-shaped drape having a proximal end, a distal end, a second sleeve portion extending between the proximal end and the distal end of the second tube-shaped drape, and a second cuff positioned at the proximal end of the second tube-shaped drape, the second cuff being stiffer than the second sleeve portion, the second tube-shaped drape configured to be downwardly draped over the second robotic arm while the second robotic arm is in the drape pose, the second cuff being configured to hold open the proximal end of the second tube-shaped drape to receive the second robotic arm.
4 more elements
A method of draping a robotic surgical system, the robotic surgical system comprising a first robotic arm and a second robotic arm, the first robotic arm comprising a first proximal end, a first distal end, a first series of links between the first proximal end and the first distal end, and a first series of joints connecting the first series of links, the second robotic arm comprising a second proximal end, a second distal end, a second series of links between the second proximal end and the second distal end, and a second series of joints connecting the second series of links, the method comprising:
- placing the robotic surgical system in a drape pose in which:
- each link in the first series of links extends in an upwards direction above the first proximal end of the first robotic arm,
- each link in the second series of links extends in an upwards direction above the second proximal end of the second robotic arm, and
- the second series of links of the second robotic arm extends parallel to the first series of links of the first robotic arm;
- downwardly draping a first tube-shaped drape over the first robotic arm of the robotic surgical system while the robotic surgical system is in the drape pose, the first tube-shaped drape comprising a first pocket for receiving the first robotic arm, the first tube-shaped drape having a proximal end, a distal end, a first sleeve portion extending between the proximal end and the distal end of the first tube-shaped drape, and a first cuff positioned at the proximal end of the first tube-shaped drape, the first cuff being stiffer than the first sleeve portion, the first cuff holding open the proximal end of the first tube-shaped drape as the first tube-shaped drape receives the first robotic arm;
- and
- downwardly draping a second tube-shaped drape over the second robotic arm of the robotic surgical system while the robotic surgical system is in the drape pose, the second tube-shaped drape comprising a second pocket for receiving the second robotic arm, the second tube-shaped drape having a proximal end, a distal end, a second sleeve portion extending between the proximal end and the distal end of the second tube-shaped drape, and a second cuff positioned at the proximal end of the second tube-shaped drape, the second cuff being stiffer than the second sleeve portion, the second cuff holding open the proximal end of the second tube-shaped drape as the second tube-shaped drape receives the second robotic arm.
4 more elements
Dependencies are inferred from the claim text.