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US 12,746,096 B2Granted
Gross positioning device and related systems and methods
AssigneeBoard of Regents of the University of Nebraska
InventorsMark Reichenbach, Shane Farritor
Life of this patent
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Abstract
Disclosed herein are gross positioning systems for use with robotic surgical devices to provide gross positioning of the robotic surgical devices. The gross positioning systems have a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling component slidably coupled to the third arm link.
Claims19
A gross positioning system for use with a robotic surgical device, the system comprising:
- (a) a base;
- (b) a first arm link operably coupled to the base at a first rotational joint;
- (c) a second arm link operably coupled to the first arm link at a second rotational joint;
- (d) a third arm link operably coupled to the second arm link, wherein the third arm link is rotatable about a third rotational joint;
- (e) a coupling component coupled to an external portion of the third arm link such that the coupling component is selectively slidable and fixable along a length of the third arm link between an extended position and a retracted position, wherein the coupling component is configured to be coupleable to a device body of the robotic surgical device such that the robotic surgical device is positionable through an incision in a patient;
- and
- (f) a controller operably coupled to the gross positioning system and the robotic surgical device.
4 more elements
A robotic surgical system for performing surgery on a patient, the system comprising:
- (a) a gross positioning device comprising:
- (i) a base;
- (ii) a first arm link operably coupled to the base at a first rotational joint;
- (iii) a second arm link operably coupled to the first arm link at a second rotational joint;
- (iv) a third arm link operably coupled to the second arm link, wherein the third arm link is rotatable about a third rotational joint;
- and
- (v) a coupling mechanism coupled to the third arm link such that the coupling mechanism is selectively slidable and fixable along a length of the third arm link between an extended position and a retracted position,
- wherein at least two of an axis of rotation of the first rotational joint, an axis of rotation of the second rotational joint, and an axis of rotation of the third rotational joint substantially intersect at a single point of intersection;
- (b) a robotic surgical device removably coupled to the coupling mechanism, the robotic surgical device comprising:
- (i) a device body;
- (ii) a first arm operably coupled to the device body, the first arm comprising a first actuator;
- and
- (iii) a second arm operably coupled to the device body, the second arm comprising a second actuator;
- and
- (c) a controller operably coupled to the gross positioning device and the robotic surgical device, the controller comprising first and second hand controllers.
12 more elements
A robotic surgical system for performing surgery on a patient, the system comprising:
- (a) a gross positioning device comprising:
- (i) a base;
- (ii) a first arm link operably coupled to the base at a first rotational joint, wherein the first rotational joint comprises a first motor;
- (iii) a second arm link operably coupled to the first arm link at a second rotational joint, wherein the first rotational joint comprises a second motor;
- (iv) a third arm link operably coupled to the second arm link, wherein the third arm link is rotatable about a third rotational joint, wherein the first rotational joint comprises a third motor;
- and
- (v) a coupling mechanism coupled to the third arm link such that the coupling mechanism is selectively slidable and fixable along a length of the third arm link between an extended position and a retracted position;
- (b) a robotic surgical device removably coupled to the coupling mechanism, the robotic surgical device comprising:
- (i) a device body;
- (ii) a first arm operably coupled to the device body, the first arm comprising a first actuator and a first end effector;
- and
- (iii) a second arm operably coupled to the device body, the second arm comprising a second actuator and a second end effector;
- (c) a controller operably coupled to the gross positioning device and the robotic surgical device, the controller comprising first and second hand controllers;
- and
- (d) a processor operably coupled to the controller, the processor is configured to generate control instructions for the gross positioning device and the robotic surgical device such that the gross positioning device and the robotic surgical device operate together to position the robotic surgical device and the first and second arms within a body cavity of the patient.
12 more elements
Dependencies are inferred from the claim text.