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US 2019/0239968 A1Published application
Mechanical teleoperated device comprising an interchangeable distal instrument
AssigneeDistalmotion SA
InventorRicardo Daniel Rita BEIRA
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AssigneeDistalmotion SA
InventorRicardo Daniel Rita BEIRA
Estimating the term…
Disclosed is a mechanical teleoperated device comprising i) a handle (30) placed in a proximal part of the device, having a plurality of handle links interconnected by respective handle joints, ii) an end effector (31) placed in a distal part of the device, having a plurality of end-effector links interconnected by respective end-effector joints, iii) a transmission system arranged to kinematically connect the end effector to the handle such that movements of the end effector correspond to movements of the handle, comprising at least one arrangement of a plurality of rotatable elements (41a-d) coaxially mounted together about an axis and arranged to rotate independently from each other, b) first transmission means comprising driving elements (62a-d) which are arranged to actuate in rotation of the plurality of rotatable elements (41a-d) based upon movements of the handle, c) second transmission means comprising driven elements (63a-d) which are arranged to be driven by rotation of the plurality of rotatable elements resulting in movement of the end effector links, wherein the transmission system is configured for removably coupling together the first and second transmission means wherein each driven element is removably coupled to one corresponding rotatable element.
The surgical teleoperated device of claim 1, wherein a segment of each driven element is removably connected to a corresponding independently rotatable element such that each segment is guided along a path within a plane which is substantially perpendicular to an axis about which the corresponding independently rotatable element is arranged to rotate.
The surgical teleoperated device of claim 1, wherein each driven element is anchored to a mating receptacle, wherein each corresponding independently rotatable element comprises a complementary mating part configured to be removably mounted to the mating receptacle.
The surgical teleoperated device of claim 1, wherein the plurality of independently rotatable elements are arranged into two groups, wherein a first group of independently rotatable elements are coaxially mounted to rotate about a first axis of rotation and a second group of independently rotatable elements are coaxially mounted to rotate about a second axis of rotation.
The surgical teleoperated device of claim 1, wherein the surgical teleoperated device has a master-slave configuration, comprising a slave unit, having a plurality of slave links interconnected by respective slave joints, and a master unit having a plurality of master links interconnected by respective master joints.
A surgical teleoperated device for performing a surgery on a patient, the surgical teleoperated device comprising:
The surgical teleoperated device of claim 1, wherein the plurality of driven elements comprises a plurality of cables arranged to be driven by the rotation of each one of the corresponding rotatable elements.
The surgical teleoperated device of claim 1, wherein the end-effector comprises a plurality of pulleys, and wherein a plurality of end-effector links are configured to rotate about an axis of the plurality of pulleys when the plurality of pulleys are actuated via the plurality of driven elements.
A surgical system comprising the surgical teleoperated device of claim 1 and a second surgical teleoperated device, the second surgical teleoperated device comprising:
A method for performing a surgery on a patient using a surgical teleoperated device, the method comprising:
Dependencies are inferred from the claim text.