US 2020/0367979 A1Published application

Robotic surgery system

AssigneeTitan Medical Inc.

InventorsAki Hannu Einari Laakso, Hans Christian Pflaumer, Abraham Allen Shipley, Nathan Wagner Ginsberg, Yahia Laouar, Cara Lee Coad, Michael James Ross, John Michael Burton, JR.

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Abstract

A robotic surgery system includes a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly includes a boom assembly with one or more boom arms rotatably coupled to each other via one or more joints and having one or more actuators. An elevating linkage assembly is coupled to the boom assembly and has an actuator operable to allow vertical movement of the control unit assembly in a substantially weightless manner. Yaw and pitch control assemblies are interposed between the elevating linkage assembly and the control unit assembly and have actuators operable to allow movement of the control unit assembly in yaw and pitch. The one or more actuators are actuatable to allow movement of the control unit assembly in space upon actuation of one or more user interfaces of the control unit assembly.

Claims23

Dependent claims

A robotic surgery system, comprising:

a control unit assembly configured to support and operate one or more robotic tools;
and
a mechanical arm assembly configured to movably support the control unit assembly in space, the mechanical arm assembly comprising
a pillar assembly extending along a first axis;
a boom assembly movably coupled to the pillar assembly and extending generally perpendicular to the first axis, the boom assembly comprising a proximal boom arm rotatably coupled to the pillar assembly via a first joint and a distal boom arm rotatably coupled to the proximal boom arm via a second joint, one or more brakes arranged about one or both of the first and second joints;
an elevating linkage assembly coupled to the distal boom arm and extending along a second axis generally parallel to the first axis, the elevating linkage assembly disposed above and operatively coupled to the control unit assembly, the elevating linkage assembly comprising a brake operable to allow vertical movement of the control unit assembly relative to the boom assembly in a substantially weightless manner;
and
a pitch and yaw assembly disposed between the control unit assembly and the elevating linkage assembly and configured to allow movement of the control unit assembly in one or both of a pitch direction and a yaw direction, the pitch and yaw assembly comprising one or more brakes operable to substantially brake movement of the control unit assembly in one or both of pitch and yaw,
wherein one or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly are actuatable between an unlocked position to allow an operator to manually change one or both of a position and an orientation of the control unit assembly in space and a locked position to fix the position and orientation of the control unit assembly in space.

6 more elements

A robotic surgery system, comprising:

a control unit assembly configured to support and operate one or more robotic tools;
and
a mechanical arm assembly configured to movably support the control unit assembly in space, the mechanical arm assembly comprising
a boom assembly comprising one or more boom arms rotatably coupled to each other via one or more joints, one or more actuators arranged about the one or more joints and operable to allow movement of the one or more boom arms;
an elevating linkage assembly coupled to the boom assembly and extending along an axis generally perpendicular to the boom assembly, the elevating linkage assembly disposed above the control unit assembly and comprising an actuator operable to allow movement of the control unit assembly along the axis and relative to the boom assembly in a substantially weightless manner;
a yaw control assembly disposed below the elevating linkage assembly and above the control unit assembly, the yaw control assembly comprising an actuator operable to allow movement of the control unit assembly in a yaw direction;
a pitch control assembly disposed below the elevating linkage assembly and above the control unit assembly, the pitch control assembly comprising one or more actuators operable to allow movement of the control unit assembly in a pitch direction,
wherein one or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly are actuatable to allow a change in one or both of a position and an orientation of the control unit assembly in space upon actuation of two or more user interfaces of the control unit assembly and wherein one or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly lock one or both of the position and the orientation of the control unit assembly when the user interfaces are not engaged.

5 more elements

Dependencies are inferred from the claim text.