# US 2021/0330404 A1 · Robotic Surgical Devices with Tracking Camera Technology and Related Systems and Methods

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- Number: US 2021/0330404 A1
- Document ID: US20210330404A1
- Status: Published application
- Kind: A1
- Application number: 17/367,915
- Filed: 2021-07-06
- Published: 2021-10-28
- Earliest claimed: 2017-09-27
- Assignees: Virtual Incision Corporation
- Applicants: Virtual Incision Corporation
- Inventors: Shane Farritor; Dmitry Oleynikov; Nathan Wood; Jason Dumpert; Mark Reichenbach; Lou Cubrich
- Web page: https://patentgrep.com/patent/US20210330404A1

## CPC

- A61B 34/30: Surgical robots
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/25: {User interfaces for surgical systems}
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2090/3614: {using optical fibre}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods. A positionable camera is disposed therein, and the system is configured to execute a tracking and positioning algorithm to re-position and re-orient the camera tip.

## Claims

### Claim 1

A robotic surgical system, comprising:
a) a device body constructed and arranged to be positioned at least partially within a body cavity of a patient through an incision, the device body comprising:
i) a first robotic surgical arm operably coupled to the device body and comprising a first end effector;
ii) a second robotic surgical arm operably coupled to the device body and comprising a first end effector; and
iii) a camera lumen defined in the device body;
b) a positionable camera constructed and arranged to provide views of the first and second end effectors; and
c) a surgical console comprising a processor constructed and arranged to execute an algorithm to position the positionable camera.