# US 2021/0330407 A1 · Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0330407 A1 - Document ID: US20210330407A1 - Status: Published application - Kind: A1 - Application number: 17/364,246 - Filed: 2021-06-30 - Published: 2021-10-28 - Earliest claimed: 2018-02-07 - Assignees: Distalmotion SA - Applicants: Distalmotion SA - Inventors: Julien CHASSOT; Michael FRIEDRICH; Patrick SCHOENEICH; Mehrnaz SALEHIAN - Web page: https://patentgrep.com/patent/US20210330407A1 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 18/1442: {Probes having pivoting end effectors, e.g. forceps} - 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 34/74: {Manipulators with manual electric input means} - A61B 34/77: {Manipulators with motion or force scaling} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 9/1689: {Teleoperation} - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/67: for remote operation - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/2059: {Mechanical position encoders} - 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 2560/0437: Trolley or cart-type apparatus - G05B 2219/39389: Laparoscopic surgery, camera on center of operated part, view around, scale - G05B 2219/45117: Medical, radio surgery manipulator - G16H 40/63: for local operation - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Surgical robot systems for remote manipulation having robotic telemanipulators are provided. The surgical robot systems are well adapted for use by the surgeon, seamlessly integratable into the operation room, allow for a surgeon to work between the robot and the patient throughout a surgery in a sterile manner, are relatively low cost, and/or permit integrated laparoscopy. The system preferably includes a master console having a plurality of master links interconnected by a plurality of master joints, and a handle coupled to the master console for operating the telemanipulator. The system further includes a slave console operatively coupled to the master console and having a plurality of slave links interconnected by a plurality of slave joints that move responsive to movement at the master console to permit an end-effector to perform surgery. ## Claims ### Claim 1 A system for remote manipulation to perform surgery, the system comprising: a patient console comprising a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, a distal region of the surgical instrument configured to be inserted into a patient at a surgical site for performing robotic surgery; and a controller configured to execute instructions to: cause, in a surgical mode, at least one of the plurality of patient links to move responsive to movement applied at a handle of a surgeon console operatively coupled to the patient console to thereby move the surgical instrument to perform the robotic surgery; and cause the patient console to transition from the surgical mode to a laparoscopic mode where the plurality of patient links are retracted away from the patient while the base of the patient console remains stationary to expose the surgical site to permit a surgeon to perform non-robotic surgery at the surgical site without interference from the plurality of patient links. ### Claim 2 (depends on 1) The system of claim 1, wherein the controller is further configured to execute instructions to: determine that the surgical instrument has been removed from the patient at the surgical site; and only cause the patient console to transition from the surgical mode to the laparoscopic mode if the surgical instrument has been removed. ### Claim 3 (depends on 2) The system of claim 2, wherein the controller determines that the surgical instrument has been removed from the patient by determining that the surgical instrument has been decoupled from the patient console. ### Claim 4 (depends on 1) The system of claim 1, wherein the controller causes the patient console to transition from the surgical mode to the laparoscopic mode responsive to user input received at the patient console. ### Claim 5 (depends on 1) The system of claim 1, wherein the handle is removably coupled to the surgeon console such that the handle is sterile during the surgery and sterilizable while removed for additional surgeries. ### Claim 6 (depends on 5) The system of claim 5, further comprising a sterile drape interface having a ring defining an opening, wherein the handle, when coupled to the surgeon console, holds the ring in place so that the sterile drape of the sterile drape interface covers portions of the surgeon console. ### Claim 7 (depends on 1) The system of claim 1, wherein the controller is configured to execute instructions to cause, in the surgical mode, the at least one of the plurality of patient links to move responsive to movement applied at the handle of the surgeon console at a scaled degree. ### Claim 8 (depends on 7) The system of claim 7, wherein the controller is configured to execute instructions to cause, in the surgical mode, scaled micro movements at the surgical instrument in a micro degree-of-freedom responsive to corresponding movement applied at the handle of the surgeon console. ### Claim 9 (depends on 8) The system of claim 8, wherein micro movements applied at the surgical instrument are independently scalable for each of the micro degrees-of-freedom such that the scaled micro movements in the micro degree-of-freedom are at a different scale than second scaled micro movement at the surgical instrument in a second micro degree-of-freedom. ### Claim 10 (depends on 1) The system of claim 1, wherein the surgeon console comprises a clutch configured to prevent micro-movements at the surgical instrument responsive to micro-movements applied at the handle of the surgeon console when the clutch is actuated. ### Claim 11 A method for remotely performing a surgery, the method comprising: coupling a surgical instrument to a patient console comprising a plurality of patient links coupled to a base; inserting a distal region of the surgical instrument into a patient at a surgical site for performing robotic surgery; moving, in a surgical mode, at least one of the plurality of patient links responsive to movement applied at a handle of a surgeon console operatively coupled to the patient console to thereby move the surgical instrument to perform the robotic surgery; and transitioning the patient console from the surgical mode to a laparoscopic mode where the plurality of patient links are retracted away from the patient while the base of the patient console remains stationary to expose the surgical site to permit a surgeon to perform non-robotic surgery at the surgical site without interference from the plurality of patient links. ### Claim 12 (depends on 11) The method of claim 11, further comprising: determining that the surgical instrument has been removed from the patient at the surgical site, wherein transitioning the patient console from the surgical mode to the laparoscopic mode only occurs if the surgical instrument has been removed. ### Claim 13 (depends on 12) The method of claim 12, wherein determining that the surgical instrument has been removed from the patient at the surgical site comprises determining that the surgical instrument has been decoupled from the patient console. ### Claim 14 (depends on 11) The method of claim 11, further comprising receiving user input at the patient console, wherein transitioning the patient console from the surgical mode to the laparoscopic mode is responsive to the user input received at the patient console. ### Claim 15 (depends on 11) The method of claim 11, wherein the handle is removably coupled to the surgeon console, the method further comprising removing the handle for sterilization in-between surgeries. ### Claim 16 A system for remote manipulation to perform surgery, the system comprising: a patient console comprising an alignment joint and a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, a distal region of the surgical instrument configured to be inserted into a patient at a surgical site for performing robotic surgery; and a controller configured to execute instructions to: set a virtual center-of-motion based on an alignment of the alignment joint and the surgical site; and cause at least one of the plurality of patient links to move responsive to movement applied at a handle of a surgeon console operatively coupled to the patient console to thereby move the surgical instrument to perform the robotic surgery, wherein movement of the surgical instrument is restricted about the virtual remote center-of-motion to maintain alignment of the patient joint with the surgical site during the surgery. ### Claim 17 (depends on 16) The system of claim 16, further comprising an incision pointer configured to be removably coupled to the alignment joint to permit alignment of the alignment joint and the surgical site. ### Claim 18 (depends on 17) The system of claim 17, wherein the incision pointer is configured to be removably coupled to the alignment joint via a magnetic attachment. ### Claim 19 (depends on 16) The system of claim 16, wherein the virtual center-of-motion is set based on the alignment of the alignment joint and a trocar positioned within the patient at the surgical site. ### Claim 20 (depends on 16) The system of claim 16, wherein the handle is removably coupled to the surgeon console such that the handle is sterile during the surgery and sterilizable while removed for additional surgeries. ### Claim 21 A system for remote manipulation to perform surgery, the system comprising: a patient console comprising a plurality of patient links coupled to a base; a surgical instrument coupled to the patient console, a distal region of the surgical instrument configured to be inserted into a patient at a surgical site for performing robotic surgery; and a controller configured to execute instructions to cause, in the surgical mode, scaled micro movements at the surgical instrument in micro degrees-of-freedom responsive to corresponding movement applied at the handle of the surgeon console, wherein the scaled micro movements at the surgical instrument in the micro degrees-of-freedom are greater than the corresponding movements applied at the handle of the surgeon console.