US 2022/0015848 A1Published application

Systems, devices, and methods for performing surgical actions via externally driven driving assemblies

AssigneeBio-Medical Engineering (HK) Limited

InventorsChung-Kwong Yeung, Siu-Hang Henry Hui

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Abstract

Example embodiments relate to surgical devices, systems, and methods. The system includes a port assembly and a surgical arm inserted through the port assembly. The surgical arm includes first and second segments, first joint assembly pivotally coupling the first and second segments, end effector assembly, and second joint assembly pivotally coupling the second segment and end effector assembly. The surgical system includes a joint driving assembly having a joint driving cable and lever. A proximal end of the joint driving cable is connected to the lever and a distal end of the joint driving cable is connected to a proximal end of the second segment. The first joint driving subassembly is configurable to pivotally move the second segment. The surgical system includes a telescopic driving assembly configured to provide a linear displacement of the first segment of the surgical arm and the joint driving assembly relative to the port assembly.

Claims32

Dependent claims

A surgical system for use in performing an in vivo surgical action, the surgical system comprising:

a port assembly, the port assembly having:
an elongated tubular body;
a main access channel formed through the elongated tubular body, the main access channel forming a first axis;
and
a proximal end and a distal end, the distal end of the port assembly configured to be inserted into a cavity of a patient, the proximal end of the port assembly configured to be secured to an external anchor;
a surgical arm inserted through the main access channel of the port assembly from the proximal end of the port assembly, the surgical arm including:
a first segment;
a second segment;
a first joint assembly pivotally coupling a distal end of the first segment to a proximal end of the second segment;
an end effector assembly;
and
a second joint assembly pivotally coupling a distal end of the second segment to a proximal end of the end effector assembly;
a joint driving assembly, the joint driving assembly including:
a first joint driving subassembly, the first joint driving subassembly having a first joint driving cable and a first lever, the first joint driving cable having a proximal end and a distal end, the proximal end of the first joint driving cable connected to the first lever, the distal end of the first joint driving cable connected to a first portion of the proximal end of the second segment, the first joint driving subassembly configurable to pivotally move the second segment in a first direction relative to the first segment by controlling a tensile force applied to the first joint driving cable;
and
a telescopic driving assembly, the telescopic driving assembly including:
a guide rod assembly;
and
a telescopic driving motor assembly, the telescopic driving motor assembly having a first end and a second end, the first end of the telescopic driving motor assembly secured to a portion of the proximal end of the port assembly, the second end of the telescopic driving motor assembly secured to a portion of the joint driving assembly, the telescopic driving assembly configured to provide a linear displacement of both the first segment of the surgical arm and the joint driving assembly relative to the port assembly, wherein the linear displacement provided by the telescopic driving assembly of both the first segment of the surgical arm and the joint driving assembly relative to the port assembly is a movement of both the first segment of the surgical arm and the joint driving assembly along a second axis, the second axis parallel to the first axis, wherein the linear displacement provided by the telescopic driving assembly of both the first segment of the surgical arm and the joint driving assembly relative to the port assembly is controlled by the guide rod assembly.

16 more elements

A surgical system for use in performing an in vivo surgical action, the surgical system comprising:

a port assembly, the port assembly having:
an elongated tubular body;
a main access channel formed through the elongated tubular body, the main access channel forming a first axis;
and
a proximal end and a distal end, the distal end of the port assembly configured to be inserted into a cavity of a patient, the proximal end of the port assembly configured to be secured to an external anchor;
a first surgical arm inserted through the main access channel of the port assembly from the proximal end of the port assembly, the first surgical arm including:
a first segment;
a second segment;
a first joint assembly pivotally coupling a distal end of the first segment of the first surgical arm to a proximal end of the second segment of the first surgical arm;
a first end effector assembly;
and
a second joint assembly pivotally coupling a distal end of the second segment of the first surgical arm to a proximal end of the first end effector assembly;
a first joint driving assembly, the first joint driving assembly including:
a first joint driving subassembly, the first joint driving subassembly having a first joint driving cable and a first lever, the first joint driving cable having a proximal end and a distal end, the proximal end of the first joint driving cable connected to the first lever, the distal end of the first joint driving cable connected to a first portion of the proximal end of the second segment of the first surgical arm, the first joint driving subassembly configurable to pivotally move the second segment of the first surgical arm in a first direction relative to the first segment of the first surgical arm by controlling a tensile force applied to the first joint driving cable;
a first telescopic driving assembly, the first telescopic driving assembly including:
a first guide rod assembly;
and
a first telescopic driving motor assembly, the first telescopic driving motor assembly having a first end and a second end, the first end of the first telescopic driving motor assembly secured to a first portion of the proximal end of the port assembly, the second end of the first telescopic driving motor assembly secured to a portion of the first joint driving assembly, the first telescopic driving assembly configured to provide a linear displacement of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly, wherein the linear displacement provided by the first telescopic driving assembly of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly is a movement of both the first segment of the first surgical arm and the first joint driving assembly along a second axis, the second axis parallel to the first axis, wherein the linear displacement provided by the first telescopic driving assembly of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly is controlled by the first guide rod assembly;
a second surgical arm inserted through the main access channel of the port assembly from the proximal end of the port assembly, the second surgical arm including:
a first segment;
a second segment;
a first joint assembly pivotally coupling a distal end of the first segment of the second surgical arm to a proximal end of the second segment of the second surgical arm;
a second end effector assembly;
and
a second joint assembly pivotally coupling a distal end of the second segment of the second surgical arm to a proximal end of the second end effector assembly;
and
a second joint driving assembly, the second joint driving assembly including:
a second joint driving subassembly, the second joint driving subassembly having a second joint driving cable and a second lever, the second joint driving cable having a proximal end and a distal end, the proximal end of the second joint driving cable connected to the second lever, the distal end of the second joint driving cable connected to a first portion of the proximal end of the second segment of the second surgical arm, the second joint driving subassembly configurable to pivotally move the second segment of the second surgical arm in a second direction relative to the first segment of the second surgical arm by controlling a tensile force applied to the second joint driving cable.

25 more elements

A surgical system for use in performing an in vivo surgical action, the surgical system comprising:

a port assembly, the port assembly having:
an elongated tubular body;
a main access channel formed through the elongated tubular body, the main access channel forming a first axis;
and
a proximal end and a distal end, the distal end of the port assembly configured to be inserted into a cavity of a patient, the proximal end of the port assembly configured to be secured to an external anchor;
a first surgical arm inserted through the main access channel of the port assembly from the proximal end of the port assembly, the first surgical arm including:
a first segment;
a second segment;
a first joint assembly pivotally coupling a distal end of the first segment of the first surgical arm to a proximal end of the second segment of the first surgical arm;
a first end effector assembly;
and
a second joint assembly pivotally coupling a distal end of the second segment of the first surgical arm to a proximal end of the first end effector assembly;
a first joint driving assembly, the first joint driving assembly including:
a first joint driving subassembly, the first joint driving subassembly having a first joint driving cable and a first lever, the first joint driving cable having a proximal end and a distal end, the proximal end of the first joint driving cable connected to the first lever, the distal end of the first joint driving cable connected to a first portion of the proximal end of the second segment of the first surgical arm, the first joint driving subassembly configurable to pivotally move the second segment of the first surgical arm in a first direction relative to the first segment of the first surgical arm by controlling a tensile force applied to the first joint driving cable;
a first telescopic driving assembly, the first telescopic driving assembly including:
a first guide rod assembly;
and
a first telescopic driving motor assembly, the first telescopic driving motor assembly having a first end and a second end, the first end of the first telescopic driving motor assembly secured to a first portion of the proximal end of the port assembly, the second end of the first telescopic driving motor assembly secured to a portion of the first joint driving assembly, the first telescopic driving assembly configured to provide a linear displacement of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly, wherein the linear displacement provided by the first telescopic driving assembly of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly is a movement of both the first segment of the first surgical arm and the first joint driving assembly along a second axis, the second axis parallel to the first axis, wherein the linear displacement provided by the first telescopic driving assembly of both the first segment of the first surgical arm and the first joint driving assembly relative to the port assembly is controlled by the first guide rod assembly;
a second surgical arm inserted through the main access channel of the port assembly from the proximal end of the port assembly, the second surgical arm including:
a first segment;
a second segment;
a first joint assembly pivotally coupling a distal end of the first segment of the second surgical arm to a proximal end of the second segment of the second surgical arm;
a second end effector assembly;
and
a second joint assembly pivotally coupling a distal end of the second segment of the second surgical arm to a proximal end of the second end effector assembly;
and
a second telescopic driving assembly, the second telescopic driving assembly including:
a second guide rod assembly;
and
a second telescopic driving motor assembly, the second telescopic driving motor assembly having a first end and a second end, the first end of the second telescopic driving motor assembly secured to a second portion of the proximal end of the port assembly, the second telescopic driving assembly configured to provide a linear displacement of the first segment of the second surgical arm relative to the port assembly, wherein the linear displacement provided by the second telescopic driving assembly of the first segment of the second surgical arm is a movement of the first segment of the second surgical arm along a third axis, the third axis parallel to the first axis, wherein the linear displacement provided by the second telescopic driving assembly of the first segment of the second surgical arm relative to the port assembly is controlled by the second guide rod assembly.

27 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/478,641Filed 17 Sep 2021
Priority: 15 May 2017
Published: 20 Jan 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification21 codes

A61B 34/71
Manipulators specially adapted for use in surgery: manipulators operated by drive cable mechanisms
A61B 17/00234
Surgical instruments, devices or methods: for minimally invasive surgery
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 17/0218
For holding wounds open, e.g. retractors; Tractors: for minimally invasive surgery

Family

Application15/660,267Continuation · filed 26 Jul 2017
Application17/478,641Continuation
US 11,147,642 B2Related patent
US 2018/0325614 A1Published application
US 2022/0015848 A1This patent

From the US filing history. Foreign family members aren’t listed.

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