Robotically controlling remote center of motion with software and guide tube
US10517684B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 21, 2016 |
| Grant date | Dec 31, 2019 |
| Priority date | — |
| Expiry date | May 15, 2036 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/305
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical system includes a surgical robot and a guide tube. The surgical robot includes a robot arm and a controller. The controller is configured to establish a software-based remote center of motion of a surgical instrument attached to the robot arm based on a location of a surgical portal in a patient through which the surgical instrument is inserted. The guide tube having a trailing end supported by the robot arm of the surgical robot, a leading end inserted in the surgical portal and maintaining alignment between the robotic arm and the surgical portal during a surgical instrument exchange, and an elongated tubular body through which an elongated shaft of the surgical instrument is inserted or removed during the surgical instrument exchange.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.