Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator

US11490977B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Bruce M. Schena · Menlo Park, US
• Roman L. Devengenzo · Santa Clara, US
• Gary C. Ettinger · Cupertino, US
• Eugene F. Duval · Menlo Park, US
• Nicola Diolaiti · Menlo Park, US
• Daniel H. Gomez · Sunnyvale, US

Key dates

• Filing date: Jan 14, 2020
• Grant date: Nov 8, 2022
• Expiry date: May 19, 2040

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2034/305
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.