Computer-assisted teleoperated surgery systems and methods
US11564760B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 17, 2017 |
| Grant date | Jan 31, 2023 |
| Priority date | — |
| Expiry date | May 28, 2040 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/508
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.