Configurable robotic surgical system with virtual rail and flexible endoscope

US9737371B2 · kind B2 · utility

Assignee

• Auris Surgical Robotics, Inc. · US

Inventors

• Enrique Romo · Danville, US
• Frederic H. Moll · San Francisco, US
• David S. Mintz · Mountain View, US
• Mark Lown · Castro Valley, US
• Siddarth Oli · Val Therese, CA
• Allen Jiang · Fremont, US

Key dates

• Filing date: Sep 30, 2015
• Grant date: Aug 22, 2017
• Expiry date: Oct 29, 2035

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/46
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.