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公开(公告)号：US20220008149A1
公开(公告)日：2022-01-13
申请号：US17483772
申请日：2021-09-23
摘要： Embodiments relate to surgical devices, systems, and methods. The system includes a port assembly and surgical arm assembly. The port assembly includes a main body having a main channel. The main channel includes a left channel portion, right channel portion, left anchor channel portion, and right anchor channel portion. The left channel portion is shaped in such a way that, when a surgical arm of the surgical arm assembly is inserted through the left channel portion, a movement of the surgical arm is restricted to be a movement within the left channel portion and along a first central axis. The right channel portion is shaped in such a way that, when the surgical arm is inserted through the right channel portion, a movement of the surgical arm is restricted to be a movement within the right channel portion and along a second central axis.
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公开(公告)号：US09827058B1
公开(公告)日：2017-11-28
申请号：US15340699
申请日：2016-11-01
IPC分类号： A61B34/30
CPC分类号： A61B34/30 , A61B18/1445 , A61B2034/302 , A61B2034/303 , A61B2034/305
摘要： Example embodiments relate to surgical devices, systems, and methods. The system may include an end-effector assembly. The end-effector assembly may comprise an instrument assembly and a wrist assembly. The instrument assembly may comprise an instrument for performing a surgical action. The instrument assembly may further comprise an instrument driven portion configurable to be driven in such a way as to move the instrument relative to a first axis. The instrument assembly may further comprise an instrument insulative portion providable between the instrument and the instrument driven portion. The instrument insulative portion may be configurable to electrically isolate the instrument from at least the instrument driven portion when the instrument insulative portion is provided between the instrument and the instrument driven portion. The wrist assembly may include a wrist driven portion configurable to be driven in such a way as to move the instrument relative to a second axis.
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公开(公告)号：US11925425B2
公开(公告)日：2024-03-12
申请号：US17376003
申请日：2021-07-14
CPC分类号： A61B34/30 , A61B18/1445 , A61B2034/302 , A61B2034/303 , A61B2034/305
摘要： Example embodiments relate to surgical systems and methods. The system includes an arm assembly and end-effector assembly. The arm assembly includes a first drive portion and wrist drive portion. The end-effector assembly is securable to and removable from the arm assembly. The end-effector assembly includes an instrument assembly and wrist assembly. The instrument assembly includes a first instrument, first instrument driven portion, and first instrument insulative portion. The first instrument driven portion is configured to move the first instrument relative to a first axis when the first instrument driven portion is driven by the first drive portion. The wrist assembly includes a wrist driven portion. The wrist driven portion is configured to move the first instrument relative to a second axis when the wrist driven portion is driven by the wrist drive portion. The end-effector assembly is secured to and removable from the arm assembly via a wrist connector portion.
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公开(公告)号：US11707835B2
公开(公告)日：2023-07-25
申请号：US17459857
申请日：2021-08-27
CPC分类号： B25J9/102 , B25J9/126 , B25J17/0241 , B25J17/0258 , F16H1/14 , F16H1/203 , F16H35/06
摘要： Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.
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公开(公告)号：US20210387329A1
公开(公告)日：2021-12-16
申请号：US17459857
申请日：2021-08-27
摘要： Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.
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公开(公告)号：US11154368B2
公开(公告)日：2021-10-26
申请号：US16057381
申请日：2018-08-07
IPC分类号： A61B34/30 , A61B34/37 , A61B90/00 , A61B17/34 , A61B1/00 , A61B90/50 , A61B34/00 , A61B90/30 , A61B17/00 , A61B1/313 , A61B17/29
摘要： Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly. The port assembly may be for use with a surgical arm assembly having a surgical arm and elongated anchor section. The port assembly may include a first main body having an elongated body and a main channel. The main channel may be formed by a portion of an interior surface of the elongated body. The main channel may extend between the proximal and distal ends of the elongated body. The first main body may include an instrument gate secured at a proximal end of the main channel. The instrument gate may include an expandable opening configured to be in a persistently closed position. The expandable opening may be configurable to adaptively expand to a shape of a cross-section of a surgical arm when the surgical arm is inserted through the expandable opening.
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公开(公告)号：US20200254608A1
公开(公告)日：2020-08-13
申请号：US16860593
申请日：2020-04-28
摘要： Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.
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公开(公告)号：US20190060010A1
公开(公告)日：2019-02-28
申请号：US16172389
申请日：2018-10-26
摘要： Example embodiments relate to surgical systems and methods. System includes an end-effector assembly and arm assembly. End-effector assembly includes an instrument assembly and wrist assembly. Instrument assembly includes an instrument and instrument driven portion. Instrument driven portion includes an instrument connection portion and instrument driven gear. Instrument connection portion connects the instrument driven gear to the instrument. Wrist assembly includes a wrist driven gear and wrist body, which connects the wrist driven gear to the instrument assembly. Arm assembly includes a wrist connector portion and integrated motors. Arm assembly attaches to and detaches from the wrist assembly. When the arm assembly is attached to the wrist assembly, the instrument driven gear and wrist driven gear are drivable to rotate by the integrated motors. When the arm assembly is detached from the wrist assembly, the instrument driven gear and wrist driven gear are not drivable to rotate by the integrated motors.
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公开(公告)号：US20180344415A1
公开(公告)日：2018-12-06
申请号：US16057381
申请日：2018-08-07
IPC分类号： A61B34/30 , A61B34/37 , A61B34/00 , A61B17/34 , A61B90/00 , A61B17/00 , A61B1/313 , A61B1/00 , A61B90/50 , A61B90/30
摘要： Example embodiments relate to surgical devices, systems, and methods. The system may include a port assembly. The port assembly may be for use with a surgical arm assembly having a surgical arm and elongated anchor section. The port assembly may include a first main body having an elongated body and a main channel. The main channel may be formed by a portion of an interior surface of the elongated body. The main channel may extend between the proximal and distal ends of the elongated body. The first main body may include an instrument gate secured at a proximal end of the main channel. The instrument gate may include an expandable opening configured to be in a persistently closed position. The expandable opening may be configurable to adaptively expand to a shape of a cross-section of a surgical arm when the surgical arm is inserted through the expandable opening.
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公开(公告)号：US20210338350A1
公开(公告)日：2021-11-04
申请号：US17376003
申请日：2021-07-14
摘要： Example embodiments relate to surgical systems and methods. The system includes an arm assembly and end-effector assembly. The arm assembly includes a first drive portion and wrist drive portion. The end-effector assembly is securable to and removable from the arm assembly. The end-effector assembly includes an instrument assembly and wrist assembly. The instrument assembly includes a first instrument, first instrument driven portion, and first instrument insulative portion. The first instrument driven portion is configured to move the first instrument relative to a first axis when the first instrument driven portion is driven by the first drive portion. The wrist assembly includes a wrist driven portion. The wrist driven portion is configured to move the first instrument relative to a second axis when the wrist driven portion is driven by the wrist drive portion. The end-effector assembly is secured to and removable from the arm assembly via a wrist connector portion.
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