US 10,376,337 B2
Hyperdexterous surgical system
Pablo Eduardo Garcia Kilroy, Menlo Park, CA (US); Thomas D. Egan, Marblehead, MA (US); and Karen Shakespear Koenig, San Francisco, CA (US)
Assigned to SRI INTERNATIONAL, Menlo Park, CA (US)
Filed by SRI INTERNATIONAL, Menlo Park, CA (US)
Filed on Oct. 9, 2014, as Appl. No. 14/510,566.
Application 14/510,566 is a continuation of application No. 14/388,180, previously published as PCT/US2014/026115, filed on Mar. 13, 2014.
Claims priority of provisional application 61/791,248, filed on Mar. 15, 2013.
Claims priority of provisional application 61/906,802, filed on Nov. 20, 2013.
Claims priority of provisional application 61/908,888, filed on Nov. 26, 2013.
Claims priority of provisional application 61/915,403, filed on Dec. 12, 2012.
Claims priority of provisional application 61/935,966, filed on Feb. 5, 2014.
Prior Publication US 2015/0157410 A1, Jun. 11, 2015
Int. Cl. A61B 19/00 (2006.01); A61B 90/50 (2016.01); A61B 90/10 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61B 90/11 (2016.01); A61B 34/37 (2016.01); A61B 90/60 (2016.01); A61B 17/00 (2006.01); A61B 90/57 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 90/10 (2016.02); A61B 90/11 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 90/60 (2016.02); A61B 2017/00207 (2013.01); A61B 2017/00221 (2013.01); A61B 2034/306 (2016.02); A61B 2090/371 (2016.02); A61B 2090/571 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
at least one electromechanical arm coupleable to a fixture;
at least one electromechanical tool supported by the at least one electromechanical arm to define at least one electromechanical arm and tool assembly;
an electronic control system configured to communicate electronically with and control the operation of the electromechanical arm and tool assembly;
at least one portable handheld controller actuatable to operate the electromechanical arm and tool assembly via the control system; and
a visualization system configured to communicate with the control system, the visualization system configured to display at least one image of a surgical workspace on one or more monitors,
wherein the control system is configured to electronically control the electromechanical arm and tool assembly in a plurality of frames of reference and dynamically switch between different frames of reference for the control of the electromechanical arm and tool assembly and for the display of the image of the surgical workspace, wherein at least one frame of reference is associated with an orientation of a wrist of a surgeon holding the portable handheld controller and another frame of reference different than the at least one frame of reference is associated with an orientation of another wrist of the surgeon, thereby allowing the surgeon to move to different orientations relative to a patient during a surgical procedure and to control the electromechanical arm and tool assembly from said different orientations.