US 11,744,660 B2
Virtual reality surgical device
Adam Sachs, Cambridge, MA (US); Sammy Khalifa, Medford, MA (US); and Barry Stuart Greene, Rockville, MD (US)
Assigned to Vicarious Surgical Inc., Waltham, MA (US)
Filed by Vicarious Surgical Inc., Waltham, MA (US)
Filed on Mar. 24, 2022, as Appl. No. 17/703,480.
Application 17/703,480 is a continuation of application No. 17/665,226, filed on Feb. 4, 2022.
Application 17/665,226 is a continuation of application No. 17/227,035, filed on Apr. 9, 2021, granted, now 11,540,888.
Application 17/227,035 is a continuation of application No. 16/847,434, filed on Apr. 13, 2020, granted, now 11,045,269, issued on Jun. 29, 2021.
Application 16/847,434 is a continuation of application No. 16/365,208, filed on Mar. 26, 2019, granted, now 10,842,576, issued on Nov. 4, 2020.
Application 16/365,208 is a continuation of application No. 15/305,035, granted, now 10,285,765, issued on May 14, 2019, previously published as PCT/US2015/029247, filed on May 5, 2015.
Claims priority of provisional application 62/136,883, filed on Mar. 23, 2015.
Claims priority of provisional application 61/988,498, filed on May 5, 2014.
Prior Publication US 2022/0211455 A1, Jul. 7, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); G02B 27/01 (2006.01); A61B 90/00 (2016.01); A61B 34/37 (2016.01); A61B 34/00 (2016.01); B25J 9/10 (2006.01); H04N 13/239 (2018.01); A61B 90/30 (2016.01); A61B 17/29 (2006.01); G06T 19/00 (2011.01); A61B 90/50 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/00234 (2013.01); A61B 17/2909 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/06 (2016.02); A61B 90/30 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); B25J 9/104 (2013.01); B25J 9/108 (2013.01); G02B 27/017 (2013.01); G06T 19/006 (2013.01); H04N 13/239 (2018.05); A61B 17/29 (2013.01); A61B 34/20 (2016.02); A61B 2017/00207 (2013.01); A61B 2017/00216 (2013.01); A61B 2017/00283 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/2919 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2034/715 (2016.02); A61B 2034/741 (2016.02); A61B 2090/064 (2016.02); A61B 2090/306 (2016.02); A61B 2090/365 (2016.02); A61B 2090/367 (2016.02); A61B 2090/368 (2016.02); A61B 2090/371 (2016.02); A61B 2090/372 (2016.02); A61B 2090/502 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising
a robotic device having
a first robotic arm having a plurality of robotic arm actuators; and
a second robotic arm having a plurality of robotic arm actuators, the plurality of robot arm actuators of each of the first and second robotic arms includes a plurality of hinged actuators, each of the plurality of hinged actuators comprises:
a first body comprising a proximal connection component;
a second body comprising a distal connection component;
a bearing system constraining the motion of the first body relative to the second body in all degrees of freedom except rotation about one axis perpendicular to a distal-proximal axis of the robotic actuator;
a pulley operably coupled with at least one of the first body and the second body;
an actuator cable configured to actuate the pulley; and
at least one contoured surface defined by the hinged actuator and forming a contoured pathway to allow a plurality of additional cables to pass through the contoured pathway from one or more proximal systems coupled to the proximal connection component to one or more distal systems coupled to the distal connection component, a shape and a position of the contoured pathway is formed with lengths of the plurality of additional cables being substantially constant for substantially an entire range of motion for which the hinged actuator is used;
a camera assembly having a camera housing for mounting a first camera element;
a second camera element;
a light source; and
a temperature sensor for measuring a temperature of a portion of an external environment or of a portion of the camera housing; and
a pan and tilt system coupled to the camera housing for providing at least two degrees of freedom of movement of the camera housing;
wherein the camera assembly and the robotic device are sized and configured to be inserted within a patient.