CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2090/5025 (2016.02)] | 30 Claims |
1. A co-manipulation surgical system to assist with laparoscopic surgery performed using a surgical instrument having a handle, an operating end, and an elongated shaft therebetween, the co-manipulation surgical system comprising:
a robot arm comprising a plurality of links, a plurality of joints comprising one or more motorized joints, a setup joint, and one or more passive joints, a proximal end operatively coupled to a base of the robot arm, and a distal region having a distal end configured to be removably coupled to the surgical instrument;
a plurality of motors operatively coupled to the one or more motorized joints and to the setup joint; and
an actuator operatively coupled to the setup joint and configured to be actuated to cause rotation of a distal link of the plurality of links adjacent to the setup joint relative to a proximal link of the plurality of links adjacent to the setup joint from a first setup configuration to a second setup configuration responsive to actuation of the actuator,
wherein, when the actuator is in an unactuated state, the robot arm is permitted to be freely moveable responsive to movement at the handle of the surgical instrument for performing laparoscopic surgery via the one or more motorized joints and the one or more passive joints while the distal link adjacent to the setup joint and the proximal link adjacent to the setup joint remain in the second setup configuration.
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