US 11,832,909 B2
Co-manipulation surgical system having actuatable setup joints
Jeffery Byron Alvarez, San Carlos, CA (US); Ehsan Basafa, Redwood City, CA (US); Jad Fayad, Paris (FR); Victoria Cheng-Tan Wu, San Francisco, CA (US); David Paul Noonan, San Francisco, CA (US); and Nicolas Linard, Montrouge (FR)
Assigned to Moon Surgical SAS, Paris (FR)
Filed by Moon Surgical SAS, Paris (FR)
Filed on Jun. 7, 2023, as Appl. No. 18/331,064.
Application 18/331,064 is a continuation in part of application No. 18/057,191, filed on Nov. 18, 2022.
Application 18/057,191 is a continuation in part of application No. 17/816,915, filed on Aug. 2, 2022, granted, now 11,786,323.
Application 18/057,191 is a continuation in part of application No. 17/815,885, filed on Jul. 28, 2022, granted, now 11,504,197, issued on Nov. 22, 2022.
Application 17/816,915 is a continuation of application No. PCT/IB2022/052989, filed on Mar. 30, 2022.
Application 17/815,885 is a continuation of application No. PCT/IB2022/052989, filed on Mar. 30, 2022.
Claims priority of provisional application 63/495,527, filed on Apr. 11, 2023.
Claims priority of provisional application 63/479,142, filed on Jan. 9, 2023.
Claims priority of provisional application 63/378,434, filed on Oct. 5, 2022.
Claims priority of application No. 21305417 (EP), filed on Mar. 31, 2021; application No. 21305929 (EP), filed on Jul. 5, 2021; application No. 21306904 (EP), filed on Dec. 22, 2021; application No. 21306905 (EP), filed on Dec. 22, 2021; application No. 22306496 (EP), filed on Oct. 5, 2022; and application No. 23305026 (EP), filed on Jan. 9, 2023.
Prior Publication US 2023/0310104 A1, Oct. 5, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/50 (2016.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01)
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
OG exemplary drawing
 
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.