US 11,877,818 B2
Integration of robotic arms with surgical probes
Surag Mantri, East Palo Alto, CA (US); Kevin Patrick Staid, Lowell, MA (US); David Vincent Adams, Redwood City, CA (US); Jason Hemphill, Los Gatos, CA (US); Jonathan Trung Hoang, Redwood City, CA (US); and Rishabh Mayur Sirdesai, Menlo Park, CA (US)
Assigned to PROCEPT BioRobotics Corporation, San Jose, CA (US)
Filed by PROCEPT BioRobotics Corporation, Redwood City, CA (US)
Filed on Jul. 27, 2020, as Appl. No. 16/940,085.
Claims priority of provisional application 63/044,914, filed on Jun. 26, 2020.
Prior Publication US 2021/0401522 A1, Dec. 30, 2021
Int. Cl. A61B 34/00 (2016.01); B25J 9/10 (2006.01); B25J 15/04 (2006.01); A61B 1/00 (2006.01); A61B 8/12 (2006.01); A61B 8/00 (2006.01); A61B 10/04 (2006.01); A61B 34/30 (2016.01); A61B 1/307 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 1/00149 (2013.01); A61B 8/12 (2013.01); A61B 8/4218 (2013.01); A61B 10/04 (2013.01); B25J 9/102 (2013.01); B25J 15/0441 (2013.01); A61B 1/307 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A system of treating a patient, said system comprising:
a treatment probe sized for insertion into the patient, the treatment probe comprising an energy source configured to deliver energy to the tissue to treat the patient;
a transmission configured to selectively couple to the treatment probe, the transmission comprising a housing and one or more inputs and an output shaft;
an instrument device manipulator configured to operatively couple to the transmission, the instrument device manipulator comprising one or more motors in driving engagement with one or more outputs through one or more clutches, the one or more outputs configured to engage with the one or more inputs of the transmission; and
wherein a first motor of one or more motors is couplable to a first of the one or more outputs through a first of the one or more clutches to cause the energy source of the treatment probe to rotate in a first direction about an axis and a second motor of the one or more motors is couplable to a second of the one or more outputs through a second of the one or more clutches to rotate the energy source of the treatment probe in a second direction about the axis, opposite the first direction, the instrument device manipulator configured to selectively switch between the first motor and the second motor with the first clutch and the second clutch to selectively rotate the energy source of the treatment probe in the first direction or the second direction about the axis, and
wherein the output shaft and the one or more inputs extend through the housing.