US 12,213,754 B2
Robotic system for tele-surgery
Alireza Mirbagheri, Tehran (IR); Seyed Muhammad Yazdian, Tehran (IR); Farzam Farahmand, Tehran (IR); Saeed Sarkar, Tehran (IR); Mohammad Mehdi Moradi, Tehran (IR); Alireza Alamdar, Tehran (IR); Zahra Vosough, Tehran (IR); Sajad Molla Filabi, Tehran (IR); Pezhman Kheradmand, Tehran (IR); Faramarz Karimian, Tehran Tehran (IR); Karamollah Toolabi, Tehran (IR); and Mohammad Reza Hanachi, Tehran (IR)
Assigned to Sina Robotics and Medical Innovators Co. Ltd, (IR)
Filed by Alireza Mirbagheri, Tehran (IR); Seyed Muhammad Yazdian, Tehran (IR); Farzam Farahmand, Tehran (IR); Saeed Sarkar, Tehran (IR); Mohammad Mehdi Moradi, Tehran (IR); Alireza Alamdar, Tehran (IR); Zahra Vosough, Tehran (IR); Sajad Molla Filabi, Tehran (IR); Pezhman Kheradmand, Tehran (IR); Faramarz Karimian, Tehran Tehran (IR); Karamollah Toolabi, Tehran (IR); and Mohammad Reza Hanachi, Tehran (IR)
Filed on Dec. 29, 2022, as Appl. No. 18/091,291.
Application 18/091,291 is a continuation in part of application No. 16/291,007, filed on Mar. 4, 2019, granted, now 11,844,584.
Application 16/291,007 is a continuation of application No. 15/261,958, filed on Sep. 11, 2016, granted, now 10,219,871, issued on May 3, 2019.
Claims priority of provisional application 62/258,584, filed on Nov. 23, 2015.
Prior Publication US 2023/0147674 A1, May 11, 2023
Int. Cl. A61B 1/05 (2006.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61G 13/02 (2006.01); A61G 13/04 (2006.01); A61G 13/06 (2006.01); A61G 13/08 (2006.01); A61B 90/57 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/37 (2016.02); A61G 13/02 (2013.01); A61G 13/04 (2013.01); A61G 13/06 (2013.01); A61G 13/08 (2013.01); A61B 2090/571 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A robotic tele-surgery system, comprising:
a slave robotic arm comprising three degrees of freedom, the three degrees of freedom comprising at least one of grasp, roll, pitch, and yaw;
a master robotic arm comprising six degrees of freedom;
a controller configured to establish a master-slave relationship between the slave robotic arm and the master robotic arm, wherein movement at the master robotic arm produces a proportional movement in the slave robotic arm; and
an ergonomic adjustment mechanism comprising:
a vertical adjustment mechanism configured to move the master robotic arm along a vertical axis, the vertical adjustment mechanism comprising:
a horizontal beam extended along a horizontal axis between a first end and a second end, the horizontal axis perpendicular to the vertical axis; and
a linear actuator coupled to the horizontal beam, the linear actuator configured to actuate a translational movement of the horizontal beam along the vertical axis; and
a horizontal adjustment mechanism configured to move the master robotic arm along the horizontal axis, the horizontal adjustment mechanism comprising:
a horizontal sliding rail mounted on the horizontal beam, the horizontal sliding rail parallel with the horizontal beam,
wherein, the master robotic arm slidably mounted on the sliding rail, the master robotic arm slidable on the sliding rail along the horizontal axis.