US 11,925,425 B2
Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions
Chung Kwong Yeung, Hong Kong (CN); Wing Fai Lam, Hong Kong (CN); and Wai Lik Alik Chan, Hong Kong (CN)
Assigned to IEMIS (HK) LIMITED, Hong Kong (HK)
Filed by Bio-Medical Engineering (HK) Limited, Hong Kong (CN)
Filed on Jul. 14, 2021, as Appl. No. 17/376,003.
Application 17/376,003 is a continuation of application No. 16/172,389, filed on Oct. 26, 2018, granted, now 11,096,747.
Application 16/172,389 is a continuation of application No. 15/786,294, filed on Oct. 17, 2017, granted, now 10,166,081, issued on Jan. 1, 2019.
Application 15/786,294 is a continuation of application No. 15/340,699, filed on Nov. 1, 2016, granted, now 9,827,058, issued on Nov. 28, 2017.
Prior Publication US 2021/0338350 A1, Nov. 4, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 18/14 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 18/1445 (2013.01); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/305 (2016.02)] 27 Claims
OG exemplary drawing
 
1. A surgical arm assembly, the surgical arm assembly comprising:
an arm assembly, the arm assembly having:
a first drive gear; and
a wrist drive portion; and
an end-effector assembly securable to and removable from the arm assembly, the end-effector assembly having:
a first instrument assembly, the first instrument assembly having:
a first instrument for performing a surgical action;
a first instrument driven portion, the first instrument driven portion configured to move the first instrument relative to a first axis when the first instrument driven portion is driven by the first drive gear of the arm assembly; and
a first instrument insulative portion configured to electrically isolate the first instrument; and
a wrist assembly, the wrist assembly having:
a wrist driven portion, the wrist driven portion configured to move the first instrument relative to a second axis when the wrist driven portion is driven by the wrist drive portion of the arm assembly, wherein the second axis is different from the first axis, wherein the wrist assembly and the first instrument assembly are configured in such a way that the second axis and the first axis do not intersect one another; and
a wrist connector portion, wherein the end-effector assembly is secured to and removable from the arm assembly via the wrist connector portion.