US 12,290,328 B2
Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
Julien Chassot, Lechelles (CH); and Michael Friedrich, Bern (CH)
Assigned to Distalmotion SA, Epalinges (CH)
Filed by Distalmotion SA, Epalinges (CH)
Filed on Jun. 14, 2024, as Appl. No. 18/744,297.
Application 18/744,297 is a continuation of application No. 18/057,467, filed on Nov. 21, 2022.
Application 18/057,467 is a continuation of application No. 16/505,585, filed on Jul. 8, 2019, granted, now 11,510,745, issued on Nov. 29, 2022.
Application 16/505,585 is a continuation of application No. 16/269,383, filed on Feb. 6, 2019, granted, now 10,413,374, issued on Sep. 17, 2019.
Claims priority of provisional application 62/788,781, filed on Jan. 5, 2019.
Claims priority of provisional application 62/627,554, filed on Feb. 7, 2018.
Prior Publication US 2024/0335246 A1, Oct. 10, 2024
Int. Cl. A61B 34/37 (2016.01); A61B 17/00 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/98 (2016.01); B25J 9/16 (2006.01); G16H 40/63 (2018.01)
CPC A61B 34/37 (2016.02) [A61B 18/1442 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/77 (2016.02); B25J 9/1682 (2013.01); A61B 2017/0046 (2013.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 90/98 (2016.02); G16H 40/63 (2018.01)] 30 Claims
OG exemplary drawing
 
1. A system, comprising:
a master console including a first plurality of links, the first plurality of links configured to move in response to movements applied at a handle coupleable to at least one of the first plurality of links;
a slave console disposed separately from the master console, the slave console including a second plurality of links and a plurality of actuators, the plurality of actuators configured to be operatively coupled to the second plurality of links and an end effector, the slave console being operatively coupled to the master console such that movements of the first plurality of links and the handle causes corresponding macro-movements of the second plurality of links and micro-movements of the end effector to perform a surgery; and
a control system operatively coupled to the master console and the slave console, the control system configured to:
set, after a user has engaged the handle, the system to a macro-synchronization state;
control, when the system is in the macro-synchronization state, the plurality of actuators to cause the macro-movements of at least one of the second plurality of links in response to the movements of the first plurality of links; and
set, in response to detecting an actuation pattern at the handle, the system to at least a micro-synchronization state; and
control, when the system is in at least the micro-synchronization state, the plurality of actuators to cause the micro-movements of the end effector in response to the movements at the handle.