US 11,986,264 B2
Surgical master-slave robot
Gerrit Jacobus Lambertus Naus, Eindhoven (NL); Hildebert Christiaan Matthijs Meenink, Steenderen (NL); Maarten Joannes Beelen, 's-Hertogenbosch (NL); and Marc Joseph Dominique De Smet, Mont sur Lausanne (CH)
Assigned to PRECEYES B.V., Eindhoven (NL)
Filed by PRECEYES B.V., Eindhoven (NL)
Filed on Jan. 4, 2021, as Appl. No. 17/141,167.
Application 17/141,167 is a continuation of application No. 16/075,821, granted, now 10,905,509, previously published as PCT/EP2017/052103, filed on Feb. 1, 2017.
Claims priority of application No. 16154172 (EP), filed on Feb. 4, 2016.
Prior Publication US 2021/0153962 A1, May 27, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/50 (2016.01); A61F 9/007 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/70 (2016.02); A61B 90/50 (2016.02); A61F 9/007 (2013.01); A61B 34/25 (2016.02); A61B 2090/508 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical robotic system for use in surgery on a subject, the surgical robotic system comprising:
an instrument manipulator for manipulating a surgical instrument held by the surgical robotic system; and
a linkage system for moveably suspending the instrument manipulator, wherein the linkage system is configured for guiding one or more suspension points of the instrument manipulator to move along respective movement trajectories to provide a movement of the instrument manipulator from a surgical position proximate to the subject to a distal position distal to the subject;
wherein the surgical robotic system includes a release mechanism for holding and releasing the instrument manipulator at the surgical position; and
wherein the movement of the instrument manipulator from the surgical position to the distal position is obtained as a result of a force acting upon the instrument manipulator when the release mechanism releases the instrument manipulator, wherein the force is generated by conversion of stored energy.