US 12,329,477 B2
Surgical robotics systems with improved robotic arms
Nicholas J. Eyre, Sunnyvale, CA (US); Aren Calder Hill, Mountain View, CA (US); Sven Wehrmann, Redwood City, CA (US); Colin Allen Wilson, Burlingame, CA (US); Yanan Huang, Foster City, CA (US); Jason Tomas Wilson, Redwood City, CA (US); and David Stephen Mintz, Mountain View, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Feb. 13, 2024, as Appl. No. 18/440,678.
Application 18/440,678 is a continuation of application No. 17/146,035, filed on Jan. 11, 2021, abandoned.
Application 17/146,035 is a continuation of application No. 16/235,062, filed on Dec. 28, 2018, granted, now 10,888,386, issued on Jan. 12, 2021.
Claims priority of provisional application 62/618,500, filed on Jan. 17, 2018.
Prior Publication US 2024/0252262 A1, Aug. 1, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61G 13/04 (2006.01); A61G 13/06 (2006.01); A61G 13/08 (2006.01); A61G 13/10 (2006.01)
CPC A61B 34/30 (2016.02) [A61G 13/04 (2013.01); A61G 13/06 (2013.01); A61G 13/08 (2013.01); A61G 13/10 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02); A61G 2210/50 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a table;
a table support below the table;
an arm support coupled to at least one of the table or table support;
a first robotic arm translatably and rotatably coupled to the arm support to permit the first robotic arm to linearly move along the arm support and rotate relative to the arm support, the first robotic arm comprising a proximal portion and a distal portion and multiple joints between the proximal portion and the distal portion;
an insertion axis body coupled to a distal link of the first robotic arm, the insertion axis body extending along an axis, the insertion axis body coupled to the distal link via a first joint that permits adjustment of an angle between the axis of the insertion axis body and a longitudinal axis of the distal link; and
first and second instrument drivers translatably coupled to the insertion axis body, the first instrument driver configured to receive a first surgical instrument and the second instrument driver configured to receive a second surgical instrument, the first instrument driver configured to translate along the insertion axis body to insert and retract the first surgical instrument along a first insertion axis parallel to the axis of the insertion axis body, the second instrument driver configured to translate along the insertion axis body to insert and retract the second surgical instrument along a second insertion axis parallel to the axis of the insertion axis body.