US 12,329,481 B2
Mechanical teleoperated device comprising an interchangeable distal instrument
Ricardo Daniel Rita Beira, Lausanne (CH)
Assigned to Distalmotion SA, Epalinges (CH)
Filed by Distalmotion SA, Epalinges (CH)
Filed on May 2, 2023, as Appl. No. 18/311,177.
Application 18/311,177 is a continuation of application No. 16/389,854, filed on Apr. 19, 2019, abandoned.
Application 16/389,854 is a continuation of application No. 15/116,509, granted, now 10,265,129, issued on Apr. 23, 2019, previously published as PCT/EP2015/051473, filed on Jan. 26, 2015.
Claims priority of application No. 138/14 (CH), filed on Feb. 3, 2014; application No. 14159025 (EP), filed on Mar. 12, 2014; and application No. 408/14 (CH), filed on Mar. 18, 2014.
Prior Publication US 2024/0115334 A1, Apr. 11, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); B25J 3/02 (2006.01); A61B 17/00 (2006.01); A61B 90/50 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); B25J 3/02 (2013.01); A61B 2017/00477 (2013.01); A61B 2090/506 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical teleoperated device for performing a surgery on a patient, the surgical teleoperated device comprising:
an instrument including a shaft and an end effector, the instrument being spaced apart from a handle configured to be operated by a user, the end effector configured to contact tissue of the patient during the surgery;
one or more driving elements;
a plurality of independently rotatable elements configured to be rotated via the one or more driving elements based on movements of the handle; and
a plurality of driven elements each being removably couplable to one of the plurality of independently rotatable elements via mating parts configured to be removably mounted inside of corresponding mating receptacles, the plurality of driven elements, when coupled to the plurality of independently rotatable elements, being configured to be driven by the plurality of driving elements to cause movement of the end effector corresponding to the movements of the handle.