US 12,343,100 B2
Surgical robotic system with adjustable angle of approach
Raimondo Cau, Son (NL); and Tom Konert, Son (NL)
Assigned to MICROSURE B.V., Son (NL)
Appl. No. 17/997,508
Filed by MICROSURE B.V., Son (NL)
PCT Filed Mar. 29, 2021, PCT No. PCT/EP2021/058213
§ 371(c)(1), (2) Date Oct. 28, 2022,
PCT Pub. No. WO2021/219311, PCT Pub. Date Nov. 4, 2021.
Claims priority of application No. 20172047 (EP), filed on Apr. 29, 2020.
Prior Publication US 2023/0172678 A1, Jun. 8, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/71 (2016.02); A61B 90/06 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/305 (2016.02); A61B 2034/742 (2016.02); A61B 2090/065 (2016.02)] 12 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a suspension structure;
two manipulator arms mounted to the suspension structure, wherein each manipulator arm of the two manipulator arms comprises an end effector, wherein the end effector is configured to receive a surgical instrument, wherein the suspension structure is a circular or semi-circular structure to be centered above and around a surgical target, wherein the suspension structure comprises different mounting points for mounting the two manipulator arms, wherein the two manipulator arms are mounted to the suspension structure at two different mounting points, wherein the two different mounting points are substantially opposite to each other along the circular or semi-circular structure, and wherein a mirroring plane of each of the two manipulator arms runs through both mounting points;
one or more actuators configured to adjust a pose of the two manipulator arms to reposition the surgical instrument within a surgical workspace;
a control system configured to establish a master-slave coupling between a user input device as a master device and the two manipulator arms as a slave device by and on a continuous or periodic basis:
receive positioning data from one or more sensors, wherein the positioning data is indicative of the pose of the two manipulator arms in the surgical workspace;
receive user input data from the user input device, wherein the user input data is indicative of a desired position or change in position of a tip of the surgical instrument in the surgical workspace;
based on the positioning data and the user input data, control the one or more actuators to adjust the pose of the two manipulator arms to reposition the tip of the surgical instrument;
wherein:
the two manipulator arms are manually reconfigurable from a first configuration in which at least one of the two manipulator arms assume a first pose to a second configuration in which the at least one of the two manipulator arms assume a second pose which is mirrored with respect to the first pose about the mirroring plane which runs through the tip of the surgical instrument; and
wherein the control system is configured to:
temporarily disable the master-slave coupling between the user input device and the two manipulator arms to enable a manual reconfiguration of the at least one of the two manipulator arms from the first configuration into the second configuration; and
after the manual reconfiguration, resume the master-slave coupling between the user input device and the at least one of the two manipulator arms from the second pose.