US 12,370,003 B2
Robotic arms of a surgical robotic system
Adam Sachs, Cambridge, MA (US); Sammy Khalifa, Medford, MA (US); and Barry Stuart Greene, Rockville, MD (US)
Assigned to Vicarious Surgical Inc., Waltham, MA (US)
Filed by Vicarious Surgical Inc., Waltham, MA (US)
Filed on Apr. 8, 2022, as Appl. No. 17/716,412.
Application 17/716,412 is a continuation of application No. 17/703,480, filed on Mar. 24, 2022, granted, now 11,744,660.
Application 17/703,480 is a continuation of application No. 17/665,226, filed on Feb. 4, 2022, abandoned.
Application 17/665,226 is a continuation of application No. 17/227,035, filed on Apr. 9, 2021, granted, now 11,540,888.
Application 17/227,035 is a continuation of application No. 16/847,434, filed on Apr. 13, 2020, granted, now 11,045,269, issued on Jun. 29, 2021.
Application 16/847,434 is a continuation of application No. 16/365,208, filed on Mar. 26, 2019, granted, now 10,842,576, issued on Nov. 4, 2020.
Application 16/365,208 is a continuation of application No. 15/305,035, granted, now 10,285,765, issued on May 14, 2019, previously published as PCT/US2015/029247, filed on May 5, 2015.
Claims priority of provisional application 62/136,883, filed on Mar. 23, 2015.
Claims priority of provisional application 61/988,498, filed on May 5, 2014.
Prior Publication US 2022/0296319 A1, Sep. 22, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 90/30 (2016.01); B25J 9/10 (2006.01); G02B 27/01 (2006.01); G06T 19/00 (2011.01); H04N 13/239 (2018.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/00234 (2013.01); A61B 17/2909 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/06 (2016.02); A61B 90/30 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); B25J 9/104 (2013.01); B25J 9/108 (2013.01); G02B 27/017 (2013.01); G06T 19/006 (2013.01); H04N 13/239 (2018.05); A61B 2017/00207 (2013.01); A61B 2017/00216 (2013.01); A61B 2017/00283 (2013.01); A61B 2017/00398 (2013.01); A61B 17/29 (2013.01); A61B 2017/2919 (2013.01); A61B 34/20 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2034/715 (2016.02); A61B 2034/741 (2016.02); A61B 2090/064 (2016.02); A61B 2090/306 (2016.02); A61B 2090/365 (2016.02); A61B 2090/367 (2016.02); A61B 2090/368 (2016.02); A61B 2090/371 (2016.02); A61B 2090/372 (2016.02); A61B 2090/502 (2016.02)] 37 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising
a camera assembly having a camera housing for mounting one or more camera elements; and
a robotic device having a first robotic arm and a second robotic arm, wherein each of the first robotic arm and the second robotic arm includes a plurality of actuators that are mechanically coupled to each other, wherein the plurality of actuators includes:
a first cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a first cable-driven hinged actuator operatively and hingedly coupled to the first rotational actuator and configured to provide hinged movement of the first hinged actuator relative to the first rotational actuator;
a second cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a second cable-driven hinged actuator operatively and hingedly coupled to the second rotational actuator and configured to provide hinged movement of the second hinged actuator relative to the second rotational actuator, the second cable-driven rotational actuator connects the first cable-driven hinged actuator and the second cable-driven hinged actuator;
a third cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a third cable-driven hinged actuator operatively and hingedly coupled to the third rotational actuator and configured to provide hinged movement of the third hinged actuator relative to the third rotational actuator, the third cable-driven rotational actuator connects the second cable-driven hinged actuator and the third cable-driven hinged actuator; and
a surgical end effector coupled to the third hinged actuator;
wherein the plurality of actuators, in combination and when in use, form and mimic the movement of a human arm.