US 12,376,924 B2
Surgical robotic systems
Adam Sachs, Somerville, 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 Jun. 3, 2022, as Appl. No. 17/832,169.
Application 17/832,169 is a continuation of application No. 17/716,412, filed on Apr. 8, 2022.
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. 24, 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 2022/0313378 A1, Oct. 6, 2022
Int. Cl. A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (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)] 27 Claims
OG exemplary drawing
 
20. 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, each of the first robotic arm and the second robotic arm including a plurality of actuators that are mechanically coupled to each other, wherein one or more of the plurality of actuators includes:
a main intermediate body including a pulley element configured to receive one or more actuations cables for actuating the actuator;
a male main housing coupled to the main intermediate body; and
a female main housing configured to receive the male main housing;
wherein each of the main intermediate body and the male main housing are configured to include a housing portion having an arcuate, contoured shape when viewed in a cross-section parallel to a longitudinal axis of the main intermediate body, the arcuate, contoured shape defining a contoured pathway that enables a neutral axis of the one or more actuation cables when passed therethrough to remain at approximately a same length across an entire range of motion of the actuator.