US 12,376,927 B2
Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
Julien Chassot, Lechelles (CH); Michael Friedrich, Bern (CH); Patrick Schoeneich, Lausanne (CH); and Mehrnaz Salehian, Lausanne (CH)
Assigned to Distalmotion SA, Epalinges (CH)
Filed by Distalmotion SA, Epalinges (CH)
Filed on Jun. 30, 2021, as Appl. No. 17/364,246.
Application 17/364,246 is a continuation of application No. PCT/IB2020/050039, filed on Jan. 4, 2020.
Application PCT/IB2020/050039 is a continuation in part of application No. 16/505,585, filed on Jul. 8, 2019, granted, now 11,510,745.
Application 16/505,585 is a continuation of application No. 16/269,383, filed on Feb. 6, 2019, granted, now 10,413,374, issued on Sep. 17, 2019.
Application PCT/IB2020/050039 is a continuation in part of application No. PCT/IB2019/050961, filed on Feb. 6, 2019.
Claims priority of provisional application 62/788,781, filed on Jan. 5, 2019.
Claims priority of provisional application 62/627,554, filed on Feb. 7, 2018.
Prior Publication US 2021/0330407 A1, Oct. 28, 2021
Int. Cl. A61B 34/37 (2016.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 90/98 (2016.01); G16H 40/63 (2018.01)
CPC A61B 34/37 (2016.02) [A61B 18/1442 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/77 (2016.02); B25J 9/1682 (2013.01); A61B 2017/0046 (2013.01); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 90/98 (2016.02); G16H 40/63 (2018.01)] 21 Claims
OG exemplary drawing
 
1. A system for remote manipulation to perform surgery, the system comprising:
a slave console comprising a slave hub, an alignment joint disposed proximal of the slave hub, and a plurality of slave links coupled to a base;
a surgical instrument configured to be received in the slave hub and coupled to the slave console, the surgical instrument including a distal region configured to be inserted into a patient at a surgical site to perform robotic surgery;
an incision pointer configured to be removably coupled to the alignment joint to facilitate an alignment of the alignment joint and the surgical site; and
a controller configured to execute instructions to:
set a virtual remote center-of-motion of the surgical instrument based on the alignment of the alignment joint and the surgical site; and
cause at least one of the plurality of slave links distal to the alignment joint to move responsive to movement applied at a handle of a master console operatively coupled to the slave console to thereby move the surgical instrument to perform the robotic surgery, while restricting movements of the surgical instrument about the virtual remote center-of-motion and maintaining alignment of the alignment joint with the surgical site during the robotic surgery.