US 12,064,194 B2
Robotic arm and robotic surgical system
Karen Shakespear Koenig, San Jose, CA (US); Pablo Eduardo Garcia Kilroy, Menlo Park, CA (US); Sina Nia Kosari, Fremont, CA (US); and Thomas D. Egan, Marblehead, MA (US)
Assigned to SRI International, Menlo Park, CA (US)
Filed by SRI International, Menlo Park, CA (US)
Filed on Oct. 30, 2020, as Appl. No. 17/085,578.
Application 17/085,578 is a division of application No. 15/217,446, filed on Jul. 22, 2016, granted, now 10,828,115.
Claims priority of provisional application 62/196,190, filed on Jul. 23, 2015.
Prior Publication US 2021/0045817 A1, Feb. 18, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 46/10 (2016.01); B25J 3/04 (2006.01); B25J 9/00 (2006.01); B25J 9/06 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01); B25J 13/02 (2006.01); B25J 13/08 (2006.01); B25J 17/02 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/34 (2013.01); A61B 34/37 (2016.02); A61B 34/72 (2016.02); A61B 2017/00327 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/2919 (2013.01); A61B 2017/2923 (2013.01); A61B 2017/2927 (2013.01); A61B 2017/2932 (2013.01); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 2034/742 (2016.02); A61B 46/10 (2016.02); B25J 3/04 (2013.01); B25J 9/0027 (2013.01); B25J 9/0039 (2013.01); B25J 9/06 (2013.01); B25J 9/104 (2013.01); B25J 9/12 (2013.01); B25J 13/02 (2013.01); B25J 13/085 (2013.01); B25J 17/0283 (2013.01); G05B 2219/45117 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic surgery system comprising:
a robotic arm, wherein the robotic arm has a roll axis and a pitch axis;
a tool driver coupled to the robotic arm;
a trocar coupled to the tool driver, wherein the trocar is detachable and replaceable;
a surgical tool disposed within the trocar and coupled to the tool driver, wherein the tool driver is configured to translate the surgical tool along a tool axis; and
a controller that executes instructions to carry out actions comprising:
measuring a force on the trocar or the surgical tool when the trocar and the surgical tool are at least partially disposed within the body of a patient at a surgical site, and
controlling a remote center of motion of the trocar based on the measured force, wherein the remote center of motion of the trocar corresponds to an intersection of the roll axis of the robotic arm, a tool pitch axis that is parallel to the pitch axis of the robotic arm, and the tool axis, wherein controlling the remote center of motion of the trocar based on the measured force comprises:
determining a new location for the remote center of motion based on the measured force;
providing, via a user interface, a suggestion to change the remote center of motion of the trocar to the new location;
receiving, via the user interface, a response to the suggestion; and
controlling the remote center of motion of the trocar based on the response.