US 12,415,269 B2
Kinematic structures for robotic microsurgical procedures
Ariel Gil, Haifa (IL); Daniel Glozman, Kfar Yona (IL); and Ofer Arnold, Ma'ale Zvia (IL)
Assigned to ForSight Robotics Ltd., Yokneam Illit (IL)
Filed by ForSight Robotics Ltd., Yokneam Illit (IL)
Filed on Mar. 24, 2023, as Appl. No. 18/126,095.
Application 18/126,095 is a continuation of application No. PCT/IB2022/055086, filed on May 31, 2022.
Claims priority of provisional application 63/229,593, filed on Aug. 5, 2021.
Claims priority of provisional application 63/195,429, filed on Jun. 1, 2021.
Prior Publication US 2023/0233204 A1, Jul. 27, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 46/00 (2016.01); A61B 46/10 (2016.01); B25J 9/10 (2006.01)
CPC B25J 9/1628 (2013.01) [A61B 17/072 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 46/10 (2016.02); A61B 46/40 (2016.02); B25J 9/102 (2013.01); A61B 2017/00398 (2013.01)] 14 Claims
OG exemplary drawing
 
1. Apparatus for performing a procedure on a portion of a body of a patient using a robotic unit that includes an end-effector, tool mount configured to hold a tool such that the tool is coaxial with the end effector, and a linear tool motor configured to drive at least a portion of the tool to move linearly with respect to the end effector, the apparatus comprising:
a tool-actuation arm configured to be moved linearly by the linear tool motor, to thereby move at least the portion of the tool linearly with respect to the end effector; and
an automatic tool-actuation arm folding mechanism that is configured to cause the tool-actuation arm to fold automatically in response to being retracted to a given distance from the tool mount.