US 12,419,701 B2
Surgical probes for tissue resection with robotic arms
Kevin Patrick Staid, Lowell, MA (US); Surag Mantri, East Palo Alto, CA (US); and Nikolai Aljuri, Hillsborough, CA (US)
Assigned to PROCEPT BioRobotics Corporation, San Jose, CA (US)
Filed by PROCEPT BioRobotics Corporation, Redwood City, CA (US)
Filed on Jun. 23, 2021, as Appl. No. 17/304,571.
Application 17/304,571 is a continuation of application No. 16/939,972, filed on Jul. 27, 2020, granted, now 11,071,601.
Claims priority of provisional application 62/933,721, filed on Nov. 11, 2019.
Prior Publication US 2021/0378766 A1, Dec. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 17/32 (2006.01); A61B 17/3203 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 17/320016 (2013.01); A61B 17/3203 (2013.01); A61B 2017/320064 (2013.01); A61B 2034/301 (2016.02)] 21 Claims
OG exemplary drawing
 
1. An apparatus for tissue removal comprising:
a robotic arm comprising a distal end and a plurality of articulating joints, where the plurality of articulating joints provide for movement of the distal end of the robotic arm in a plurality of degrees of freedom;
a treatment probe comprising an energy source, the treatment probe being coupled to the distal end of the robotic arm; and
a processor coupled to the robotic arm to position the treatment probe, the processor configured cause a proximal end of the treatment probe to move along a path and to move a distal end of the treatment probe along a corresponding path about a pivot located therebetween and wherein the processor is configured to advance the treatment probe along a tissue removal boundary and wherein the processor is configured to orient the treatment probe to extend along the tissue removal boundary.