Robotic surgery system, method, and apparatus

Patent metadata

Field	Value
Publication number	US-12358133-B2
Application number	US-202418630031-A
Country	US
Kind code	B2
Filing date	Apr 9, 2024
Priority date	Jul 17, 2015
Publication date	Jul 15, 2025
Grant date	Jul 15, 2025

Abstract

A force transmission system as part of a surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.

First claim

What is claimed is:

1. A surgical robot, comprising:
a drive component having at least one drive element disposed therein;
a motor assembly disposed within said drive component to operate the drive element, said motor assembly including:
a motor;
a gear
head; a
bearing;

a manipulator operably coupled to said drive component and at least one drive element;
a controller communicatively coupled to said drive component and said manipulator; and
a load sensor disposed between said motor assembly and said drive element, said load sensor including:
a compliant body that deforms at a first rate and a second rate, the compliant body having a compliant body first face and a compliant body second face;
an insert having an insert first face and an adjustable spacer, said insert extending through the compliant body;
a projection coupled to the compliant body; and
an electrical component including at least one sensor.

2. The surgical robot of claim 1 , wherein said manipulator further comprises at least one manipulated component and said at least one drive element further comprises at least one driven element.

3. The surgical robot of claim 2 , wherein the at least one driven element is actuatably coupled to the at least one manipulated component.

4. The surgical robot of claim 2 , wherein an actuator couples the driven element to the manipulated component.

5. The surgical robot of claim 1 , wherein when deforming at said first rate, said compliant body deforms in proportion to a magnitude of a first range of a load.

6. The surgical robot of claim 1 , wherein when deforming at said second rate, said compliant body deforms in proportion to a magnitude of a second range of a load.

7. The surgical robot of claim 1 , wherein the compliant body first face is disposed opposite to the compliant body second face.

8. The surgical robot of claim 1 , wherein the at least one sensor monitors a displacement of the projection.

9. The surgical robot of claim 1 , wherein a continuous barrier separates the manipulator and the drive component.

10. The surgical robot of claim 1 , wherein the insert further comprises a threaded insert.

11. The surgical robot of claim 1 , further comprising a sterile component for a robotic surgery.

12. The surgical robot of claim 1 , further comprising a barrier disposed between said drive component and said manipulator.

13. The surgical robot of claim 1 , wherein the drive element further comprises a drive screw and a nut.

14. The surgical robot of claim 1 , wherein said motor assembly is associated with a position sensor to provide feedback on a position of said drive element.

Assignees

• Deka Products Lp
• Deka Products Ltd Partneship

Inventors

• Langenfeld Christopher C
• Slate Michael J
• Bhat Prashant
• Van Der Merwe Dirk A
• Cannan David D B
• Violette Keith D

Classifications

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• A61B34/70

  Manipulators specially adapted for use in surgery · CPC title

• G01L1/04

  by measuring elastic deformation of gauges, e.g. of springs · CPC title

• A61B2090/034

  abutting on parts of the device itself · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title