Medical robotic system

Patent metadata

Field	Value
Publication number	US-12496147-B2
Application number	US-202217662182-A
Country	US
Kind code	B2
Filing date	May 5, 2022
Priority date	May 5, 2022
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

Robotic surgical systems configured to control the movement and actuation of a single robotic arm, and the movement and actuation of first and second tools carried in a tool holder at a distal end of the robotic arm.

First claim

What is claimed is:

1 . A medical robot system comprising:
a robotic arm having a plurality of arm segments being adjustable relative to one another to provide movement of the robotic arm relative to a plurality of axes; a tool holder coupled to a distal end of the robotic arm configured to directly engage a first handle of a first tool and wherein the tool holder is configured to directly engage a second handle of a second tool independently from the first handle, the first handle and the second handle being detachable from the robotic arm to separate the first tool and the second tool from the robotic arm, wherein the first tool has a first elongate shaft and the second tool has a second elongate shaft, each extending about respective longitudinal axes, wherein the first handle is received by a first rotating receiver carried by the tool holder and the second handle is received by a second rotating receiver carried by the tool holder; a first robotic drive carried by the tool holder adapted to move the first tool rotationally about a longitudinal axis relative to its longitudinal axis; and a second robotic drive carried by the tool holder adapted to move the second tool rotationally about the relative to its longitudinal axis when the second elongate shaft is positioned coaxially through the first elongate shaft and the second robotic drive is also adapted to move the second tool axially relative the longitudinal axis, while the second elongate shaft is positioned through the first elongate shaft.

2 . The medical robot system according to claim 1 wherein the first tool comprises an endoscopic viewing device with an image sensor carried at a distal end of the first elongate shaft of said first tool.

3 . The medical robot system according to claim 1 wherein the second tool comprises a tissue treatment device with a working end adapted to treat tissue.

4 . The medical robot system according to claim 3 wherein the second tool comprises at least one of a resection device, ablation device, coagulation device, biopsy device and dissection device.

5 . The medical robot system according to claim 2 wherein the first tool has a working channel extending through the first elongate shaft and the second elongate shaft of the second tool is adapted for introduction through said working channel.

6 . The medical robot system according to claim 5 wherein the first elongate shaft has a first insertion profile with a distal region of the working channel in a first non-expanded shape and an expanded working profile with the distal region of the working channel expanded to a second expanded shape by introduction of a shaft of a treatment tool through the working channel.

7 . The medical robot system according to claim 2 wherein the robotic arm carries a first electrical connector for coupling to a second electrical connector carried by the endoscopic endoscope viewing device to electrically couple the image sensor to an image processor.

8 . The medical robot system according to claim 2 wherein the robotic arm carries an electrical connector for coupling to the endoscopic viewing device for carrying current to at least one LED carried by the endoscopic viewing device.

9 . The medical robot system according to claim 3 wherein the second tool comprises a resection device with a motor that drives a cutting member, further comprising cooperating electrical contacts carried by the robotic arm and the resection device to carry electrical current to a motor in the resection device.

10 . The medical robot system according to claim 1 further comprising a user input interface for controlling (i) movement of the plurality of arm segments and (ii) actuation of the first robotic drive and the second robotic drive.

11 . The medical robot system according to claim 10 wherein the user input interface includes at least one of a joystick and a touch screen for controlling the medical robot system.

12 . The medical robot system according to claim 10 further comprising a fluid management system operated by the user input interface including a fluid inflow line and a fluid outflow line adapted for coupling with the first tool and the second tool.

13 . The medical robot system according to claim 1 wherein the tool holder carries at least one force sensor for measuring forces on at least one of the first tool and the second tool during use.

14 . A medical robot system comprising:
a robotic arm having a plurality of arm segments being adjustable relative to one another to provide movement of the robotic arm relative to a plurality of axes; a tool holder coupled to a distal end of the robotic arm, wherein the tool holder comprises a first rotating receiver and a second rotating receiver each configured to receive a handle; a single-use endoscope with an elongate shaft extending to a distal end carrying an image sensor, the single-use endoscope adapted for direct and detachable coupling to the tool holder; and a treatment tool with a tool shaft adapted for direct and detachable coupling to the tool holder independently from the single-use endoscope and positioning through the single-use single use endoscope; wherein the tool holder comprises a first drive coupled to the first rotating receiver and a second drive coupled to the second rotating receiver, the first drive is configured to rotate the single-use endoscope about a longitudinal axis, and the second drive is configured to rotate the treatment tool about the longitudinal axis independently when the treatment tool is positioned through the single-use endoscope and where the second drive is also configured to move the treatment tool axially along the longitudinal axis; wherein the single-use endoscope has a working channel extending through the elongate shaft, wherein a distal region of the working channel has a first non-expanded shape that is expanded to a second expanded shape by introduction of the tool shaft through the working channel.

Assignees

• Meditrina Inc

Inventors

• Truckai Csaba
• Shadduck John H
• Toth Akos

Classifications

• A61B34/70 Primary

  Manipulators specially adapted for use in surgery · CPC title

• A61B2017/00539

  hydraulically · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B17/32002

  with continuously rotating, oscillating or reciprocating cutting instruments · CPC title

• A61B1/00103

  designed for single use · CPC title