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Patent · US12357405B2 · B2 · US

Systems and methods for kinematic optimization with shared robotic degrees-of-freedom

(11) Publication number
US12357405B2
(21) Application number
18/453,125
(22) Filing date
2023-08-21
(30) Priority date
2019-09-10
(43) Publication date
2025-07-15
(45) Date of grant
2025-07-15
(51) IPC
A61B 34/30; A61B 34/35; B25J 15/00; B25J 9/06; B25J 9/16
(52) CPC
  • A61B Diagnosis; surgery; identification: 34/35, 2034/2059, 2034/301, 2034/302, 2034/303, 2090/066, 34/30, 34/37, 34/74
  • B25J Manipulators; chambers provided with manipulation devices: 15/0019, 15/0052, 5/007, 9/0087, 9/06, 9/16, 9/1643, 9/1666, 9/1689
  • G05B Control or regulating systems in general; functional elements of such systems; monitoring or testing arrangements for such systems or elements: 2219/40201, 2219/40202
(73) Assignee
Auris Health Inc
(72) Inventors
Nicholas J. Eyre; Sean Patrick Kelly; Sven Wehrmann; Yoichiro Dan; Travis C. Covington; Yanan Huang; David Stephen Mintz
(54) Title
Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
(57) Abstract

Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.

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Claims (20)

  1. A robotic medical system, comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction relative to the patient positioning platform, the longitudinal direction being oriented along a length of the patient positioning platform; a connector coupled to the adjustable arm support and coupled to the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm, a portion of the robotic arm being coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool that is configured to be delivered through a patient supported by the patient positioning platform; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a remote center of movement (RCM) of the medical tool.
  2. The robotic medical system of claim 1, wherein the link connector comprises a first end coupled to the adjustable arm support and a second end coupled to the patient positioning platform.
  3. The robotic medical system of claim 1, wherein the medical tool comprises an end effector that is inserted through an incision or natural orifice of the patient while maintaining the RCM.
  4. The robotic medical system of claim 3, wherein the processor is configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a position of the end effector of the medical tool coupled to the robotic arm.
  5. The robotic medical system of claim 3, wherein the processor is configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is teleoperatively controlled by a clinician.
  6. The robotic medical system of claim 1, further comprising a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, wherein the second adjustable arm support is configured to translate in a longitudinal direction relative to the patient positioning platform.
  7. The robotic medical system of claim 6, further comprising a second robotic arm coupled to the second adjustable arm support.
  8. The robotic medical system of claim 6, wherein the adjustable arm support is configured to translate in the longitudinal direction relative to a first side of the patient positioning platform, and wherein the second adjustable arm support is configured to translate in the longitudinal direction relative to a second side of the patient positioning platform, wherein the second side is opposite to the first side.
  9. The robotic medical system of claim 1, further comprising a second robotic arm coupled to the adjustable arm support.
  10. A method of adjusting a configuration of a surgical system, comprising: providing a robotic system comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction extending along a length of the patient positioning platform; a connector coupled to the adjustable arm support and the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool that is configured to be delivered through a patient supported by the patient positioning platform; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a remote center of movement (RCM) of the medical tool; and translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool.
  11. The method of claim 10, wherein the translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool comprises translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a position of an end effector of the medical tool coupled to the robotic arm.
  12. The method of claim 10, wherein the translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool comprises translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is teleoperatively controlled by a clinician.
  13. The method of claim 10, wherein the robotic system further comprises a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, and wherein the method further comprises translating the second adjustable arm support in a longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool.
  14. The method of claim 13, wherein the second adjustable arm support is translated in the longitudinal direction relative to a first side the patient positioning platform, wherein the second adjustable arm support is translated in the longitudinal direction relative to a second side the patient positioning platform, and wherein the first side is opposite to the second side.
  15. A robotic medical system, comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction relative to the patient positioning platform, the longitudinal direction extending along a length of the patient positioning platform; a connector coupling the adjustable arm support to the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm, a portion of the robotic arm being coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is inserted through an incision or natural orifice of a patient supported by the patient positioning platform.
  16. The robotic medical system of claim 15, further comprising a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, wherein the second adjustable arm support is configured to translate in a longitudinal direction relative to the patient positioning platform.
  17. The robotic medical system of claim 16, wherein the adjustable arm support is configured to translate in the longitudinal direction relative to a first side of the patient positioning platform, and wherein the second adjustable arm support is configured to translate in the longitudinal direction relative to a second side of the patient positioning platform, wherein the second side is opposite to the first side.
  18. The robotic medical system of claim 16, further comprising a second robotic arm coupled to the second adjustable arm support.
  19. The robotic medical system of claim 15, further comprising a second robotic arm coupled to the adjustable arm support.
  20. The robotic medical system of claim 15, wherein the medical tool comprises an instrument or a camera.

Description

The systems and methods disclosed herein are directed to surgical robotics, and more particularly to robotic systems having shared robotic degrees-of-freedom.

Medical procedures, such as laparoscopy, may involve accessing and visualizing an internal region of a patient. In a laparoscopic procedure, a medical tool can be inserted into the internal region through a laparoscopic cannula.

In certain procedures, a robotically enabled medical system may be used to control the insertion and/or manipulation of one or more medical tool(s). The robotically enabled medical system may a plurality of robotic arms which control the medical tool(s). In positioning the medical tool(s), portions of the robotic arms may move towards another robotic arm or other object in the environment, which can lead to collisions.

The systems, methods and devices of this disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.

In one aspect, there is provided robotic medical system, comprising: a base; an adjustable arm support coupled to the base; at least one robotic arm coupled to the adjustable arm support, the at least one robotic arm configured to be coupled to a medical tool that is configured to be delivered through an incision or natural orifice of a patient; and a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the tool.

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Record as JSON 
{
  "publication_number": "US12357405B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for kinematic optimization with shared robotic degrees-of-freedom",
  "abstract": "Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.",
  "claims": [
    "1. A robotic medical system, comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction relative to the patient positioning platform, the longitudinal direction being oriented along a length of the patient positioning platform; a connector coupled to the adjustable arm support and coupled to the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm, a portion of the robotic arm being coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool that is configured to be delivered through a patient supported by the patient positioning platform; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a remote center of movement (RCM) of the medical tool.",
    "2. The robotic medical system of claim 1, wherein the link connector comprises a first end coupled to the adjustable arm support and a second end coupled to the patient positioning platform.",
    "3. The robotic medical system of claim 1, wherein the medical tool comprises an end effector that is inserted through an incision or natural orifice of the patient while maintaining the RCM.",
    "4. The robotic medical system of claim 3, wherein the processor is configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a position of the end effector of the medical tool coupled to the robotic arm.",
    "5. The robotic medical system of claim 3, wherein the processor is configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is teleoperatively controlled by a clinician.",
    "6. The robotic medical system of claim 1, further comprising a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, wherein the second adjustable arm support is configured to translate in a longitudinal direction relative to the patient positioning platform.",
    "7. The robotic medical system of claim 6, further comprising a second robotic arm coupled to the second adjustable arm support.",
    "8. The robotic medical system of claim 6, wherein the adjustable arm support is configured to translate in the longitudinal direction relative to a first side of the patient positioning platform, and wherein the second adjustable arm support is configured to translate in the longitudinal direction relative to a second side of the patient positioning platform, wherein the second side is opposite to the first side.",
    "9. The robotic medical system of claim 1, further comprising a second robotic arm coupled to the adjustable arm support.",
    "10. A method of adjusting a configuration of a surgical system, comprising: providing a robotic system comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction extending along a length of the patient positioning platform; a connector coupled to the adjustable arm support and the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool that is configured to be delivered through a patient supported by the patient positioning platform; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a remote center of movement (RCM) of the medical tool; and translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool.",
    "11. The method of claim 10, wherein the translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool comprises translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform while maintaining a position of an end effector of the medical tool coupled to the robotic arm.",
    "12. The method of claim 10, wherein the translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool comprises translating the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is teleoperatively controlled by a clinician.",
    "13. The method of claim 10, wherein the robotic system further comprises a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, and wherein the method further comprises translating the second adjustable arm support in a longitudinal direction relative to the patient positioning platform via the processor of the robotic system while maintaining the RCM of the medical tool.",
    "14. The method of claim 13, wherein the second adjustable arm support is translated in the longitudinal direction relative to a first side the patient positioning platform, wherein the second adjustable arm support is translated in the longitudinal direction relative to a second side the patient positioning platform, and wherein the first side is opposite to the second side.",
    "15. A robotic medical system, comprising: a patient positioning platform; an adjustable arm support, the adjustable arm support being translatable in a longitudinal direction relative to the patient positioning platform, the longitudinal direction extending along a length of the patient positioning platform; a connector coupling the adjustable arm support to the patient positioning platform, the connector being movable relative to the patient positioning platform, the adjustable arm support being translatable in the longitudinal direction relative to the connector; a robotic arm, a portion of the robotic arm being coupled to the adjustable arm support, wherein the robotic arm is configured to be coupled to a medical tool; and a processor configured to translate the adjustable arm support in the longitudinal direction relative to the patient positioning platform while the medical tool is inserted through an incision or natural orifice of a patient supported by the patient positioning platform.",
    "16. The robotic medical system of claim 15, further comprising a second adjustable arm support and a second connector, wherein the second connector is coupled to the second adjustable arm support and the patient positioning platform, wherein the second adjustable arm support is configured to translate in a longitudinal direction relative to the patient positioning platform.",
    "17. The robotic medical system of claim 16, wherein the adjustable arm support is configured to translate in the longitudinal direction relative to a first side of the patient positioning platform, and wherein the second adjustable arm support is configured to translate in the longitudinal direction relative to a second side of the patient positioning platform, wherein the second side is opposite to the first side.",
    "18. The robotic medical system of claim 16, further comprising a second robotic arm coupled to the second adjustable arm support.",
    "19. The robotic medical system of claim 15, further comprising a second robotic arm coupled to the adjustable arm support.",
    "20. The robotic medical system of claim 15, wherein the medical tool comprises an instrument or a camera."
  ],
  "description_excerpt": "The systems and methods disclosed herein are directed to surgical robotics, and more particularly to robotic systems having shared robotic degrees-of-freedom.\n\nMedical procedures, such as laparoscopy, may involve accessing and visualizing an internal region of a patient. In a laparoscopic procedure, a medical tool can be inserted into the internal region through a laparoscopic cannula.\n\nIn certain procedures, a robotically enabled medical system may be used to control the insertion and/or manipulation of one or more medical tool(s). The robotically enabled medical system may a plurality of robotic arms which control the medical tool(s). In positioning the medical tool(s), portions of the robotic arms may move towards another robotic arm or other object in the environment, which can lead to collisions.\n\nThe systems, methods and devices of this disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.\n\nIn one aspect, there is provided robotic medical system, comprising: a base; an adjustable arm support coupled to the base; at least one robotic arm coupled to the adjustable arm support, the at least one robotic arm configured to be coupled to a medical tool that is configured to be delivered through an incision or natural orifice of a patient; and a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the tool.",
  "cpc": [
    "A61B 34/35",
    "A61B 2034/2059",
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    "A61B 2034/302",
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    "A61B 34/30",
    "A61B 34/37",
    "A61B 34/74",
    "B25J 15/0019",
    "B25J 15/0052",
    "B25J 5/007",
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    "B25J 9/06",
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    "B25J 9/1643",
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  ],
  "ipc": [
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  ],
  "assignees": [
    "Auris Health Inc"
  ],
  "inventors": [
    "Nicholas J. Eyre",
    "Sean Patrick Kelly",
    "Sven Wehrmann",
    "Yoichiro Dan",
    "Travis C. Covington",
    "Yanan Huang",
    "David Stephen Mintz"
  ],
  "filing_date": "2023-08-21",
  "publication_date": "2025-07-15",
  "grant_date": "2025-07-15",
  "priority_date": "2019-09-10",
  "application_number": "US-202318453125-A",
  "family_id": "72428320",
  "cited_by_count": 0,
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Record 150 of 8,000 in Patents full text (MLC-0201). Request the full dataset.