Center robotic arm with five-bar spherical linkage for endoscopic camera

{
  "publication_number": "US9907458B2",
  "country": "US",
  "kind": "B2",
  "title": "Center robotic arm with five-bar spherical linkage for endoscopic camera",
  "abstract": "A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.",
  "claims": [
    "1. A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation, the robotic arm comprising: two outboard links pivotally coupled together at an outboard axis; two inboard links respectively pivotally coupled to the two outboard links to moveably support the two outboard links; and a ground link pivotally coupled to the two inboard links, the ground link to moveably support the two inboard links; and two motors coupled by the ground link in spaced apart positions, each of the two motors respectively coupled to one of the two inboard links to rotate the coupled inboard link; wherein the two outboard links are limited to have a minimum angle between the two outboard links with the two inboard links crossing over one another, the two outboard links being limited by one of a mechanical stop on the two outboard links and a controller coupled to the two motors configured to provide signals to the two motors that limit the rotation of the inboard links.",
    "2. The robotic arm of claim 1, further comprising an endoscopic camera supported by at least one of the two outboard links.",
    "3. The robotic arm of claim 1, wherein each of the two motors drives a rotatable shaft coupled to one of the two motors through a right angle drive, each rotatable shaft being coupled is respectively coupled to one of the two inboard links.",
    "4. The robotic arm of claim 1, further including a first drive shaft coupled to one of the two motors at a driven end and to one of the two inboard links at an opposite end, the first drive shaft extending from the driven end toward the remote center of spherical rotation; and a second drive shaft coupled to one of the two motors at a driven end and to one of the two inboard links at an opposite end, the second drive shaft extending from the driven end away from the remote center of spherical rotation; such that each of the two inboard links may cross over the ground link.",
    "5. The robotic arm of claim 1, wherein the minimum angle between the two outboard links is fifteen degrees."
  ],
  "description_excerpt": "Field The embodiments of the invention relate generally to robotic surgical systems. More particularly, the embodiments of the invention relate to linkage in robotic arms. Background Minimally invasive surgery (MIS) provides surgical techniques for operating on a patient through small incisions using a camera and elongated surgical instruments introduced to an internal surgical site, often through trocar sleeves or cannulas. The surgical site often comprises a body cavity, such as the patient's abdomen. The body cavity may optionally be distended using a clear fluid such as an insufflation gas. In traditional minimally invasive surgery, the surgeon manipulates the tissues using end effectors of the elongated surgical instruments by actuating the instrument's handles while viewing the surgical site on a video monitor. A common form of minimally invasive surgery is endoscopy. Laparoscopy is a type of endoscopy for performing minimally invasive inspection and surgery inside the abdominal cavity. In standard laparoscopic surgery, a patient's abdomen is insufflated with gas, and cannula sleeves are passed through small (generally ½ inch or less) incisions to provide entry ports for laparoscopic surgical instruments. The laparoscopic surgical instruments generally include a laparoscope (a type of endoscope adapted for viewing the surgical field in the abdominal cavity) and working tools. The working tools are similar to those used in conventional (open) surgery, except that the working end or end effector of each tool is separated from its handle by a tool shaft.",
  "cpc": [
    "A61B 34/30",
    "A61B 1/00149",
    "A61B 1/04",
    "A61B 17/00",
    "A61B 34/37",
    "A61B 34/70",
    "A61B 90/00",
    "A61B 90/361",
    "B25J 17/0258",
    "B25J 18/007",
    "Y10T 74/20305"
  ],
  "ipc": [
    "A61B 1/00",
    "A61B 1/04",
    "A61B 34/00",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 90/00"
  ],
  "assignees": [
    "INTUITIVE SURGICAL OPERATIONS"
  ],
  "inventors": [
    "SCHENA BRUCE M"
  ],
  "filing_date": "2013-06-11",
  "publication_date": "2018-03-06",
  "grant_date": "2018-03-06",
  "priority_date": "2006-01-25",
  "application_number": "US-201313915564-A",
  "family_id": "38564164",
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}