US 12,167,900 B2
Co-manipulation surgical system having automated preset robot arm configurations
Victoria Cheng-Tan Wu, San Francisco, CA (US); Moran Gera Mamo, Sunnyvale, CA (US); Ehsan Basafa, Redwood City, CA (US); David Paul Noonan, San Francisco, CA (US); and Jeffery Byron Alvarez, San Carlos, CA (US)
Assigned to Moon Surgical SAS, Paris (FR)
Filed by Moon Surgical SAS, Paris (FR)
Filed on Dec. 14, 2023, as Appl. No. 18/540,710.
Application 18/540,710 is a continuation in part of application No. 18/331,054, filed on Jun. 7, 2023, granted, now 11,844,583, issued on Dec. 19, 2023.
Application 18/331,054 is a continuation in part of application No. 18/297,489, filed on Apr. 7, 2023, granted, now 11,980,431.
Application 18/297,489 is a continuation of application No. 17/816,958, filed on Aug. 2, 2022, granted, now 11,622,826, issued on Apr. 11, 2023.
Application 17/816,958 is a continuation of application No. PCT/IB2022/056159, filed on Jul. 1, 2022.
Application 17/816,958 is a continuation of application No. PCT/IB2022/052989, filed on Mar. 30, 2022.
Application 18/331,054 is a continuation in part of application No. 18/057,191, filed on Nov. 18, 2022, granted, now 11,812,938, issued on Nov. 14, 2023.
Application 18/057,191 is a continuation in part of application No. 17/815,885, filed on Jul. 28, 2022, granted, now 11,504,197, issued on Nov. 22, 2022.
Application 18/540,710 is a continuation in part of application No. 18/480,360, filed on Oct. 3, 2023, granted, now 12,042,241.
Claims priority of provisional application 63/378,434, filed on Oct. 5, 2022.
Claims priority of provisional application 63/495,527, filed on Apr. 11, 2023.
Claims priority of provisional application 63/479,142, filed on Jan. 9, 2023.
Claims priority of application No. 21305417 (EP), filed on Mar. 31, 2021; application No. 21305929 (EP), filed on Jul. 5, 2021; application No. 21306904 (EP), filed on Dec. 22, 2021; application No. 21306905 (EP), filed on Dec. 22, 2021; application No. 22306496 (EP), filed on Oct. 5, 2022; and application No. 23305026 (EP), filed on Jan. 9, 2023.
Prior Publication US 2024/0173088 A1, May 30, 2024
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 90/50 (2016.01); A61B 1/313 (2006.01); A61B 46/10 (2016.01); A61B 90/00 (2016.01); A61B 90/96 (2016.01); A61B 90/98 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 1/00149 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 1/3132 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02); A61B 46/10 (2016.02); A61B 2090/061 (2016.02); A61B 2090/067 (2016.02); A61B 90/96 (2016.02); A61B 90/98 (2016.02); A61B 2560/0238 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A co-manipulation surgical system to assist with laparoscopic surgery performed using a surgical instrument, the co-manipulation surgical system comprising:
a robot arm comprising a proximal region having a base, a plurality of links, an elbow joint, a shoulder joint coupled to the base, and a distal region having a distal end configured to be removably coupled to the surgical instrument;
a platform coupled to the base of the robot arm, the platform configured to be moveable on a floor; and
a controller operatively coupled to the robot arm, the controller configured to:
cause, in a drape mode, a link of the plurality of links between the elbow joint and the shoulder joint to extend away from the base at a first angle and cause a link of the plurality of links distal to the elbow joint to extend away from the base at a second angle so as to be more aligned with the floor, to thereby facilitate draping of the robot arm;
apply a temporary localized virtual haptic boundary at the robot arm in the drape mode such that movement of the robot arm is more viscous, thereby stabilizing the robot arm in the drape mode; and
remove the temporary localized virtual haptic boundary at the robot arm after the controller causes the robot arm to transition out of the drape mode.