US 12,167,902 B2
Robotic surgical assembly
Massimiliano Simi, Pisa (IT); and Giuseppe Maria Prisco, Pisa (IT)
Assigned to MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed by MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US)
Filed on Jul. 27, 2023, as Appl. No. 18/360,176.
Application 17/096,234 is a division of application No. 15/768,519, granted, now 10,864,051, issued on Dec. 15, 2020, previously published as PCT/EP2016/074805, filed on Oct. 14, 2016.
Application 18/360,176 is a continuation of application No. 17/096,234, filed on Nov. 12, 2020.
Claims priority of application No. 102015000062500 (IT), filed on Oct. 16, 2015.
Prior Publication US 2024/0016562 A1, Jan. 18, 2024
Int. Cl. A61B 34/37 (2016.01); A61B 1/313 (2006.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 17/062 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/3211 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 90/20 (2016.01); A61B 90/25 (2016.01); B25J 3/04 (2006.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); G05B 19/402 (2006.01); A61B 17/34 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 10/04 (2013.01); A61B 17/00234 (2013.01); A61B 17/062 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 90/20 (2016.02); A61B 90/25 (2016.02); A61B 90/361 (2016.02); B25J 3/04 (2013.01); B25J 9/1015 (2013.01); B25J 9/1669 (2013.01); B25J 15/0052 (2013.01); G05B 19/402 (2013.01); A61B 2017/00345 (2013.01); A61B 17/29 (2013.01); A61B 17/320016 (2013.01); A61B 17/3211 (2013.01); A61B 17/34 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); G05B 2219/45117 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robotic assembly for surgery and/or micro-surgery comprising at least one control device to at least partially form a master interface of a master-slave pair for a robotic assembly, wherein said at least one control device comprises:
at least one control instrument, mobile in space, of a shape and size adapted for being hand-held and handled like a conventional surgical instrument,
at least one detection device, suitable to detect a position of said control instrument in at least a portion of space;
wherein:
said at least one control instrument comprises at least one position sensor, which cooperates with said detection device, to sense at least the position of said control instrument;
said detection device generates an electromagnetic field to detect at least the position of said control instrument by detecting a position of said at least one position sensor;
said control instrument comprises at least one forceps articulation, effective in a tip portion of said control instrument, to allow said tip portion a grasping or cutting movement;
said robotic assembly further comprises at least one surgical micro-instrument comprising at least one terminal portion; and
wherein said control instrument of the at least one control device is adapted to cooperate with said at least one surgical micro-instrument such that when in operating conditions:
a first 3D movement of said control instrument with respect to said detection device of the control device corresponds to a second 3D movement of said surgical micro-instrument;
a first translational movement of said control instrument corresponds to a second translational movement of said surgical micro-instrument equal to a fraction of an amplitude of said first movement of said control instrument;
a first angular movement of said forceps articulation of said control instrument corresponds to a second angular movement of an articulation situated on said terminal portion of said surgical micro-instrument, an amplitude of said second movement being substantially equal to said first angular movement of said forceps articulation of said control instrument.