US Patent:
20210322116, Oct 21, 2021
Inventors:
- Zug, CH
Andrew John Ryan - Boston MA, US
Phillip A. Soucy - Arlington MA, US
Carol Wood Sutherland - Somerville MA, US
International Classification:
A61B 34/37
A61B 34/00
B25J 9/10
Abstract:
Robotic surgical systems are provided. In one exemplary embodiment, a robotic surgical system includes an electromechanical arm, a motor housing, a tool shaft, an end effector, and an articulation actuation system. The tool shaft includes a central body and a joint assembly having master and slave joints. The end effector is configured to move in response to movement of the slave joint. The articulation actuation system is configured to act directly on the master joint without directly acting on the slave joint to move the master joint in at least one plane. The master and slave joints are operably coupled to each other such that movement of the master joint causes parallel movement of the slave joint while maintaining a position of a longitudinal axis of the central body of the tool shaft to thereby effect articulation of the end effector. Surgical systems and methods are also provided.
