公开(公告)号：US20220304563A1

公开(公告)日：2022-09-29

申请号：US17704930

申请日：2022-03-25

申请人： Vicarious Surgical Inc.

发明人： Adam Sachs ,  Sammy Khalifa ,  Marshall Wentworth ,  Justin Keenan ,  Rolando Rodarte

IPC分类号： A61B1/12 ,  H04N5/225 ,  A61B90/70 ,  B08B1/00

摘要： The present disclosure provides systems and methods for cleaning a lens of an imaging device during a surgical procedure within an individual. The imaging device comprises a lens, and the wiping object is positioned a distance away from the imaging device that is configured to contact and move along a path of the device in order to clean it. The present disclosure provides methods for initiating automated cleaning of a lens during a procedure comprising using an eye tracking device fitted and coupled to an individual that may track the movements of the individual to actuate cleaning.

公开(公告)号：US20240148444A1

公开(公告)日：2024-05-09

申请号：US18414082

申请日：2024-01-16

申请人： Vicarious Surgical Inc.

发明人： Eric Kline ,  Sammy Khalifa ,  Marshall Wentworth ,  Eric VAn Albert

IPC分类号： A61B34/20 ,  A61B17/34 ,  A61B34/00 ,  A61B90/00 ,  G02B7/00 ,  G02B27/01 ,  H04N13/239 ,  H04N13/279 ,  H04N13/344 ,  H04N13/366

CPC分类号： A61B34/20 ,  A61B17/34 ,  A61B17/3415 ,  A61B34/71 ,  A61B34/76 ,  A61B90/36 ,  A61B90/37 ,  G02B7/002 ,  G02B27/017 ,  H04N13/239 ,  H04N13/279 ,  H04N13/344 ,  H04N13/366 ,  A61B2034/2072 ,  H04N13/327

摘要： A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

公开(公告)号：US20220211445A1

公开(公告)日：2022-07-07

申请号：US17665922

申请日：2022-02-07

申请人： Vicarious Surgical Inc.

发明人： Adam SACHS ,  Eric Van Albert ,  Sammy Khalifa ,  Robert White, JR. ,  Ryan Fish ,  Eric Kline ,  Marshall Wentworth

IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B17/34 ,  B25J9/06

摘要： Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

公开(公告)号：US11911116B2

公开(公告)日：2024-02-27

申请号：US17876238

申请日：2022-07-28

申请人： Vicarious Surgical Inc.

发明人： Eric Kline ,  Sammy Khalifa ,  Marshall Wentworth ,  Eric Van Albert

IPC分类号： A61B34/20 ,  A61B17/34 ,  A61B34/00 ,  A61B90/00 ,  G02B7/00 ,  G02B27/01 ,  H04N13/239 ,  H04N13/279 ,  H04N13/344 ,  H04N13/366 ,  A61B17/00 ,  A61B34/30 ,  A61B90/30 ,  A61B90/50 ,  H04N13/327 ,  H04N23/50

CPC分类号： A61B34/20 ,  A61B17/34 ,  A61B17/3415 ,  A61B34/71 ,  A61B34/76 ,  A61B90/36 ,  A61B90/37 ,  G02B7/002 ,  G02B27/017 ,  H04N13/239 ,  H04N13/279 ,  H04N13/344 ,  H04N13/366 ,  A61B2017/00398 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2072 ,  A61B34/30 ,  A61B2034/304 ,  A61B2090/306 ,  A61B2090/309 ,  A61B2090/365 ,  A61B2090/371 ,  A61B2090/372 ,  A61B2090/502 ,  A61B2560/0266 ,  A61B2562/166 ,  H04N13/327 ,  H04N23/555 ,  H04N2213/001

摘要： A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

公开(公告)号：US11284947B2

公开(公告)日：2022-03-29

申请号：US17236906

申请日：2021-04-21

申请人： Vicarious Surgical Inc.

发明人： Adam Sachs ,  Eric Van Albert ,  Sammy Khalifa ,  Robert White, Jr. ,  Ryan Fish ,  Eric Kline ,  Marshall Wentworth

IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B17/34 ,  B25J9/06 ,  A61B90/00 ,  A61B34/00 ,  A61B17/00

摘要： Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

公开(公告)号：US20210290314A1

公开(公告)日：2021-09-23

申请号：US17236906

申请日：2021-04-21

申请人： Vicarious Surgical Inc.

发明人： Adam Sachs ,  Eric Van Albert ,  Sammy Khalifa ,  Robert White, JR. ,  Ryan Fish ,  Eric Kline ,  Marshall Wentworth

IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B17/34 ,  B25J9/06 ,  A61B34/00 ,  A61B90/00

摘要： Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

公开(公告)号：US11583342B2

公开(公告)日：2023-02-21

申请号：US16130734

申请日：2018-09-13

申请人： Vicarious Surgical Inc.

发明人： Eric Kline ,  Sammy Khalifa ,  Marshall Wentworth ,  Eric Van Albert

IPC分类号： A61B34/20 ,  G02B27/01 ,  G02B7/00 ,  H04N13/366 ,  H04N13/239 ,  H04N13/344 ,  A61B90/00 ,  H04N13/279 ,  A61B17/34 ,  A61B34/00 ,  H04N13/327 ,  A61B17/00 ,  A61B90/50 ,  A61B90/30 ,  A61B34/30 ,  H04N5/225

摘要： A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

公开(公告)号：US11576732B2

公开(公告)日：2023-02-14

申请号：US16189526

申请日：2018-11-13

申请人： Vicarious Surgical Inc.

发明人： Marshall Wentworth ,  Eric Kline ,  Michael Eilenberg ,  Sammy Khalifa

IPC分类号： A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B90/00 ,  A61B34/20

摘要： A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.

公开(公告)号：US20220370156A1

公开(公告)日：2022-11-24

申请号：US17876238

申请日：2022-07-28

申请人： Vicarious Surgical Inc.

发明人： Eric Kline ,  Sammy Khalifa ,  Marshall Wentworth ,  Eric Van Albert

IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B17/34 ,  A61B34/00

摘要： A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.

公开(公告)号：US20220346639A1

公开(公告)日：2022-11-03

申请号：US17733484

申请日：2022-04-29

申请人： Vicarious Surgical Inc.

发明人： Rolando Rodarte ,  Justin Keenan ,  Marshall Wentworth

IPC分类号： A61B1/12 ,  C09D5/24 ,  C09D127/18 ,  C09D7/61

摘要： The present disclosure provides systems and methods for thermal management of an imaging device that is placed within a body of an individual during a medical procedure or a surgical procedure. In an aspect, the present disclosure provides an imaging device configured for use in a medical procedure or a surgical procedure while the imaging device is within a body of an individual undergoing the medical procedure or the surgical procedure. The imaging device may comprise a coating on at least a portion of an exterior of the imaging device, wherein the coating comprises a high thermal emissivity. The imaging device may comprise a set of thermal fins disposed on an exterior of the imaging device. The imaging device may comprise an endoscope.