ROBOTIC DEVICES AND SYSTEMS FOR PERFORMING SINGLE INCISION PROCEDURES AND NATURAL ORIFICE TRANSLUMENAL ENDOSCOPIC SURGICAL PROCEDURES, AND METHODS OF CONFIGURING ROBOTIC DEVICES AND SYSTEMS

摘要

Example embodiments relate to surgical systems comprising an end-effector assembly and arm assembly. The end-effector assembly may include a first instrument assembly having a first instrument and first instrument driven portion configurable to be driven to move the first instrument relative to a first axis. The arm assembly may include first and second arm assembly bodies, first arm assembly joint portion for joining the first and second arm assembly bodies, first instrument drive assembly, and first arm assembly drive assembly. The first instrument drive assembly may include a first integrated motor and first instrument drive portion controllable by the first integrated motor to drive the first instrument driven portion. The first arm assembly drive assembly may include a second integrated motor and first arm assembly drive portion controllable by the second integrated motor to drive the first arm assembly body to move relative to the second arm assembly body.

主权项

1. A surgical system for use in performing natural orifice transluminal endoscopic surgery (NOTES), the surgical system comprising:
an end-effector assembly, the end-effector assembly having:
a first instrument assembly having:
a first instrument for performing a surgical action; anda first instrument driven portion configurable to be driven in such a way as to move the first instrument relative to a first axis; anda wrist assembly securable to the first instrument assembly, the wrist assembly having a wrist driven portion configurable to be driven in such a way as to move the first instrument relative to a second axis, the second axis being different from the first axis; a first arm assembly securable to the end-effector assembly, the first arm assembly having:
a first arm assembly body having a first end and a second end opposite to the first end;a first arm assembly joint portion for joining the first arm assembly to a second arm assembly, the first arm assembly joint portion secured to the first end of the first arm assembly body;a wrist connector portion provided at the second end of the first arm assembly body, the wrist connector portion configurable to secure to the wrist assembly;a first instrument drive assembly securely housed in the first arm assembly body, the first instrument drive assembly having at least a first integrated motor and a first instrument drive portion, wherein the first instrument drive portion is controllable by the first integrated motor to drive the first instrument driven portion when the wrist connector portion is secured to the wrist assembly;a wrist drive assembly securely housed in the first arm assembly body, the wrist drive assembly having at least a second integrated motor and a wrist drive portion, wherein the wrist drive portion is controllable by the second integrated motor to drive the wrist driven portion when the wrist connector portion is secured to the wrist assembly; anda first arm assembly drive assembly securely housed in the first arm assembly body, the first arm assembly drive assembly having at least a third integrated motor and a first arm assembly drive portion, wherein the first arm assembly drive portion is controllable by the third integrated motor to drive the first arm assembly body to move relative to the second arm assembly; and the second arm assembly.