Apparatus, system, and method for robotic microsurgery

摘要

A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device; and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.

主权项

1. A system for microsurgery comprising:
a first assembly and a second assembly, each including:
a planar remote center of motion device configured to constrain motion of a surgical instrument attached to the planar remote center of motion device such that an axis of the surgical instrument passes through a remote center of motion while remaining in a planar region defined based on a rotational orientation of the planar remote center of motion device; anda rotational device attached to the planar remote center of motion device and configured such that an axis of rotation of the rotational device passes through the remote center of motion, wherein the rotational orientation of the planar remote center of motion device is defined about the axis of rotation; wherein the first assembly and the second assembly are configured to be positioned such that the remote center of motion of the first assembly and the remote center of motion of the second assembly are maintained spatially separate, and a distance between the remote center of motion of the first assembly and the remote center of motion of the second assembly is no greater than two centimeters, wherein the first assembly is configured to be positioned adjacent to the second assembly such that at least a portion of the rotational device of the first assembly is offset from the axis of rotation of the rotational device of the first assembly, wherein:
the rotational device of the second assembly includes a motor having a diameter greater than the distance between the remote center of motion of the first assembly and the remote center of motion of the second assembly; andthe at least a portion of the rotational device of the first assembly includes a shaft, wherein the shaft is offset to accommodate the motor.