Robotic arms of a surgical robotic system
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
1. A surgical robotic system, comprising
a camera assembly having a camera housing for mounting one or more camera elements; and
a robotic device having a first robotic arm and a second robotic arm, wherein each of the first robotic arm and the second robotic arm includes a plurality of actuators that are mechanically coupled to each other, wherein the plurality of actuators includes:
a first cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a first cable-driven hinged actuator operatively and hingedly coupled to the first rotational actuator and configured to provide hinged movement of the first hinged actuator relative to the first rotational actuator;
a second cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a second cable-driven hinged actuator operatively and hingedly coupled to the second rotational actuator and configured to provide hinged movement of the second hinged actuator relative to the second rotational actuator, the second cable-driven rotational actuator connects the first cable-driven hinged actuator and the second cable-driven hinged actuator;
a third cable-driven rotational actuator configured to provide rotational movement about a longitudinal axis thereof;
a third cable-driven hinged actuator operatively and hingedly coupled to the third rotational actuator and configured to provide hinged movement of the third hinged actuator relative to the third rotational actuator, the third cable-driven rotational actuator connects the second cable-driven hinged actuator and the third cable-driven hinged actuator; and
a surgical end effector coupled to the third hinged actuator;
wherein the plurality of actuators, in combination and when in use, form and mimic the movement of a human arm.
2. The system of claim 1 , further comprising a pan and tilt system coupled to the camera housing for providing at least two degrees of freedom of movement of the camera housing.
3. The system of claim 1 , wherein each of the plurality of actuators is free of a motor element.
4. The system of claim 1 , wherein the first rotational actuator and the first hinged actuator are coupled together to form and mimic a shoulder joint with two degrees of freedom.
5. The system of claim 4 , wherein the second rotational actuator and the second hinged actuator are coupled together to form and mimic an elbow joint.
6. The system of claim 5 , wherein the third rotational actuator and the third hinged actuator are coupled together to form and mimic a wrist joint.
7. The system of claim 1 , wherein at least one of the first, second, and third hinged actuators comprises
a main hinge body having:
outwardly extending and spaced apart boss elements forming a first connection component for connection to an adjacent first actuator or first component of the robotic arm, and
a pulley element configured to receive a cable for actuating the hinged actuator,
a male main housing having a first male housing component and a second male housing component, wherein the first male housing component is coupled to a first side of the main hinge body and the second male housing component is coupled to an opposed second side of the main hinge body, and
a female main housing having a first female housing component and a second female housing component that are spaced apart so as to receive the male main housing, wherein the first female housing component is coupled to an outer surface of the first male housing component and the second female housing component is coupled to an outer surface of the second male housing component,
wherein the female main housing hingedly moves relative to the male main housing.
8. The system of claim 7 , wherein the main hinge body includes at least one string guide hole formed therein and disposed between the first and second boss elements.
9. The system of claim 7 , wherein each of the first female housing component and the second female housing component includes a plurality of string guide holes formed at one end.
10. The system of claim 7 , wherein each of the first female housing component and the second female housing component have an outer surface configured as a bearing surface.
11. The system of claim 10 , wherein the bearing surface is a smooth surface.
12. The system of claim 10 , wherein the bearing surface comprises a plurality of ball bearings.
13. The system of claim 7 , wherein the main hinge body includes one or more apertures sized and configured to seat a set screw.
14. The system of claim 13 , further comprising two or more cables coupled to the pulley element for actuating the pulley element, wherein the two or more cables are secured to the main hinge body via the set screw.
15. The system of claim 7 , wherein the main hinge body includes an intermediate section having first and second intermediate portions formed on each side thereof having an arcuate, contoured shape to form a contoured profile surface that defines a contoured pathway.
16. The system of claim 15 , wherein the contoured shape of the first intermediate portion and the second intermediate portion defining the contoured pathway enables at least one cable passed therethrough to change length less than about 10% across a range of 110 degrees of hinged motion.
17. The system of claim 15 , wherein each of the first male housing component and the second male housing component are configured to have a contoured profile surface that matches the contoured profile surface of the first intermediate portion and the second intermediate portion.
18. The system of claim 7 , wherein each of the first male housing component and the second male housing component includes a pin element extending outwardly from the outer surface, and wherein each of the first female housing component and the second female housing component has a pin aperture formed at one end thereof that is sized and configured for seating the pin element, wherein the pin element and the pin aperture when coupled together form a hinge joint.
19. The system of claim 18 , wherein the outer surface of each of the first male housing component and the second male housing component is configured as a bearing surface.
20. The system of claim 7 , wherein the male main housing is coupled to the female main housing to form a hinge joint, further comprising an encoder for determining a position of the hinge joint.
21. The system of claim 1 , wherein at least one of the first, second, and third rotary actuators comprises
a rotary female body having:
an inner chamber, and
first and second outwardly extending and spaced apart first boss elements forming a first connection component at a first end of the rotary female body for connection to an adjacent first actuator or a first component of the robotic arm, and
a rotary male body sized and configured for seating within the inner chamber of the rotary female body, the rotary male body having:
first and second outwardly extending and spaced apart second boss elements forming a second connection component for connection to an adjacent second actuator or a second component of the robotic arm,
wherein the rotary male body is hollow forming a pass-through hole.
22. The system of claim 21 , wherein rotation of the rotary male body is constrained relative to the rotary female body.
23. The system of claim 22 , wherein the rotation is constrained by a bearing system.
24. The system of claim 23 , wherein the bearing system comprises a first bearing assembly and a second bearing assembly.
25. The system of claim 24 , wherein a diameter of the first bearing assembly is greater than a diameter of the second bearing assembly.
26. The system of claim 21 , further comprising a first bearing assembly and a second bearing assembly, wherein the first and second bearing assemblies are sized and configured for seating about an outer surface of the rotary male body.
27. The system of claim 26 , wherein the rotary female body has a second end opposite the first end, further comprising a first bearing race ring mounted about the outer surface of the rotary male body and disposed adjacent to the first bearing assembly, and
wherein an end face of the second end of the rotary female body and the first bearing race ring each include a first bearing race for seating a portion of the first bearing assembly.
28. The system of claim 27 , further comprising:
a second bearing race ring sized and configured for seating over the outer surface of the rotary male body and being axially separated from the first bearing race ring; and
a third bearing race ring sized and configured for seating over the outer surface of the rotary male body and being axially separated from the second bearing race ring;
wherein the second ball bearing assembly is disposed between the second bearing race ring and the third bearing race ring.
29. The system of claim 28 , wherein each of the second bearing race ring and the third bearing race ring have a second bearing race formed therein for seating a portion of the second bearing assembly.
30. The system of claim 29 , further comprising a nut element disposed adjacent to the third bearing race ring for axially compressing together the first bearing assembly, the second bearing assembly, the first bearing race ring, the second bearing race ring, and the third bearing race ring.
31. The system of claim 30 , wherein the third bearing race ring is a splined bearing race ring for mating with a spline formed on the outer surface of the rotary male body for preventing the splined bearing race ring from rotating relative to the rotary male body.
32. The system of claim 26 , wherein the rotary female body has a second end opposite the first end, and wherein an end face of the second end of the rotary female body and a portion of the rotary male body each have formed therein a first bearing race for seating a portion of the first bearing assembly.
33. The system of claim 21 , wherein the rotary female body has an outer surface and an opposed inner surface forming the inner chamber, wherein the outer surface has formed therein a first contoured pathway for seating a first actuation cable and a second contoured pathway for seating a second actuation cable.
34. The system of claim 33 , wherein the inner surface of the rotary female body has a plurality of axially separated pockets formed therein for seating the first and second actuation cables about the rotary male body.
35. The system of claim 34 , wherein the first actuation cable is coupled to the rotary male body to rotate the rotary male body in a first rotational direction, and wherein the second actuation cable is coupled to the rotary male body to rotate the rotary male body in a second rotational direction opposite to the first rotational direction.
36. The system of claim 35 , wherein each of the first actuation cable and the second actuation cable has a length, and wherein a change in the length of each of the first and second actuation cables is less than about 20% over a 360 degree movement of the actuator.
37. The system of claim 1 , wherein at least one of the first, second, and third hinged actuators comprises
a main hinge body having:
outwardly extending and spaced apart boss elements forming a first connection component, and
a pulley element configured to receive a cable for actuating the hinged actuator,
a male main housing having a first male housing component and a second male housing component, wherein the first male housing component is coupled to a first side of the main hinge body and the second male housing component is coupled to an opposed second side of the main hinge body, and
a female main housing having a first female housing component and a second female housing component that are spaced apart to receive the male main housing, wherein the first female housing component is coupled to an outer surface of the first male housing component and the second female housing component is coupled to an outer surface of the second male housing component,
wherein the female main housing hingedly moves relative to the male main housing, and
wherein at least one of the first, second, and third rotary actuators comprises a rotary female body having
an inner chamber, and
first and second outwardly extending and spaced apart first boss elements forming a second connection component at a first end of the rotary female body, and a
rotary male body sized and configured for seating within the inner chamber of the rotary female body, the rotary male body having:
first and second outwardly extending and spaced apart second boss elements forming a third connection component,
wherein the rotary male body is hollow forming a pass-through hole.