Granted Patent B2

US 12,376,924 · App. 17/832,169 · Granted Aug 5, 2025

Inventors: Adam Sachs (Somerville, MA); Sammy Khalifa (Medford, MA); Barry Stuart Greene (Rockville, MD)

Assignee: Vicarious Surgical Inc.

A61B34/35A61B17/00234A61B17/2909A61B34/30A61B34/37A61B34/71A61B34/74A61B34/76A61B90/06A61B90/30A61B90/361A61B90/37B25J9/104B25J9/108G02B27/017G06T19/006H04N13/239A61B2017/00207A61B2017/00216A61B2017/00283A61B2017/00398A61B17/29A61B2017/2919A61B34/20A61B2034/301A61B2034/302A61B2034/306A61B2034/715A61B2034/741A61B2090/064A61B2090/306A61B2090/365A61B2090/367A61B2090/368A61B2090/371A61B2090/372A61B2090/502

Abstract

Claims (44)

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, each of the first robotic arm and the second robotic arm including a plurality of actuators that are mechanically coupled to each other, wherein one or more of the plurality of actuators includes:

a main intermediate body including:

an outwardly extending first connection component for connection to an adjacent first actuator or first component of the robotic arm; and

a pulley element configured to receive one or more actuation cables for actuating the actuator;

a male main housing including a first male housing component and a second male housing component with the first male housing component being coupled to a first side of the main intermediate body and the second male housing component being coupled to an opposite second side of the main intermediate body; and

a female main housing including a first female housing component and a second female housing component that are spaced apart so as to receive the male main housing, the first female housing component being coupled to an outer surface of the first male housing component and the second female housing component being coupled to an outer surface of the second male housing component;

wherein one or more of the main intermediate body and the male main housing are configured to have an arcuate, contoured shape defining a contoured pathway that enables a neutral axis of the one or more actuation cables when passed therethrough to remain at approximately a same length across an entire range of motion of the actuator.

2. The system of claim 1 , wherein the main intermediate body includes a first intermediate portion formed on the first side of the main intermediate body and a second intermediate portion formed on the second side of the main intermediate body, wherein each of the first intermediate portion and the second intermediate portion has an arcuate, contoured shape to form a contoured profile surface that defines at least a portion of the contoured pathway.

3. The system of claim 2 , wherein the contoured shape of the first intermediate portion and the second intermediate portion defining at least the portion of the contoured pathway enables the one or more actuation cables passed therethrough to change length less than about 10% across a range of about 110 degrees of motion.

4. The system of claim 2 , wherein each of the first male housing component and the second male housing component are configured to have a contoured profile shape that matches the contoured profile shape of the first intermediate portion and the second intermediate portion that defines at least the portion of the contoured pathway.

5. The system of claim 4 , wherein a shape of the contoured pathway enables a plurality of additional cables to pass therethrough.

6. The system of claim 1 , wherein the female main housing hingedly moves relative to the male main housing.

7. 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.

8. The system of claim 1 , wherein the first connection component of the main intermediate body comprises spaced apart first and second boss elements.

9. The system of claim 8 , wherein the main intermediate body also includes at least one string guide hole formed therein and disposed between the first and second boss elements.

10. The system of claim 9 , 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.

11. The system of claim 1 , wherein each of the first female housing component and the second female housing component have an outer surface configured as a bearing surface.

12. The system of claim 11 , wherein the bearing surface is a smooth surface.

13. The system of claim 12 , wherein the bearing surface comprises a plurality of bearings.

14. The system of claim 11 , wherein the outer surface of each of the first male housing component and the second male housing component is configured as a bearing surface.

15. The system of claim 1 , wherein the main intermediate body includes one or more apertures sized and configured to seat a set screw for securing the one or more actuation cables.

16. The system of claim 15 , wherein the one or more actuation cables are secured to the main intermediate body via the set screw.

17. The system of claim 1 , wherein each of the first male housing component and the second male housing component includes a pin element extending outwardly from the outer surface, wherein each of the first female housing component and the second female housing component has a corresponding pin aperture formed at one end thereof that is sized and configured for seating the pin element of a corresponding one of the first male housing component and the second male housing component, and wherein the pin element and the corresponding pin aperture form a hinge joint when coupled together.

18. The system of claim 1 , wherein each of the plurality of actuators are cable-driven actuators that mimic a movement of a human arm.

19. The system of claim 18 , wherein each of the plurality of actuators is free of a motor element.

20. 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, each of the first robotic arm and the second robotic arm including a plurality of actuators that are mechanically coupled to each other, wherein one or more of the plurality of actuators includes:

a main intermediate body including a pulley element configured to receive one or more actuations cables for actuating the actuator;

a male main housing coupled to the main intermediate body; and

a female main housing configured to receive the male main housing;

wherein each of the main intermediate body and the male main housing are configured to include a housing portion having an arcuate, contoured shape when viewed in a cross-section parallel to a longitudinal axis of the main intermediate body, the arcuate, contoured shape defining a contoured pathway that enables a neutral axis of the one or more actuation cables when passed therethrough to remain at approximately a same length across an entire range of motion of the actuator.

21. The system of claim 20 , wherein:

the main intermediate body also includes an outwardly extending first connection component for connection to an adjacent first actuator or first component of the robotic arm;

the male main housing includes 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 intermediate body and the second male housing component is coupled to an opposite second side of the main intermediate body; and

the female main housing includes 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.

22. The system of claim 21 , wherein the housing portion of the main intermediate body includes a first plurality of adjacent, spaced apart protrusions having a partially rounded contoured portion forming the contoured shape that defines, at least in part, the contoured pathway.

23. The system of claim 22 , wherein the housing portion of the male main body includes a second plurality of adjacent, spaced apart protrusions, formed on at least the first male housing component and having a partially rounded contoured portion forming the contoured shape that defines, at least in part, the contoured pathway, wherein the second plurality of protrusions are disposed on, and in registration with, the first plurality of protrusions.

24. The system of claim 23 , wherein the contoured shape of the contoured pathway enables a plurality of additional cables to pass therethrough.

25. The system of claim 22 , wherein the contoured shape of the first plurality of protrusions defining, at least in part, the contoured pathway enables the one or more actuation cables passed therethrough to change length less than about 10% across a range of about 110 degrees of motion.

26. The system of claim 25 , wherein each of the plurality of actuators is free of a motor element.

27. The system of claim 21 , wherein each of the plurality of actuators are cable-driven actuators that mimic a movement of a human arm.

Assignments (1)

Continuity (10)

References Cited (397)