Granted Patent B2

US 12,690,934 · App. 18/198,694 · Granted Jul 28, 2026

Inventors: Jiwon Choi (Houston, TX); Jeihan Lee (Houston, TX); Jinseok Noh (Houston, TX); Yangjae Kang (Houston, TX); Dongsuk Shin (Houston, TX)

Assignee: EndoQuest Robotics, Inc.

A61B34/37A61B34/70

Abstract

Claims (36)

1 . A patient console for a robotic surgical system, comprising:

a base;

a positioning assembly attached to the base and configured to position an instrument controller assembly;

the instrument controller assembly, attached to and supported by the positioning assembly; and

a remote control device operatively connected to the positioning assembly to control movement of one or more portions of the positioning assembly such that a user is capable of having a direct line-of-sight of a patient when using the control device,

wherein the positioning assembly comprises:

a vertical lift device configured to provide up and down motion along a vertical axis;

a pitch rotation device configured to provide a pitch rotation about a pitch axis orthogonal to the vertical axis;

a translation device configured to provide sliding translation along a translation axis; and

a roll rotation device to rotate about a roll axis to provide a roll to an instrument controller assembly, and

wherein an angle of the translation axis and the roll axis relative to horizontal is a function of the pitch rotation provided by the pitch rotation device.

2 . The patient console of claim 1 , wherein the remote control device is configured to be mounted to or is mounted to an exterior of a portion of the instrument controller assembly and/or the base.

3 . The patient console of claim 2 , wherein the remote control device is removeably mounted to the instrument controller assembly and/or the base.

4 . The patient console of claim 1 , wherein the remote control device is configured to be mounted to or is mounted to an overtube arm of the instrument controller assembly, wherein the overtube arm is configured to receive and/or support an overtube thereon.

5 . The patient console of claim 1 , wherein the remote control device includes a controller having one or more joysticks and/or one or more buttons adapted and configured to control movement of respective portions of the positioning assembly upon manipulation by a user.

6 . The patient console of claim 1 , wherein the remote control device is configured to control fewer than all controllable portions of the positioning assembly.

7 . The patient console of claim 1 , wherein the remote control device is wirelessly connected to the positioning assembly.

8 . The patient console of claim 1 , wherein the instrument controller assembly comprises a plurality of instrument controllers configured and adapted to engage and drive robotic surgical instruments, and to engage an overtube arm.

9 . The patient console of claim 8 , wherein the overtube arm is adapted to engage and maintain the overtube in a fixed position relative to the instrument controller assembly.

10 . The patient console of claim 8 , wherein the instrument controller assembly comprises an overtube controller adapted and configured to engage and mechanically steer a steerable portion of an overtube.

11 . A robotic surgical system, comprising:

a patient console, comprising:

a base;

a positioning assembly attached to the base and configured to position an instrument controller assembly;

a remote control device operatively connected to the positioning assembly to control movement of one or more portions of the positioning assembly prior to engagement of the instrument controller assembly with an overtube, such that a user is capable of having a direct line-of-sight of a patient when using the remote control device; and

a physician console operatively connected to the patient console, adapted and configured to control movement of one or more portions of the positioning assembly after engagement of the instrument controller assembly with the overtube,

wherein control of the positioning assembly by the surgeon console is limited to roll and linear translation portions thereof.

12 . The robotic surgical system of claim 11 , wherein the remote control device is configured to be mounted to or is mounted to an exterior of a portion of the instrument controller assembly and/or the base.

13 . The robotic surgical system of claim 11 , wherein the remote control device is configured to be mounted to or is mounted to an overtube arm of the instrument controller assembly, and wherein the overtube arm is configured to receive and/or support an overtube thereon.

14 . The robotic surgical system of claim 11 , wherein the remote control device is configured to control fewer than all controllable portions of the positioning assembly.

15 . The robotic surgical system of claim 11 , wherein the remote control device is wirelessly connected to the positioning assembly.

16 . A method of controlling a positioning assembly, comprising:

controlling movement of one or more portions of the positioning assembly attached to a base of a patient console using a remote control device operatively connected to the positioning assembly while maintaining a direct line-of-sight of a patient,

wherein controlling the movement of the one or more portions of the positioning assembly includes using the remote control device while the remote control device is mounted to an exterior of a portion of the instrument controller assembly and/or the base,

wherein controlling the movement of the one or more portions of the positioning assembly includes using the remote control device while the remote control device is mounted to an overtube arm of the instrument controller assembly which has an overtube thereon.

17 . The method of claim 16 , wherein controlling the movement of the one or more portions of the positioning assembly includes controlling fewer than all controllable portions of the positioning assembly.

Continuity (3)

References Cited (400)