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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 12083671 B1

PDFFull Text
Date of Patent:
Sep. 10, 2024

Filed:

Apr. 17, 2020

Robotic arms

Applicant:

Verb Surgical Inc., Santa Clara, CA (US);

Inventors:

Karen Shakespear Koenig, San Jose, CA (US);

Pablo E. Garcia Kilroy, Menlo Park, CA (US);

Assignee:

Verb Surgical Inc., Santa Clara, CA (US);

Attorney:

Aikin & Gallant, LLP

Primary Examiner:

Ashley L Fishback

Assistant Examiner:

Chima U Igboko

Int. Cl.
CPC ...
A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); B25J 9/10 (2006.01); B25J 13/02 (2006.01); B25J 15/00 (2006.01); B25J 17/02 (2006.01); B25J 18/04 (2006.01); G01L 1/14 (2006.01); G01L 3/14 (2006.01); G01L 5/22 (2006.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 1/313 (2006.01); B25J 13/08 (2006.01);
U.S. Cl.
CPC ...
B25J 18/04 (2013.01); A61B 1/00149 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 34/71 (2016.02); A61B 34/77 (2016.02); B25J 9/10 (2013.01); B25J 9/1045 (2013.01); B25J 13/02 (2013.01); B25J 15/0019 (2013.01); B25J 17/0283 (2013.01); G01L 1/14 (2013.01); G01L 3/14 (2013.01); G01L 5/226 (2013.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 1/3132 (2013.01); A61B 2034/715 (2016.02); B25J 13/085 (2013.01);
Abstract

A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

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