Patent SG-11201805715X-A (SG)
Title: Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
Inventor: YEUNG CHUNG KWONG
IPC: A61B17/00
Filed: 2017-05-26
Abstract: INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property 1#111011110111010101111101 110 1 001111111101 OH OH MO HI 1111 0E111 Organization International Bureau (10) International Publication Number (43) International Publication Date ......0\"\"1 WO 2018/082294 Al 11 May 2018 (11.05.2018) WIPO I PCT (51) International Patent Classification: (71) Applicant: BIO-MEDICAL ENGINEERING (HK) A61B 17/00 (2006.01) LIMITED [CN/CN]; Units 401-404, Level 4, Core C, Cy- (21) International Application Number: berport 3, 100, Cyberport Road, Hong Kong (CN). PCT/CN2017/086202 (72) Inventors: YEUNG, Chung Kwong; Units 401-404, Lev- (22) International Filing Date: el 4, Core C, Cyberport 3, 100 Cyberport Road, Hong 26 May 2017 (26.05.2017) Kong (CN). LAM, Wing Fai; Units 401-404, Level 4, Core C, Cyberport 3, 100 Cyberport Road, Hong Kong (CN). (25) Filing Language: English CHENG, Wai Leung William; Units 401-404, Level 4, (26) Publication Language: English Core C, Cyberport 3, 100 Cyberport Road, Hong Kong (CN). (30) Priority Data: (74) Agent: BEIJING ARETE INTELLECTUAL PROPER- 15/340,660 01 November 2016 (01.11.2016) US TY AGENCY; Suite 1201, Building 3, Zhubang2000 Busi- 15/340,678 01 November 2016 (01.11.2016) US ness Center, No. 98 Ba Li Zhuang Xi Li, Chaoyang District, 15/340,699 01 November 2016 (01.11.2016) US Beijing 100025 (CN). 15/605,864 25 May 2017 (25.05.2017) US (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, (54) Title: ROBOTIC DEVICES AND SYSTEMS FOR PERFORMING SINGLE INCISION PROCEDURES AND NATURAL _ — ORIFICE TRANSLUMENAL ENDOSCOPIC SURGICAL PROCEDURES, AND METHODS OF CONFIGURING ROBOTIC DE- AND SYSTEMS = VICES = 231 230 fr = = 360 fe., 330a 1 \ _ . 4 7,„\" / 330b = _ = 1.111. 7 234 238 = 239 4 .- ' 11 .t, AP A SP ) „.. e.....-- .... __,, ,, - - ...-.- .. = = = .,..--- _______--- -- \" -- 330 -.41.0•0 0 236 FIG. 5C _______-----”— = __________--- ------ 340 1-1 7r C:N (57) : A surgical system (200) having an end-effector assembly (340), first and second arm assemblies (330,360), and an ei el elbow joint assembly (234). The end-effector assembly (340) includes an instrument assembly (237) and a wrist assembly (236). The GO instrument assembly (237) includes a first instrument (239,342,344). An first arm assembly (330) includes a body, first and second © instrument drive assemblies (332, 334), a wrist drive assembly (336), and a first arm drive assembly (339). The first instrument drive 0 .-- b - assembly (332) is configurable to move the first instrument (239,342,344) relative to a first axis(A). The wrist drive assembly (336) is 1-1 c:::: , configurable to move the instrument assembly (237) relative to a second axis (B). The first arm drive assembly (339) is configurable to N rotate the end-effector assembly (340) relative to a third axis (F). An elbow joint assembly (234) includes an elbow pitch joint portion O [Continued on next page] WO 2018/082294 Al 1111111111111111111010101111101111101111111111111011111111111111111111111110111111111111 AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3)) (350') configurable to be driven to move the first arm assembly (330) relative to a fourth axis( C'). The elbow joint assembly (234) also includes an elbow sway joint portion (350) configurable to be driven to move the first arm assembly (330) relative to a fifth axis (C).