{
  "patent_number": "US 12414825",
  "country": "US",
  "title": "How a Surgical Robot Arm's Wrist Moves Instruments",
  "original_title": "Surgical arm",
  "summary": "This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools.",
  "what_it_does": "The patent describes a specialized \"terminal portion\" for a surgical robot arm, which is like the robot's wrist. This portion has three main parts: a \"distal segment\" that holds the surgical tool, an \"intermediate segment\" in the middle, and a \"basal segment\" that connects to the rest of the arm (Claim 1). It uses three articulations, or joints, to move the tool. A \"first articulation\" lets the tool rotate around its own axis (the \"first axis\") relative to the intermediate segment. A \"second articulation\" lets the intermediate segment rotate relative to the basal segment around a \"second axis.\" The \"intermediate segment\" itself contains a \"third articulation\" that allows the distal segment and the tool to rotate about \"third and fourth axes\" (Claim 1). The clever part is how these joints are arranged: in a straight position, the first and second axes line up, and the third and fourth axes cross each other and are perpendicular to the first axis (Claim 1). This allows the robot to precisely control the instrument's position and orientation. For example, a surgeon could use this arm to precisely rotate a scalpel while also angling it for a delicate cut, all through the coordinated movement of these three joints.",
  "what_it_does_not_cover": [
    "Robot arms where the surgical instrument is not detachably attached to a single connector on the distal segment.",
    "Surgical robot arms that do not have the specific arrangement of first, second, and third articulations as defined in Claim 1, especially regarding the collinearity and transverseness of the axes in a straight configuration.",
    "Robot arms where the intermediate segment does not contain a third articulation that allows rotation about third and fourth axes.",
    "Surgical robot arms where the connector for the instrument can articulate relative to the basal segment using more than just the first, second, and third articulations.",
    "Robot arms where the first and second axes are not collinear in a straight configuration of the terminal portion."
  ],
  "filed": "2021-12-06",
  "granted": "2025-09-16",
  "expires": "2041-12-06",
  "status": "active",
  "holder": "CMR Surgical",
  "holder_url": "https://patentbrief.org/company/cmr-surgical",
  "inventors": [
    {
      "name": "Steven James Randle",
      "url": "https://patentbrief.org/inventor/steven-james-randle"
    },
    {
      "name": "Luke David Ronald Hares",
      "url": "https://patentbrief.org/inventor/luke-david-ronald-hares"
    }
  ],
  "times_cited": 0,
  "tags": [
    "medical_devices",
    "robotics",
    "software",
    "mechanical"
  ],
  "abstract": "A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.",
  "url": "https://patentbrief.org/patent/us/12414825/surgical-arm",
  "markdown_url": "https://patentbrief.org/patent/us/12414825/surgical-arm/md",
  "google_patents_url": "https://patents.google.com/patent/US12414825",
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