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blah blah blah
pre disassemble us!
you know where you have to go!
Clean clean!
Anyone who needs to know knows
I don't read between the lines! Why do you say this?
Or wondering if we can go alone? Do you have any doubts?
There is a toy ready and no money arrives! Crazy!
Money
But here for someone we are not worth but see who buys?
They can sell it to others as well and they can still sell the single space with all the patents!
If they want to compete with the big two better not be inferior!
For the price I guess we have you fucking crows to thank!
You may doubt that those who have bought so far with a short position pay them
a breath of fresh air!
too many farts lately
And Now
It's in the game!
I know I could lose it all and I put what I can lose, why shouldn't I have fun?
In this case I'd screw all the gain made with the first spin!
Let's see how the round closes, I'm patient but in the meantime I tease the others and I'm teased.
Honestly now pumping to get someone in and get them to catch 0.15 doesn't like me!
It's worth more to me!
In fact it would even be a little on the ass
I publish the patents for those who have them at a higher price like me!
After you've lost $1, what do you do, don't you leave them the last 0.15?
I am generous!
But if things don't go as they say the pleasure will be greater!
I bet on Vance, it takes balls to take charge of a titanic enterprise like this
Do you find this?
With what spirit do you fight? What man are you gonna be?
Morituri te salutant
Ora pro nobis!
We are at 0.15 in fact!
But I still believe that something can come of it!
“We remain open to all strategic options, including the sale of all or a portion of the Company’s assets, in the best interests of the Company. While we truly appreciate the impact of these changes on our stakeholders including our employees, our strategic review process has led us to believe that interest remains in the Company’s assets and some of its technology. We are implementing cost reductions in an effort to preserve cash while maintaining the value of the Company’s technology and other key assets in considering any further strategic alternatives,” said Cary Vance, President and CEO of Titan Medical.
Of the three arms it pisses me off that you see more on a partner's site than on the official one!
why only the video?
https://www.cambridge-design.com/news/cdp-advances-surgical-robotic-technology/
WE have too little information!
They may have done the theater house to show that we have to settle.
The proposal was made by TMDI and you need to understand what they proposed!
No one has accepted but it is written that there could be interest in the assets.
I think that's why they work
Remind me how many shares you have... 420?
azz not even a thank you!
https://www.ldmicro.com/profile/tmd.to/insiders
What do you think they will do with the shares? They are not even paper, which saves money on toilet paper!
A little hard true but purifying! Today you have nothing!
You can use the iPAD, you can rinse it under running water!
Can you see Jas Brar wiping his ass a million times with the IPAD?
I'll help you save other fools
How about this: maybe they're closing the patents just to avoid subpoenas from Covidien!
Then they shut everything down!
In the end it's just a big scam like most of what they quote on the stock exchange
More than an engineer
in 5 minutes I found these, there are probably others
Eric Espenhahn
Director of Software Engineering
Lee Carter
Sr. Manufacturing Engineer at Titan Medical
Patrick Wellborn
Mechanical Engineer at Titan Medical Inc.
Griffin Howell
Quality Engineer at Titan Medical
Aaron Zickefoose
Medical Device Professional - Engineering and Project Management
https://investorrelations.medtronic.com/events-presentations?item=57
Come on Martha, let us dream!
BOOM!
CAMERA POSITIONING METHOD AND APPARATUS FOR CAPTURING IMAGES DURING A MEDICAL PROCEDURE
DOCUMENT ID
US 20230157529 A1
DATE PUBLISHED
2023-05-25
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Andrews; Richard
North Attleboro
MA
N/A
US
Faria; Leonard M.
Swansea
MA
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
APPLICATION NO
18/100612
DATE FILED
2023-01-24
DOMESTIC PRIORITY (CONTINUITY DATA)
parent US continuation 16085152 20180914 parent-grant-document US 11576562 WO continuation PCT/CA2017/000078 20170404 child US 18100612
us-provisional-application US 62319426 20160407
US CLASS CURRENT:
600/141
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 1/01
2013-01-01
CPCI
A 61 B 1/06
2013-01-01
CPCI
A 61 B 1/0661
2013-01-01
CPCI
A 61 B 1/008
2013-01-01
CPCI
A 61 B 1/00096
2013-01-01
CPCI
A 61 B 1/05
2013-01-01
Abstract
A method and apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure is disclosed. The apparatus includes an insertion tube, a plurality of connected linkages extending from a distal end of the insertion tube, each linkage having a threaded actuator received on a threaded end of a drive shaft extending between the threaded actuator and a proximal end of the insertion tube. The apparatus also includes a camera disposed at a distal end of the plurality of connected linkages. Each connected linkage has at least one associated movement actuated by movement of the threaded actuator in response to rotation of the drive shaft, the associated movements of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.
Background/Summary
BACKGROUND
1. Field
[0001] This disclosure relates generally to positioning a camera for imaging and more particularly to positioning a camera inside a body cavity of a patient for capturing images during a medical procedure.
2. Description of Related Art
[0002] Miniaturized cameras are used during investigative medical procedures and surgical procedures such as laparoscopic surgery and computer assisted robotic surgery to produce images of a site of the procedure within a body cavity of the patient. The camera generally includes an illumination source for illuminating the site of the procedure.
SUMMARY
[0003] In accordance with one disclosed aspect there is provided an apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure. The apparatus includes an insertion tube, a plurality of connected linkages extending from a distal end of the insertion tube, each linkage having a threaded actuator received on a threaded end of a drive shaft extending between the threaded actuator and a proximal end of the insertion tube. The apparatus also includes a camera disposed at a distal end of the plurality of connected linkages. Each connected linkage has at least one associated movement actuated by movement of the threaded actuator in response to rotation of the drive shaft, the associated movements of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.
[0004] Each drive shaft may include a drive coupler at the proximal end of the drive shaft, the drive coupler operable to receive a drive torque for causing rotation of the drive shaft.
[0005] The drive couplers may be housed within a drive interface operably configured to removably couple to a driver unit, the driver unit being operable to provide the respective drive torques.
[0006] Each drive coupler may include a rotational coupler for transmitting torque to each drive shaft, the rotational coupler being operably configured to receive the proximal end of the drive shaft and to transmit the drive torque to the drive shaft while accommodating linear movement of the proximal end due to resulting movements of the camera.
[0007] The rotational coupler may include a tubular body for receiving the proximal end of drive shaft, the tubular body having a slotted portion that engages a pin extending through the proximal end of the drive shaft for coupling to the tubular body.
[0008] Each rotational coupler may include a moveable detent coupled to the proximal end of the drive shaft and operable to resiliently engage a fixed detent in the drive interface corresponding to a startup position for each of the proximal ends of the respective drive shafts, the startup positions of the drive shafts defining an insertion position of the camera.
[0009] The interface may be removably received on the drive unit, and wherein when received the moveable and fixed detents may be disengaged to permit movement of the camera away from the insertion position. Prior to removal of the interface, the drive unit is operably configured to place the camera in the insertion position causing the moveable and fixed detents to be aligned. When removed, the moveable and fixed detents are engaged to retain the rotational couplers in the startup position.
[0010] In the insertion position the camera may be positioned generally in line with a longitudinal axis extending outwardly from the insertion tube.
[0011] The plurality of connected linkages may include at least a panning linkage for producing side-to-side motion of the camera, an elevating linkage for moving the camera away from the longitudinal axis, and a tilt linkage for tilting the camera forward and backward with respect to the longitudinal axis.
[0012] The panning linkage may be connected to the distal end of the insertion tube, the elevating linkage is connected to the panning linkage and the tilt linkage is connected to the elevating linkage, and the camera may be attached to the tilt linkage.
[0013] At least one of the drive shafts may include a compliant portion facilitating bending of the shaft in response to movements of the camera while continuing to permit rotation of the at least one drive shaft.
[0014] Each linkage may include a revolute joint constrained to permit motion in a single degree of freedom corresponding to the associated movement of the linkage and the threaded actuator may be coupled to the linkage to cause motion about the revolute joint.
[0015] In accordance with another disclosed aspect there is provided a method for positioning a camera to capture images inside a body cavity of a patient during a medical procedure, the camera being disposed at a distal end of a plurality of connected linkages extending from a distal end of an insertion tube, each linkage having a threaded actuator received on a threaded end of a drive shaft extending between the threaded actuator and a proximal end of the insertion tub. The method involves selectively causing rotation of the respective drive shafts to cause movement of the respective threaded actuators, the movement of the respective threaded actuators causing associated movements of the connected linkages to positioning of the camera within the body cavity of the patient.
[0016] Selectively causing rotation of the respective drive shafts may involve causing the respective drive shafts to position the camera in an insertion position prior to removal from the body cavity of a patient.
[0017] Causing the respective drive shafts to position the camera in an insertion position may involve causing the camera to be positioned generally in line with a longitudinal axis of the insertion tube.
[0018] In accordance with another disclosed aspect there is provided an apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure. The apparatus includes an articulated arm includes a plurality of connected moveable linkages, a camera disposed at a distal end of the plurality of connected linkages, the camera including a camera housing enclosing image capture optics, an image sensor, and image capture electronic circuitry operable to produce image data representing images captured by the image sensor, and data transmission electrical circuitry operable to generate and transmit data signals encoding the image data to a host system, the data transmission electrical circuitry being housed within in one of the moveable linkages and coupled to the image capture electronic circuitry via a flexible interconnect.
[0019] Other aspects and features will become apparent to those ordinarily skilled in the art upon review of the following description of specific disclosed embodiments in conjunction with the accompanying figures.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In drawings which illustrate disclosed embodiments,
[0021] FIG. 1 is a perspective view of a robotic surgical apparatus;
[0022] FIG. 2 is a perspective view of a drive unit and camera of the robotic surgical apparatus shown in FIG. 1;
[0023] FIG. 3 is a perspective view of an insertion tube, linkages, and the camera shown in FIG. 2;
[0024] FIG. 4 is a further enlarged perspective view of the linkages and camera shown in FIG. 3;
[0025] FIG. 5 is a rear perspective view of the linkages and camera in a deployed state;
[0026] FIG. 6 is a rear perspective view of a drive interface shown in FIG. 3; and
[0027] FIG. 7 is a front perspective view of the linkages and camera in a deployed state.
DETAILED DESCRIPTION
[0028] Referring to FIG. 1, a robotic surgical apparatus is shown generally at 100. The surgical apparatus 100 includes a cart 102 that supports an articulated boom 104 that carries a drive unit 106 having a camera 108 mounted on the drive unit. The cart 102 may be wheeled up to a patient (not shown) and the articulated boom 104 deployed to maneuver the drive unit 106 and camera 108 into a location for accessing a body cavity of the patient and positioning a camera to capture images inside the body cavity of a patient during a medical procedure. The surgical apparatus 100 may be controlled by a workstation console (not shown) connected to the surgical apparatus via a cable 110 that carries signals for controlling the drive unit 106 and camera 108.
[0029] Referring to FIG. 2, the drive unit 106 and camera 108 are shown in front view. The camera 108 is mounted at a distal end of a plurality of connected linkages 120 extending from a distal end 122 of an insertion tube 124. The insertion tube 124 extends outwardly from a drive interface 126 that is removably received on the drive unit 106.
[0030] The camera 108, insertion tube 124, and drive interface 126 are shown in greater detail in FIG. 3. Referring to FIG. 3, in the embodiment shown the plurality of connected linkages 120 include a panning linkage 130, an elevating linkage 132, and a tilt linkage 134. The panning linkage 130 is connected by a revolute joint 136 to the distal end 122 of the insertion tube 124, which constrains the panning linkage to side-to-side motion in the direction indicated by the arrow 138. The elevating linkage 132 is connected to the panning linkage 130 by a revolute joint 140, which constrains the linkage to movement away from a longitudinal axis 142 in the direction indicated by the arrow 144. The tilt linkage 134 is connected to the elevating linkage 132 by a revolute joint 148, which constrains the linkage to movement for tilting the camera 108 forward and backward with respect to the longitudinal axis 142 in the direction indicated by the arrow 150.
[0031] In the embodiment shown the panning linkage 130 is thus connected to the distal end 122 of the insertion tube 124, the elevating linkage 132 is connected to the panning linkage 130 and the tilt linkage 134 is connected to the elevating linkage 132. The camera 108 is disposed at a distal end of the plurality of connected linkages 120, in this case connected to the tilt linkage 134. In other embodiments the plurality of connected linkages 120 may be otherwise arranged and one or more of the linkages may be omitted.
[0032] The connected linkages 120 are shown in enlarged detail in FIG. 4 with a distal cap 152 (shown in FIG. 3) on the insertion tube 124 removed. Referring to FIG. 4, the panning linkage 130 has a threaded actuator 180 received on a threaded end 182 of a drive shaft 184. The elevating linkage 132 has a threaded actuator 188 received on a threaded end 190 of a drive shaft 192. The tilt linkage 134 has a threaded actuator 194 received on a threaded end 196 of a drive shaft 198. Each of the drive shafts 184, 192 and 198 extend between the respective threaded actuators 180, 188, and 194 and a proximal end 186 (shown in FIG. 3) of the insertion tube 124. The drive shafts 184, 192 and 198 are routed through respective bores 170, 172, and 174 extending through the insertion tube 124 (only shown in part in FIG. 4). The bores 170, 172, and 174 are sized and configured such that each drive shaft 184, 192 and 198 is freely rotatable within the bores as indicated by the arrows shown in FIG. 4.
[0033] Each connected linkage 120 thus has at least one associated movement actuated by movement of the respective threaded actuators 180, 188, and 194 in response to rotation of the respective drive shafts 184, 192 and 198. The associated movements of the connected linkages 120 are together operable to facilitate positioning of the camera 108 within the body cavity of the patient. For example, rotation of the shaft 184 causes the threaded actuator 180 to move either forwardly or rearwardly in a direction aligned with the longitudinal axis 142 causing the panning linkage 130 to pan about the revolute joint 136 moving the camera 108 from side to side. In the embodiment shown, each of the linkages 120 thus includes a revolute joint (136, 140, 148) constrained to permit motion in a single degree of freedom corresponding to the associated movement of the linkage and a threaded actuator (180, 188, and 194) coupled to the linkage to cause motion about the revolute joint.
[0034] Referring to FIG. 5, the camera 108 is shown in rear view in a deployed state with the drive shafts 184, 192 and 198 omitted for clarity. The threaded actuator 180 terminates in a ball and socket joint 200 on the rear of the panning linkage 130 which facilitates pivoting at the joint during movement. Similarly the threaded actuator 188 terminates in a ball and socket joint 202 on a strut 204 of the elevating linkage 132. A proximal end threaded actuator 188 is received in a hinged block 206 and rotation of the drive shaft 192 causes the elevating linkage 132 to raise or lower with respect to the longitudinal axis 142. Finally, the threaded actuator 194 is mounted in a first swivel block 208 on the elevating linkage 132 and has a distal end that is clamped to a second swivel block on the tilt linkage 134. Rotation of the drive shaft 198 causes the camera 108 to tilt up or down about the revolute joint 148.
[0035] When the drive shafts 184, 192 and 198 are rotated to cause the camera 108 to be deployed, the linkages 120 are displaced from the longitudinal axis 142 causing portions of the drive shafts 192 and 198 running through the panning linkage 130 and elevating linkage 132 to be bent through an angle. The drive shafts 192 and 198 thus have at least a compliant portion within the linkages to facilitating bending of the shaft in response to movements of the camera 108. The compliant portion permits the drive shaft 192 and 198 to be bent through the necessary angle while continuing to permit rotation of the drive shafts for actuating the respective linkages. In some embodiments the drive shafts may be fabricated entirely from a compliant material, while in other embodiments the drive shafts may have some rigid portions and some compliant portions. In one embodiment at least a portion of drive shafts may be fabricated from a hollow stainless steel tube.
[0036] Referring back to FIG. 3, the camera 108 and plurality of connected linkages 120 are generally aligned along the longitudinal axis 142 extending outwardly from the insertion tube, which may define an insertion position for inserting the camera 108, linkages 120 and insertion tube 124 into the body cavity of the patient. Once inserted the drive shafts 184, 192 and 198 may be rotated to deploy the camera 108 as shown in FIG. 5. Referring to FIGS. 3 and 4, in the embodiment shown the insertion tube 124 includes at least one bore 154 for receiving an instrument for performing surgical operations within the body cavity of the patient. The instrument may be a dexterous surgical instrument such as described in commonly owned PCT Patent Application PCT/CA2013/001076 entitled ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME and PCT Patent Application PCT/CA2015/000098 entitled ACTUATOR AND DRIVE FOR MANIPULATING A TOOL, both of which are incorporated herein in their entirety.
[0037] Referring back to FIG. 3, the drive interface 126 includes a housing 158 having a front cover 160 and a rear cover 162. Referring to FIG. 6, the drive interface 126 is shown with the front cover 160 omitted and the rear cover 162 removed to reveal the drive components. The drive shafts 184, 192 and 198 are routed back through the respective bores 172, 174, and 176 in the insertion tube 124 and are bent upwardly within the housing 158 and have proximal ends 260, 262, and 264 that terminate in respective drive couplers 266, 268, and 270. The drive couplers 266, 268, and 270 are identical and the drive coupler 270 will be further described herein. The drive coupler 270 includes a bevel gear assembly 272 that receives a drive torque from the drive unit 106 (shown in FIG. 2) at a drive hub 274 when the drive interface 126 is engaged on the drive unit. The bevel gear assembly 272 rotates in the direction indicated by the arrow and the rotating motion is coupled through the gears via a shaft 276 to a rotational coupler 278. The rotational coupler 278 is generally operable to receive the proximal end 264 of the drive shaft 198 and to transmit the drive torque to the drive shaft while accommodating linear movement of the proximal end due to resulting movements of the camera 108. When the plurality of connected linkages 120 move, the drive shafts 184, 192 and 198 extend or retract with the motion, which must be accommodated. In the embodiment shown, the rotational coupler 278 has a tubular body 280 for receiving the proximal end 264 of drive shaft 198. The tubular body 280 has a slotted portion 282 that engages a pin 284 extending through the proximal end of the drive shaft for coupling to the tubular body. The pin 284 couples the rotational torque to the proximal end 264 of the drive shaft 198 while permitting the proximal end and pin to slide within the slotted portion 282 of the tubular body 280, thus accommodating extension or retraction of the drive shaft.
[0038] In the embodiment shown the drive coupler 270 also includes a moveable detent mechanism 290, which is coupled to move with the proximal end 264 of the drive shaft 198. The moveable detent 290 has a pin 292 operable to resiliently engage a rear side of a fixed detent plate 294 on the rear cover 162. The fixed detent plate 294 has an opening 296 sized to accommodate a head of the pin 292, the opening being positioned to define a startup position for the proximal end 264 of the drive shaft 198 that places the camera 108 in the insertion position aligned with the longitudinal axis 142, as shown in FIG. 3. In one embodiment, the drive interface 126 is removably received on the drive unit 106 and when received, the pin 292 on the moveable detent mechanism 290 is disengaged to permit movement of the camera 108 away from the insertion position. Prior to removal of the interface 126 from the drive unit 106, the drive unit is operably configured to return the camera 108 to the insertion position causing the pin 292 and the opening 296 on the fixed detent plate 294 to be aligned but not yet engaged. When the drive interface 126 is removed from the drive unit 106, the pin 292 and the opening 296 engage and retain the rotational coupler 278 in the startup position. The drive couplers 266 and 268 have similar moveable and fixed detent mechanisms that operate in the same way. Advantageously, the detent mechanism locks the drive interface 126 in the insertion position when not received on the drive unit 106 preventing movement of the drive hub 274 and other drive hubs which would at least partially deploy the camera 108. The plurality of connected linkages 120 and camera 108 thus remain in the insertion position while being cleaned and sterilized, and when re-used will be in a known orientation.
[0039] The camera 108 shown in the above embodiments will general be miniaturized to improve access to the body cavity of the patient and to reduce the size of incision needed to provide access for the camera in surgical procedures. In some embodiments, the camera may include one or more high definition image sensors (not shown), where a pair of image sensors are capable of producing stereoscopic 3D views within the body cavity. The image sensors include sensor electronic circuitry that generates image data representing the captured images. The captured image data must be transmitted back to the drive unit 106, which requires additional data transmission circuitry. The image capture electronic circuitry and data transmission electrical circuitry may generate significant heat within the housing of the camera 108. Referring to FIG. 7, in one embodiment the camera 108 houses the image sensors and image capture electronic circuitry. A data transmission printed circuit board 300 carries the data transmission electrical circuitry and is housed within the elevating linkage 132. The image capture electronic circuitry and data transmission electrical circuitry may be coupled via a flexible interconnect (not shown) that permits the 108 to be tilted by the tilt linkage 134. Advantageously, the separation of electrical circuitry places a significant source of heat in the linkage away from the housing of the camera 108, thus spreading the heat load over a larger area.
[0040] In accordance with another disclosed aspect there is provided an apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure. The apparatus includes an articulated arm that includes a plurality of connected moveable linkages, a camera disposed at a distal end of the plurality of connected linkages, the camera including a camera housing enclosing image capture optics, an image sensor, and image capture electronic circuitry operable to produce image data representing images captured by the image sensor, and data transmission electrical circuitry operable to generate and transmit data signals encoding the image data to a host system, the data transmission electrical circuitry being housed within in one of the moveable linkages and coupled to the image capture electronic circuitry via a flexible interconnect.
[0041] While specific embodiments have been described and illustrated, such embodiments should be considered illustrative of the invention only and not as limiting the invention as construed in accordance with the accompanying claims.
Claims
1. (canceled)
2. An apparatus for positioning a camera to capture a plurality of images inside a body cavity of a patient during a medical procedure, the apparatus comprising: an insertion tube; a plurality of connected linkages extending from a distal end of the insertion tube, the plurality of connected linkages including: a first linkage connected to a distal end of the insertion tube; a second linkage connected to the first linkage; and a third linkage connected to the second linkage, a camera disposed at a distal end of the third linkage of the plurality of connected linkages, wherein the camera includes image sensors and image capture electronic circuitry housed within the third linkage; and a data transmission printed circuit board housed within the second linkage of the plurality of connected linkages, wherein the data transmission printed circuit board is separated from the image sensors and the image capture electronic circuitry of the camera, wherein each linkage of the plurality of connected linkages is configured to move in response to being actuated by movement of a threaded actuator in response to rotation of a respective drive shaft of each of the first linkage, second linkage and third linkage, the associated movements of each linkage of the plurality of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.
3. The apparatus of claim 2, further comprising: a plurality of drive shafts extending proximally through the insertion tube, the plurality of drive shafts including: a first drive shaft configured to actuate a panning movement of the camera; a second drive shaft configured to actuate an elevating movement of the camera; and a third drive shaft configured to actuate a tilting movement of the camera.
4. The apparatus of claim 3, wherein each drive shaft of the plurality of drive shafts includes a drive coupler at a proximal end of the drive shaft, the drive coupler operable to receive a drive torque for causing rotation of the drive shaft.
5. The apparatus of claim 4, wherein the drive couplers of the plurality of drive shafts are housed within a drive interface operably configured to removably couple to a driver unit, the driver unit being operable to provide the respective drive torques.
6. The apparatus of claim 5, wherein each drive coupler includes a rotational coupler configured to transmit torque to each drive shaft of the plurality of drive shafts, the rotational coupler being operably configured to receive the proximal end of the drive shaft and to transmit the drive torque to the drive shaft while accommodating linear movement of the proximal end of the drive shaft due to resulting movements of the camera.
7. The apparatus of claim 6, wherein at least one rotational coupler includes a tubular body for receiving the proximal end of drive shaft, the tubular body including a slotted portion that engages a pin extending through the proximal end of the drive shaft, the pin configured to couple to the tubular body.
8. The apparatus of claim 6, wherein each rotational coupler includes a moveable detent coupled to the proximal end of the drive shaft and operable to resiliently engage a fixed detent in the drive interface corresponding to a startup position for each of the proximal ends of the respective drive shafts, the startup positions of the drive shafts defining an insertion position of the camera.
9. The apparatus of claim 8, wherein the drive interface is configured to be removably received on a drive unit, and wherein: when received, the moveable and fixed detents are disengaged to permit movement of the camera away from the insertion position; prior to removal of the drive interface, the drive unit is operably configured to place the camera in the insertion position causing the moveable and fixed detents to be aligned; and when removed, the moveable and fixed detents are engaged to retain the rotational couplers in the startup position.
10. The apparatus of claim 8, wherein in the insertion position the camera is positioned generally in line with a longitudinal axis extending outwardly from the insertion tube.
11. The apparatus of claim 10, wherein: the first linkage of the plurality of linkages is a panning linkage configured to produce side-to-side motion of the camera; the second linkage of the plurality of linkages is an elevating linkage configured to move the camera away from the longitudinal axis; and the third linkage of the plurality of linkages is a tilt linkage configured to tilt the camera forward and backward with respect to the longitudinal axis extending outwardly from the insertion tube.
12. The apparatus of claim 3, wherein each drive shaft of the plurality of drive shafts includes a compliant portion configured to facilitate bending of the drive shaft in response to movements of the camera while continuing to permit rotation of the drive shaft.
13. The apparatus of claim 2, wherein at least one linkage of the plurality of connected linkages includes a revolute joint constrained to permit motion in a single degree of freedom corresponding to the associated movement of the connected linkage, and wherein the threaded actuator is coupled to the connected linkage to cause motion about the revolute joint.
14. The apparatus of claim 3, wherein: each of the plurality of connected linkages including a threaded actuator received on a threaded end of a respective drive shaft of the plurality of drive shafts, wherein the respective drive shaft of the plurality of drive shafts extends between the threaded actuator and a proximal end of the insertion tube, wherein at least one of the threaded actuators is located distal of at least one linkage of the plurality of connected linkages, wherein the threaded actuators include: a first threaded actuator received on a threaded end of the first drive shaft such that rotation of the first threaded drive shaft actuates the first threaded actuator to actuate the first linkage of the plurality of linkages to actuate the panning movement of the camera; a second threaded actuator received on a threaded end of the second drive shaft such that rotation of the second threaded drive shaft actuates the second threaded actuator to actuate the second linkage of the plurality of linkages to actuate the elevating movement of the camera, wherein the second threaded actuator is located distal of the first threaded actuator; and a third threaded actuator received on a threaded end of the third drive shaft such that rotation of the third threaded drive shaft actuates the third threaded actuator to actuate the third linkage of the plurality of linkages to actuate the tilting movement of the camera, wherein the third threaded actuator is located distal of the second threaded actuator.
15. A method for positioning a camera to capture images inside a body cavity of a patient during a medical procedure, the camera being disposed at a distal end of a plurality of connected linkages extending from a distal end of an insertion tube, the plurality of connected linkages including: a first linkage connected to the distal end of the insertion tube; a second linkage connected to the first linkage and having a data transmission printed circuit board housed therein; and a third linkage connected to the second linkage and having: image sensors and image capture electronic circuitry housed therein; and the camera disposed at a distal end thereof, each of the first, second and third linkages including a threaded actuator received on a threaded end of a respective drive shaft extending between the threaded actuator and a proximal end of the insertion tube, the method comprising: selectively rotating the respective drive shaft associated with at least one linkage of the plurality of connected linkages to cause movement of the threaded actuator on the respective drive shaft, the movement of the threaded actuator causing associated movement of the at least one linkage of the plurality of connected linkages to change a position the camera within the body cavity of the patient.
16. The method of claim 15, wherein: selectively rotating the drive shaft associated with the first linkage results in a panning movement of the camera; selectively rotating the drive shaft associated with the second linkage results in an elevating movement of the camera; and selectively rotating the drive shaft associated with the third linkage results in a tilting movement of the camera.
17. The method of claim 16, wherein selective rotation of at least one of the respective drive shafts positions the camera in an insertion position prior to removal from the body cavity of a patient.
18. The method of claim 17, wherein positioning the camera aligns the camera with a longitudinal axis of the insertion tube.
19. The method of claim 15, further comprising: spreading a heat load of the camera between: the image sensors and image capture circuitry of the camera; and the data transmission circuit board.
20. An apparatus for positioning a camera to capture a plurality of images inside a body cavity of a patient during a medical procedure, the apparatus comprising: an insertion tube; a plurality of connected linkages extending from a distal end of the insertion tube; a camera disposed at a distal end of a distal-most linkage of the plurality of connected linkages, wherein the camera includes image sensors and image capture electronic circuitry housed within the distal-most linkage; and a data transmission printed circuit board housed within a linkage of the plurality of connected linkages which is proximal of the distal-most linkage, wherein the data transmission printed circuit board is separated from the image sensors and the image capture electronic circuitry of the camera; wherein at least some of the plurality of connected linkages are configured to move in response to being actuated by movement of a threaded actuator in response to rotation of a respective drive shaft, the associated movements of the at least some of the plurality of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.
21. The apparatus of claim 20, wherein at least some of the plurality of connected linkages including a threaded actuator received on a threaded end of a respective drive shaft of a plurality of drive shafts, wherein the respective drive shaft of the plurality of drive shafts extend between the threaded actuator and a proximal end of the insertion tube, wherein at least one of the threaded actuators is located distal of at least one of the plurality of connected linkages.
22. The apparatus of claim 21, wherein each drive shaft of the plurality of drive shafts includes a drive coupler at a proximal end of the drive shaft, the drive coupler operable to receive a drive torque for causing rotation of the drive shaft.
23. The apparatus of claim 22, wherein the plurality of connected linkages comprises at least: a panning linkage configured to produce side-to-side motion of the camera; an elevating linkage configured to move the camera away from the longitudinal axis; and a tilt linkage configured to tilt the camera forward and backward with respect to a longitudinal axis extending outwardly from the insertion tube.
24. The apparatus of claim 23, wherein the panning linkage is connected to the distal end of the insertion tube, the elevating linkage is connected to the panning linkage, and the tilt linkage is connected to the elevating linkage, and wherein the camera is connected to the tilt linkage.
25. The apparatus of claim 20, wherein at least some of the plurality of connected linkages comprise a revolute joint constrained to permit motion in a single degree of freedom corresponding to the associated movement of the connected linkage, and wherein the threaded actuator is coupled to the connected linkage to cause motion about the revolute joint.
There are those who manage to make a paradise out of hell! Reality is a thought
Maybe he's not even physically doing it.
Just to avoid making a mistake, it's easy for you to get help, at those levels!
probably the moment of the change was photographed. After Geo's report I checked and saw present.
I was lucky and didn't bother, sorry I didn't report it sooner
The opportunity to exit above 1 has been given!
If you have chosen to see keep your cool!
If I were MDT I would like to dominate the single space and if what was given turns out to be good, so I think it's possible to tip!
Let's hope we're not the first to be screwed by MDT
Ciao Tina!
Forgive me if you find it off topic!
No Cary is present part time but he is present!
they still pay salaries, we don't know how much money they have but they didn't spend anything to make the first 10 Enos, they spent to design Enos 2!
IMO Cary has bet on innovation instead of IDE!
He knew the market wanted something and he did it!
Can't wait to figure out who the market is!
Why?
I sell ok
I'm satisfy!
then you wonder if there is a logic?
Thank you
BOOM BOOM BOOM!
Camera Positioning System, Method, And Apparatus For Capturing Images During A Medical Procedure
DOCUMENT ID
US 11653818 B2
DATE PUBLISHED
2023-05-23
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Genova; Perry A.
Chapel Hill
NC
N/A
US
Pflaumer; Hans Christian
Apex
NC
N/A
US
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
Katz; Allan
Farmingdale
NY
N/A
US
Espinosa; Alejandro
Miramar
FL
N/A
US
Ampuero; Eduardo A.
Miramar
FL
N/A
US
Couri; Duane
Miramar
FL
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
TITAN MEDICAL INC.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/484163
DATE FILED
2021-09-24
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 16435170 20190607 US 11154180 child-doc US 17484163
continuation parent-doc US 16156625 20181010 US 10398287 20190903 child-doc US 16435170
US CLASS CURRENT:
600/249,600/104,600/139
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 1/00142
2013-01-01
CPCI
A 61 B 1/00066
2013-01-01
CPCI
A 61 B 1/00128
2013-01-01
CPCI
A 61 B 1/0052
2013-01-01
CPCI
A 61 B 1/00154
2013-01-01
CPCI
A 61 B 1/00121
2013-01-01
CPCI
A 61 B 1/06
2013-01-01
CPCI
A 61 B 1/00193
2013-01-01
CPCI
A 61 B 1/00071
2013-01-01
CPCI
A 61 B 1/0051
2013-01-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 1/0016
2013-01-01
CPCI
A 61 B 1/05
2013-01-01
CPCI
A 61 B 1/00105
2013-01-01
CPCI
A 61 B 1/00112
2013-01-01
CPCI
A 61 B 1/00133
2013-01-01
CPCI
A 61 B 1/00135
2013-01-01
CPCA
A 61 B 1/00181
2013-01-01
CPCA
A 61 B 1/00149
2013-01-01
CPCA
A 61 B 1/07
2013-01-01
CPCA
A 61 B 1/00177
2013-01-01
CPCA
A 61 B 34/71
2016-02-01
CPCA
A 61 B 2090/306
2016-02-01
CPCA
A 61 B 1/053
2013-01-01
CPCA
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2013-01-01
CPCA
A 61 B 2090/371
2016-02-01
CPCA
A 61 B 2090/309
2016-02-01
CPCA
A 61 B 1/0684
2013-01-01
CPCA
A 61 B 1/0057
2013-01-01
Abstract
A visualization device for a robotic surgery apparatus includes a housing configured to be removably attached to a mounting interface of the apparatus and be positioned adjacent an insertion device of the apparatus. The housing includes first and second openings positioned on an exterior of the housing. The housing includes a substantially flexible camera tube with a first end attached to the housing and a second end including at least one camera. The second end is inserted through the first opening in the housing, pass through interior of the housing, and exit the housing through the second opening in the housing. The second end extends away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing. The camera tube forms a loop around a portion of the housing.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
(1) This application is a continuation of U.S. patent application Ser. No. 16/435,170, filed Jun. 7, 2019, which is a continuation of U.S. patent application Ser. No. 16/156,625 now U.S. Pat. No. 10,398,287), filed on Oct. 10, 2018, entitled “CAMERA POSITIONING SYSTEM, METHOD, AND APPARATUS FOR CAPTURING IMAGES DURING A MEDICAL PROCEDURE,” the disclosure of each of which is hereby incorporated by reference in its entirety.
TECHNICAL FIELD
(1) This disclosure relates generally to positioning a camera for imaging and more particularly to positioning a camera inside a body cavity of a patient for capturing images during a medical procedure.
DESCRIPTION OF RELATED ART
(2) Miniaturized cameras are used during investigative medical procedures and surgical procedures, such as laparoscopic surgery and computer assisted robotic surgery, to produce images of a site of the procedure within a body cavity of the patient. A camera generally includes an illumination source for illuminating the site of the procedure and a lens for capturing images of the site. Known camera systems suffer from a variety of shortcomings, including large size, poor resolution, obstacles with being sterilized, lack of reliability, difficulties with being replaced during medical procedure, and the like. The present disclosure overcomes these and other problems associated with known camera systems, methods, and apparatuses.
SUMMARY
(3) In some cases, a visualization device for a single port robotic surgery apparatus can include a housing configured to be positioned adjacent an insertion device of the robotic surgery apparatus and be attached to a mounting interface of the robotic surgery apparatus, the housing including an interior portion and a plurality of openings, at least some of the plurality of openings positioned on an exterior surface of the housing. The visualization device can also include a camera tube including a first end attached to the housing and a second end including at least one camera, the second end configured to be inserted through a first opening of the plurality of openings in the housing, pass through the interior portion of the housing, extend outside the housing through a second opening of the plurality of openings in the housing, and enter a channel in the insertion device, the insertion of the second end causing the camera tube to form a loop. The visualization device can also include a drive opening in the housing configured to receive a plurality of rollers configured to abut a portion of the camera tube that passes through the drive opening when the second end is inserted through the first opening, the plurality of rollers configured to move the portion of the camera tube through the drive opening and cause the second end of the camera tube to extend away from the housing through the second opening or retract back toward or inside the housing when the second end is inserted through the first opening.
(4) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. The plurality of rollers can be configured to be rotated in first and second directions by a plurality of pins positioned on the exterior of the mounting interface of the robotic surgery apparatus, the plurality of pins can be configured to be actuated by at least one motor of the robotic surgery apparatus, the second direction opposite the first direction. Rotation of the plurality of rollers in the first direction can cause the second end of the camera tube to extend away from the housing through the second opening. Rotation of the plurality of rollers in the second direction can cause the second end of the camera tube to retract back toward or inside the housing.
(5) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. The device can include a plurality of openings positioned on the exterior of the housing and configured to removably receive a plurality of supporting pins attached to the mounting interface of the robotic surgery apparatus. Rotation of the plurality of rollers can cause a diameter of the loop formed by the camera tube to change. Rotation of the plurality of rollers in the first direction can cause the diameter of the loop to decrease and rotation of the plurality of rollers in the second direction can cause the diameter of the loop to increase.
(6) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. The camera tube can be substantially flexible, the second end can include an articulating portion terminating in a face including the at least one camera, the articulating portion can be configured to cause at least one of a pan or tilt of the face including the at least one camera, and the articulating portion can be substantially rigid to generally maintain orientation of the face including the at least one camera in a plane parallel to a plane of the channel of the insertion device when the articulating portion of the second end is passed through and exits the channel.
(7) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. The visualization device can include at least one actuator positioned on the exterior of the housing and configured to be actuated by at least one motor of the robotic surgery apparatus when the housing is attached to the mounting interface of the robotic surgery apparatus, the at least one actuator configured to change a shape of the articulating portion to cause at least one of the pan or tilt of the face including the at least one camera. A change of the shape can include forming at least one bend in the articulating portion. The camera tube can enclose a plurality of links configured to be pushed or pulled to change the shape of the articulating portion to cause at least one of the pan or tilt of the face including the at least one camera, and actuation of the at least one actuator can cause at least one cable of the plurality of cables to be pushed or pulled.
(8) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. At least one camera can include two cameras configured to provide a stereoscopic image of a region of interest in the body cavity, and the device further can include a light source configured to illuminate the region of interest. Plurality of rollers can include surfaces with a friction coefficient that allows the plurality of rollers to slip along the portion of the camera tube that passes through the drive opening of the housing to prevent movement of the portion of the camera tube. Plurality of rollers can provide a sterile barrier between a sterile camera tube and non-sterile mounting interface of the robotic surgery apparatus when the housing is attached to the mounting interface of the robotic surgery apparatus.
(9) In some cases, a kit including the visualization device of any of preceding paragraphs and/or any of visualization devices described below and the plurality of rollers can be provided. The housing, camera tube, and the plurality of rollers can be sterile.
(10) In some cases, visualization device for a single port robotic surgery apparatus can include a housing configured to be removably attached to a mounting interface of the robotic surgery apparatus and be positioned adjacent an insertion device of the robotic surgery apparatus, the housing including first and second openings positioned on an exterior of the housing. The visualization device can also include a substantially flexible camera tube including a first end attached to the housing and a second end including at least one camera, the second end configured to be inserted through the first opening in the housing, pass through an interior of the housing, and exit the housing through the second opening in the housing, the second end configured to extend away from the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing.
(11) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. The housing can be configured to receive at least one driver configured to cause movement of the camera tube away from the housing and/or toward the housing. The region of interest can include a body cavity into which an end effector is configured to be inserted. The first end of the camera tube can be removably attached to the housing. The camera tube can be configured to form a loop around at least a portion of the housing.
(12) The visualization device of any of preceding paragraphs and/or any of visualization devices described below can include one or more of the following features. At least one driver can include a plurality of rollers configured to contact the camera tube and advance the camera tube toward the region of interest and retract the camera tube away from the region of interest. Rotation of the plurality of rollers in the first direction can cause the camera tube to advance and a diameter of the loop to decrease. Rotation of the plurality of rollers in the second direction opposite to the first direction can causes the camera tube to retract and diameter of the loop to increase.
(13) In some cases, a robotic surgery apparatus including a mounting interface configured to support visualization device of any of preceding paragraphs or any of visualization devices described below can be provided.
(14) In some cases, a kit including the visualization device of any of preceding paragraphs and/or any of visualization devices described below and the insertion device of any of preceding paragraphs and/or any of visualization devices described below can be provided. The insertion device can include a passage positioned in an interior volume of the insertion device. The passage can be configured to permit the second end of the camera tube to pass through and exit the insertion device. The insertion device can include at least one instrument channel configured to receive a surgical instrument. Central axis of at least a portion of the passage can be nonparallel with a central axis of the at least one instrument channel. At least one instrument channel can be substantially straight and at least a portion of the passage can be curved. The housing, camera tube, and the insertion device can be sterile.
(15) Any of the visualization devices of any of preceding paragraphs and/or described below can be used with any of insertion devices and/or robotic surgery systems described herein.
(16) In some cases, an insertion device for a single port robotic surgery apparatus can include a first portion including a plurality of instrument channels positioned in an interior of the first portion and extending along substantially an entire length of the first portion, the plurality of instrument channels configured to removably house a plurality of surgical instruments and first and second camera channels positioned in the interior of the first portion and extending along substantially the entire length of the first portion, the first camera channel configured to removably house a primary camera tube and the second camera channel comprising a secondary camera. The insertion device can also include a second portion including an insertion channel terminating at a first end with a first opening configured to permit the primary camera tube to pass through and terminating at a second end opposite the first end with a second opening aligned with the first camera channel of the first portion, the insertion channel configured to permit the primary camera tube to pass through the insertion channel and enter the first camera channel. The secondary camera facilitates insertion into a body cavity of at least one of the plurality of instruments or the primary camera tube.
(17) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The second portion can include at least one interface configured to engage and disengage at least one closure in order to attach and detach the second portion from the mounting interface of a robotic surgery apparatus. The second portion can include at least one opening configured to receive a pin positioned on the mounting interface of the robotic surgery apparatus, and wherein the at least one closure can be configured to engage and disengage the at least one pin. At least one closure can include a cam lock.
(18) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The first opening can be configured to be aligned with an opening in a visualization device including the primary camera tube, the alignment permitting the primary camera tube to pass through the insertion channel and the first camera channel. The first opening can be positioned on an exterior surface of the second portion configured to face a housing of the visualization device. The exterior surface of the second portion can include top exterior surface.
(19) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The first and second camera channels can be positioned on opposite sides of the first portion. A diameter of the first camera channel can be larger than a diameter of the second camera channel. The secondary camera can include a face positioned at a distal end of the first portion. The secondary camera can include a two-dimensional imager. The secondary camera can include an illumination device. The secondary camera can include an optical prism configured to redirect a detected image of at least a portion of the body cavity on an image sensor positioned in a different plane than the at least the portion of the body cavity. The first and second portions of the housing and the secondary camera can be sterile.
(20) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The insertion channel can include a curved portion, and wherein the plurality of instrument channels are substantially straight. Central axis of the curved portion of the insertion channel may be nonparallel with a central axis of at least one instrument channel.
(21) In some cases, a kit including the insertion device of any of preceding paragraphs and/or any of insertion devices described below and the visualization device with the primary camera tube of any of preceding paragraphs and/or described below can be provided.
(22) In some cases, an insertion device for a robotic surgery apparatus can include a first portion including first and second camera channels positioned in an interior of the first portion and extending along at least a portion of the first housing, the first camera channel configured to removably enclose a primary camera tube and the second camera channel configured to enclose a secondary camera. The insertion device can include a second portion including a passage configured to permit the primary camera tube to pass through, the passage aligned with the first camera channel to permit at least a portion the primary camera tube to enter the first camera channel, pass through the first camera channel, and exit the first camera channel.
(23) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The secondary camera can be integral with the second camera channel. The first portion can include an instrument channel extending along at least the portion of the housing, the instrument channel configured to removably enclose a surgical instrument.
(24) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The instrument channel can extend between a first instrument opening at a proximal end of the first portion and a second instrument opening at a distal end of the first portion, the distal end opposite the proximal end. At least one of the passage or the first instrument opening can include a substantially fluid impermeable seal. The passage can be positioned in an interior volume of the housing. Central axis of at least a portion of the passage can be nonparallel with a central axis of the instrument channel. At least a portion of the passage can be curved, and the instrument channel can be substantially straight. The passage can be configured to be aligned with an opening in a visualization device can include the primary camera tube, the alignment permitting the primary camera tube to pass through the passage and enter the first camera channel.
(25) In some cases, a kit including the insertion device of any of preceding paragraphs and/or any of insertion devices described below and the visualization device of any of preceding paragraphs and/or described below can be provided. The insertion device and visualization device can be sterile.
(26) In some cases, a method of operating a robotic surgery apparatus can include attaching an insertion device to a mounting interface of a robotic surgery apparatus. The method can include attaching a visualization device that includes a primary camera to the mounting interface. The method can be at least partially performed by a user, such as a nurse, surgeon, or the like. The insertion device and/or visualization device can include any of the features described in any of preceding paragraphs or below.
(27) The method of any of preceding paragraphs and/or any of the methods described below can include one or more of the following features. A distal end of the primary camera can be inserted through one or more openings in the visualization device (as described in any of preceding paragraphs or below). The distal end of the primary camera can be advanced through the visualization device and into the insertion device (as described in any of preceding paragraphs or below). This can be performed by actuating one or more first actuators. The distal end of the primary camera can be advanced through the insertion device and exit the insertion device (as described in any of preceding paragraphs or below). The distal end can be advanced adjacent to or into a site of interest to obtain one or more images of at least a portion of the site of interest. At least one surgical instrument can be advanced adjacent to or into a site of interest through a channel in the insertion device. In use, the distal end of the primary camera can be advanced or retracted.
(28) The method of any of preceding paragraphs and/or any of the methods described below can include one or more of the following features. The distal end of the primary camera can be articulated, such as panned and/or tilted, by actuating one or more second actuators. Actuating the one or more second actuators can cause one or more flexible links of the primary camera to be manipulated, which can cause articulation of the distal end. The one or more flexible links can be pushed and/or pulled. The insertion device can include a secondary camera that can provide one or more images of at least a portion of the site of interest.
(29) The method of any of preceding paragraphs and/or any of the methods described below can include one or more of the following features. At least one of the insertion device, visualization device, or the primary camera can be sterile. The mounting interface of the robotic surgery apparatus can be non-sterile. A sterile drape can be placed over the mounting interface to provide a sterile barrier. One or more holes can be made in the drape to permit mounting the insertion device and visualization device through the drape. One or more drivers, such as rollers, configured to advance and/or retract the primary camera can be inserted into an opening in the visualization device. The one or more drivers can be attached to and actuated by the one or more first actuators, which can be positioned on the mounting interface of the robotic surgery apparatus. The one or more drivers can provide a sterile barrier between the one or more first actuators, which can be non-sterile, and the visualization device and primary camera, which can be sterile. One or more sterile covers can be used to provide a sterile barrier between other components of the mounting interface (for example, one or more pins, one or more second actuators, or the like) and one or more of the insertion device or visualization device.
(30) Any of the insertion devices of any of preceding paragraphs and/or described below can be used with any of visualization devices and/or robotic surgery systems described herein.
(31) In some cases, a kit including the insertion device of any of preceding paragraphs and/or any of insertion devices described below and the visualization device of any of preceding paragraphs and/or described below can be provided.
(32) In some cases, a robotic surgery apparatus as described and/or illustrated is provided. In some cases, a visualization device as described and/or illustrated is provided. In some cases, an insertion device as described and/or illustrated is provided.
(33) In some cases, a method of using and/or operating a robotic surgery apparatus as described and/or illustrated is provided. In some cases, a method of using and/or operating a visualization device as described and/or illustrated is provided. In some cases, a method of using and/or operating an insertion device as described and/or illustrated is provided.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Embodiments of the present disclosure will now be described hereinafter, by way of example only, with reference to the accompanying drawings in which:
(2) FIG. 1 illustrates a robotic surgery system in accordance with some embodiments;
(3) FIGS. 2A-2B illustrate insertion and visualization devices according to some embodiments;
(4) FIGS. 3A-3D illustrate an insertion device according to some embodiments;
(5) FIGS. 4A-4C illustrate a visualization device according to some embodiments;
(6) FIGS. 5A-5E illustrate a mounting interface of a drive unit of a robotic surgery system according to some embodiments;
(7) FIGS. 6A-6I illustrate attachment of insertion and visualization devices to a mounting interface of a drive unit of a robotic surgery system according to some embodiments;
(8) FIGS. 7A-7H and 8 illustrate visualization devices with imagers according to some embodiments;
(9) FIGS. 9A-9B and 10A-10B illustrate visualization and/or insertion devices according to some embodiments;
(10) FIGS. 11 and 12A-12D illustrate drive units of a robotic surgery system according to some embodiments.
DETAILED DESCRIPTION
(11) Overview
(12) When performing medical procedures (for example, with assistance of surgery using a robotic surgical system) one or more instruments can be inserted into a body cavity of a patient. The insertion process has some risk since instruments may inadvertently damage organs or tissue while being inserted. Incorrect positioning of the one or more instruments in the body cavity may also result in a limited range of motion within the body cavity.
(13) As an example, when performing abdominal surgery, at least one incision would be made in a body wall of the patient's abdomen. A trocar or other access port, may then be inserted through the incision. A camera can be first inserted through the access port and used by a surgeon to capture and relay stereoscopic images of a surgical site. One or more instruments can be inserted following the camera insertion. Views provided by the camera facilitate insertion of the one or more instruments and their manipulation of the surgical site.
(14) Referring to FIG. 1, a robotic surgery system in accordance with some embodiments is shown generally at 100. In some implementations, the robotic surgery system 100 can be configured to facilitate a medical procedure performed via a single incision. A single access port can be inserted into the incision to provide access for one or more instruments and cameras.
(15) The system 100 can include a workstation 102 and a patient cart 104. The patient cart 104 can include a central unit or drive unit 106 to which instrument insertion and visualization devices 108 can be attached or mounted. The workstation 102 can include an input device 112 that receives operator input and produces input signals and may also be configured to generate feedback to the operator. The feedback can be visual, auditory, haptic, or the like. The input device 112 can be implemented using a haptic interface available from Force Dimension, of Switzerland, for example.
(16) The workstation 102 can further include a master processor circuit 114 in communication with the input device 112 for receiving the input signals and generating control signals for controlling the robotic surgery system, which can be transmitted to the patient cart 104 via an interface cable 116. In some cases, transmission can be wireless and interface cable 116 may not be present. The input device 112 can include right and left hand controllers 122 and 124, which are configured to be grasped by the operator's hands and moved to produce input signals at the input device 112. The patient cart 104 can include a slave processor circuit 118 that receives and the control signals from the master processor circuit 114 and produces slave control signals operable to control the instrument insertion and visualization devices 108 and one or more instruments (and their respective end effectors) during a surgical procedure. The one or more instruments can include dexterous tools, such as grippers, needle drivers, staplers, dissectors, cutters, hooks, graspers, scissors, coagulators, irrigators, suction devices, that are used for performing a surgical procedure. While both master and slave processor circuits are illustrated, in other embodiments a single processor circuit may be used to perform both master and slave functions. The workstation 102 can also include a user interface, such as a display 120 in communication with the master processor circuit 114 for displaying information (such as, body cavity images) for a region or site of interest (for example, a surgical site, a body cavity, or the like) and other information to an operator. The workstation 102 can also include one or more controllers, such as one or more pedals 126, for controlling the robotic surgery system. For example, one or more pedals 126 can include a clutch pedal that allows repositioning one or more controllers 122 or 124 without corresponding movement of the associated instrument.
(17) Referring to FIG. 2A, in some embodiments, insertion and visualization devices 108 can include an insertion device 210 and a visualization device 220. The insertion device 210 can include a housing 212 and a plurality of passages, lumens, or channels 214 for inserting and guiding one or more instruments. The plurality of channels 214 can be enclosed in another housing. The two housings can be connected. As is illustrated, the plurality of channels, such as radial channels, can be formed within a housing, which can be radially shaped. The plurality of channels 214 can also permit insertion of a camera lumen, cable, elongate shaft, or tube 224. As is illustrated, a distal end 224B of the camera tube can extend beyond the housing including the plurality of channels 214. At least a portion of the distal end 224B can be positioned near or in the site of interest. One or more cameras can be positioned at the distal end 224B. The camera tube 224 can also include a proximal end 224A as described herein. In some embodiments, a channel of the plurality of channels 214 can house or support a camera in addition to or instead of the one or more cameras of the camera tube 224.
(18) The visualization device can include a housing 222 to which the proximal end 224A of the camera tube can be removably (or non-removably) attached. The housing 222 can include an opening in which a one or more drivers, such as at least one of 232A or 232B, can be positioned. As described herein, the one or more drivers can move the camera tube 224 through the opening in the housing 222 and a channel of the plurality of channels 214 so that the distal end 224B extends away from one or more of the housings 212 or 222 or retracts back toward or into one or more of the housings 212 or 222. The camera tube 224 can form a loop around at least a portion of the housing 222 as illustrated in FIGS. 2A-2B. The diameter of the loop can be increased when the distal end 224B is retracted toward or into one or more of the housings 212 or 222 and be decreased when the distal end 224B is extended away from one or more of the housings 212 or 222. With reference to FIG. 2B, for example, when the distal end 224B is substantially fully retracted, the loop can have a diameter 262 as shown. When the distal end 224B is being extended away from the one or more of the housings 212 or 222, the diameter 264 of the loop decreases as compared to the diameter 264 of the loop. When the distal end 224B if fully extended away from the one or more of the housings 212 or 222, the diameter 268 of the loop can be smaller than the diameters 262 and 264. In some cases, extending the distal end 224B away from the one or more of the housings 212 or 222 causes the length of the proximal end 224A to decrease, which leads to a decrease in the diameter of the loop.
(19) One or more cables 240 can be used to transmit control signals and data, such as analog or digital image data provided by the one or more cameras positioned at the distal end 224B or in the insertion device 210, to the patient cart 104. In some cases, transmission can be wireless and one or more cables 240 may not be present.
(20) At least a portion of the camera tube 224 can be flexible or substantially flexible in order to form a loop and/or be guided through the one or more openings and/or channels are described herein. In some cases, looping the camera tube 224 upward around at least the portion of the housing 222 as described can permit the camera tube to have sufficient length for reaching near and/or into the site of interest, while eliminating or reducing the risk of the camera tube 224 coming into contact with non-sterile object, such as the floor.
(21) Insertion Device
(22) FIG. 3A illustrates a front perspective view of the insertion device 210 according to some embodiments. The housing 212 of the insertion device can include an opening 330 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the housing 212. The opening 330 can include a seal, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. Any of the seals described herein can include one or more valves, such as a duckbill valve. As illustrated in FIG. 3D showing a cross-section view of the insertion device 210, the housing 212 can include an interior passage 322 connecting the opening 330 to a channel 320 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the channel. The interior passage 322 can be a channel positioned in an interior of the housing. The interior passage 322 can be bent or curved to facilitate various positional configurations of the visualization device 220 with respect to the insertion device 210 and in particular the housing 222 with respect to housing 212. The interior passage 322 can include an opening that aligns with or includes the opening 300 and another opening that aligns with or includes opening of the channel 320. In some cases, sealing material can be used on or around the interior passage 322 in addition to or instead of the seal in the opening 330. As illustrated in FIG. 2A, the distal end 224B of the camera tube 224 can exit the channel 320 and extend away from the insertion device 210 toward a site of interest, such as a surgical site, body cavity, wound, or the like. Also, the distal end 224B of the camera tube 224 can retract toward or into the channel 320 toward the insertion device 210 and away from the site of interest.
(23) The plurality of channels 214 can include one or more instrument channels 340 configured (for example, sized and/or shaped) to permit one or more instruments to pass through and extend away from the insertion device 210 toward the site of interest. As is illustrated, there can be two channels for left and right instruments.
(24) In some cases, the interior passage 322 includes at least a portion with a central axis parallel to a central axis of the one or more instrument channels 340. The interior passage 322 can include at least a portion (for example, the curved portion illustrated in FIG. 3D) with a central axis not parallel to a central axis of the one or more instrument channels 340.
(25) The plurality of channels 214 can include a channel 310 for one or more cameras of the insertion device 210. In some implementations, a camera can be positioned at a distal end of the plurality of channels (or at or near position of the arrow 310). Such one or more cameras (which can be referred to as a secondary camera) can facilitate positioning adjacent to or insertion into the site of interest of at least one of one or more instruments or at least one of the one or more cameras of the visualization device 220 (such cameras can be referred to as a primary camera). The secondary camera can include a substantially flexible or substantially rigid lumen, cable, or elongate shaft that is inserted into the channel 310. The secondary camera can be integrated with the insertion device 210 or be removable. An opening of the channel 310 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around the opening of the channel 310 in addition to or instead of the seal(s) in the opening.
(26) With reference to FIG. 3C, a secondary camera 324 can include a substantially flexible or rigid cable with a proximal end 324A and a distal end 324B. The distal end 324B can include a protector 370 (such as glass or plastic). The protector 370 can protect an imager and/or other components of the secondary camera breaking or malfunctions due to, for example, coming into contact with fluid in the site of interest. In other embodiments, a protector may be included as part of the insertion device 210 at a distal end of the channel 310, and accordingly the protector 370 may be optional. The secondary camera can include one or more lenses that focus light from and/or reflected by at least the portion of the site of interest on an image sensor 384. The image sensor can be positioned at the proximal end 324A and/or distal end 324B. The one or more lenses can include concave and/or convex lenses. In some cases, one or more lenses can be moved to adjust the zoom (such as, an optical zoom). The image sensor 384 can detect the light and convert it to image information or data. For instance, the image sensor 384 can measure brightness at a plurality of points. The image sensor 384 can include at least one of charge-coupled devices (CCDs), complementary metal-oxide-semiconductor (CMOS) image sensors, or the like. The image sensor 384 can be a digital and/or analog image sensor. In some implementations, the secondary camera can include two or more cameras (for example, to produce a stereoscopic image).
(27) In some cases, the secondary camera 324 can include an optical system 382 that redirects the detected light. For example, the optical system 382 can be a prism that redirects the detected light down onto the image sensor 384. The image sensor 384 can be positioned in a different plane than a portion of the surgical site being imaged. The optical system 382 may be omitted in some implementations. For example, the optical system 382 may be omitted when the image sensor is positioned in the same plane as the surgical site being imaged.
(28) The secondary camera 324 can be removable. For example, the secondary camera cable can be inserted into and/or removed from the channel 310. When the secondary camera cable is removed, the channel 310 can be used for one or more of suction or irrigation of the site of interest. The channel 310 can alternatively or additionally be used to permit an instrument (such as, third instrument) to be inserted. The instrument can be controlled by the robotic surgery system or manually by a user. A protector would not be included at a distal end of the channel 310 or would otherwise be removable when the channel 310 is used for one or more of aspiration, irrigation, instrument manipulation, or the like.
(29) In some cases, the primary camera can be a stereo or stereoscopic camera, which can produce three-dimensional representation of at least a portion of the site of interest, and the secondary camera can be a two-dimensional camera. The secondary camera can have lower resolution than the primary camera. For example, the secondary camera can have 1920×1080 pixels (or 1080p) resolution. The primary camera can have resolution of 1080p, 4K, 8K, or the like. The channel 310 for the secondary camera can be smaller in size (such as, narrower or having smaller diameter) than the channel 320 for the primary camera. The secondary camera may also include an illumination device for illuminating the site of interest. The illumination device can be incorporated as part of the secondary camera such that the illumination device and a lens system of the secondary camera all fit within the diameter of the channel 310. In some cases, the illumination device may be an annular system with strands of fiber wrapping around a lens system for causing illumination to be provided to the site of interest using known means of fiber illumination.
(30) In some cases, close proximity of the instrument channels 340 to one or more camera channels 310 or 320 can permit single port surgery.
(31) The housing 212 can include one or more attachment mechanisms 360. For example, the one or more attachment mechanisms 360 can be buttons positioned on opposite sides of the housing 212. The buttons can be configured to removably attach the insertion device 210 to a mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 222 of the visualization device 220). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 222 of the visualization device 220). The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from supporting pins of the mounting interface (and/or the housing 222).
(32) FIG. 3B illustrates a rear perspective view of the insertion device 210 according to some embodiments. Openings of the one or more instrument channels 340 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around at least one of the one or more openings of the one or more channels 340 in addition to or instead of the seal(s) in the one or more openings. The housing 212 can include one or more openings 350 for receiving one or more supporting rods of pins, which can be positioned on the mounting interface. The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from the supporting pins (and/or from the visualization device 220). For example, the one or more attachment mechanisms 360 can activate or release a latch or lock, such as a cam lock, cam lock with a spring, or the like.
(33) Visualization Device
(34) FIG. 4A illustrates a front perspective view of the visualization device 220 according to some embodiments. The housing 222 of the visualization device can include openings 410 and 412 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through. As illustrated, the proximal end 224A of the camera tube 224 (illustrated for convenience without a middle portion) can be attached to the housing. The camera tube 224 can loop around at least the portion of the housing 222 when the distal end 224B is inserted through one or more of the openings 410 and 412 (see FIG. 2A). The openings 410 and 412 can be aligned to permit the camera tube 224 to pass through. A bottom opening (not illustrated) aligned with the opening 412 can be positioned on the bottom of the housing 222 to permit the camera tube 224 to exit the housing 222 after passing through an interior portion of the housing (such as, the interior portion illustrated in FIG. 4C). This bottom opening can be positioned adjacent to (such as over or on top of) the opening 330 in the housing of the insertion device 210 when the visualization device 220 is positioned adjacent to and/or attached to the insertion device. One or more of the openings 410, 412, or the bottom opening can include a seal, which may be covered by a closure (such as a latch) as described herein.
(35) The housing 222 can include a drive opening 414. The drive opening can be positioned on a side of the housing 222 (for example, the back of the housing) that attaches to the mounting interface of the drive unit 106 as described herein. The drive opening 414 can be configured (for example, sized and/or shaped) to receive one or more drivers (at least one of 232A or 232B), such as a plurality of drive rollers as described herein (see, for example, FIG. 2A). With reference to FIG. 2A, the plurality of drive rollers can include right drive roller 232A and left drive roller 232B (collectively, referred to as 232). When inserted through the opening 410, the camera tube 224 is positioned between the right and left drive rollers 232A and 232B and contacts the drive rollers. The drive rollers 232 can contact, grip, or abut the camera tube 224. The drive rollers can advance the camera tube 224 down or retract it up through the drive opening 414. Movement of the drive rollers 232 in a first direction can advance the camera tube 224 forward or down through the drive opening 414 in order to advance the distal end 224B toward the site of interest. For example, the right driver roller 232A can spin counterclockwise and the left drive roller 232B can spin clockwise in order to advance the camera tube 224 forward. Such combination of the counterclockwise and clockwise movement of the drive rollers can constitute the first direction. Movement of the drive rollers 232 in a second direction can retract the camera tube 224 backward or up through the drive opening 414 in order to retract the distal end 224B away from the site of interest. For example, the right drive roller 232A can spin clockwise and the left drive roller 232B can spin counterclockwise in order to retract the camera tube 224 backward. Such combination of the clockwise and counterclockwise movement of the drive rollers can constitute the first direction. For each of the right and left drive rollers, movement in the second direction can be opposite to movement in the first direction even in cases where drive rollers spin in opposite directions during movement in the first and/or section direction.
(36) Drive rollers 232 can have an external surface that is made out of and/or is covered by soft material, such as rubber, foam, or the like, that grips an external surface of the camera tube 224 in order to one or more of advance or retract the camera tube. In some embodiments, a portion of the camera tube 224 positioned between the drive rollers 232 can slip along the drive rollers, and as a result the camera tube would not be advanced or retracted. For example, slipping can be advantageous when a user's limb becomes caught in the loop formed by the camera tube 224 or in case of malfunction to prevent or lessen the risk of injury to the user or damage to one or more of the camera tube 224, the visualization device 220, the insertion device 210, or any other part of the system 100. At least one of one or more of the material on the external surface of the drive rollers 232 or on an external surface of the camera tube 224 or a surface pattern on the surface of one or more of the external surface of the drive rollers 232 or the external surface of the camera tube 224 can be selected to have a friction coefficient that results in slippage in case force on the camera tube exceeds a maximum force, such as, a maximum frictional force. The maximum frictional force can depend on one or more of the friction coefficient between the drive rollers 232 and camera tube 224 or a clamping force between the drive rollers 232 and camera tube 224. In some cases, the maximum frictional force can be 5N or less or more, 7N or less or more, 10N or less or more, or the like. Surface pattern on the external surface of the drive rollers 232 (and/or the external surface of the camera tube 224) can affect the friction coefficient. For example, ribbed surface pattern, toothed surface pattern, or the like can increase the friction coefficient compared to a smooth or substantially smooth surface pattern.
(37) At least a portion of the distal end 224B of the camera tube 224 can articulate to permit viewing of at least a portion of the site of interest. The housing 222 can include one or more actuators 420 configured to control movement of the distal end 224B of the camera tube 224, which can include one or more cameras. In some cases, a first actuator can control pitch or tilt (up/down movement) of the distal end 224B, and a second actuator can control yaw or pan (left/right movement) of the distal end 224B. The first and second actuators can control movement of the distal end 224B by manipulating links positioned in the interior of the camera tube 224 as described herein (for example, with reference to FIGS. 4B-4C).
(38) The housing 222 can include one or more attachment mechanisms 428. For example, the one or more attachment mechanisms 428 can be buttons positioned on opposite sides of the housing 222. The buttons can be configured to removably attach the visualization device 220 to the mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 212 of the insertion device 210). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 212). The one or more attachment mechanisms 428 can permit attachment to and release of the visualization device 220 from one or more supporting rods or pins (and/or the housing 212). As described herein, the one or more attachment mechanisms 428 can activate or release a lock, such as a cam lock, cam lock with spring, or the like. The housing 222 can include one or more openings 424 for receiving one or more the supporting pins that can be positioned on the mounting interface.
(39) FIG. 4B illustrates a perspective view of the distal end 224B of the camera tube 224 according to some embodiments. An imager 430 (which can be the primary camera) with one or more cameras can be positioned at or near the tip of the distal end 224B. The distal end 224B can include a pitch or tilt segment or section 442 for controlling up/down movement of the distal end 224B, and a yaw or pan segment section 444 for controlling left/right movement of the distal end 224B. As illustrated, the tilt section 442 can be positioned adjacent the imager 430, and the pan section 444 can be positioned adjacent to the tilt section. Pan section 444 can be positioned farther away from the tip of the distal end 224B than the tilt section 442. In some cases, positioning of the sections 442 and 444 relative to the tip can be reversed. In some cases, the sections 442 and 444 can be intermingled with respective couplings or guides (as described below) of the sections 442 and 444 alternating.
(40) At least one of sections 442 or 444 can include one or more couplings or guides 434. The one or more couplings 434 can be coupled to each other to allow bending of the distal end 224B. The sections 442 and 444 can bend (as described herein) as a result of at least one of pulling or pushing one or more flexible or substantially flexible links 448 positioned in the interior of the camera tube 224 that control, for example, the bend, curvature, or another aspect of spatial orientation of one or more of sections 442 or 444. One or more links 448 can include a wire, cable, or the like with elasticity that can support at least one of tension or compression without permanent deformation. One or more links 448 can be connected to the one or more guides 434 (for example, by being connected to the one or more guides in the interior of the camera tube 224). Movement, such as pulling and/or pushing, of the one or more links 448 can cause adjustment of the spatial orientation of the one or more guides 434 and, as a result, one or more sections 442 or 444.
(41) As described herein, one or more actuators 420 can pull and/or push the one or more links 448, for example, via rotation in first and/or second directions. Pulling a link 448 can cause shortening its length, while pushing the link can cause lengthening the link (such as, returning the link substantially to its initial length).
(42) Segment or section 446 can be positioned adjacent the pan section 444 at the distal end 224B of the camera tube 224. As described herein, section 446 can be flexible or substantially flexible. One or more of sections 442 or 444 can be rigid or substantially rigid to prevent at least the imager 430 of the distal end 224B from drooping or sagging as the distal end 224B exits the channel 320 of the insertion device. Drooping or sagging can undesirably lead to at least a temporary loss of vision of at least a part of the site of interest or inadvertent contact with tissue near or outside the site of interest. Rigidity of the one or more sections 442 or 444 can prevent movement of the distal end 224B in a downward direction (for example, in the absence of actively tilting the camera tube 224 as described herein), while permitting movement in the opposite direction as the camera tube 224 is passed through one or more openings or channels, as described herein. Rigidity can help maintain orientation of at least the imager 430 in same plane of the channel 320 or in a plane above the plane of the channel 320 as the distal end 224B of the camera tube 224 exits the channel 320. The latter plane can be parallel or substantially parallel to the plane of the channel 320.
(43) In some cases, to increase the rigidity of the distal end 224B, a supporting material or mechanism may be added to the distal end 224B to help maintain orientation of at least the imager 430 in the same plane of the channel 320. Such design can prevent the camera from drooping and/or contacting unwanted areas of the site of interest. The supporting material or mechanism can allow the distal end 224B to flex (or curve) in one direction in a plane while preventing other flexing (or curving), thereby allowing the distal end 224B to move through a curved portion of the interior passage 322 of the housing 212. With reference to FIG. 3D, for instance, flexing in the direction of the bend or curve of the interior passage 322 can be permitted, while flexing in the other direction may not be permitted.
(44) FIG. 4C illustrates a cross-sectional view of the housing 222 and camera tube 224 of the visualization device 220 according to some embodiments. The figure depicts view of an interior portion of the housing 222 looking up through the opening 412 in the housing 222. Proximal end 224A of the camera tube 224 can be attached to the housing 222 as described herein. As illustrated, interior of the proximal end 224A can include one or more links 448 that extend along the length of the camera tube 224 to the distal end 224B, as described herein. In use, the camera tube 224 passes through the interior portion illustrated in FIG. 4C.
(45) The one or more actuators 420 can include first and second actuators that, respectively, control tilting or panning of the distal end 224B of the camera tube 224. For example, the first actuator can control pulling and/or pushing of one or more links 448 connected to a plurality of guides in the tilt section 442. The first actuator can control tilting up/down of at least the imager 430. The second actuator can control pulling and/or pushing of one or more links 448 connected to a plurality of guides in the pan section 444. The second actuator can control left/right movement of at least one of the tilt section 442 and/or the imager 430.
(46) Pulling and/or pushing at least one link 448 can be performed via actuating the first and/or second actuator 420. With reference to the first actuator, for instance, its exterior portion that protrudes from the housing 222 can serve as a shaft connected to a drum 450 located in the interior of the housing 222. Rotation of the shaft and drum can cause a corresponding link pulley 460 to rotate, for example, in a plane perpendicular to the plan of rotation of the shaft and drum. The pulley 460 can be connected to the drum 450 such that rotation of the drum causes the pulley to rotate. The drum 450 can have threading on the surface that contact threading on the surface of the pulley 460 and transfers rotation to the pulley. The pulley 460 can be connected to at least one link 448. For instance, the at least one link can be attached to the pulley. Rotation of the actuator 420 in a first direction (for example, clockwise) can cause rotation of the corresponding shaft (for example, in the same clockwise direction). This can cause the corresponding pulley 460 to rotate and, for instance, pull (or push) the associated at least one link, which can cause tilting of at least the imager 430. In some cases, the pulley 460 can be connected to a pair of links 448 one of which is pulled while the other is pushed to control the tilting. Second actuator can operate similarly to control the panning.
(47) Additional details of controlling one or more of the tilt or pan of the distal end 224B of the camera tube are similar to those described in U.S. Patent Publication No. 2016/0143633 and U.S. Pat. No. 9,629,688, which are assigned to the assignee of the present application and the disclosure of each of which is incorporated by reference in its entirety.
(48) Mounting Interface and Sterile Barrier
(49) FIG. 5A illustrates the drive unit 106 of the robotic surgery system 100 according to some embodiments. The drive unit 106 can include a mounting interface 500 configured to support one or more of the insertion device 210 or visualization device 220. The mounting interface can include an opening or slit 504 for receiving a looped portion of the camera tube 224 (see, for example, FIG. 6I).
(50) FIG. 5B illustrates a perspective view of the mounting interface 500 according to some embodiments. The mounting interface 500 can include one or more posts or pins 510 configured to actuate one or more drivers 232 for moving the camera tube 224 as described herein. As illustrated, the pins 510 can be provided to support the rollers 232A and 232B. The pins 510 can be configured (for example, sized and/or shaped) to attach to the rollers 232A and 232B. For example, the pins 510 can be hexagonal, and the rollers 232A and 232B can include hexagonal openings (see, for example, FIG. 5D) configured (for example, sized and/or shaped) to be mounted on the hexagonal surface of the pins 510. In some cases, one or more shapes such as square, round, triangular, or the like can be used in addition to or instead of hexagonal.
(51) The mounting interface 500 can include one or more actuators 520 for causing movement of the one or more actuators 420 of the visualization device 220. As illustrated, two actuators 520 can be provided, and they can include shafts or recesses configured (for example, sized and/or shaped) to receive protruding exterior portions of the actuators 420. Within the recesses, the actuators 520 can include surfaces configured (for example, sized and/or shaped) to mate with the surfaces of the protruding exterior portions of the actuators 420. The mating can provide attachment of the actuators 420 of the visualization device 220 to the actuators 520 of the mounting interface 500.
(52) As described herein, the mounting interface 500 can support one or more of the insertion device 210 or visualization device 220. As illustrated in FIG. 5B, the visualization device 220 can be at least partially supported by the pins 510 supporting the drivers 232 that are placed in the recess 414 of the housing 222. The mounting interface 500 can include one or more pins 530 configured to support the insertion device 210. The one or more pins 530 can be configured (for example, sized and/or shaped) to be received in the one or more openings 350 of the insertion device 210. The one or more pins can have size, shape, and/or surface pattern configured to be attached to insertion device 210. For example, as is illustrated, a left pin 530 can have a groove, pattern, or indentation 552 at or near its tip. The indentation 552 can be configured (for example, sized and/or shaped) to mate with a surface in the interior of the left opening 350 (see, for example, FIG. 3B. This can provide attachment of the insertion device 210 to the mounting interface 500. As described herein, one or more attachment mechanisms 360 can operate to disengage the visualization device 210 from the mounting interface 500. For example, one or more attachment mechanisms 360 can be pressed to disengage mating of the surface in the interior of the left opening 350 with the indentation 552. The right pin 530 can have a similar groove, pattern, or indentation 552 at its tip on the side facing the left pin.
(53) FIG. 5C illustrates a rear view of the mounting interface 500 according to some embodiments. The mounting interface can include a first set of actuators 532, a first set of gears 534 connected to or attached to the first set of actuators 532, and a second set of gears 536 cooperating with the first set of gears 534. These components can be collectively configured to actuate the one or more pins 510. As illustrated, the first set of actuators 532 can include two actuators, the first set of gears 534 can include two gears, and the second set of gears 536 can include two gears. In some cases, the first set of actuators can be motors, for example, electric motors.
(54) The first set of gears 534 can interlock with the second set of gears 536. In some cases, the first set of actuators 532 can be configured to rotate the first set of gears 534 attached to the first set of actuators 532. Rotation of the first set of gears 534 can cause the second set of gears 536 to rotate in a plane perpendicular to the plane of rotation of the first set of gears 534. The one or more pins 510 can be connected or attached to the second set of gears 536. Rotation of the second set of gears 536 can cause rotation of the one or more pins 510. Rotation of the one or more pins 510 can cause rotation of the one or more drivers 232 and movement of the camera tube 224, as described herein. Rotation of the one or more pins 510 and one or more drivers 232 can be in the first and/or second direction to advance and/or retract the camera tube 224, as described herein. Rotation in the first and/or second direction can be caused by movement of the one or more actuators in at least two directions (for example, clockwise or counterclockwise).
(55) The mounting interface 500 can include a second set of actuators 542, a third set of gears 544 connected to or attached to the second set of actuators 542, and a fourth set of gears 546 cooperating with the third set of gears 544. Collectively these components can be configured to actuate the one or more actuators 520. As illustrated, the second set of actuators 542 can include two actuators, the third set of gears 544 can include two gears, and the fourth set of gears 546 can include two gears. In some cases, the first set of actuators can be motors, for example, electric motors.
(56) The second set of actuators 542, third set of gears 544, and fourth set of gears 546 can cooperate with each other and operate to actuate the one or more actuators 520 similarly to the foregoing description of actuating the one or more pins 510. As described herein, movement of the actuators 520 and corresponding movement of the actuators 420 of the visualization device 220 can cause the camera tube 224 to tilt and/or pan.
(57) FIG. 5D illustrates the mounting interface 500 prepared for supporting one or more of the insertion device 210 or visualization device 220 according to some embodiments. In some implementations, a sterile barrier may need to be provided between the mounting interface 500 of non-sterile drive unit 106 and the insertion device 210 and/or sterile visualization device 220. The insertion and visualization devices, 210 and 220, may be required to be sterile in order to protect the site of interest from infection in case of one or more of the insertion or visualization device coming into contact with the site of interest or with another sterile component of the system 100 (such as, an instrument) that may come into contact with the site of interest, with a user performing or assisting with the surgery.
(58) One or more drivers 232 (for example, rollers) can be sterile and can be attached to or mounted on the one or more pins 510 of non-sterile mounting interface 500. A sterile cover 550 can be attached to or mounted to cover the one or more pins 530. With reference to FIG. 5B, the cover 550 can be mounted in a region 560 on a front surface of the mounting interface 500. The cover 550 can be secured with one or more closures (not illustrated). For example, the one or more closures can be pins that are pushed in by the cover 550 when it is mounted in the region 560. Pushing of the pins can cause a closure, such as a latch, to become closed. The cover 550 can be removed from the region 560, for example, by pressing a button positioned on the bottom surface of the mounting interface 500 (not shown), which can push the pins against the cover 550 and dislodge the cover.
(59) The cover 550 can include a bottom set of pin covers for covering the one or more pins 530. The cover 550 can include a top set of pins 540 that can be configured to support the visualization device 220 when it is attached to the mounting interface 500. The set of pins 540 can be sized and/or shaped to be received in the one or more openings 424 of the visualization device 220. The set of pins 540 can have size, shape, and/or surface shape configured to be attached to the visualization device 220, for example, as described herein in connection with the pins 530.
(60) With reference to FIG. 5E, in some implementations, the mounting interface 500 can include one or more pins 530' configured (for example, sized and/or shaped) to support the visualization device 220. For example, the one or more pins 530' can function similar to the one or more pins 540. One or more pins 530' can be covered by the cover 550, such as by pin covers 540. In some cases, as illustrated in FIG. 5E, individual covers 550' can be used to cover each of the one or more pins 530 and/or 430'. In some embodiments, two separate covers can be used to cover the one or more pins 530 and 430' respectively. In some implementations, a single cover 550 (as illustrated in FIG. 5D) but with pin covers replacing the top set of pins 540 can be used to cover the one or more pins 530 and 530'.
(61) In some cases, a sterile barrier can be formed between one or more actuators 420 of the visualization device (see, for example, FIG. 4A) and one or more actuators 520 of the mounting interface (see for example, FIG. 5B) in one or more of the following ways. One or more actuators 420 can be covered by one or more sterile covers as described herein. A sterile drape can be placed over the drive unit 106 and the mounting interface. Drape material can flex and/or slip to provide the sterile barrier. Drape material can have appropriate thickness and/or other properties to allow for the flexing and/or slippage. The drape can include one or more sterile covers (which can function as actuators) that transfer motion between the one or more actuators 420 and one or more actuators 520. The one or more sterile covers can be embedded or integrated into the drape.
(62) The one or more drivers 232 and one or more covers 550 can serve as at least a partial sterile barrier between the mounting interface 500 and the insertion and visualization devices and the camera tube 224. Any one or more of the drivers 232, one or more of the covers 550, or any other sterile barriers disclosed herein can be disposable or can be reused after being sterilized. For example, the one or more sterile covers 550 can be made out of plastic and be disposable. As another example, rollers 232A and 232B can be disposable.
(63) Any of the sterile components described herein can be sterilized by fluid or gas (such as ethylene oxide (EtO)), heat (such as autoclaving), irradiation (such as gamma irradiation), or the like. For example, the one or more openings in the insertion device 210 and/or visualization device 220 can facilitate fluid or gas to contact exterior and interior surfaces during sterilization.
(64) Docking the Insertion and Visualization Devices
(65) FIG. 6A illustrates the insertion device 210, visualization device 220, one or more covers 550, drivers (such as rollers) 232A and 232B, and the mounting interface 500 of the drive unit 106 according to some embodiments. As illustrated in FIG. 6B, a sterile drape 600 can be placed over drive unit 106 (and, in some cases, other parts of the robotic surgery system) to provide additional or alternative sterile barrier. For example, the drape 600 can act as a sterile barrier permitting a user performing or assisting with the surgery to touch the drive unit 106. One or more holes 610 can be made in the drape 600 to permit one or more pins 510, 530, and/or 540 or 530' to be accessed. Positions and sizes of the one or more holes 610 can correspond to positions and sizes of the one or more pins. The drape 600 can be pulled tight around the drive unit 106 and other components of the system 100 as illustrated in FIG. 6C. The drape 600 can be held in place with one or more of ties, adhesive attachments, magnetic attachments, or the like.
(66) The drivers 232A and 232B can be mounted on the one or more pins 510 as illustrated in FIG. 6D and described herein. The one or more pins 510 can be exposed through corresponding one or more holes 610 in the drape 600. One or more covers 550 can be mounted on one or more pins 530 and/or 530' as illustrated in FIG. 6E and described herein. The one or more pins 530 and/or 530' can be exposed through corresponding one or more holes 610 in the drape 600.
(67) The visualization device 220 can be mounted on (or docked to) the mounting interface 500 as illustrated in FIG. 6F and described herein. The camera tube 224 (which can be sterile) can be inserted into the visualization device 220 as described herein. At least a portion of the loop of the camera tube 224 can be positioned in the slit 504 as shown. The drape 600 can include enough slack to allow the camera tube 224 and surrounding drape material to be placed in the slit 504. In some cases, the drape 600 can include a portion shaped to generally correspond with the slit 504 to facilitate positioning of the portion of the loop of the camera tube 224 in the slit 504.
(68) The insertion device 210 can be mounted on (or docked to) the mounting interface 500 as illustrated in FIG. 6G and described herein. In some cases, the insertion device 210 may have already been placed near or into the site of interest prior to being mounted on the mounting interface 500. In such cases, the drive unit 106 can be brought toward the insertion device 210 for docking the insertion device. The order of the mountings (or connections or dockings) can be interchanged. For example, the visualization device 220 can be mounted on the mounting interface 500 after the drive unit 106 has been docked with the insertion device 210. The visualization device 220 and insertion device 210 can be independent from each other (for example, modular) so that the visualization device 220 can be changed during surgery if it breaks down or otherwise becomes unresponsive without the need to first undock the insertion device 210 (and any instruments which may have been placed through the insertion device).
(69) Camera tube 224 can be advanced though the visualization device 220 and inserted into the interior of the insertion device 210 as illustrated in FIG. 6H and described herein. Camera tube 224 can be further advanced through the interior of the insertion device 210 so that the distal end 224B exits the insertion device 210 as illustrated in FIG. 6I and described herein. The distal end 224B of the camera tube 224 can be advanced near or into the site of interest. Then, one or more instruments (which can be sterile) can be inserted and advanced near or into the site of interest.
(70) In some cases, a user, such as a nurse, can insert one or more instruments, dock one or more of the visualization device or insertion device on the mounting interface 500, and advance and/or retract the camera tube 224. A surgeon operating the robotic surgical system 100 can cause the camera tube 224 to be advanced and/or retracted. For example, the surgeon can operate the camera tube 224 once the distal end 224B of the camera tube has been inserted into the opening 410 and past opening 412.
(71) Operation of a Visualization Device
(72) As described herein, the visualization device 220 can include an imager, such as the imager 430 illustrated in FIG. 4B. The imager can be positioned at or near the tip of the distal end 224B of the camera tube 224. As described below, the imager can be oriented in various positions in the camera tube 224.
(73) FIG. 7A illustrates a combination 700A of an image module or imager 702, which can be similar to the imager 430, and a distal end 750 of the insertion device 210. The imager 702 can include one or more cameras 710 and one or more illumination channels 720 in which one or more illumination devices can be positioned. The one or more illumination devices can illuminate at least a portion of the site of interest to permit viewing of the at least one portion. The one or more illumination devices can include one or more light sources, such as light emitting diodes (LEDs), optical fibers, or the like. As illustrated, in some cases, two (or more) cameras 710 can be used in order for the imager 702 to operate as a stereoscopic imager, and to produce three-dimensional representation of at least a portion of the site of interest. Each of the cameras 710 can include one or more lenses 730 that focus light from and/or reflected by at least the portion of the site of interest on an image sensor 740. The one or more lenses 730 can include concave and/or convex lenses. In some cases, one or more lenses 730 can be moved to adjust the zoom (such as, an optical zoom). The image sensor 740 can detect the light and convert it to image information or data. For instance, the image sensor 740 can measure brightness at a plurality of points. The image sensor 740 can include at least one of charge-coupled devices (CCDs), complementary metal-oxide-semiconductor (CMOS) image sensors, or the like. The image sensor 740 can be a digital and/or analog image sensor. In some implementations, one camera 710 can be used or more than two cameras can be used.
(74) The imager 702 can be positioned in the camera tube 224, such as at or near the tip of the distal end 224B of the camera tube. For example, the imager 702 can be at least partially inserted into the camera tube 224. As illustrated in FIG. 7A and described herein, the camera tube 224 with the distal end 224B can be inserted in a channel of the plurality of channels 214 of the insertion device 210. As described herein, such channel can be the channel 320. A protector 760 (such as glass or plastic) can be positioned in the camera tube 224 closer to the tip than the imager 702. The protector 760 can protect the imager 702 from breaking or malfunctions due to, for example, coming into contact with fluid in the site of interest. The imager 702 can serve as the primary camera as described herein. A secondary camera can be positioned in the channel 310 as described herein.
(75) In some cases, the imager 702 can be included inside an imaging module (not shown) that may be hermetically sealed and that is coupled or otherwise mounted to the distal end 224B of the camera tube. The imaging module enclosing the imager 702 could be removably mounted and allow the ability to have the imaging module and camera tube 224 manufactured and/or packaged at separate locations. A variety of imaging modules (for example, with different orientations) can be provided as described herein.
(76) Different orientations of the imager 702 in the camera tube 224 of the visualization device 220 can provide different advantages for exploring the site of interest. In some embodiments, the imager 702 can be positioned along or substantially along a central axis 792 of the distal end 224B of the camera tube 224 as illustrated in an arrangement 700B of FIG. 7B. In such orientation, the imager is not tilted down or up with respect to the distal end 224B of the camera tube when the proximal end is extended away from the insertion device 210 toward the site of interest. A field of view 770 of the imager 702, which can represent an area or region in which the imager obtains or captures image data, can be oriented along or substantially along the central axis 792. The field of view 770 can encompass a region straight ahead of the distal end 224B of the camera tube 224.
(77) Advantageously, in some cases, the imager 702 of the arrangement 700B can provide image data of at least a portion of the site of interest when the site is positioned in front of the insertion device 210. For example, the imager 702 can “look straight ahead” or provide image data of a region in front as the distal end 224B of the camera tube 224 exits the channel of the insertion device 210. When the insertion device 210 is positioned adjacent the site of interest, imager positioning in the arrangement 700B can permit viewing the site of interest. This can be important, for example, to facilitate safe insertion of at least a portion of the distal end 224B (along with, for example, the primary camera) into the site of interest.
(78) In some cases, the one or more channels 340 are positioned below the channel 320 through which the distal end 224B of the camera tube 224 is passed. With reference to FIG. 7C, when one or more instruments are inserted through one or more channels 340, it may be desirable to orient the imager 702 of the arrangement 700B to obtain a field of view oriented at least partially downward. For example, the imager 702 can be positioned to “look down” at the one or more instruments. Orienting the field of view 770 at least partially downward can advantageously permit viewing of the insertion of one or more instruments 758 into the site of interest. This can facilitate safe insertion of the one or more instruments into the site of interest.
(79) As illustrated in FIG. 7C, in order to orient the field of view 770 at least partially downward, the distal end 224B of the camera tube 224 may be bent along a plurality of segments or sections 762B and 764B. As described herein, section 764B can correspond to the tilt section 442, and section 762B can correspond to the pan section 444. Both sections 762B and 764B may be bent to orient the imager 702 to provide image data relating to the position of the one or more instruments 758.
(80) FIG. 7D illustrates an arrangement 700D in which the imager 702 is tilted downward at an angle ? relative to the central axis 792. The angle ? is formed between the central axis 792 and a central axis 794 of the imager 702. The angle ? can be 10 degrees or less or more, 15 degrees or less or more, 20 degrees or less or more, or the like. Tilting the imager 702 downward can cause the field of view 770 to be oriented at least partially downward. Advantageously, the field of view 770 can capture at least a portion of the region in front (which, for example, can be the site of interest as described herein) as well as at least a portion of the region below the imager 702. The arrangement 700D can permit viewing of the position of the one or more instruments 758 as well as viewing of at least the portion of the site of interest. This can facilitate insertion of both the primary camera and the one or more instruments 758.
(81) As illustrated in FIG. 7E, the field of view 770 in the arrangement 700D can be further oriented downward by bending the distal end 224B of the camera tube 224 along a plurality of segments or sections 762D and 764D. These sections can be similar to sections 762B and 764B of the arrangement 700B (shown in FIG. 7C), respectively. The angle or curvature of the bend in at least one of the sections 762D and 764D can be smaller than in at least one of the sections 762B and 764B, respectively. This reduction can be due to initially tilting the imager 702 downward at the angle ?.
(82) FIG. 7F illustrates an arrangement 700F in which the imager 702 is positioned downward at approximately 90 degree angle relative to the central axis 792. The field of view 770 captures a region below the imager 702. This can be advantageous to facilitate insertion of the one or more instruments 758. The field of view 770 may not capture or substantially not capture at least a portion of the region in front of the imager 702. In order to capture at least the portion of this region, the distal end 224B of the camera tube 224 can be bent along a segment or section 762F as illustrated in FIG. 7G. This orientation can facilitate insertion of the primary camera. Comparing with the arrangements 700B and 700D, adjustment of the orientation of a single segment 762F may be sufficient.
(83) As illustrated in arrangement 700H of FIG. 7H, in order to capture at least a portion of a region behind the imager 702, the distal end 224B of the camera tube 224 may be bent along a plurality of segments or sections 762H and 764H. These sections can similar to sections 762B and 764B of the arrangement 700B, respectively. The field of view 770 of the arrangement 700H can permit viewing of the one or more instruments 758 being advanced through the one or more channels in the insertion device 210.
(84) In some cases, a second or another imager can be provided in the arrangement 700F, in which the imager 702 is positioned substantially downward. For example as illustrated in FIG. 8, such second imager 802 can be positioned along or substantially along the central axis of the distal end 224B of the camera tube 224 similarly to the arrangement 700B. The second imager 802 can provide an additional field of view 870 to the field of view 770 of the imager 702.
(85) The field of view 870 can capture at least a portion of the region in front of the second imager 802. This can facilitate insertion of the primary camera, which can include both imagers 702 and 802.
(86) In some implementations, the imager 702 can be tilted up. For example, this can be advantageous when one or more channels through which one or more instruments are inserted are positioned above the channel 320 through which the distal end 224B of the camera tube 224 is passed.
(87) As described herein, the imager 702 can be oriented differently relative to the central axis 792 of the distal end 224B of the camera tube 224. The imager 702 can be positioned substantially along the central axis 792, perpendicular to the central axis, or at any angle between 0 degrees and 90 degrees (facing up or down) relative to the central axis. Varying the orientation of the imager 702 can adjust the orientation of the field of view 770 of the imager. A suitable orientation of the imager 702 can be selected based on a desired field of view 770.
(88) In some cases, one or more actuators configured to adjust orientation of the imager 702 can be provided. For example, the one or more actuators can include one or more motors. Advantageously, orientation of the imager 702 can be adjusted in operation.
(89) Movement of Primary Camera
(90) Oher mechanisms for advancing and/or retracting a camera tube can be used. In some cases, a movement device can travel along with the camera tube. For example, FIGS. 9A-9B illustrate an insertion and/or visualization device 920 with a movement device 930 configured to travel vertically (or, in some cases, horizontally) to advance and/or retract a camera tube 924. FIG. 9A illustrates a distal end 924B of the camera tube 924 extending at a maximum distance toward the site of interest (such as, fully extended). In this position, the movement device 930 is moved downward, such as to the bottom position in a housing 922, to advance the distal end 924B. FIG. 9B illustrates the distal end 924B of the camera tube 924 extending at a maximum distance away from the site of interest (such as, fully retracted). In this position, the movement device 930 is moved upward, such as to the top position in the housing 922, to retract the distal end 924B.
(91) The movement device 930 can include one or more actuators (for example, one or more motors) that move the movement device up and/or down (or, in some cases, left and/or right) within the housing 922. For example, the movement device 930 can move along a rail or post 940. In some cases, the rail 940 can include a chain for facilitating or guiding movement of the movement device. The movement device can include additional one or more actuators configured to tilt and/or pan one or more cameras positioned in the camera tube 924.
(92) As illustrated in FIGS. 10A-10B, a movement device 1030 may be positioned outside and/or away from a housing of an insertion and/or visualization device 1020. The movement device 1030 can move downward to advance a distal end 1024B of a camera tube toward the site of interest. The movement device 1030 can move upward to retract the distal end 1024B. As illustrated, the movement device 1030 can downward and/or upward at an angle to the vertical axis.
(93) In some cases, a movement device can be substantially stationary and the camera tube may not form a loop as described herein. For example, FIG. 11 illustrates a drive unit 1106 supporting (for example, on top) a movement device 1130 configured to advance and/or retract a camera tube 1124 that includes a proximal end 1124A and a distal end 1124B. The movement device 1130 can advance and/or retract the distal end 1124B of the camera tube 1124 along substantially horizontal direction (or, in some cases, a vertical direction). The proximal end 1124A of the camera tube 1124 can provide “slack” or sufficient camera tube length to advance the distal end 1124B to a maximum distance toward the site of interest (or away from the drive unit 1106). In some cases, the movement device 1130 can be positioned at another location on the drive unit 1106 or be supported by another component of a robotic surgery system.
(94) In some cases, at least a portion of the camera tube can be substantially rigid. For example, FIG. 12A illustrates perspective view of a movement device 1230 supported by a drive unit 1206. The movement device 1230 can be positioned at the rear of the drive unit 1206. The movement device 1230 can be configured to advance and/or retract a camera tube 1224 that includes a proximal end 1224A and a distal end 1224B. FIG. 12B illustrates a bottom view showing one or more openings 1240 for one or more instruments (not shown). In operation, the one or more instruments can be positioned adjacent to the camera tube 1224. In some cases, the movement device 1230 can be positioned at another location on the drive unit 1206 or be supported by another component of a robotic surgery system.
(95) FIG. 12C illustrates the camera tube extending at maximum distance away from the site of interest (such as, fully retracted). In this position, a movement portion or mover 1232 can be fully retracted. For example, the mover 1232 can retracted backward and oriented outside an interior portion of the drive unit 1206. Movement of the mover 1232 can cause the movement device 1230 to move in the same direction. The camera tube 1224 can be attached or connected to the movement device 1230, and movement of the movement device 1230 can cause the camera tube 1224 to move in the same direction. Also illustrated are one or more actuators 1220 configured to control tilt and/or pan of one or more cameras positioned in the camera tube 1224.
(96) FIG. 12D illustrates the camera tube extending at maximum distance toward the site of interest (such as, fully extended). In this position, the mover 1232 can be fully extended. For example, the mover 1232 can be extended forward and oriented in the interior portion of the drive unit 1206. As described, at least a portion of the camera tube 1224 can be substantially rigid at least because the proximal end 1224A may be maintained as substantially straight. For instance, the proximal end 1224A may not be bent in contrast with, for example, in FIG. 11). The proximal end 1224A can include the substantially rigid portion. Advantageously, having the substantially rigid portion may prevent the camera tube 1224 coming into contact with unsterile surface or object, such as the floor, because of the length of the slack.
(97) Advantageously, using a visualization device configured to cause the camera tube to form a loop as described herein can reduce or eliminate the risk of a camera tube coming into contact with an unsterile surface or object. Advantageously, drivers configured to rotate (such as, rollers) to advance/retract the camera tube as described herein can facilitate reducing the size of a visualization device.
(98) Other Variations
(99) Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors. As yet another example, in addition to or instead of controlling tilt and/or pan of a camera, roll (or spin) can be controlled. For example, one or more actuators can be provided for controlling the spin.
(100) The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.
(101) It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.
(102) With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity.
(103) Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.
(104) It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).
(105) The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.
(106) Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.
(107) Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount.
(108) It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.
(109) Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.
(110) The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.
Claims
1. A visualization device for a single port robotic surgery apparatus, the visualization device comprising: a housing including first and second openings positioned on an exterior of the housing, wherein the housing includes a pair of drivers disposed on opposite sides of the first opening, and wherein the housing is configured to be removably attached to a mounting interface of the robotic surgery apparatus and to be positioned adjacent an insertion device of the robotic surgery apparatus; and a flexible camera tube including a first end attached to and extending from the housing and a second end including at least one camera, the second end of the flexible camera tube being configured to be inserted through the first opening in the housing, pass through an interior of the housing, and exit the housing through the second opening thereof, the second end of the flexible camera tube being configured to extend away from the second opening of the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing, wherein the first end of the flexible camera tube extends proximally from a first position on the housing, wherein, the pair of drivers are configured to contact a surface of the flexible camera tube extending through the housing, and wherein, the pair of drivers, upon rotation thereof, are configured to move the flexible camera tube through the first and second openings in the housing so that the second end of the flexible camera tube extends away from the second opening of housing or retracts back into the second opening of the housing.
2. The device of claim 1, wherein the flexible camera tube is positioned between the pair of drivers, whereby rotation of the pair of drivers in a first direction extends the distal end of the flexible camera away from the second opening of housing, and whereby rotation of the pair of drivers in a second direction, opposite to the first direction, retracts the distal end of the flexible camera back into the second opening of the housing.
3. The device of claim 2, wherein the pair of drivers are a pair of rollers.
4. The device of claim 3, wherein an external surface of the pair of rollers is fabricated from a friction enhancing material for gripping an outer surface of the flexible camera tube.
5. The device of claim 3, wherein an external surface of the pair of rollers includes a friction enhancing features for gripping an outer surface of the flexible camera tube.
6. The device of claim 1, wherein the position of the second opening on the housing is separate and apart from the position of the first opening on the housing such that a central longitudinal axis of the first end of the camera tube is not axially aligned with a central longitudinal axis of the second end of the camera tube when the second end of the camera tube extends away from the position of the second opening on the housing.
7. A visualization device for a robotic surgery apparatus, the visualization device comprising: a housing including first and second openings defined in the housing, wherein the first opening is located on a lateral side of the housing and the second opening is located on the distal side of the housing, wherein the first and second openings are interconnected, wherein the housing includes a pair of drivers disposed on opposite sides of the first opening, and wherein the housing is configured to be removably attached to a mounting interface of the robotic surgery apparatus and to be positioned adjacent an insertion device of the robotic surgery apparatus; and a flexible camera tube including a first end supported on the housing and a second end including at least one camera movable relative to the housing, the first end of the flexible camera tube extending laterally from the first opening of the housing, the second end of the flexible camera tube being configured to be inserted through the first opening in the housing, pass between the pair of drivers, pass through an interior of the housing, and exit the housing through the second opening thereof, wherein, the pair of drivers are configured to contact a surface of the flexible camera tube extending through the housing, and wherein the pair of drivers are operatively connectable to a mounting interface of a drive unit of robotic surgery apparatus, and wherein, the pair of drivers, upon rotation thereof, are configured to move the second end of the flexible camera tube through the first and second openings in the housing so that the second end of the flexible camera tube extends away from the second opening of housing toward a region of interest outside the housing or retracts back into the second opening of the housing away from the region of interest and back into the housing.
8. The visualization device of claim 7, wherein the first and second openings of the housing are positioned on an exterior thereof.
9. The visualization device of claim 8, wherein the first end of the flexible camera tube is attached to and extends from the housing.
10. The visualization device of claim 9, wherein the second end of the flexible camera tube is configured to extend away from the second opening of the housing toward a region of interest outside the housing or retract away from the region of interest and back toward the housing.
11. The visualization device of claim 7, wherein the flexible camera tube is positioned between the pair of drivers, whereby rotation of the pair of drivers in a first direction extends the distal end of the flexible camera away from the second opening of housing, and whereby rotation of the pair of drivers in a second direction, opposite to the first direction, retracts the distal end of the flexible camera back into the second opening of the housing.
12. The visualization device of claim 11, wherein the pair of drivers are a pair of rollers.
13. The visualization device of claim 12, wherein an external surface of the pair of rollers is fabricated from a friction enhancing material for gripping an outer surface of the flexible camera tube.
14. The visualization device of claim 12, wherein an external surface of the pair of rollers includes a friction enhancing features for gripping an outer surface of the flexible camera tube.
15. The visualization device of claim 7, wherein the housing is configured to be removably attached to a mounting interface of the robotic surgery apparatus and to be positioned adjacent an insertion device of the robotic surgery apparatus.
16. The visualization device of claim 7, wherein the first end of the flexible camera tube extends proximally from a first position on the housing.
17. The visualization device of claim 7, wherein the position of the second opening on the housing is separate and apart from the position of the first opening on the housing such that a central longitudinal axis of the first end of the camera tube is not axially aligned with a central longitudinal axis of the second end of the camera tube when the second end of the camera tube extends away from the position of the second opening on the housing.
BOOM BOOM!
Robotic Surgery System
DOCUMENT ID
US 11653986 B2
DATE PUBLISHED
2023-05-23
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
Pflaumer; Hans Christian
Apex
NC
N/A
US
Shipley; Abraham Allen
Apex
NC
N/A
US
Ginsberg; Nathan Wagner
Ashby
MA
N/A
US
Laouar; Yahia
Superior
CO
N/A
US
Coad; Cara Lee
Longmont
CO
N/A
US
Ross; Michael James
Thornton
CO
N/A
US
Burton, Jr.; John Michael
Charleston
SC
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/171747
DATE FILED
2021-02-09
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 16419696 20190522 US 10939970 child-doc US 17171747
US CLASS CURRENT:
74/490.01,606/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 90/50
2016-02-01
CPCI
A 61 B 34/71
2016-02-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 34/74
2016-02-01
Abstract
A robotic surgery system includes a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly includes a boom assembly with one or more boom arms rotatably coupled to each other via one or more joints and having one or more actuators. An elevating linkage assembly is coupled to the boom assembly and has an actuator operable to allow vertical movement of the control unit assembly in a substantially weightless manner. Yaw and pitch control assemblies are interposed between the elevating linkage assembly and the control unit assembly and have actuators operable to allow movement of the control unit assembly in yaw and pitch. The one or more actuators are actuatable to allow movement of the control unit assembly in space upon actuation of one or more user interfaces of the control unit assembly.
Background/Summary
INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS
(1) Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.
BACKGROUND
Field
(2) The present disclosure generally relates to robotic surgical systems, and more particularly to mechanisms for moving a mechanical arm assembly and control unit assembly of a robotic surgical system.
Description of the Related Art
(3) Robotic surgery systems generally include an operator interface that receives operator input from a surgeon and causes corresponding movements of surgical tools within a body cavity of a patient to perform a surgical procedure. The operator interface can be on a workstation that the surgeon interfaces with to perform a surgical procedure using the surgical tools. The surgical tools can be on a cart separate from the workstation. The cart can be mobile, allowing hospital staff to move the cart into an operating room prior to the surgical procedure, and to remove it from the operating room once the surgical procedure has been completed.
SUMMARY
(4) In accordance with one aspect of the disclosure, a robotic surgical system is provided with a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly selectively allows movement of the control unit assembly in space (e.g., in a space defined by Cartesian coordinates, as well as in pitch and yaw) upon actuation of one or more actuators of the mechanical arm assembly to allow manual movement of the control unit assembly.
(5) In accordance with another aspect of the disclosure, a robotic surgical system is provided with a control unit assembly that supports and operates one or more robotic tools and a mechanical arm assembly that movably supports the control unit assembly in space. The mechanical arm assembly selectively allows movement of the control unit assembly in space (e.g., in a space defined by Cartesian coordinates, as well as in pitch and yaw) upon actuation of one or more brakes (e.g., electromagnetic brakes) of the mechanical arm assembly to allow manual movement of the control unit assembly.
(6) In accordance with another aspect of the disclosure, manual movement of the control unit assembly is effected by an operator by engaging one or more (e.g., at least two) user interfaces on the control unit assembly to unlock movement of the control unit assembly in space. Optionally, the user interfaces are depressible buttons. In another implementation, the user interfaces are tactile sensors. Optionally, one or more of the user interfaces are disposed at or proximate corners of the control unit assembly.
(7) In accordance with another aspect of the disclosure, a boom assembly of the mechanical arm assembly can include one or more boom arms pivotable relative to each other about a joint, and have an actuator (e.g., brake) disposed about an axis of the joint. The actuator is operable to allow or disallow relative movement of the one or more boom arms.
(8) In accordance with another aspect of the disclosure, an elevating linkage assembly of the mechanical arm assembly selectively allows vertical movement of the control unit assembly in a substantially weightless manner via movement of a pylon that is counterbalanced by compression of a spring. The pylon and spring are coupled by a cable that extends over and engages a pulley such that a weight exerted on the pylon by the control unit assembly is substantially equal to the spring compression force.
(9) In accordance with another aspect of the disclosure, a yaw control assembly of the mechanical arm assembly selectively allows movement of the control unit assembly in a yaw direction, and has an actuator (e.g., brake) disposed about an axis of the yaw control assembly. The actuator is operable to allow or disallow movement of the control unit assembly in yaw.
(10) In accordance with another aspect of the disclosure, a pitch control assembly of the mechanical arm assembly selectively allows movement of the control unit assembly in a pitch direction, and has one or more actuators (e.g., brakes) disposed about an axis of the pitch control assembly, the actuator(s) being operable to allow or disallow movement of the control unit assembly in pitch.
(11) In accordance with another aspect of the disclosure, the control unit assembly has a counterbalance assembly operatively coupled to the pitch control assembly to counterbalance at least a portion of the weight of the control unit assembly when it is moved in a pitch direction to allow pitch movement in a weightless manner.
(12) In accordance with another aspect of the disclosure, a robotic surgery system is provided. The system comprises a control unit assembly configured to support and operate one or more robotic tools, and a mechanical arm assembly configured to movably support the control unit assembly in space. The mechanical arm assembly comprises a pillar assembly extending along a first axis, and a boom assembly movably coupled to the pillar assembly and extending generally perpendicular to the first axis. The boom assembly comprises a proximal boom arm rotatably coupled to the pillar assembly via a first joint and a distal boom arm rotatably coupled to the proximal boom arm via a second joint, and one or more brakes arranged about one or both of the first and second joints. The mechanical arm assembly also comprises an elevating linkage assembly coupled to the distal boom arm and extending along a second axis generally parallel to the first axis. The elevating linkage assembly is disposed above and operatively coupled to the control unit assembly. The elevating linkage assembly comprises a brake operable to allow vertical movement of the control unit assembly relative to the boom assembly in a substantially weightless manner. The mechanical arm assembly also comprises a pitch and yaw assembly disposed between the control unit assembly and the elevating linkage assembly and configured to allow movement of the control unit assembly in one or both of a pitch direction and a yaw direction. The pitch and yaw assembly comprises one or more brakes operable to substantially brake movement of the control unit assembly in one or both of pitch and yaw. One or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly are actuatable between an unlocked position and a locked position, wherein the unlocked position allows an operator to manually change one or both of a position and an orientation of the control unit assembly in space, and wherein the locked position fixes the position and orientation of the control unit assembly in space.
(13) In accordance with another aspect of the disclosure, a robotic surgery system is provided. The system comprises a control unit assembly configured to support and operate one or more robotic tools, and a mechanical arm assembly configured to movably support the control unit assembly in space. The mechanical arm assembly comprises a boom assembly comprising one or more boom arms rotatably coupled to each other via one or more joints, one or more actuators being arranged about the one or more joints and operable to allow movement of the one or more boom arms. The mechanical arm assembly also comprises an elevating linkage assembly coupled to the boom assembly and extending along an axis generally perpendicular to the boom assembly. The elevating linkage assembly is disposed above the control unit assembly and comprises an actuator operable to allow movement of the control unit assembly along the axis and relative to the boom assembly in a substantially weightless manner. The mechanical arm assembly also comprises a yaw control assembly disposed below the elevating linkage assembly and above the control unit assembly, the yaw control assembly comprising an actuator operable to allow movement of the control unit assembly in a yaw direction. The mechanical arm assembly also comprises a pitch control assembly disposed below the elevating linkage assembly and above the control unit assembly, the pitch control assembly comprising one or more actuators operable to allow movement of the control unit assembly in a pitch direction. One or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly are actuatable to allow a change in one or both of a position and an orientation of the control unit assembly in space upon actuation of two or more user interfaces of the control unit assembly. One or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly lock one or both of the position and the orientation of the control unit assembly when the user interfaces are not engaged.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) FIG. 1 illustrates a robotic surgery system.
(2) FIG. 2 is a front perspective view of a boom arm assembly and control unit assembly of the robotic surgical system.
(3) FIG. 3 is a perspective assembled view of a portion of the boom assembly.
(4) FIG. 4 is perspective exploded view of the boom assembly in FIG. 3.
(5) FIG. 5 is a top view of a portion of the boom assembly of FIG. 3.
(6) FIG. 6 is a cross-sectional side view of the boom assembly of FIG. 3.
(7) FIG. 7 is a cross-sectional side view of the boom arm assembly including the boom assembly of FIG. 3 and an elevating linkage assembly.
(8) FIG. 8 is a perspective view of an elevating linkage assembly of the boom arm assembly.
(9) FIG. 9 is a side view of the elevating linkage assembly of FIG. 8.
(10) FIG. 10 is a side view of the elevating linkage assembly of FIG. 8.
(11) FIG. 11A is a perspective view of a variable cam of the elevating linkage assembly of FIG. 8.
(12) FIG. 11B is a front view of the variable cam of FIG. 11A.
(13) FIG. 12 is a partial side view of the elevating linkage assembly of FIG. 8.
(14) FIG. 13 is a partial rear view of the elevating linkage assembly of FIG. 8.
(15) FIG. 14 is a perspective view of a control unit assembly of the robotic surgical system of FIG. 1.
(16) FIG. 15 is a perspective view of the control unit assembly of FIG. 14.
(17) FIG. 16 is a perspective exploded view of the control unit assembly of FIG. 15.
(18) FIG. 17 is a side view of the control unit assembly of FIG. 15.
(19) FIG. 18A is a perspective assembled view of a yaw control assembly of the control unit assembly of FIG. 15.
(20) FIG. 18B is a perspective exploded view of the yaw control assembly of FIG. 18A.
(21) FIG. 18C is a cross-sectional view of the yaw control assembly of FIG. 18A.
(22) FIG. 19A is a perspective assembled view of a pitch control assembly of the control unit assembly of FIG. 15.
(23) FIG. 19B is a perspective exploded view of the pitch control assembly of FIG. 19A.
(24) FIG. 19C is a cross-sectional view of the pitch control assembly of FIG. 19A.
(25) FIG. 20 is a perspective view of a counter balance assembly of the control unit assembly of FIG. 15.
DETAILED DESCRIPTION
(26) Overview of Robotic Surgery System
(27) FIG. 1 illustrates a robotic surgery system 1000. The robotic surgery system 1000 includes a workstation 102 and an instrument station or a patient cart 104. The patient cart 104 includes a boom arm assembly 200, elevating linkage assembly 300 and control unit assembly 400. At least one tool is mountable on the moveable instrument mount, control unit or drive unit 400 that houses an instrument drive (not shown) for manipulating the tool. The tool may include an insertion device 108 that can support at least one surgical instrument (hereinafter to be interchangeably used with an “instrument” or “surgical tool”) and a camera (not shown) that images a surgical site. The workstation 102 may also include a tool such as an instrument clutch (that may optionally be implemented by a foot pedal described below). The insertion device 108 can optionally support two or more instruments (not shown). The camera may optionally include a primary camera and at least one secondary camera. The primary camera and the secondary camera may provide different viewing angles, perform different functions and/or produce different images. At least one of the primary camera and the secondary camera may optionally be a two-dimensional (2D) or a three-dimensional (3D) camera. FIG. 1 is merely an example of a robotic surgery system, and certain elements may be removed, other elements added, two or more elements combined, or one element can be separated into multiple elements depending on the specification and requirements of the robotic surgery system.
(28) The workstation 102 includes an input device for use by a user (for example, a surgeon; hereinafter to be interchangeably used with an “operator”) for controlling the instrument via the instrument drive to perform surgical operations on a patient. The input device may optionally be implemented using a haptic interface device available from Force Dimension, of Switzerland, for example. The input device optionally includes a right input device 132 and a left input device 112 for controlling respective right and left instruments (not shown). The right input device 132 includes a right hand controller 122 (hereinafter to be interchangeably used with a “hand grip” or “handpiece”) and the left input device 112 includes a left hand controller 124. The right and left hand controllers 122 and 124 may optionally be mechanically or electrically coupled to the respective input devices 132 and 112. Alternatively, the right and left hand controllers 122 and 124 may be wirelessly coupled to the respective input devices 132 and 112 or may be wireless coupled directly to the workstation 102. In some cases, when there are two instruments at the instrument station 104, the right and left hand controllers 122 and 124 may respectively control the two instruments. In some cases, when there are more than two instruments, the right and left hand controllers 122 and 124 may be used to select two of the multiple instruments that an operator wishes to use. In some cases, when there is only one instrument, one of the right and left hand controllers 122 and 124 may be used to select the single instrument.
(29) The input devices 132 and 112 may generate input signals representing positions of the hand controllers 122 and 124 within an input device workspace (not shown). In some cases where the input devices 132 and 112 are coupled directly and wirelessly to the workstation, they would include the necessary sensors to allow wireless control such as an accelerometer, a gyroscope and/or magnetometer. In other cases, a wireless connection of the input devices 132 and 112 to the workstation 102 may be accomplished by the use of camera systems alone or in combination with the described sensors. The afore described sensors for wireless functionality may also be placed in each handpiece to be used in conjunction with the input devices 132 and 112 to independently verify the input device data. The workstation 102 also includes a workstation processor circuit 114, which is in communication with the input devices 132 and 112 for receiving the input signals.
(30) The workstation 102 also includes a display 120 in communication with the workstation processor circuit 114 for displaying real time images and/or other graphical depictions of a surgical site produced by the camera associated with the instrument. The workstation 102 may optionally include right and left graphical depictions (not shown) displayed on the display 120 respectively for the right and left side instruments (not shown). The graphical depictions may optionally be displayed at a peripheral region of the display 120 to prevent obscuring a live view of the surgical workspace also displayed on the display. The display 120 may further be operable to provide other visual feedback and/or instructions to the user. A second auxiliary display 123 may be utilized to display auxiliary surgical information to the user (surgeon), displaying, for example, patient medical charts and pre-operation images. In some cases, the auxiliary display 123 may be a touch display and may also be configured to display graphics representing additional inputs for controlling the workstation 102 and/or the patient cart 104. The workstation 102 further includes a footswitch or foot pedal 126, which is actuatable by the user to provide input signals to the workstation processor circuit 114. In one case, the signal provided to the workstation processor circuit 114 may inhibit movement of the instrument while the footswitch 126 is depressed.
(31) The patient cart 104 includes an instrument processor circuit 118 for controlling the central unit 400, insertion device 108, one or more instruments and/or one or more cameras. In such case, the instrument processor circuit 118 is in communication with the workstation processor circuit 114 via an interface cable 116 for transmitting signals between the workstation processor circuit 114 and the instrument processor circuit 118. In some cases, communication between the workstation processor circuit 114 and the processor circuit 118 may be wireless or via a computer network, and the workstation 102 may even be located remotely from the patient cart 104. Input signals are generated by the right and left input devices 132 and 112 in response to movement of the hand controllers 122 and 124 by the user within the input device workspace and the instrument is spatially positioned in a surgical workspace in response to the input signals.
(32) Additional details of the robotic surgery system 1000 are described in U.S. patent application Ser. No. 16/174,646 filed on Oct. 30, 2018, the entirety of which is hereby incorporated by references and should be considered a part of this specification.
(33) Boom Assembly
(34) FIGS. 2-7 illustrates a boom arm assembly 200 of the robotic surgery system 100. The boom arm assembly 200 can include a boom assembly BA and an elevational linkage assembly 300 and couple to the control unit assembly 400.
(35) With reference to FIG. 2, the boom arm assembly 200 includes a support base 210, a lower pillar 220 attached to the support base 210 and an upper pillar 230 movably coupled to the lower pillar 220. In one implementation, the upper pillar 230 can telescopingly extend relative to the lower pillar 220. Optionally, the upper pillar 230 can have a circular cross-section and extend within an inner perimeter of the lower pillar 220 that has a circular cross-section. Optionally, the upper pillar 230 can have an outer diameter 231 that is smaller than the outer diameter 221 of the lower pillar 220. The outer diameter 231 is optionally smaller than an inner diameter 222 of the lower pillar 220, such that the lower pillar 220 overlaps at least a portion of the upper pillar 230. Optionally, the upper pillar 230 has a measurement scale to identify the height of the boom arm assembly 200 (e.g., relative to a support base under the patient cart 104). In another implementation, the upper pillar 230 has an outer diameter 231 that is larger than the outer diameter 221 of the lower pillar 220. In another implementation, the outer diameter 221 of the lower pillar 220 is optionally smaller than an inner diameter 222 of the upper pillar 230. The support base 210 can be mounted or coupled to, disposed in or otherwise supported on or in the patient cart 104.
(36) In one implementation, the upper pillar 230 can be manually moved (e.g., extended upward, moved downward) relative to the lower pillar 220. For example, as further described below, an operator (e.g., surgical assistant) can move the upper pillar 230 up or down relative to the lower pillar with their hands (e.g., by pressing on actuator buttons, such as on the control unit assembly 400). In particular, movement of the upper pillar 230 relative to the lower pillar 220 is not effected by a motor (e.g., electric motor). In another implementation, movement of the upper pillar 230 relative to the lower pillar 220 can be effected by a motor (e.g., by an electric motor).
(37) With continued reference to FIG. 2, the boom arm assembly 200 includes a boom assembly BA with a proximal boom arm 240 and a distal boom arm 260. The proximal boom arm 240 is movably coupled to an upper portion 234 of the upper pillar 230, and the distal boom arm 260 is movably coupled to the proximal boom arm 240 at one end and coupled to the elevating linkage assembly 300 at its other end.
(38) FIGS. 3-6 show the boom assembly BA, and FIG. 7 shows the boom assembly BA coupled to the elevating linkage assembly 300. The proximal boom arm 240 has a boom arm body 242 that extends between a proximal end 241 and a distal end 243. The proximal end 241 of the boom arm body 242 has a recess 242A that optionally receives at least a portion of a brake housing 249 (e.g., a proximal brake housing). The brake housing 249 can optionally couple to and/or be disposed in the upper portion 234 of the upper pillar 230.
(39) With reference to FIGS. 4 and 6, the boom assembly BA can include a proximal shaft 247 with a flange 248 attached to an end of the shaft 247. The flange 248 can extend into the recess 242A of the boom arm body 242 and be coupled or attached to the boom arm body 242 by one or more fasteners (e.g., bolts) 245. The proximal shaft 247 can have a bore or opening 247A that extends along an axis Y. Optionally, the bore 247A is coaxial with an opening 244 of the boom arm body 242 when the flange 248 is disposed in the recess 242A and attached to the boom arm body 242. The shaft 247 extends through the brake housing 249 so that the flange 248 is interposed between at least a portion of the brake housing 249 and at least a portion of the boom arm body 242. A distal end of the shaft 247 extends through a base plate 251 attached to the brake housing 249 with one or more fasteners (e.g., screws, bolts) 252.
(40) The brake housing 249 houses one or more electromagnetic brakes 250. As shown in FIGS. 4 and 6, in one implementation, the brake housing 249 houses a pair of electromagnetic brakes 250 (e.g., a double-stack permanent electromagnet brakes) actuatable via electrical connections 250C, as discussed further below. Advantageously, the use of the pair of electromagnetic brakes 250 allows the diameter of the brakes 250 (and therefore the diameter of the housing 249) to be smaller, as well as to account for the longer lever arm of the boom assembly BA from the location of the brakes 250 (e.g., to provide sufficient torque to brake the boom assembly BA). In another implementation, the one or more electromagnetic brakes 250 can be a single electromagnetic brake. In still another implementation, the one or more electromagnetic brakes 250 can be replaced with an electric motor actuatable to move and/or lock the proximal boom arm body 242 relative to the patient cart 104 (e.g., relative to the upper pillar 230).
(41) The proximal shaft 247 extends through the electromagnetic brake(s) 250. The electromagnetic brake(s) 250 have a stator 250A and a rotor 250B. The proximal shaft 247 is coupled to the rotor 250B, so as to move together. In one implementation, the proximal shaft 247 is keyed to the rotor 250B via one or more splines 247C1, 247C2 that extend into slots in the rotor(s) 250B. With reference to FIG. 6, the brake housing 249 can include one or more bearings 249A (e.g., tapered bearings) disposed about at least a portion of the flange 248 to allow the flange 248 to rotate (along with the boom arm body 242 and proximal shaft 247) relative to the brake housing 249. Additionally, the base plate 251 can include one or more bearings 251A (e.g., tapered bearings) disposed about at least a portion of the proximal shaft 247 to allow the proximal shaft 247 to rotate relative to the base plate 251.
(42) A locking ring 251B can be attached (e.g., threadably coupled) to a distal end 247B of the proximal shaft 247, so that the base plate 251 is interposed between the locking ring 251B and the housing 249. The proximal shaft 247 allows the proximal boom arm body 242 to rotate relative to the patient cart 104 (e.g., relative to the upper pillar 230) when the brake(s) 250 are unlocked (e.g., when the electromagnetic brake is turned off). When the brake(s) 250 are locked (e.g., when the electromagnetic brake is turned on), the proximal shaft 247 (and attached flange 248 and proximal boom arm body 242) is inhibited (e.g., prevented) from rotating relative to the patient cart 104 (e.g., relative to the upper pillar 230), thereby substantially fixing the position in space (e.g., orientation) of the proximal boom arm body 242 relative to the patient cart 104 (e.g., relative to the upper pillar 230).
(43) With reference to FIGS. 3-6, the proximal boom arm body 242 has a hub 246 at or near the distal 243 of the boom arm body 242. The hub 246 can have a recessed portion 246A sized to receive at least a portion of an electromagnetic brake 253 therein, the electromagnetic brake 253 actuatable via electrical contact(s) 253C, as further described below. A base plate 254 can be attached to the hub 246 by one or more fasteners (e.g., screws, bolts) 255 to enclose the electromagnetic brake 253 in the hub 246.
(44) The distal boom arm 260 can have a boom arm body 262 and extend between a proximal end 261 and a distal end 263. The boom arm body 262 can have a recessed portion 262A and an opening 264 in the proximal end 261. The boom assembly BA can include a distal shaft 266 with a flange 267 attached to an end of the shaft 266. The flange 267 can extend into the recess 262A of the boom arm body 262 and be coupled or attached to the boom arm body 262 by one or more fasteners (e.g., bolts) 265. The distal shaft 266 can have a bore or opening 266A that extends along an axis Y2. Optionally, the bore 266A is coaxial with an opening 264 of the boom arm body 262 when the flange 267 is disposed in the recess 262A and attached to the boom arm body 262. The shaft 266 extends through the hub 246 so that the flange 267 is interposed between at least a portion of the hub 246 and at least a portion of the boom arm body 262. A distal end of the shaft 266 extends through the base plate 254 attached to the hub 246.
(45) With continued reference to FIGS. 4-6, the distal shaft 266 extends through the electromagnetic brake 253. The electromagnetic brake 253 have a stator 253A and a rotor 253B. The distal shaft 266 is coupled to the rotor 253B, so as to move together. In one implementation, the proximal shaft 266 is keyed to the rotor 253B via one or more splines 266C that extend into one or more slots in the rotor 253B. The hub 246 can include one or more bearings 246B (e.g., tapered bearings) disposed about at least a portion of the flange 267 to allow the flange 267 to rotate (along with the boom arm body 262) relative to the hub 246 (and the proximal boom arm 240). Additionally, the base plate 254 can include one or more bearings 254A (e.g., tapered bearings) disposed about at least a portion of the distal shaft 266 to allow the distal shaft 266 to rotate relative to the base plate 254.
(46) A locking ring 254B can be attached (e.g., threadably coupled) to a distal end 266B of the distal shaft 266, so that the base plate 254 is interposed between the locking ring 254B and the hub 246. The distal shaft 266 allows the distal boom arm body 262 to rotate relative to the proximal boom arm body 242 when the brake 253 is unlocked (e.g., when the electromagnetic brake is turned off). When the brake 253 is locked (e.g., when the electromagnetic brake is turned on), the distal shaft 266 (and attached flange 267 and distal boom arm body 262) is inhibited (e.g., prevented) from rotating relative to the proximal boom arm body 242, thereby substantially fixing the position in space (e.g., orientation) of the distal boom arm body 262 relative to the proximal boom arm body 242. In another implementation, the electromagnetic brake 253 can be replaced with an electric motor actuatable to move and/or lock the distal boom arm body 262 relative to the proximal boom arm body 242.
(47) As shown in FIG. 6, the distal boom arm 260 extends along a plane P1 generally parallel to a plane P2 along which the proximal boom arm 240 extends, with the distal boom arm 260 disposed above the proximal boom arm 240 (e.g., vertically above, relative to a support surface S under the patient cart 104). Additionally, in one implementation the distal boom arm 260 has a length L1 that is longer than a length L2 of the proximal boom arm 240, advantageously allowing the distal boom arm 260 to be rotated so that the distal boom arm 260 extends over an entire length of the proximal boom arm 240 (e.g., when viewed from above the distal boom arm 260, relative to the support surface S under the patient cart 104) and so that the distal end 263 of the distal boom arm 260 protrudes proximally of the proximal end 241 of the proximal boom arm 240. This can allow the boom arm assembly 200 to be moved into a compact retracted position (e.g., for storage). In one implementation, the proximal and distal boom arm bodies 242, 262 can have fixed lengths (e.g., each of the proximal and distal boom arms 240, 260 be a single-piece or monolithic with a fixed length). In another implementation, one or both of the proximal and distal boom arm bodies 242, 262 can have an adjustable length (e.g., a first portion that telescopingly moves relative to another portion).
(48) Optionally, rotation of the proximal boom arm body 242 relative to the housing 249 can be limited (e.g., to less than 360 degrees); for example, as best shown in FIG. 6, a stop S1 attached to the proximal boom arm body 242 can engage (e.g., contact) at least a portion of the housing 249 to inhibit (e.g., prevent) further rotation of the proximal boom arm body 242 relative to the housing 249. Similarly, rotation of the distal boom arm body 262 relative to the proximal boom arm body 242 can optionally be limited (e.g., to less than 360 degrees); for example, as best shown in FIG. 6, a stop S2 attached to the distal boom arm body 262 can engage (e.g., contact) at least a portion of the hub 246 to inhibit (e.g., prevent) further rotation of the distal boom arm body 262 relative to the proximal boom arm body 242. In one implementation, the proximal boom arm body 242 can rotate about the housing 249 over an angular range of about 350 degrees, in one example an angular range of about 310 degrees (e.g. ±155 degrees). In one implementation, the distal boom arm body 262 can rotate about the hub 246 over an angular range of about 350 degrees, in one example an angular range of about 330 degrees (e.g., ±165 degrees).
(49) In another implementation, the distal boom arm 260 extends along a parallel plane relative to the proximal boom arm 240, with the distal boom arm 260 disposed below the proximal boom arm 240 (e.g., vertically below, relative to a support surface S under the patient cart 104). In another implementation, the proximal boom arm 240 can be longer than the distal boom arm 260, and the distal boom arm 260 be rotatable so that proximal boom arm 240 extends over at least a portion of the length of the distal boom arm 260 (e.g., when viewed from above the proximal boom arm 240, relative to the support surface S under the patient cart 104), to allow the boom arm assembly 200 to be moved into a compact retracted position (e.g., for storage).
(50) Advantageously, the electromagnetic brake 253 is actuatable to lock the distal boom arm 260 relative to the proximal boom arm 240 (e.g., in a particular angular orientation), and the electromagnetic brake(s) 250 are actuatable to lock the proximal boom arm 240 relative to the upper pillar 230. Advantageously, the electromagnetic brakes 250, 253 operate to lock when under zero power; therefore, in the event the robotic surgical system 1000 experiences a loss of power (e.g., due to a power outage), the electromagnetic brakes 250, 253 would automatically lock the orientation of the proximal and distal boom arms 240, 260. Additionally, the electromagnetic brakes 250, 253 allow for reduced (e.g., minimal, approximately zero) backlash or impact load between one or more of the proximal and distal boom arms 240, 260 and the upper pillar 230 when one or more of the brakes 250, 253 are engaged, thereby advantageously improving the accuracy in setting the orientation of the proximal and distal boom arms 240, 260.
(51) As further described below, in one implementation the electromagnetic brakes 250, 253 can be unlocked (e.g., to allow the proximal and distal boom arms 240, 260 to move relative to each other and relative to the upper pillar 230) when one or more Deadman switches are actuated (e.g., pressed) by an operator, allowing power to be provided to the brakes 250, 253 via the electrical contacts 249A, 253C. When the one or more Deadman switches are disengaged by the operator (e.g., not pressed, not touched or otherwise not engaged by the operator), the brakes 240, 260 automatically engage (e.g., lock) to inhibit (e.g., prevent) rotation of the proximal and distal boom arms 240, 260 relative to each other and relative to the upper pillar 230 and/or patient cart 104.
(52) Advantageously, cabling (e.g., electrical cabling, power/data cabling) C can be routed through one or more of the lower pillar 220, upper pillar 230, proximal boom arm 240, and distal boom arm 260 to thereby make the boom arm assembly 200 less obtrusive and inhibit (e.g., prevent) inadvertent entanglement of the cabling (e.g., with an operator, other devices in the operating room) during use. As illustrated in FIGS. 3-7, the cabling C can be routed through the bore 247A of the proximal shaft 247, via one or more openings 242B in the proximal boom arm body 242, through the bore 266A of the distal shaft 266 and along the distal boom arm body 262 to the elevating linkage assembly 300 and finally to the control unit assembly 400 as further discussed below. The cabling C can have sufficient slack to allow for the rotation of the proximal and distal boom arms 240, 260 relative to each other and relative to the upper pillar 130 and/or patient cart 104 without unduly tensioning of the cabling C. Advantageously, routing the cabling C through the bores 247A, 266A of the proximal and distal shafts 247, 266 (e.g., along the rotational axes of the proximal and distal boom arms 240, 260) allows the proximal and distal boom arms 240, 260 to rotate (when the brakes 250, 253 are unlocked) without causing the entanglement of the cabling C.
(53) Elevating Linkage Assembly
(54) FIGS. 7-13 illustrate the elevating linkage assembly 300. The elevating linkage assembly 300 has a mounting plate 302 via which it couples to the distal end 263 of the distal boom arm body 262, as shown in FIG. 7. The elevating linkage assembly 300 supports the control unit assembly 400 as shown in FIGS. 1-2 via a mounting flange 320 (e.g., with one or more bolts). Advantageously, the elevating linkage assembly 300 provides a counterbalance to the control unit assembly 400 (e.g., force from the control unit assembly 400 can be approximately the same as the force from a spring 310, as shown in FIG. 10), facilitating the vertical adjustment (e.g., manually raising and manually lowering) of the control unit assembly 400 (e.g., relative to the boom arm BA) by an operator without the operator having to support the full weight of the control unit assembly 400. In one implementation, the elevating linkage assembly 300 provides a counterbalance to the control unit assembly 400 that allows the operator to manually raise and lower the control unit assembly 400 in a weightless manner.
(55) The elevating linkage assembly 300 has a frame 304, to which the mounting plate 302 is attached, and a cam 306 rotatably coupled to the frame 304. A support pylon 305 is movably coupled to the frame 304. The support pylon 305 couples to the mounting flange 320 that in turn couples to the control unit assembly 400. A cable 308 couples to the support pylon 305 at one end 308A of the cable 308 (e.g., via a shoulder pin 309) and wraps around at least a portion of the cam 306.
(56) The elevating linkage assembly 300 includes a spring 310 (e.g., a compression spring, a cylindrical coil spring) enclosed in a cylinder 312 that extends between a proximal end cap 312A (e.g., that engages or contacts a proximal end of the spring 310) and a distal end cap 312B. In one implementation, the spring 310 can have a length of approximately 1 foot when in an extended state (e.g., to fit in a compact cylinder 312). However, the spring 310 can have other suitable lengths. The spring 310 can be compressed between the proximal end cap 312A of the cylinder 312 and a movable platform 313 (e.g., that can slide within the cylinder and contacts a distal end of the spring 310). The cable 208 that wraps around at least a portion of the cam 306 enters the cylinder 312 through an opening 312C in the proximal end cap 312A, extends through the spring 310 (e.g., through a central passage in the coil spring 310) and couples to the movable platform 313 at a distal end 308B of the cable 308.
(57) The support pylon 305 can have one or more rails 314 (e.g., liner rails) on one side (e.g., attached and/or formed on one side) thereof. The rail(s) 314 can travel (e.g., slide) within corresponding runner block(s) 315 attached to the frame 304 to allow for smooth vertical actuation of the support pylon 305. The support pylon 305 can have one or more rack(s) 316 (e.g. a linear gear rack) on one side (e.g., attached and/or formed on one side) thereof. The rack(s) 316 can engage a pinion gear 317 (see FIG. 12) that is rotatably coupled to the frame 304 (e.g., via a shaft or axle 319 that extends across opposite plates 304A, 304B of the frame 304).
(58) The elevating linkage assembly 300 also includes a brake 318. In one implementation, the brake 318 can be an electromagnetic brake 318. The brake 318 can be coupled to the frame 304 and coupled to the axle 319 (e.g., in a keyed or spline connection). When in the unlocked position (e.g., when the electromagnet is powered) the elevating linkage assembly 300 can allow movement (e.g., vertical or axial movement) of the support pylon 305 relative to the frame 304 to thereby allow movement (e.g., raising or lowering) of the control unit assembly 400. When in the locked position (e.g. when the electromagnet is not powered or off) the elevating linkage assembly 300 can inhibit (e.g., prevent, lock) movement of the support pylon 305, thereby locking the vertical position of the control unit assembly 400. As shown in FIG. 13, the elevating linkage assembly 300 can also have a cable management member 322 (e.g., cable management tray) can engage the cable C to maintain it in an ordered manner (e.g., inhibit its tangling) as it passes from the distal boom arm body 262, through the elevating linkage assembly 300 and to the control unit assembly 400.
(59) With reference to FIGS. 11A-11B, the cam 306 can have a first cam body 306A with a variable radius R1 and a second cam body 306B with a constant radius R2 measured from a bore 306C that defines the axis of rotation of the cam 306. The cam 306 can rotatably couple to the frame 304 via an axle that extends through the bore 306C (e.g., and that couples to the opposing walls 304A, 304B of the frame 304). The first cam body 306A has a first groove 307A and the second cam body 306B has a second groove 307B. The cable 308 can extend along at least a portion of the groove 307A of the first cam body 306A with the variable radius R1. Optionally, at least a portion of the cable 308 can extend along at least a portion of the groove 307B of the second cam body 306B. In one implementation, the grooves 307A, 307B join at a transition between the first cam body 306A and the second cam body 306B.
(60) Advantageously, the rate of change in the force of the spring 310 is substantially equal to (e.g., equal to) the rate of change in the radius R1 of the first cam body 306A. This results in a substantially equal or constant torque, which facilitates the generally weightless movement of the control unit assembly 400 during a lifting or lower motion of the elevating linkage assembly 300.
(61) As illustrated in FIGS. 8-10, the cylinder 312 and spring 310 extend generally vertically (e.g., along an axis that is parallel to an axis of the support pylon 305). In another implementation, the cylinder 312 and spring 310 can extend generally horizontally (e.g., extend generally perpendicular to the axis of the support pylon 305). As shown in FIG. 9, the spring 310 can be disposed on a front side of the elevating linkage assembly 300. However, in other implementations the spring 310 and cylinder 312 can instead be on a side surface (or a rear surface) of the elevating linkage assembly, and the orientation of the cam 306 adjusted so that the cable 308 is fed from a surface (e.g., groove 307A) of the cam 306 into the cylinder 312.
(62) As discussed above, the elevating linkage assembly 300 can have a brake 318 to lock and unlock the position of the support pylon 305. In another implementation, a motor (e.g., an electric motor) can additionally or alternatively be used. In one implementation, the motor can be used instead of the brake 318, where the motor actively moves the support pylon 305 via the rack 316 and pinion 317 to raise and lower the control unit assembly 400. In another implementation, the motor can supplement the brake 318 (e.g., where the cam 306 instead has a constant radius, and the motor operates to supplement the brake 318 as the force of the spring 310 changes to maintain a substantially constant torque).
(63) Control Unit Assembly
(64) FIGS. 14-20 illustrate certain features of the control unit assembly 400 for the robotic surgical system 1000. As discussed previously, one or more tools can be removably mounted to and operable via the control unit assembly 400. The control unit assembly 400 can extend between a rear end R and a front end F and optionally have an outer skin 402. The control unit assembly 400 also can include a connector 408 that couples to (e.g., removably couples to) the insertion device 108 through which the tools extend.
(65) The control unit assembly 400 can have one or more user interfaces 404 proximate the rear end R and one or more user interfaces 406 proximate the front end F. In one implementation, the one or more user interfaces 404 are a pair of interfaces at the front end F, and the one or more user interfaces 406 are a pair of interfaces at the rear end R. Optionally, the interfaces 404, 406 can be located at or near corners of the control unit assembly 400 (e.g., proximate handles of the control unit assembly 400 that the operator can grab while engaging the interfaces 404, 406). In one implementation, the one or more user interfaces 404, 406 are actuatable to unlock one or more of the brakes disclosed herein to allow movement of one or more portions of the robotic surgical system 1000 (e.g., one or more portions of the boom assembly BA, elevating linkage assembly 300 and/or control unit assembly 400). In one implementation, the one or more user interfaces 404, 406 can be depressible buttons. In another implementation, the one or more user interfaces 404, 406 can be tactile sensors (e.g., capacitance sensors). In still another implementation, the one or more user interfaces 404, 406 can be movable (e.g., pivotable, slidable) levers. Further discussion of the user interfaces 404, 406 is provided below.
(66) The control unit assembly 400 can include one or more of a chassis 410, a yaw control assembly 420, a pitch control assembly 440 and a counterbalance assembly 460. The counterbalance assembly 460 can include a pair of counterbalance assemblies 460A, 460B coupled to opposite sides of the chassis 410.
(67) With reference to FIGS. 18A-18C, the yaw control assembly 420 can optionally include a mounting plate 422. The yaw control assembly 420 can couple with the pitch control assembly 440 via one or more fasteners 430B (e.g., bolts) that fasten the mounting plate 422 to the pitch control assembly 440. A bearing 423 (e.g., tapered bearing) can sit on a surface 422A of the mounting plate 422, and a hub 424 can be disposed at least partially above the bearing 423 so that the bearing 423 is interposed between the hub 424 and the mounting plate 422. The hub 424 can couple with a housing 425 at or proximate a distal end 425A of the housing 425. Optionally, the hub 424 can at least partially extend through the housing 425 (e.g., protrude from the distal end 425A of the housing 425). The mounting plate 422 optionally couples with the hub 423 via one or more fasteners 430A (e.g., bolts).
(68) The housing 425 can have an axle 426 that extends along the axis (e.g., central axis, axis of symmetry) of the housing 425. A brake 427 (e.g., an electromagnetic brake) can be at least partially housed in the housing 425 and disposed about the axle 426. The brake 427 can have an annular (e.g., donut) shape. A cover or top 433 can be coupled with the housing 425 at or proximate a proximal end 425A of the housing 425 with one or more fasteners 431 (e.g., bolts). The cover 433 can have an openings 433A sized to receive a bearing (e.g., a tapered bearing) 428 therein. At least a proximal portion 426A of the axle 426 can extend through the bearing 428, and a locking ring 429 can couple to the proximal portion 426A adjacent the bearing 248.
(69) As shown in FIGS. 18B-18C, the axle 426 can optionally have one or more slots 426B that can at least partially receive one or more splines 426C. The shaft 426 can be coupled to a rotor 427A via a key-slot or splined connection in the hub 424 attached to the rotor 427A, and the brake 427 can selectively brake the movement of the rotor 427A relative to a stator 427B.
(70) In operation, when the brake 427 is unlocked (e.g., electromagnetic brake is actuated via electrical connections 432 to allow movement of one portion of the yaw control assembly 420 relative to another portion of the yaw control assembly 420), one or more of the plate 422, bearing 423, hub 424 and axle 426 can rotate or pivot relative to a rest of the yaw control assembly 420. When the brake 427 is locked (e.g., when the electromagnetic brake is turned off so that it locks in place), the brake 427 can inhibit (e.g., prevent) movement of the rotor 427A, thereby preventing rotation of one or more of the axle 426, hub 424, bearing 423 and the mounting plate 422. Accordingly, the yaw control assembly 420 can be operated to allow the adjustment (e.g., manual adjustment by an operator) of the orientation of the mounting plate 422 relative to the axis Y3 of the axle 426 (and thereby the orientation of the control unit assembly 400 disposed below the mounting plate 422) to adjust the orientation of the control unit assembly 400 in a yaw direction.
(71) With reference to FIGS. 19A-19C, the pitch control assembly 440 has a housing 422 with a surface 423 that can couple with the mounting plate 422 of the yaw control assembly 420 (e.g., via the one or more fasteners 430B). Optionally, the housing 422 can be generally cylindrical in shape. A shaft 424 can extend between a proximal end 424A and a distal end 424B, where the proximal and distal ends 424A, 424B of the shaft 424 can at least partially extend from opposite ends of the housing 422. Optionally, the shaft 424 can have one or more slots 424C at one or both ends 424A, 424B. The one or more slots 424C can have (e.g., can receive therein) a corresponding spline 424D. Optionally, a pair of bearings 426, 428 (e.g., tapered bearings) can be disposed in corresponding openings 422A, 422B at or proximate opposite ends of the housing 422 (e.g., so that the bearings 426, 428 do not protrude from the proximal and distal ends of the housing 422). The proximal and distal ends 424A, 424B of the shaft 424 can extend through the bearings 426, 428.
(72) Optionally, a pair of brakes 436, 446 (e.g., electromagnetic brakes) can be disposed on opposite sides of the housing 422. Advantageously, the pair of brakes 436, 446 provides for increased stability and reduces a wobbling motion of the pitch control assembly 440. In another implementation, a single brake (e.g. an electromagnetic brake) can instead be used and disposed along the shaft 424.
(73) Optionally, a locking ring 438 can be disposed adjacent the bearing 426 and couple (e.g., threadably couple) to a portion (e.g., threaded portion) 424E of the shaft 424. A pair of support brackets 430, 440 can attach (e.g., via fasteners) to opposite ends of the housing 422, at least a flange portion of the brakes 436, 446 interposed between the brackets 430, 440 and the opposite ends of the housing 422. A pair of end plates 434, 444 can be disposed adjacent the brakes 436, 446, where the brackets 430, 440 extend over at least a portion of the end plates 434, 444. The end plates 434, 444 can have openings 434A, 444A through which the distal and proximal ends 424B, 424A of the shaft 424 at least partially extend. The openings 434A, 444A can have keyed slot 434B, 444B that can receive the spline 424D on the shaft 424, thereby fixedly coupling the end plates 434, 444 to the shaft 424.
(74) A pair of travel stop plates 432, 442 can attach to the end plates 434, 444. The travel stop plates 432, 442 can limit the rotational travel of the pitch control assembly 440 by engaging the brackets 430, 440. In one implementation, the travel stop plates 432, 442 can limit rotational travel (e.g., in pitch) from a neutral (horizontal) position to between about 10 degrees up and 50 degrees down. However, the attachment of the travel stop plates 432, 442 on the end plates 434, 444 can be adjusted to provide a different range of travel.
(75) The pitch control assembly 440 can couple to the chassis 410 of the control unit assembly 400 via one or more fasteners (e.g. bolts) that couple one or more legs 434C, 444C of the end plates 434, 444 to the chassis 410. The pitch control assembly 440 can couple to the chassis 410 substantially at a center location along the length of the control unit assembly 400, as shown in FIG. 17. In operation, the end plates 434, 444 can rotate relative to the housing 422 (e.g., relative to the yaw control assembly 420 attached to the housing 422) when the brakes 436, 446 are unlocked (e.g., when the electromagnetic brakes 436, 446 are actuated via electrical connections 436A, 446A to allow rotation of one portion of the pitch control assembly 440 relative to another portion of the pitch control assembly 440). For example, when the brakes 436, 446 are unlocked, rotor(s) 436B, 446B can rotate relative to stators 436C, 446C of the brakes 436, 446. When the brakes 436, 446 are locked (e.g., when the electromagnetic brakes 436, 446 are turned off so that they locks in place), the brakes 436, 446 can inhibit (e.g., prevent) movement of the rotor(s) 436B, 446B relative to the stators 436C, 446C, thereby preventing rotation of the shaft 424 and thereby the end plates 434, 444 relative to the housing 422.
(76) Advantageously, the yaw control assembly 420 and pitch control assembly 440 can auto lock upon a loss of power, as further discussed below. Therefore, the brake 427 in the yaw control assembly 420 and the brake(s) 436, 446 in the pitch control assembly 440 are locked when the user interfaces 404, 406 are disengaged or otherwise not engaged (and/or when there is no power, or loss of power), and unlock when the user interfaces 404, 406 are engaged (and there is power provided to the brakes). Additionally or alternatively, the pitch control assembly 440 and/or yaw control assembly 420 are operable to lock and unlock when the one or more robotic tools are in a retracted position in the control unit assembly 400, but lock (e.g., automatically lock) once the one or more robotic tools are moved into the extended position relative to the control unit assembly 400. In another implementation, one or more of the brake 427 in the yaw control assembly 420 and the brake(s) 436, 446 in the pitch control assembly 440 can instead be motor(s) (e.g., electric motors) operable to effect the yaw and/or pitch movement.
(77) As shown in FIGS. 15-17, the yaw control assembly 420 can be disposed above the pitch control assembly 440, so that the pitch control assembly 440 is disposed between the yaw control assembly 420 and the chassis 410. In another implementation, the pitch control assembly 440 can be disposed above the yaw control assembly 420. In still another implementation, the yaw control assembly 420 and pitch control assembly 440 can be combined and provided by a single unit. For example, the yaw control assembly 420 can pitch control assembly 440 can instead be replaced by a ball joint or spherical joint assembly that can move in a multiaxial direction and can brake independently of any axis.
(78) As discussed above, the control unit assembly 400 can include one or more counter balance assemblies 460 (e.g., a pair of counterbalance assemblies 460A, 460B). Though the following description is for one counterbalance assembly 460, one of skill in the art will recognize that it can also apply to the other counter balance assembly 460 (e.g., the counter balance assemblies 460A, 460B are identical and mirror images of each other).
(79) With reference to FIG. 20, the counter balance assembly 460 has a base plate 462 that can be coupled to the chassis 410 (e.g., with one or more fasteners, such as screws), as shown in FIGS. 15-17. A pulley assembly 464 with one or more pulleys 464A is coupled to the base plate 462. A proximal stop cap 466 and a distal stop cap 468 can be attached to the base plate 462, with one or more (e.g., a pair of) tubes 467A, 467B extending between and interconnecting the stop caps 466, 468. One or more (e.g., a pair of) springs 472A, 472B (e.g., coil springs) can be disposed over the one or more tubes 467A, 467B. A shuttle member 470 can be disposed over the springs 472A, 472B and tubes 467A, 467B and can engage at least a portion of the springs 472A, 472B. In one implementation, the shuttle member 470 can have a pair of openings through which the tubes 467A, 467B can pass and inner wall portions (e.g., shoulders) that engage the springs 472A, 472B when the shuttle member 470 is moved (e.g., slid along the tubes 467A, 467B) relative to the springs 472A, 472B. In another implementation, a single spring can be used instead of the pair of springs 472A, 472B, but the single spring would be longer.
(80) A shaft 474 extends through an opening 470B in the shuttle member 470 and locked relative to the shuttle member 470 (e.g., with a nut 476). A cable 478 can extend from an opposite end of the shaft 474 and wrap around the pulley 464A, extending to a proximal connector 480 (e.g., an eyelet connector). The proximal connector 480 (e.g., eyelet connector) can couple to the pitch control assembly 440 (e.g., can couple to the bracket 430, 440 of the pitch control assembly 440).
(81) Advantageously, the counterbalance assembly 460 provides a counter balance force for the rotation of the chassis 410 during a pitch motion of the control unit assembly 400 (e.g., via the pitch control assembly 440). This advantageously contributes to the “weightlessness” of the control unit assembly 400 that is experienced by the operator by controlling the pitching motion of the chassis 410. As the chassis 410 pivots down, the springs 472A, 472B compress, and as the chassis 410 pivots up, the springs 474A, 474B decompress. The center of mass of the chassis 410 is in the rear half of the unit (e.g., at or near ¾ of the length of the chassis 410 from the front F).
(82) In operation, the operator can actuate two user interfaces 404, 406 at the same time (e.g., generally simultaneously) to unlock one or more of (e.g., all of) the boom assembly BA, elevating linkage assembly 300, yaw control assembly 420 and pitch control assembly 440, allowing the operator to reposition the control unit assembly 400 in space (e.g., adjust a yaw and/or pitch orientation, adjust a position in space in an x-y-z Cartesian coordinate system). Advantageously, engagement of two user interfaces 404, 406 to unlock the position and/or orientation of the control unit assembly 400 allows the user to hold and/or grab the chassis 410 with both hands before the position and/or orientation is unlocked, increasing the operator's control of the control unit assembly 400. Optionally, the position and/or orientation of the control unit assembly 400 (e.g., provided by the boom assembly BA, elevating linkage assembly 300, yaw control assembly 420 and pitch control assembly 440) is not unlocked if only one user interface 404 is engaged. Once the control unit assembly has been repositioned to a desired location, the operator can lock the control unit assembly 400 in the new position by disengaging (e.g., releasing) one or both of the user interfaces 404, 406.
(83) Additional Embodiments
(84) In embodiments of the present invention, a robotic surgery system may be in accordance with any of the following clauses:
(85) Clause 1. A robotic surgery system, comprising: a control unit assembly configured to support and operate one or more robotic tools; and a mechanical arm assembly configured to movably support the control unit assembly in space, the mechanical arm assembly comprising a pillar assembly extending along a first axis; a boom assembly movably coupled to the pillar assembly and extending generally perpendicular to the first axis, the boom assembly comprising a proximal boom arm rotatably coupled to the pillar assembly via a first joint and a distal boom arm rotatably coupled to the proximal boom arm via a second joint, one or more brakes arranged about one or both of the first and second joints; an elevating linkage assembly coupled to the distal boom arm and extending along a second axis generally parallel to the first axis, the elevating linkage assembly disposed above and operatively coupled to the control unit assembly, the elevating linkage assembly comprising a brake operable to allow vertical movement of the control unit assembly relative to the boom assembly in a substantially weightless manner; and a pitch and yaw assembly disposed between the control unit assembly and the elevating linkage assembly and configured to allow movement of the control unit assembly in one or both of a pitch direction and a yaw direction, the pitch and yaw assembly comprising one or more brakes operable to substantially brake movement of the control unit assembly in one or both of pitch and yaw, wherein one or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly are actuatable between an unlocked position to allow an operator to manually change one or both of a position and an orientation of the control unit assembly in space and a locked position to fix the position and orientation of the control unit assembly in space.
(86) Clause 2. The robotic surgery system of clause 1, wherein one or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly are electromagnetic brakes.
(87) Clause 3. The robotic surgery system of any preceding clause, wherein the control unit assembly comprises a plurality of user interfaces configured to unlock one or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly substantially simultaneously when engaged.
(88) Clause 4. The robotic surgery system of any clause 3, wherein the plurality of user interfaces are depressible buttons.
(89) Clause 5. The robotic surgery system of any of clauses 3-4, wherein the plurality of user interfaces are tactile sensors.
(90) Clause 6. The robotic surgery system of any of clauses 3-5, wherein said one or more of the brakes in the boom assembly, elevating linkage assembly and pitch and yaw assembly remain in a locked position when fewer than two user interfaces of the plurality of user interfaces are engaged.
(91) Clause 7. The robotic surgery system of any of clauses 3-6, wherein said plurality of user interfaces are located at or proximate corners of the control unit assembly.
(92) Clause 8. The robotic surgery system of any preceding clause, wherein the pitch and yaw assembly comprises a yaw control assembly coupled to a distal end of the elevating linkage assembly and a pitch control assembly coupled to a distal end of the yaw control assembly so that the pitch control assembly is interposed between the yaw control assembly and a chassis of the control unit assembly.
(93) Clause 9. The robotic surgery system of clause 8, wherein the pitch control assembly extends along a third axis and the yaw control assembly extends along a fourth axis, the third and fourth axes being generally perpendicular to each other.
(94) Clause 10. The robotic surgery system of any preceding clause, wherein the elevating linkage assembly comprises a pylon configured to move linearly relative to a frame of the elevating linkage assembly and a cable that extends from the pylon, over a pulley and couples to a compressible spring, wherein the spring exerts a spring force that substantially counteracts a force exerted on the pylon by the control unit assembly to allow movement of the control unit assembly in said substantially weightless manner.
(95) Clause 11. The robotic surgery system of clause 10, wherein the pulley has a varying radius of curvature so that a rate of change of the spring force due to compression of the spring is substantially equal to a rate of change of the radius of the pulley such that the control unit assembly exerts substantially the same torque on the pulley during vertical motion of the control unit assembly.
(96) Clause 12. The robotic surgery system of any preceding clause, wherein the control unit assembly comprises a counterbalance assembly comprising one or more springs compressible by a slidable shuttle, the shuttle coupled to a cable that extends over a pulley and couples to at least a portion of the pitch and yaw assembly, the cable configured to move the shuttle to compress the one or more springs during a pitch motion of the control unit assembly to counterbalance a weight of the control unit assembly to allow a pitch movement of the control unit assembly in a substantially weightless manner.
(97) Clause 13. The robotic surgery system of any preceding clause, wherein one or more electrical cables are routed through the boom assembly and to the control unit assembly, at least a portion of the one or more cables routed via a bore in each of the first and second joints to allow rotation of the proximal and distal boom arms without entanglement of the one or more electrical cables.
(98) Clause 14. The robotic surgery system of any preceding clause, wherein the distal boom arm is longer than the proximal boom arm, allowing the rotation of the distal boom arm over the proximal boom arm to move the control unit assembly into a stowed position.
(99) Clause 15. A robotic surgery system, comprising: a control unit assembly configured to support and operate one or more robotic tools; and a mechanical arm assembly configured to movably support the control unit assembly in space, the mechanical arm assembly comprising a boom assembly comprising one or more boom arms rotatably coupled to each other via one or more joints, one or more actuators arranged about the one or more joints and operable to allow movement of the one or more boom arms; an elevating linkage assembly coupled to the boom assembly and extending along an axis generally perpendicular to the boom assembly, the elevating linkage assembly disposed above the control unit assembly and comprising an actuator operable to allow movement of the control unit assembly along the axis and relative to the boom assembly in a substantially weightless manner; a yaw control assembly disposed below the elevating linkage assembly and above the control unit assembly, the yaw control assembly comprising an actuator operable to allow movement of the control unit assembly in a yaw direction; a pitch control assembly disposed below the elevating linkage assembly and above the control unit assembly, the pitch control assembly comprising one or more actuators operable to allow movement of the control unit assembly in a pitch direction, wherein one or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly are actuatable to allow a change in one or both of a position and an orientation of the control unit assembly in space upon actuation of two or more user interfaces of the control unit assembly and wherein one or more of the actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly lock one or both of the position and the orientation of the control unit assembly when the user interfaces are not engaged.
(100) Clause 16. The robotic surgery system of clause 15, wherein the one or more actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly are electromagnetic brakes.
(101) Clause 17. The robotic surgery system of any of clauses 15-16, wherein the two or more user interfaces are depressible buttons.
(102) Clause 18. The robotic surgery system of any of clauses 15-17, wherein said actuators in the boom assembly, elevating linkage assembly, yaw control assembly and pitch control assembly lock one or both of the position and the orientation of the control unit assembly when fewer than two user interfaces are engaged.
(103) Clause 19. The robotic surgery system of any of clauses 15-18, wherein said two or more user interfaces are located at or proximate corners of the control unit assembly.
(104) Clause 20. The robotic surgery system of any of clauses 15-19, wherein the yaw control assembly is coupled to the elevating linkage assembly and the pitch control assembly is disposed below the yaw control assembly and coupled to a chassis of the control unit assembly.
(105) Clause 21. The robotic surgery system of any of clauses 15-20, wherein the elevating linkage assembly comprises a pylon configured to move linearly relative to a frame of the elevating linkage assembly and a cable that extends from the pylon, over a pulley and couples to a compressible spring, wherein the spring exerts a spring force that substantially counteracts a force exerted on the pylon by the control unit assembly to allow movement of the control unit assembly in said substantially weightless manner.
(106) Clause 22. The robotic surgery system of clause 21, wherein the pulley has a varying radius of curvature so that a rate of change of the spring force due to compression of the spring is substantially equal to a rate of change of the radius of the pulley such that the control unit assembly exerts substantially the same torque on the pulley during vertical motion of the control unit assembly.
(107) Clause 23. The robotic surgery system of any of clauses 15-22, wherein the control unit assembly comprises a counterbalance assembly comprising one or more springs compressible by a slidable shuttle, the shuttle coupled to a cable that extends over a pulley and couples to at least a portion of the pitch control assembly, the cable configured to move the shuttle to compress the one or more springs during a pitch motion of the control unit assembly to counterbalance a weight of the control unit assembly to allow a pitch movement of the control unit assembly in a substantially weightless manner.
(108) Other Variations
(109) Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors. As yet another example, in addition to or instead of controlling tilt and/or pan of a camera, roll (or spin) can be controlled. For example, one or more actuators can be provided for controlling the spin.
(110) The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.
(111) It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.
(112) With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity.
(113) Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.
(114) It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).
(115) The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.
(116) Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.
(117) Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount.
(118) It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.
(119) Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.
(120) The various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. The described functionality may be implemented in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the invention.
(121) The various illustrative blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
(122) The steps of a method or algorithm and functions described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a tangible, non-transitory computer-readable medium. A software module may reside in Random Access Memory (RAM), flash memory, Read Only Memory (ROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD ROM, or any other form of storage medium known in the art. A storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer readable media. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
(123) The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.
Claims
1. A robotic surgery system, comprising: a control unit assembly comprising one or more user interfaces and configured to support and operate one or more robotic tools; and a support assembly configured to movably support the control unit assembly in space, the support assembly comprising an elevating linkage assembly extending from and operatively coupled to the control unit assembly, the elevating linkage assembly configured to vary a vertical position of the control unit assembly in space, the elevating linkage assembly comprising a first brake operable to substantially brake movement of the elevating linkage assembly; and a pitch and yaw assembly disposed between the control unit assembly and at least a portion of the elevating linkage assembly, the pitch and yaw assembly being configured to allow movement of the control unit assembly in one or both of a pitch direction and a yaw direction and comprising one or more second brakes operable to substantially brake movement of the control unit assembly in one or both of pitch and yaw, wherein the first brake in the elevating linkage assembly and the one or more second brakes in the pitch and yaw assembly are all actuatable between an unlocked position to allow an operator to manually change one or both of a position and an orientation of the control unit assembly in space and a locked position to fix the position and orientation of the control unit assembly in space, the one or more user interfaces being operable to unlock one or more of the first brake in the elevating linkage assembly and the one or more second brakes in the pitch and yaw assembly substantially simultaneously.
2. The robotic surgery system of claim 1, wherein one or more of the first brake in the elevating linkage assembly and the one or more second brakes in the pitch and yaw assembly are all electromagnetic brakes.
3. The robotic surgery system of claim 1, wherein the one or more user interfaces are multiple depressible buttons.
4. The robotic surgery system of claim 1, wherein the one or more user interfaces are multiple tactile sensors.
5. The robotic surgery system of claim 1, wherein one or both of the first brake in the elevating linkage assembly and the one or more second brakes in the pitch and yaw assembly all remain in a locked position when fewer than two user interfaces are engaged.
6. The robotic surgery system of claim 1, wherein the one or more user interfaces are located at or proximate ends of the control unit assembly.
7. The robotic surgery system of claim 1, wherein the pitch and yaw assembly comprises a yaw control assembly coupled to a distal end of the elevating linkage assembly and a pitch control assembly coupled to a distal end of the yaw control assembly so that the pitch control assembly is interposed between the yaw control assembly and a chassis of the control unit assembly.
8. The robotic surgery system of claim 7, wherein at least a portion of the pitch control assembly and at least a portion of the yaw control assembly rotate about perpendicular axes to each other.
9. The robotic surgery system of claim 1, wherein the control unit assembly comprises a counterbalance assembly comprising one or more springs compressible by a slidable shuttle, the shuttle coupled to a cable that extends over a pulley and couples to at least a portion of the pitch and yaw assembly, the cable configured to move the shuttle to compress the one or more springs during a pitch motion of the control unit assembly to counterbalance a weight of the control unit assembly to allow a pitch movement of the control unit assembly in a substantially weightless manner.
10. A robotic surgery system, comprising: a control unit assembly configured to support and operate one or more robotic tools; and a support assembly configured to movably support the control unit assembly in space, the support assembly comprising an elevating linkage assembly extending from and operatively coupled to the control unit assembly, the elevating linkage assembly configured to vary a vertical position of the control unit assembly in space, the elevating linkage assembly comprising a first brake operable to substantially brake movement of the elevating linkage assembly; and a pitch and yaw assembly disposed between the control unit assembly and at least a portion of the elevating linkage assembly, the pitch and yaw assembly being configured to allow movement of the control unit assembly in one or both of a pitch direction and a yaw direction and comprising one or more second brakes operable to substantially brake movement of the control unit assembly in one or both of pitch and yaw, wherein the first brake in the elevating linkage assembly and the one or more second brakes in the pitch and yaw assembly are all actuatable between an unlocked position to allow an operator to manually change one or both of a position and an orientation of the control unit assembly in space and a locked position to fix the position and orientation of the control unit assembly in space, wherein the elevating linkage assembly comprises a pylon configured to move linearly relative to a frame of the elevating linkage assembly and a cable that extends from the pylon, over a pulley and couples to a compressible spring, wherein the spring exerts a spring force that substantially counteracts a force exerted on the pylon by the control unit assembly to allow movement of the control unit assembly in a substantially weightless manner.
11. The robotic surgery system of claim 10, wherein the pulley has a varying radius of curvature so that a rate of change of the spring force due to compression of the spring is substantially equal to a rate of change of the radius of the pulley such that the control unit assembly exerts substantially the same torque on the pulley during vertical motion of the control unit assembly.
12. A robotic surgery system, comprising: a control unit assembly comprising two or more user interfaces and configured to support and operate one or more robotic tools; and a support assembly configured to movably support the control unit assembly in space, the support assembly comprising an elevating linkage assembly extending from and operatively coupled to the control unit assembly and comprising a first actuator operable to allow vertical movement of the control unit assembly in space; a yaw control assembly disposed between at least a portion of the elevating linkage assembly and the control unit assembly, the yaw control assembly comprising a second actuator operable to allow movement of the control unit assembly in a yaw direction; and a pitch control assembly disposed between at least a portion of the elevating linkage assembly and the control unit assembly, the pitch control assembly comprising one or more third actuators operable to allow movement of the control unit assembly in a pitch direction, wherein the first actuator in the elevating linkage assembly, the second actuator in the yaw control assembly and the one or more third actuators in the pitch control assembly are all actuatable to allow a change in one or both of a position and an orientation of the control unit assembly in space upon actuation of the two or more user interfaces and wherein the first actuator in the elevating linkage assembly, the second actuator in the yaw control assembly and the one or more third actuators in the pitch control assembly lock one or both of the position and the orientation of the control unit assembly when the two or more user interfaces are not engaged.
13. The robotic surgery system of claim 12, wherein one or more of the first actuator in the elevating linkage assembly, the second actuator in the yaw control assembly and the one or more third actuators in the pitch control assembly are all electromagnetic brakes.
14. The robotic surgery system of claim 12, wherein the two or more user interfaces are depressible buttons.
15. The robotic surgery system of claim 12, wherein the first actuator in the elevating linkage assembly, the second actuator in the yaw control assembly and one or more third actuators in the pitch control assembly lock one or both of the position and the orientation of the control unit assembly when fewer than two user interfaces are engaged.
16. The robotic surgery system of claim 12, wherein said two or more user interfaces are located at or proximate ends of the control unit assembly.
17. The robotic surgery system of claim 12, wherein the elevating linkage assembly comprises a pylon configured to move linearly relative to a frame of the elevating linkage assembly and a cable that extends from the pylon, over a pulley and couples to a compressible spring, wherein the spring exerts a spring force that substantially counteracts a force exerted on the pylon by the control unit assembly to allow movement of the control unit assembly in a substantially weightless manner.
18. The robotic surgery system of claim 17, wherein the pulley has a varying radius of curvature so that a rate of change of the spring force due to compression of the spring is substantially equal to a rate of change of the radius of the pulley such that the control unit assembly exerts substantially the same torque on the pulley during vertical motion of the control unit assembly.
19. The robotic surgery system of claim 12, wherein the control unit assembly comprises a counterbalance assembly comprising one or more springs compressible by a slidable shuttle, the shuttle coupled to a cable that extends over a pulley and couples to at least a portion of the pitch control assembly, the cable configured to move the shuttle to compress the one or more springs during a pitch motion of the control unit assembly to counterbalance a weight of the control unit assembly to allow a pitch movement of the control unit assembly in a substantially weightless manner.
BOOM!
Surgical Instrument Apparatus, Actuator, And Drive
DOCUMENT ID
US 11653989 B2
DATE PUBLISHED
2023-05-23
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Genova; Perry A.
Chapel Hill
NC
N/A
US
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
TITAN MEDICAL INC.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/878958
DATE FILED
2022-08-02
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 17859276 20220707 PENDING child-doc US 17878958
continuation parent-doc US 17511658 20211027 US 11382708 20220712 child-doc US 17859276
continuation parent-doc US 17406147 20210819 PENDING child-doc US 17511658
continuation parent-doc US 16427164 20190530 US 11123146 20210921 child-doc US 17406147
US CLASS CURRENT:
606/130,606/205
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 17/29
2013-01-01
CPCI
A 61 B 34/71
2016-02-01
CPCI
A 61 B 17/00234
2013-01-01
CPCA
A 61 B 2017/2908
2013-01-01
CPCA
A 61 B 2017/00314
2013-01-01
CPCA
A 61 B 2017/00327
2013-01-01
CPCA
A 61 B 2034/306
2016-02-01
Abstract
A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATION
(1) The present application is a Continuation Application claiming the benefit of and priority to U.S. patent application Ser. No. 17/859,276, filed on Jul. 7, 2022, which is a Continuation Application claiming the benefit of and priority to U.S. patent application Ser. No. 17/511,658, filed on Oct. 27, 2021, now U.S. Pat. No. 11,382,708, which is a Continuation Application claiming the benefit of and priority to U.S. patent application Ser. No. 17/406,147, filed on Aug. 19, 2021, which is a Continuation Application claiming the benefit of and priority to U.S. patent application Ser. No. 16/427,164, filed on May 30, 2019, now U.S. Pat. No. 11,123,146, the entire content of each of which being incorporated herein by reference.
TECHNICAL FIELD
(1) This disclosure relates generally to a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient.
DESCRIPTION OF RELATED ART
(2) Surgical instruments used in laparoscopic and/or robotic surgery generally have a proximally located actuator that may be used to actuate a distal end effector for performing a surgical task within a body cavity of a patient. Such instruments may be used in applications where there is an area of limited access for an operator. The distal end of the instrument may be inserted into the area of limited access and the operator may remotely manipulate the instrument via the actuator. The actuator may be located outside the area of limited access, but there may still be constraints placed on the extents of the actuator. There remains a need for actuators and drivers that are suitable for laparoscopic and/or robotic instruments.
SUMMARY
(3) In accordance with one disclosed aspect there is provided a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient. The apparatus can include an elongate manipulator with a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of the distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator. The apparatus can also include an actuator chassis disposed at a proximal end of the manipulator, the actuator chassis including a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal direction, each actuator being coupled to one of the control links. The actuators are adjacently disposed about a curved periphery of the actuator chassis and including an outwardly oriented portion configured to couple a drive force to the actuator to cause movement of the control link.
(4) The curved periphery of the actuator chassis may be cylindrically shaped and the plurality of actuators may be mounted within slots extending longitudinally along the periphery and radially arranged about the periphery.
(5) The actuator chassis periphery may include a curved portion and a flat portion and the plurality of actuators may be mounted within slots extending longitudinally along the curved portion and radially arranged about the curved portion, the flat portion facilitating location of the surgical instrument apparatus adjacent (for example, closely adjacent) to another apparatus including a corresponding flat portion.
(6) The another apparatus including the corresponding flat portion may include another of the surgical instrument apparatus and the respective flat portions may facilitate location of the respective elongate manipulators in proximity (for example, close proximity) for insertion through a common access port inserted or positioned to provide access to the body cavity of the patient.
(7) The outwardly oriented portions of the plurality of actuators may be each shaped to engage a corresponding drive coupler configured to couple the drive force to the actuator.
(8) The actuator coupling portion of the actuator may include a protrusion that extends outwardly beyond the curved periphery of the actuator chassis.
(9) The apparatus may include a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers arranged about the periphery of the actuator chassis, each drive coupler may include an open channel portion configured to receive the respective actuator protrusions when the actuator chassis is inserted into the drive chassis, and a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
(10) The drive chassis may be configured to permit the manipulator to be inserted through the drive chassis to cause the open channel portions to receive the respective actuator protrusions.
(11) The actuator chassis may include a transition portion between the manipulator and the actuator chassis, the transition portion configured to laterally displace the control links for coupling to the respective actuators.
(12) The manipulator may include at least one end effector control link configured to couple to an end effector and the actuator chassis may include at least one end effector actuator coupled to the end effector control link to actuate movements of the end effector.
(13) The at least one end effector actuator may be mounted within the actuator chassis to permit at least one of longitudinal movement configured to actuate opening or closing of an end effector, or rotational movement configured to cause a corresponding rotation of the end effector.
(14) The at least one end effector actuator may include a single end effector actuator configured to perform both the longitudinal movement and the rotational movement.
(15) The at least one end effector control link may be routed along a central bore of the actuator chassis and the end effector actuator may be mounted at a distal portion of the actuator chassis.
(16) The manipulator may include a rigid portion connected to the actuator chassis, and an actuatable articulated portion configured to cause the movement of the distal end of the manipulator in response to the longitudinal movement of the control links.
(17) The apparatus may include an unactuated articulated portion disposed between the rigid portion and the chassis, the unactuated articulated portion configured to permit the manipulator to be bent to reduce an overall length of the manipulator and actuator chassis during cleaning and sanitizing of the apparatus.
(18) In accordance with another disclosed aspect there is provided a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient. The apparatus can include an elongate manipulator with a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of a distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator. The apparatus can also include an actuator chassis disposed at a proximal end of the manipulator, the actuator chassis including a plurality of actuators mounted within the actuator chassis, each actuator being coupled to one of the control links configured to couple a drive force to the actuator to cause movement of the control link. The proximate end of the manipulator can be laterally offset to facilitate location or positioning of the surgical instrument apparatus adjacent (such as, closely adjacent) to another surgical instrument apparatus for insertion or positioning through a common access port inserted to provide access to the body cavity of the patient.
(19) The manipulator may include a rigid portion connected to the actuator chassis, and an actuatable articulated portion configured to cause the movement of the distal end of the manipulator in response to longitudinal movement of the control links.
(20) The apparatus may include an unactuated articulated portion disposed between the rigid portion and the actuator chassis, the unactuated articulated portion configured to permit the manipulator to be bent to reduce an overall length of the manipulator and actuator chassis during cleaning and sanitizing of the apparatus.
(21) The proximate end of the manipulator can be laterally offset to facilitate positioning of the surgical instrument adjacent to the another surgical instrument apparatus so that spacing between the manipulator and another manipulator of the another surgical instrument is between about 10 millimeters and about 35 millimeters.
(22) In accordance with another disclosed aspect there is provided a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient. The apparatus can include an elongate manipulator with a distal end configured to receive an end effector and including a plurality of control links extending through the manipulator and configured to cause movement of a distal end of the manipulator in response to movement of the control links in a longitudinal direction generally aligned with a length of the manipulator. The apparatus can also include an actuator chassis disposed at a proximal end of the manipulator, the actuator chassis including a plurality of actuators mounted within the actuator chassis, each of the plurality of actuators being coupled to one of the control links configured to couple a drive force to the actuator to cause movement of the control link. The manipulator can include a rigid portion connected to the actuator chassis, and an actuatable articulated portion configured to cause the movement of the distal end of the manipulator in response to longitudinal movement of the control links. The apparatus can further include an unactuated articulated portion disposed between the rigid portion and the chassis, the unactuated articulated portion configured to permit the manipulator to be bent to reduce an overall length of the manipulator and actuator chassis during cleaning and sanitizing of the apparatus.
(23) Other aspects and features will become apparent to those ordinarily skilled in the art upon review of the following description of specific disclosed embodiments in conjunction with the accompanying figures.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) In drawings which illustrate disclosed embodiments,
(2) FIG. 1 is a perspective view of a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient;
(3) FIG. 2 is a partially cut away perspective view of an actuator chassis of the surgical instrument apparatus shown in FIG. 1;
(4) FIG. 3A is a perspective view of an actuator of the actuator chassis shown in partial engagement with a drive coupler;
(5) FIG. 3B is a perspective view of the actuator shown in full engagement with the drive coupler;
(6) FIG. 4A is a perspective view of a drive chassis including a plurality of the drive couplers shown in FIGS. 3A and 3B and the actuator chassis of FIG. 2 being inserted into the drive chassis;
(7) FIG. 4B is a perspective view of the drive chassis of FIG. 4A showing the actuator chassis in partial engagement with the drive chassis;
(8) FIG. 4C is a perspective view of the drive chassis of FIG. 4B showing the actuator chassis in full engagement with the drive chassis;
(9) FIG. 5A is a perspective view of a surgical instrument apparatus in accordance with another embodiment;
(10) FIG. 5B is a perspective view of a pair of the surgical instrument apparatus shown in FIG. 5A disposed adjacently for insertion through a common access port;
(11) FIG. 6 is a perspective view of a pair of surgical instruments disposed adjacently for insertion through a common access port operation in accordance with another embodiment; and
(12) FIG. 7 is a perspective view a surgical instrument apparatus in accordance with another embodiment.
DETAILED DESCRIPTION
(13) Referring to FIG. 1, a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is shown generally at 100. The apparatus 100 includes an elongate manipulator 102 having a distal end 104 for receiving an end effector 106. The manipulator 102 includes a plurality of control links 108 extending through the manipulator. The plurality of control links 108 are operable to cause movement of the distal end 104 of the manipulator in response to movement of the control links in a longitudinal direction 110 generally aligned with a length of the manipulator. The apparatus 100 also includes an actuator chassis 120 disposed at a proximal end 112 of the manipulator 102. The actuator chassis 120 includes a plurality of actuators 122 slidingly mounted within the actuator chassis for linear movement in a direction aligned with the longitudinal direction 110. In the embodiment shown, the actuators 122 are adjacently mounted within respective slots 124 disposed on a curved periphery 126 of the actuator chassis 120.
(14) In the embodiment shown, the manipulator 102 includes a rigid portion 114 connected to the actuator chassis 120 and an articulated portion 116 that is actuatable to cause the movement of the distal end 104 of the manipulator in response to the longitudinal movement of the control links 108. The articulated portion 116 includes a plurality of coupled guides 118 mounted end-to-end and operable to move in response to pulling or pushing of the plurality of control links 108 as described in commonly owned PCT patent publication WO2014/201538 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME” filed on Dec. 20, 2013 and incorporated herein by reference in its entirety. In other embodiments, the manipulator 102 may include structures other than the coupled guides 118 for causing movement of the distal end 104 of the manipulator.
(15) Referring to FIG. 2, the proximal end 112 of the manipulator 102 and the actuator chassis 120 are shown with the actuator chassis partially cut away. In one embodiment, the plurality of control links 108 are implemented as wires routed through respective bores 200 extending through the manipulator 102. The actuator chassis 120 has a transition portion 202 between the proximal end 112 of the manipulator 102 and the actuator chassis. In this embodiment the transition portion 202 includes a bulkhead 204 having openings 206 that cause the respective control links 108 to be laterally displaced toward the curved periphery 126 of the actuator chassis 120. The transition portion 202 facilitates the movement of the control links 108 along their respective axes while preventing drift of the control links 108. In one embodiment, the transition portion 202 may include curved conduit (not shown) extending between the proximal end 112 of the manipulator 102 and the bulkhead 204 for receiving and guiding control links 108 through the transition portion. Each actuator 122 is coupled to one of the control links 108. The control links 108 may be implemented using nitinol wire, which is capable of bending through an arc while still transmitting force in tension or compression. Nitinol is an alloy of nickel and titanium having shape memory and superelasticity and is capable of transmitting forces of about 200N. In other embodiments, the control links 108 may be implemented using other commonly used wires such as stranded cables used in laparoscopic instruments.
(16) One actuator 208 of the plurality of actuators 122 is shown displaced longitudinally within the slot 124. The longitudinal displacement of the actuator 208 causes the coupled control link 108 to be correspondingly pulled rearwardly within the actuator chassis 120. Other actuators 122 such as the adjacent actuators 210 and 212 are similarly moveable within the respective slots 124 to push or pull the associated control link 108. In the embodiment shown, the curved periphery 126 of the actuator chassis 120 is cylindrically shaped and the slots 124 are radially arranged about the curved periphery.
(17) Referring back to FIG. 1, in one embodiment pairs of the control links 108 are coupled to coupler segments 130, 132, and 134. Actuation of the control links 108 by the actuators 122 causes the coupled guides 118 between each of the coupler segments to be displaced laterally to cause the distal end 104 and the end effector 106 to be moved into a desired position and orientation. A portion of the coupler segment 132 is shown cut away in an insert 136. In this embodiment a first pair 138, 140 of the plurality of control links 108 terminate within the coupler segment 132 and when the control link 138 is pushed by advancing the associated actuator 122 while the control link 140 is pulled by rearwardly retracting the associated actuator 122 within its slot, the coupler segment 132 is moved laterally. Similarly, a second pair 142, 144 of the plurality of control links 108 terminate within the coupler segment 132 and when the control link 142 is pushed by advancing the associated actuator 122 within its slot while the control link 144 is pulled by rearwardly retracting the associated actuator 122 within its slot, the coupler segment 132 is moved vertically upward. Reversal of the pushing and pulling of the respective actuators 122 causes a respective lateral movement to the opposite side or downward movement.
(18) In another embodiment, the first pair 138, 140 of the plurality of control links 108 may be respectively used for pulling motions without a corresponding pushing motion. In this embodiment when the control link 140 is pulled by rearwardly retracting the associated actuator 122 within its slot (while the control link 138 is let out by a corresponding amount, such as, for example, by advancing the associated actuator 122 or by allowing the actuator 122 to feely float), the coupler segment 132 is moved laterally. Similarly, in another embodiment, for the second pair 142, 144 of the plurality of control links 108 when the control link 144 is pulled by rearwardly retracting the associated actuator 122 within its slot (while the control link 142 is let out by a corresponding amount, such as, for example, by advancing the associated actuator 122 or by allowing the actuator 122 to freely float), the coupler segment 132 is moved vertically upward. Reversal of the pulling of the respective actuators 122 causes a respective lateral movement to the opposite side or downward movement.
(19) Combinations of lateral and vertical movement will cause the 132 to move in any direction within a working volume of the manipulator 102. The coupler segment 134 may be similarly moved via other pairs of control links 108 actuated by the respective actuators 122 to point in any direction within the working volume. Further as described in commonly owned PCT patent publication WO2014/201538, the coupled guides 118 between the rigid portion 114 and the coupler segment 130 and the coupled guides between the coupler segment 130 and the coupler segment 132 may be configured to maintain the orientation of the coupler segment 132 substantially the same as the rigid portion 114. In this case, the guides 118 within these portions of the articulated portion 116 are constrained to move as a two-dimensional parallelogram by a set of wire links extending between the rigid portion 114 and the coupler segment 132.
(20) Still referring to FIG. 1, each of the actuators 122 includes an outwardly oriented portion 150 that facilitates coupling a drive force to the actuator to cause movement of the coupled control link. In this embodiment, the outwardly oriented portions 150 also protrude outwardly with respect to the curved periphery 126. Referring to FIG. 3A, one of the actuators 122 is shown in isolation in engagement with a drive coupler 300. The drive coupler 300 may be part of an instrument drive of a robotic surgery system (not shown). The drive coupler 300 includes a curved outer wall 302 and a first end wall 304 extending radially inwardly from the curved outer wall and defining an open channel 306 in the drive coupler. The open channel 306 is sized to receive the protruding portion 150 of the actuator 122 when slid into the drive coupler 300 in the direction indicated by the arrow 308 in FIG. 3A. Once received within the opening 306, the drive coupler 300 is rotated in the direction of the arrow 310 to engage the outwardly oriented portion 150 of the actuator 122 as shown in FIG. 3B.
(21) Referring to FIG. 3B, the drive coupler 300 further includes a second end wall 312 extending over the full length of the curved outer wall 302. The outwardly oriented portion 150 of the actuator 122 is engaged between the first end wall 304 and the second end wall, which define a retaining portion for receiving and retaining the actuator protrusion 150 when the drive coupler 300 is rotated thorough an angle to cause the retaining portions to engage the actuator protrusion. Once the drive coupler 300 is engaged, a force F applied to the drive coupler 300 is transmitted to the outwardly oriented portion 150 to cause longitudinal motion of the actuator 122 within the associated slot 124.
(22) Referring to FIG. 4A, in the embodiment shown a plurality of the drive couplers 300 shown in FIGS. 3A and 3B are arranged to provide a drive chassis 400. The drive couplers 300 are annularly arranged about the periphery 126 of the actuator chassis 120 with the open channels 306 aligned with the outwardly oriented portions 150 of the actuators 122. The drive chassis 400 is configured to permit the manipulator 102 to be inserted through the drive chassis when loading the surgical instrument apparatus 100. The open channels 306 of the drive couplers 300 receive the respective actuator protrusions 150 as shown in FIG. 4B. Referring to FIG. 4B, the drive chassis 400 and/or actuator chassis 120 is then rotated thorough an angle in a direction indicated by the arrow 402 to cause the retaining portions (i.e. first and second end walls 304 and 312, shown in FIGS. 3A and 3B) to engage the respective actuator protrusions 150 as shown in FIG. 4C. Referring to FIG. 4C, once the drive couplers 300 are engaged, each drive coupler is able to independently move back and forward in the longitudinal direction 110 to couple drive forces to the respective actuators 122. In one embodiment the drive chassis 400 is part of an instrument drive (not shown) that generates and couples individual drive forces to the respective drive couplers 300. The instrument drive may be implemented as part of a robotic surgery system in which operator input received at an input device is used to generate drive signals, which are used to control the instrument drive for causing manipulation of the manipulator 102 via the drive chassis 400 and actuator chassis 120.
(23) In the embodiment shown in FIG. 1, eight actuators 122 and associated control links 108 are provided. Four of these actuators 122 cause movement of the coupler segment 132, while the remaining four actuators cause movement of the coupler segment 134. Referring back to FIG. 2, the manipulator 102 further includes a central bore 220 that in this embodiment accommodates an end effector control link 222. The end effector control link 222 is coupled to the end effector 106 for causing opening of the actuator jaws and/or causing rotation of the actuator about a longitudinal axis of the manipulator 102. The end effector control link 222 is routed through the actuator chassis 120 and coupled to an end cap 224 at a distal end of the actuator chassis. In one embodiment, the end cap 224 is able to rotate in the direction of the arrow 226, which rotates the end effector control link 222 causing corresponding rotation of the end effector at the distal end 104 of the manipulator 102. Additionally, the end cap 224 may also be configured to move in the longitudinal direction 110 to actuate longitudinal back and forth movement of the end effector control link 222 for opening and closing the end effector. The single end effector control link 222 may thus be operable to actuate both rotation and opening/closing movements of the end effector 106. In other embodiments, the end effector control link 222 may be configured as a hollow torque tube that provides the rotational actuation to the end effector 106, while an additional control link may be routed through the central bore 220 to actuate the opening and closing movements of the end effector 106.
(24) Referring to FIG. 5A, an actuator chassis in accordance with another embodiment is shown generally at 500. The periphery of the actuator chassis 500 includes a curved portion 502 and a flat portion 504. The actuator chassis 500 includes a plurality of actuators 506 configured generally as described above. The plurality of actuators 506 are mounted in respective slots 508 extending longitudinally along the curved portion 502 of the actuator chassis 500. The actuators 506 are radially arranged about the curved portion 502 and the actuator chassis 500 is coupled to a manipulator 102 (shown in part) as generally described above.
(25) In many cases two or more of the surgical instrument apparatus 100 may be used during a surgical procedure performed through a single common access port (i.e. a single incision or opening to a body cavity of a patient). Referring to FIG. 5B, the flat portion 504 of the actuator chassis 500 facilitates closely spacing the actuator adjacent to a second actuator chassis 510 having a corresponding flat portion 512. The close spacing has the advantage of spacing the manipulator 102 and a manipulator 514 coupled to the actuator chassis 510 in relatively close proximity for insertion through a common access port and/or trocar (not shown). The spacing D between the manipulators may be less than about 10 millimeters, about 10 millimeters, about 20 millimeters, about 21.5 millimeters, about 35 millimeters, about 40 millimeters, or greater than about 35 millimeters or 40 millimeters, such as about 50 millimeters or 60 millimeters. The spacing D between the manipulators may be between about 10 millimeters (or less) and about 20 millimeters (or more), between about 10 millimeters (or less) and about 35 millimeters (or more), between about 10 millimeters (or less) and about 40 millimeters (or more), between about 20 millimeters (or less) and about 35 millimeters (or more), or between about 20 millimeters (or less) and about 40 millimeters (or more). The further off-center the manipulator 102 and the manipulator 514 are from the respective actuator chassis 500 and 510 such that the spacing D is reduced, the smaller the diameter of the common access port/trocar. Each of the actuator chassis 500 and the actuator chassis 510 would be received within a drive chassis (not shown) configured to accommodate and provide drive forces for operating the side-by-side surgical instruments.
(26) Referring to FIG. 6, an alternative arrangement for side-by-side surgical instrument operation includes a first actuator chassis 600 disposed spaced apart from a second actuator chassis 602. Each actuator chassis 600, 602 has a respective manipulator 604 and 606 coupled to the chassis. The manipulators 604 and 606 have respective actuatable articulated portions 608 and 610 configured generally as described above in connection with the FIG. 1 embodiment. The manipulators 604 and 606 each have respective rigid portions 612 and 614. The rigid portion 612 of the manipulator 604 has a leftward laterally offset portion 620 while the manipulator 606 has a rightward laterally offset portion 622. The left and right laterally offset portions 620 and 622 facilitate closely adjacent location of the respective articulated portions 608 and 610 of the manipulators 604 and 606 for insertion through a common access port.
(27) Referring to FIG. 7, a surgical instrument apparatus in accordance with another embodiment is shown generally at 700. The surgical instrument apparatus 700 includes an actuator chassis 702 configured generally as disclosed above. The actuator chassis 702 is coupled to a manipulator 704 including a rigid portion 706 and an actuatable articulated portion 708 also configured generally as disclosed above. In this embodiment, the surgical instrument apparatus 700 further includes an articulated portion 712 disposed between the rigid portion 706 and the actuator chassis 702. The articulated portion 712 permits the manipulator to be bent as shown in FIG. 7 to reduce an overall length of the instrument (i.e. manipulator and actuator chassis). The articulated portion 712 may be actuated during a surgical procedure or may be a passive portion that is not actuated during the procedure.
(28) In many cases the surgical instrument apparatus 700 may be reusable and cleaning and sanitization following use in a surgical procedure is thus required. The overall length of the surgical instrument apparatus 100 shown in FIG. 1 may prohibit its accommodation within the conventional sanitization equipment. The articulated portion 712 facilitates bending of the instrument to reduce the overall dimensions that may make the instrument more readily accommodated in a decontamination sink or a chamber of a washer/disinfector commonly used for cleaning and sanitization in surgical environments. Additional bending to accommodate limited space constraints during cleaning and sanitization may be enabled by having the actuatable articulated portion 708 at least partially bendable/flexible during cleaning and sanitization (i.e. when not in surgical use). This additional bending and/or the bending of articulated portion 712 may be facilitated by may allowing the control links extending through the manipulator 704 to move into a relaxed state, for example by maneuvering the actuators (such as actuators 506 shown in FIG. 5A).
(29) Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, or within less than 0.01% of the stated value.
(30) While specific embodiments have been described and illustrated, such embodiments should be considered illustrative only and not as limiting the disclosed embodiments as construed in accordance with the accompanying claims.
Claims
1. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising: an elongate manipulator having a distal end configured to support an end effector and including a plurality of control links extending through the manipulator and operatively engaged with the end effector, the manipulator defining a longitudinal axis; and an actuator chassis disposed at a proximal end of the manipulator, wherein the actuator chassis is substantially cylindrically shaped, the actuator chassis including a plurality of actuators slidingly mounted within the actuator chassis and configured to move linearly in a direction aligned with the longitudinal axis, each actuator being coupled to at least one of the plurality of control links, the actuators being adjacently radially arranged about a periphery of the actuator chassis, each actuator including an outwardly oriented portion configured to cause movement of the control link.
2. The apparatus of claim 1, wherein the plurality of actuators are mounted within slots extending longitudinally along the periphery of the actuator chassis and being radially arranged about the periphery of the actuator chassis.
3. The apparatus of claim 1, wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple to the actuator and transmit a drive force to the actuator.
4. The apparatus of claim 3, wherein each actuator of the plurality of actuators includes an actuator coupling portion having a protrusion that extends outwardly beyond the periphery of the actuator chassis.
5. The apparatus of claim 4, further comprising: a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers radially arranged about the periphery of the actuator chassis, each drive coupler including: an open channel portion configured to receive the respective actuator protrusions when the actuator chassis is inserted into the drive chassis; and a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
6. The apparatus of claim 1, wherein the at least one control link is an end effector control link configured to couple to an end effector, and wherein the actuator chassis comprises at least one end effector actuator coupled to the end effector control link to actuate movements of the end effector.
7. The apparatus of claim 6, wherein the at least one end effector actuator is mounted within the actuator chassis to permit at least one of: longitudinal movement configured to actuate opening or closing of an end effector; or rotational movement configured to cause a corresponding rotation of the end effector.
8. The apparatus of claim 7, wherein the at least one end effector actuator comprises a single end effector actuator configured to perform both the longitudinal movement and the rotational movement.
9. The apparatus of claim 6, wherein the at least one end effector control link is routed along a central bore of the actuator chassis and the end effector actuator is mounted at a distal portion of the actuator chassis.
10. The apparatus of claim 1, wherein at least a portion of a length of the manipulator is rigid.
11. The apparatus of claim 1, wherein the elongate manipulator includes a tubular portion having a distal end supporting the end effector and a proximal end supporting the actuator chassis.
12. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising: an elongate manipulator including: a tubular portion having a distal end and a proximal end, the tubular portion defining a longitudinal axis; an end effector supported at the distal end of the tubular rigid portion; and a plurality of control links extending through the tubular portion, wherein at least one control link of the plurality of control links is connected to the end effector to effect actuation of the end effector; and an actuator chassis disposed at the proximal end of the tubular portion of the manipulator, wherein the actuator chassis is cylindrically shaped, the actuator chassis including a plurality of actuators slidingly mounted within the actuator chassis, each of the plurality of actuators being coupled to a respective one of the plurality of control links and being configured to cause movement of the respective one of the plurality of control links and to effectuate actuation of the end effector, wherein the actuators are adjacently arranged about a periphery of the actuator chassis.
13. The apparatus of claim 12, wherein the plurality of actuators are mounted within slots extending longitudinally along the periphery and arranged about the periphery of the actuator chassis.
14. The apparatus of claim 12, wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple to the actuator and transmit a drive force to the actuator.
15. The apparatus of claim 12, wherein each actuator of the plurality of actuators includes an actuator coupling portion having a protrusion that extends outwardly beyond the periphery of the actuator chassis.
16. The apparatus of claim 15, further comprising: a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers radially arranged about the periphery of the actuator chassis, each drive coupler including: an open channel portion configured to receive the respective actuator protrusions when the actuator chassis is inserted into the drive chassis; and a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
17. The apparatus of claim 12, wherein the tubular portion is substantially rigid.
18. A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient, the apparatus comprising: an elongate manipulator including: a substantially rigid tubular portion having a distal end and a proximal end, the tubular portion defining a longitudinal axis; an end effector supported at the distal end of the tubular portion; and a plurality of control links extending through the tubular portion, wherein at least one control link of the plurality of control links is connected to the end effector to effect actuation of the end effector; and an actuator chassis disposed at the proximal end of the tubular portion, the actuator chassis defining an outer periphery having a substantially cylindrical shape, the actuator chassis including: a plurality of actuators slidingly mounted within longitudinally extending slots formed in the actuator chassis, the plurality of actuators being configured to move linearly in a direction aligned with the longitudinal axis, each actuator being coupled to at least one control link of the plurality of control links, wherein the actuators are disposed about the outer periphery of the actuator chassis, each actuator including an outwardly oriented portion configured to receive a drive force from the actuator to cause movement of the at least one control link of the plurality of control links.
19. The apparatus of claim 18, wherein the outwardly oriented portions of the plurality of actuators are each shaped to engage a corresponding drive coupling configured to couple the drive force to the actuator.
20. The apparatus of claim 19, wherein an actuator coupling portion of the actuator comprises a protrusion that extends outwardly beyond the periphery of the actuator chassis.
21. The apparatus of claim 20, further comprising: a drive chassis including a respective plurality of drive couplers configured to couple drive forces to the plurality of actuators, the drive couplers radially arranged about the periphery of the actuator chassis, each drive coupler including: an open channel portion configured to receive the respective actuator protrusions when the actuator chassis is inserted into the drive chassis; and a retaining portion configured to receive and retain the respective actuator protrusions when the drive chassis and the actuator chassis are rotated thorough an angle to cause the retaining portions to engage the respective actuator protrusions.
22. The apparatus of claim 18, wherein the actuator chassis is cylindrically shaped.
Is there MDT or is there no MDT?
That is the question!
If it will be MDT, I want to connect it to the IDE
It's been 6 months since they launched IDE. How many are needed?
11?
7?
Something is moving towards hugo in Italy, of course, a marginal market but with Hugo things could start to change!
Hardly accept that Enos may be a complete failure.
https://news.medtronic.com/2022-12-15-Medtronic-announces-first-patient-enrolled-in-U-S-clinical-trial-for-Hugo-TM-robotic-assisted-surgery-system
https://eaucongress.uroweb.org/new-approach-to-live-surgery-debuts-at-eau23/
https://www.quotidianopiemontese.it/2023/03/21/il-robot-hugo-di-medtronic-sbarca-per-la-prima-volta-in-piemonte-al-maria-pia-hospital-di-torino/
https://www.tecnomedicina.it/robot-hugo-miulli/
https://video.corrieredibologna.corriere.it/robot-sant-orsola/86e4d47b-b260-45f4-8e27-cdb7c4a9axlk
https://www.today.it/video/campus-bio-medico-con-hugo-di-medtronic-via-a-chirurgia-robotica-62gdy.askanews.html
https://www.policlinicogemelli.it/news-eventi/al-gemelli-in-sala-operatoria-con-il-robot-hugo/
https://www.wired.it/article/chirurgia-robotica-da-vinci-hugo-versius-prima-comparazione-clinica/
https://clinicaltrials.gov/ct2/show/NCT05766163?term=Robotic+Hugo&draw=2&rank=1
Titan Medical Inc. (“Titan” or the “Company”) (TSX: TMD; OTC: TMDIF) today announces that, as a result of a delay in filing its annual financial statements, the related management’s discussion and analysis and annual information form, and the accompanying chief executive officer and chief financial officer certification for its financial year ended December 31, 2022 (collectively, the “Annual Filing Documents”), the Company will also be delayed in the filing of its financial statements, the related management’s discussion and analysis and the accompanying chief executive officer and chief financial officer certification for its first quarter ended March 31, 2023 (the “Q1 Filing Documents”) and now expects to file the Q1 Filing Documents by June 9, 2023. As announced on May 15, 2023, the Company expects to file the Annual Filing Documents by May 31, 2023.
On March 22, 2023, and as further updated on April 3, 2023, April 17, 2023, May 1, 2023 and May 15, 2023, the Company announced (the “Default Announcement”) that under National Policy 12-203 Management Cease Trade Orders it had applied to the Ontario Securities Commission (the “OSC”) requesting a management cease trade order (“MCTO”) be imposed in respect of the late filing of the Annual Filing Documents. The MCTO was granted by the OSC on April 3, 2023.
The MCTO restricts all trading in and all acquisitions of the securities of the Company, directly or indirectly, by the Chief Executive Officer and the Chief Financial Officer of the Company until two full business days following the receipt by the OSC of the Annual Filing Documents and any other filings the Company is required to make under Ontario securities laws, including the Q1 Filings, or upon the further order of the director of the OSC. The MCTO does not affect the ability of shareholders who are not named in the MCTO to trade their securities.
Ah well you missed the first one... when he advised to sell at 0.25 and then it went up over 3! But you know...hehehehehe
Then it seems that now he recommend selling at 0.20, who knows how this will play out?
Of course you can't blame him on transparency, but if so, there could be some surprises!
file:///C:/Users/bozh/Downloads/UCART123_AMELI-01_Phase_1_Oral_Presentation_ASGCT_2023_Final_Upload.pdf
file:///C:/Users/bozh/Downloads/051123_PosterASGCT2023_BAOa.pdf
Evidence of UCART123 anti-tumor activity was observed in four patients out of fifteen at DL2 or above with best overall responses in the FCA arm. Two out of eight patients (25%) at DL2 in the FCA arm achieved meaningful response: * A patient who failed five prior lines of therapy experienced a durable minimal residual disease (MRD) negative complete response (CR) with full count recovery at Day 56 that continues beyond one year.
* A patient with stable disease achieved greater than 90% bone marrow blast reduction (60% to 5%) at Day 28.
The preliminary data show that adding alemtuzumab to the FC LD regimen was associated with sustained lymphodepletion and significantly higher UCART123 cell expansion, which correlated with improved anti-tumor activity.
Patient Enrollment in a 2-Dose Regimen Arm
Overall, these preliminary data support the continued administration of UCART123 after FCA lymphodepletion in patients with r/r AML. Based on observed UCART123 expansion patterns and cytokine profiles, pursuant to an amended protocol, a second dose of UCART123 is given after 10-14 days to allow for additional UCART123 expansion and clinical activity without the use of additional lymphodepletion. The UCART123 cell expansion from the second dose of UCART123, in the setting of reduced disease burden, is expected to be safe and allow for clearance of residual disease.
“These clinically meaningful preliminary data from the AMELI-01 study are very encouraging for patients and for the future of allogeneic CART-cell therapy. AML is a disease with an urgent need for alternative treatment options for patients, and we are excited to be moving the study forward,” said Dr. Mark Frattini, M.D., Ph.D., Chief Medical Officer at Cellectis. “We have now implemented a two-dose regimen arm for our AMELI-01 trial and we look forward to sharing future updates as they become available.”
https://clinicaltrials.gov/ct2/show/NCT05531786?cond=pacritinib&draw=2
Who knows if we will know some data before the closing of the deal?
come on buy some you never know! Maybe it gives you some satisfaction like for Livendi, who sold for a profit at 3!
the oven is hot let's see if there is a turkey in and not a partridge out
grabbed a handful yesterday.
I wonder if tomorrow they surprise us a little?
BOOM!
Instrument Collision Detection And Feedback
DOCUMENT ID
US 11648073 B2
DATE PUBLISHED
2023-05-16
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Cameron; Peter
Menlo Park
CA
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
TITAN MEDICAL INC.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
16/911916
DATE FILED
2020-06-25
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 15570286 US 10729503 WO PCT/CA2015/000600 20151215 child-doc US 16911916
us-provisional-application US 62156049 20150501
US CLASS CURRENT:
700/255
CPC CURRENT
TYPE
CPC
DATE
CPCI
B 25 J 9/06
2013-01-01
CPCI
B 25 J 9/1676
2013-01-01
CPCI
G 05 B 19/4061
2013-01-01
CPCI
A 61 B 34/37
2016-02-01
CPCI
B 25 J 9/1689
2013-01-01
CPCI
A 61 B 34/76
2016-02-01
CPCI
A 61 B 34/74
2016-02-01
CPCI
B 25 J 13/025
2013-01-01
CPCA
A 61 B 2034/102
2016-02-01
CPCA
A 61 B 2017/00123
2013-01-01
CPCA
A 61 B 2017/00119
2013-01-01
CPCA
G 05 B 2219/49157
2013-01-01
CPCA
A 61 B 2017/00115
2013-01-01
CPCA
G 05 B 2219/39135
2013-01-01
Abstract
A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle and holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves producing desired new end effector positions and orientations of respective end effectors in response to current positions and orientations of corresponding handles, using the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device, and determining and notifying that any of the distances meets a proximity criterion.
Background/Summary
BACKGROUND
1. Field
(1) This disclosure relates to master-slave robotic systems such as those used for laparoscopic surgery and more particularly to prevention of collision of surgical tools and/or robotic manipulators during surgery.
2. Description of Related Art
(2) When a plurality of dexterous tools are deployed in close proximity, instances can arise when instruments physically contact one another. There may be portions of the dexterous tools that are not intended to contact each other. Contact of the tools at points on a dexterous section thereof can cause unintended or unexpected motion of end effectors coupled to the dexterous tools. For example, the tools may become caught on one another and may flick when freed, resulting in a sudden and/or unexpected movement of the tools.
SUMMARY
(3) The disclosure describes a method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves causing at least one processor circuit associated with the master apparatus to produce desired new end effector positions and desired new end effector orientations of respective end effectors, in response to current positions and current orientations of corresponding respective handles. The method further involves causing the at least one processor circuit to use the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device and causing the at least one processor circuit to determine whether any of the distances meets a proximity criterion.
(4) The method further involves causing the at least one processor circuit to notify an operator, of the handles associated with tool positioning devices associated with distance that meets the proximity criterion, to indicate that the proximity criterion has been met.
(5) Causing the at least one processor circuit to notify the operator may involve causing the at least one processor circuit to signal the input devices associated with the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion, to cause the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion to present haptic feedback to the operator, the haptic feedback impeding movement of the handles in a direction that would shorten the distance that meets the proximity criterion.
(6) Causing the at least one processor circuit to notify the operator may involve causing the at least one processor circuit to produce annunciation signals for causing an annunciator to annunciate that the proximity criterion has been met.
(7) Causing the at least one processor circuit to produce annunciation signals may involve causing the at least one processor circuit to produce display control signals for causing a display to depict a visual representation indicative of the distance that meets the proximity criterion.
(8) Causing the at least one processor circuit to produce annunciation signals may involve causing the at least one processor circuit to produce audio control signals for causing an audio device to provide an audible sound indicative of the distance that meets the proximity criterion.
(9) The method may further involve causing the at least one processor circuit to disable movement of all tool positioning devices associated with the distance that meets the proximity criterion.
(10) Causing the at least one processor circuit to disable movement of all positioning devices associated with the distance that meets the proximity criterion may involve causing the at least one processor circuit to transmit control signals to respective slave systems associated with the positioning devices associated with the distance, each control signal identifying a current end effector position and orientation based on a current position and orientation of the corresponding handle when the proximity criterion is not met, and causing the at least one processor circuit to cause the control signals transmitted to the slave systems associated with the tool positioning devices associated with the distance that meets the proximity criterion to identify a previous position and orientation of respective associated end effectors when the proximity criterion is met.
(11) The method may involve causing the at least one processor circuit to enable movement of the tool positioning devices associated with the distance that met the proximity criterion when the proximity criterion is no longer met.
(12) Producing the desired new end effector position and desired new end effector orientation may include causing the at least one processor circuit to receive from each input device current handle position signals (custom character) and current handle orientation signals (R.sub.MCURR) representing a current position and a current orientation respectively of the handle of the corresponding input device, and causing the at least one processor circuit to produce, for corresponding tool positioning devices, new end effector position signals (custom character) and new end effector orientation signals (R.sub.EENEW) defining the desired new end effector position and the desired new end effector orientation, respectively of the end effector, in response to corresponding the current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR).
(13) Causing the at least one processor circuit to receive the current handle position signals and the current handle orientation signals may involve causing the at least one processor circuit to periodically receive the current handle position signals and the current handle orientation signals.
(14) The method may involve causing the at least one processor circuit to receive an enablement signal controlled by the operator, and causing the at least one processor circuit to detect a change in state of the enablement signal and when the change is detected store the current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR) as master base position signals (custom character) and master base orientation signals (R.sub.MBASE) respectively, and store the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) as end effector base position signals (custom character) and end effector base orientation signals (R.sub.EEBASE) respectively.
(15) Causing the master apparatus to produce the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) may involve the master apparatus to compute the new end effector position signals and the new end effector orientation signals according to the following relations:
custom character=A(custom character-custom character)+custom character; and
R.sub.EENEW=R.sub.EEBASER.sub.MBASE.sup.-1R.sub.MCURR
(16) Each of the tool positioning devices may involve a plurality of segments each comprised of a plurality of vertebrae and at least some of the points in each of the plurality of points may be points on a respective segment or a vertebrae of a segment.
(17) The method may involve, for each tool positioning device, causing the at least one processor circuit to compute vectors from a reference point associated with the tool positioning device to a point on a segment of the tool positioning device, based on the desired new end effector position and orientation calculated for the end effector associated with the tool positioning device.
(18) The method may involve causing the at least one processor circuit to compute a position of at least one vertebrae associated with the segment, based on the position of the point on the segment.
(19) The disclosure further describes a non-transitory computer readable medium encoded with codes for directing a processor circuit to execute any of the methods described above.
(20) The disclosure further describes an apparatus for use in a robotic control system, the apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and the robotic control system comprising a slave system having a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The apparatus includes means for producing desired new end effector positions and desired new end effector orientations of respective end effectors, in response to current positions and current orientations of corresponding respective handles, and means for determining distances from each point of a first plurality of points along a first tool positioning device, to each point of a plurality of points along at least one other tool positioning device based on the desired new end effector positions and orientations. The apparatus further includes means for determining whether any of the distances meets a proximity criterion and means for notifying an operator, of the handles associated with tool positioning devices associated with the distance that meets the proximity criterion to indicate that the proximity criterion has been met.
(21) The means for notifying the operator may include means for signaling the input devices associated with the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion, to cause the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion to present haptic feedback to the operator, the haptic feedback impeding movement of the handles in a direction that would shorten the distance that meets the proximity criterion.
(22) The means for notifying the operator may include means for producing annunciation signals for causing an annunciator to annunciate that the proximity criterion has been met.
(23) The means for producing annunciation signals may include causing the at least one processor circuit to produce display control signals for causing a display to depict a visual representation indicative of the distance that meets the proximity criterion.
(24) The means for producing the annunciation signals may include means for producing audio control signals for causing an audio device to provide an audible sound indicative of the distance that meets the proximity criterion.
(25) The apparatus may further include means for disabling movement of all tool positioning devices associated with the distance that meets the proximity criterion.
(26) The means for disabling movement of all positioning devices associated with any distance that meets the proximity criterion may include means for transmitting control signals to respective slave systems associated with the positioning devices associated with the distance, each control signal identifying a current end effector position and orientation based on a current position and orientation of the corresponding handle when the proximity criterion is not met, and means for causing the control signals transmitted to the slave systems associated with the tool positioning devices associated with the distance that meets the proximity criterion to identify a previous position and orientation of respective associated end effectors when the proximity criterion is met.
(27) The apparatus may include means for enabling movement of the tool positioning devices associated with the distance that met the proximity criterion when the proximity criterion is no longer met.
(28) The means for producing the desired new end effector position and desired new end effector orientation may include means for receiving from each input device current handle position signals (custom character) and current handle orientation signals (R.sub.MCURR) representing a current position and a current orientation respectively of the handle of the corresponding input device, and means for producing, for corresponding tool positioning devices, new end effector position signals (custom character) and new end effector orientation signals (R.sub.EENEW) defining the desired new end effector position and the desired new end effector orientation, respectively of the end effector, in response to the corresponding current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR).
(29) The means for receiving the current handle position signals and the current handle orientation signals may include means for periodically receiving the current handle position signals and the current handle orientation signals.
(30) The apparatus may include means for receiving an enablement signal controlled by the operator, means for detecting a change in state of the enablement signal, and means for storing the current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR) as master base position signals (custom character) and master base orientation signals (R.sub.MBASE) respectively, when the change is detected. The apparatus may further include means for storing the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) as end effector base position signals (custom character) and end effector base orientation signals (R.sub.EEBASE) respectively, when the change is detected.
(31) The means for computing the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) may include means for computing the new end effector position signals and the new end effector orientation signals according to the following relations:
custom character=A(custom character-custom character)+custom character; and
R.sub.EENEW=R.sub.EEBASER.sub.MBASE.sup.-1R.sub.MCURR
(32) Each of the tool positioning devices may include a plurality of segments each comprised of a plurality of vertebrae and at least some of the points in each the plurality of points may be points on a respective segment or a vertebrae of a segment.
(33) The apparatus may include means for computing vectors to points along each tool positioning device from a reference point associated with the tool positioning device to a point on a segment of the tool positioning device, based on the desired new end effector position and orientation calculated for the end effector associated with the tool positioning device.
(34) The apparatus may include means for computing a position of at least one vertebra associated with the segment, based on the position of the point on the segment.
(35) The disclosure further describes an apparatus for use in a robotic control system, the apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The apparatus includes at least one processor circuit configured to produce desired new end effector positions and desired new end effector orientations of respective end effectors, in response to current positions and current orientations of corresponding respective handles, and the at least one processor circuit is configured to use the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device. The apparatus further includes at least one processor circuit configured to determine whether any of the distances meets a proximity criterion, and to notify an operator, of the handles associated with tool positioning devices associated with the distance that meets the proximity criterion, to indicate that the proximity criterion has been met.
(36) The at least one processor circuit may be configured to notify the operator by signaling the input devices associated with the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion, to cause the handles associated with the tool positioning devices associated with the distance that meets the proximity criterion to present haptic feedback to the operator, the haptic feedback impeding movement of the handles in a direction that would shorten the distance that meets the proximity criterion.
(37) The at least one processor circuit may be configured to notify the operator by producing annunciation signals for causing an annunciator to annunciate that the proximity criterion has been met.
(38) The annunciation signals may include display control signals for causing a display to depict a visual representation indicative of the distance that meets the proximity criterion.
(39) The annunciation signal may include audio control signals for causing an audio device to provide an audible sound indicative of the distance that meets the proximity criterion.
(40) The at least one processor circuit may further be configured to disable movement of all tool positioning devices associated with the distance that meets the proximity criterion.
(41) The at least one processor circuit may be configured to disable movement of all positioning devices associated with the distance that meets the proximity criterion by transmitting control signals to respective slave systems associated with the positioning devices associated with the distance, each control signal identifying a current end effector position and orientation based on a current position and orientation of the corresponding handle when the proximity criterion is not met, and causing the control signals transmitted to the slave systems associated with the tool positioning devices associated with the distance that meets the proximity criterion to identify a previous position and orientation of respective associated end effectors when the proximity criterion is met.
(42) The at least one processor circuit may be further configured to enable movement of the tool positioning devices associated with the distance that met the proximity criterion when the proximity criterion is no longer met.
(43) The at least one processor circuit may be configured to produce the desired new end effector position and desired new end effector orientation by receiving from each input device current handle position signals (custom character) and current handle orientation signals (R.sub.MCURR) representing a current position and a current orientation respectively of the handle of the corresponding input device, and producing, for corresponding tool positioning devices, new end effector position signals (custom character) and new end effector orientation signals (R.sub.EENEW) defining the desired new end effector position and the desired new end effector orientation, respectively of the end effector, in response to corresponding current handle position signals (custom character) and current handle orientation signals (R.sub.MCURR).
(44) The at least one processor circuit may be configured to receive the current handle position signals and the current handle orientation signals on a periodic basis.
(45) The at least one processor circuit may be configured to receive an enablement signal controlled by the operator and to detect a change in state of the enablement signal and when the change is detected, to store the current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR) as master base position signals (custom character) and master base orientation signals (R.sub.MBASE) respectively, and store the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) as end effector base position signals (custom character) and end effector base orientation signals (R.sub.EEBASE) respectively.
(46) The at least one processor circuit may be configured to compute the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) according to the following relations:
custom character=A(custom character-custom character.sub.MBAS)+custom character; and
R.sub.EENEW=R.sub.EEBASER.sub.MBASE.sup.-1R.sub.MCURR
(47) Each of the tool positioning devices may include a plurality of segments each comprised of a plurality of vertebrae and at least some of the points in each the plurality of points may be points on a respective segment or a vertebrae of a segment.
(48) The at least one processor circuit may be configured to, for each tool positioning device, compute vectors from a reference point associated with the tool positioning device to a point on a segment of the tool positioning device, based on the desired end effector position calculated for the end effector associated with the tool positioning device.
(49) The at least one processor circuit may be configured to compute a position of at least one vertebrae associated with the segment, based on the position of the point on the segment.
(50) Other aspects and features of the present disclosure will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments in conjunction with the accompanying figures.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) In drawings which illustrate various embodiments described herein,
(2) FIG. 1 is a pictorial representation of a laparoscopic surgery system according to one embodiment of the invention;
(3) FIG. 2 is an oblique view of an input device of a master subsystem of the aparoscopic surgery system shown in FIG. 1;
(4) FIG. 3 is a schematic representation of current and previous value buffers maintained by a master apparatus of the system shown in FIG. 1 and updated according to the functions shown in FIG. 8;
(5) FIG. 4 is an oblique view of the input device shown in FIG. 2 and the tool positioning device of the slave subsystem shown in FIG. 1 showing relationships between base axes of the input device and the end effector;
(6) FIG. 5 is an oblique view of a tool positioning device shown in FIG. 4 with a tool in the form of an end effector held thereby, in an insertion tube of the system shown in FIG. 1;
(7) FIG. 6 is a flow chart illustrating certain functionality and certain signals produced and used by the system shown in FIG. 1;
(8) FIG. 7 is a flow chart of a storage routine executed by the master apparatus in response to detection of a signal transition of an enablement signal produced in response to user input;
(9) FIG. 8 is a flow chart of an end effector position and orientation calculation block of the flow chart shown in FIG. 6;
(10) FIG. 9 is a perspective view of left and right hand tool positioning devices of the slave subsystem shown in FIG. 1;
(11) FIG. 10 is a flowchart representing codes executed by a master apparatus of the master subsystem shown in FIG. 1, to provide for computation of proximity laparoscopic surgical tools;
(12) FIG. 11 is a schematic diagram of a visual representation of proximity of the left and right handed tool positioning devices;
(13) FIG. 12 is a perspective view of left and right hand tool positioning devices of the slave subsystem shown in FIG. 1 where the proximity criterion is not met; and
(14) FIG. 13 is a perspective view of left and right hand tool positioning devices of the slave subsystem shown in FIG. 1 where the proximity criterion is met.
DETAILED DESCRIPTION
(15) Referring to FIG. 1, a robotic control system in the form of a laparoscopic surgery system is shown generally at 50. The system 50 includes a master subsystem 52 and a slave subsystem 54. The master subsystem 52 may be located anywhere in the world, but for the purposes of this description it will be considered to be in an operating room. The slave subsystem 54 is located in the operating room.
(16) In the embodiment shown, the master subsystem 52 comprises a workstation 56, which in this embodiment has first and second input devices 58 and 60 and a viewer 62 in communication with a master apparatus 64 comprising at least one processor circuit. In other embodiments there may be more input devices. The first and second input devices 58 and 60 each include respective handles 105 and 102. In this embodiment the first and second input devices 58 and 60 are operable to be actuated by respective hands of an operator such as a surgeon, for example, who will perform the laparoscopic surgery by manipulating the first and second input devices of the master subsystem 52 to control corresponding tools 66 and 67 on the slave subsystem 54.
(17) The viewer 62 may include an LCD display 68, for example, for displaying images acquired by a camera 70 on the slave subsystem 54, to enable the operator to see the tools 66 and 67 inside the patient while manipulating the first and second input devices 58 and 60 to cause the tools to move in desired ways to perform the surgery. The first and second input devices 58 and 60 produce position and orientation signals that are received by the master apparatus 64 and the master apparatus produces slave control signals that are transmitted by wires 72 or wirelessly, for example, from the master subsystem 52 to the slave subsystem 54.
(18) The slave subsystem 54 includes a slave computer 74 that receives the slave control signals from the master subsystem 52 and produces motor control signals that control motors 76 on a drive mechanism of a tool controller 78 of the slave subsystem, to extend and retract control wires (not shown) of respective tool positioning devices 79 and 81 to position and to rotate the tools 66 and 67. Exemplary tool positioning devices and tools for this purpose are described in PCT/CA2013/001076, which is incorporated herein by reference. Generally, there will be a tool and tool positioning device associated with each of the input devices 58 and 60. In the embodiment shown the tool positioning devices 79 and 81 extend through an insertion tube 61, a portion of which is inserted through a small incision 63 in the patient, to position end effectors 71 and 73 of the tools 66 and 67 inside the patient, to facilitate the surgery.
(19) In the embodiment shown, the workstation 56 has a support 80 having a flat surface 82 for supporting the first and second input devices 58 and 60 in positions that are comfortable to the user whose hands are actuating the first and second input devices 58 and 60.
(20) In the embodiment shown, the slave subsystem 54 includes a cart 84 in which the slave computer 74 is located. The cart 84 has an articulated arm 86 mechanically connected thereto, with a tool holder mount 88 disposed at a distal end of the articulated arm.
(21) Input Devices
(22) In the embodiment shown, the first and second input devices 58 and 60 are the same, but individually adapted for left and right hand use respectively. In this embodiment, each input device 58 and 60 is an Omega.7 haptic device available from Force Dimension, of Switzerland. For simplicity, only input device 60 will be further described, it being understood that input device 58 operates in the same way.
(23) Referring to FIG. 2, the input device 60 includes the flat surface 82 supports a control unit 92 having arms 94, 96, 98 connected to the handle 102, which is gimbal-mounted and can be grasped by the hand of an operator and positioned and rotated about orthogonal axes x.sub.6, y.sub.6 and z.sub.6 of a Cartesian reference frame having an origin at a point midway along the axis of a cylinder that forms part of the handle 102. This Cartesian reference frame may be referred to as the handle reference frame and has an origin 104 (i.e. the center of the handle 102) that may be referred to as the handle position.
(24) The arms 94, 96, 98 facilitate translational movement of the handle 102 and hence the handle position 104, in space, and confine the movement of the handle position within a volume in space. This volume may be referred to as the handle translational workspace. The control unit 92 is also able to generate a haptic force for providing haptic feedback to the handles 102 and 105 through the arms 94, 96, and 98.
(25) The handle 102 is mounted on a gimbal mount 106 having a pin 108. The flat surface 82 has a calibration opening 110 for receiving the pin 108. When the pin 108 is received in the opening 110, the input device 60 is in a calibration position that is defined relative to a fixed master Cartesian reference frame comprising orthogonal axes x.sub.r, y.sub.r, z.sub.r, generally in the center of the handle translational workspace. In the embodiment shown, this master reference frame has an x.sub.r-z.sub.r plane parallel to the flat surface 82 and a y.sub.r axis perpendicular to the flat surface. In the embodiment shown, the z.sub.r axis is parallel to the flat surface 82 and is coincident with an axis 112 passing centrally through the control unit 92 so that pushing and pulling the handle 102 toward and away from the center of the control unit 92 along the axis 112 in a direction parallel to the flat surface 82 is a movement in the z.sub.r direction.
(26) The control unit 92 has sensors (not shown) that sense the positions of the arms 94, 96, 98 and the rotation of the handle 102 about each of the x.sub.6, y.sub.6 and z.sub.6 axes and produces signals representing the handle position 104 in the workspace and the rotational orientation of the handle 102 relative to the fixed master reference frame x.sub.r, y.sub.r, z.sub.r. In this embodiment, these position and orientation signals are transmitted on wires 111 of a USB bus to the master apparatus 64. More particularly, the control unit 92 produces current handle position signals and current handle orientation signals that represent the current position and orientation of the handle 102 by a current handle position vector custom characterand a current handle rotation matrix R.sub.MCURR, relative to the fixed master reference frame x.sub.r, y.sub.r, z.sub.r.
(27) For example, the current handle position vector custom character is a vector
(28)
{
?
6
?
6
?
6
}
,
where x.sub.6, y.sub.6, and z.sub.6 represent coordinates of the handle position 104 within the handle translational workspace relative to the fixed master reference frame, x.sub.r, y.sub.r, z.sub.r.
(29) The current handle rotation matrix R.sub.MCURR is a 3×3 matrix
(30)
[
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
?
6
?
?
]
,
where the columns of the matrix represent the axes of the handle reference frame x.sub.6, y.sub.6, z.sub.6 relative to the fixed master reference frame x.sub.r, y.sub.r, z.sub.r. R.sub.MCURR thus defines the current rotational orientation of the handle 102 in the handle translational workspace, relative to the x.sub.r, y.sub.r, z.sub.r fixed master reference frame.
(31) The current handle position vector custom character and current handle rotation matrix R.sub.MCURR are transmitted in the current handle position and current handle orientation signals on wires 111 of the USB bus, for example, to the master apparatus 64 in FIG. 1. Referring to FIG. 3, the master apparatus 64 includes a current memory buffer 140 that stores the current handle position vector custom character in a first store 142 of the current buffer and stores the current handle rotation matrix R.sub.MCURR in a second store 144 of the current buffer 140.
(32) Tool Positioner and End Effector
(33) The end effector 73 and tool positioning device 81 are further described with reference to FIG. 4 and FIG. 5. Referring to FIGS. 4 and 5 the tool positioning device 81 moves the tool 67 and its end effector 73 within a volume in space. This volume may be referred to as the end effector workspace.
(34) The position and orientation of the end effector 73 is defined relative to a fixed slave reference frame having axes x.sub.v, y.sub.v and z.sub.v which intersect at a point referred to as the fixed slave reference position 128, lying on a longitudinal axis 136 of the insertion tube 61 and contained in a plane perpendicular to the longitudinal axis 136 and containing a distal edge 103 of the insertion tube 61. The z.sub.v axis is coincident with the longitudinal axis 136 of the insertion tube 61. The x.sub.v-z.sub.v plane thus contains the longitudinal axis 136 of the insertion tube 61 and the x.sub.v and y.sub.v axes define a plane perpendicular to the longitudinal axis 136 of the insertion tube 61.
(35) In the embodiment shown, the end effector 73 includes a pair of gripper jaws, which may be positioned and oriented within the end effector workspace. A tip of the gripper jaws may be designated as an end effector position and may be defined as the origin 150 of an end effector Cartesian reference frame x.sub.5, y.sub.5, z.sub.5. The end effector position 150 is defined relative to the slave reference position 128 and may be positioned and orientated relative to the fixed slave reference frame x.sub.v, y.sub.v, z.sub.v.
(36) A flow chart illustrating functions and signals produced and used by the system 50 is shown in FIG. 6. Desired new end effector positions and desired new end effector orientations are calculated as described in connection with FIG. 6, in response to the current handle position signals custom character and current handle orientation signals R.sub.MCURR and are represented by a new end effector position vector custom character and a new rotation matrix R.sub.EENEW. For example, the new end effector position vector custom character is a vector:
(37)
{
?
5
?
5
?
5
}
,
(38) where x.sub.5, y.sub.5, and z.sub.5 represent coordinates of the end effector position 150 within the end effector workspace relative to the x.sub.v, y.sub.v, z.sub.v fixed slave reference frame. The end effector rotation matrix R.sub.EENEW is a 3×3 matrix:
(39)
[
?
5
?
?
?
5
?
?
?
5
?
?
?
5
?
?
?
5
?
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?
5
?
?
?
5
?
?
?
5
?
?
?
5
?
?
]
,
(40) where the columns of the R.sub.EENEW matrix represent the axes of the end effector reference frame x.sub.5, y.sub.5, z.sub.5 written in the fixed slave reference frame x.sub.v, y.sub.v, z.sub.v. R.sub.EENEW thus defines a new orientation of the end effector 73 in the end effector workspace, relative to the x.sub.v, y.sub.v, z.sub.v fixed slave reference frame.
(41) Footswitch
(42) Referring back to FIG. 1, in addition to receiving signals from the input devices 58 and 60, in the embodiment shown, the master apparatus 64 is coupled to a footswitch 170 actuable by the operator (surgeon) to provide a binary enablement signal to the master apparatus 64. When the footswitch 170 is not activated, i.e. not depressed, the enablement signal is in an active state and when the footswitch 170 is depressed the enablement signal is in an inactive state. The footswitch 170 thus controls the state of the enablement signal. The enablement signal allows the operator to cause the master apparatus 64 to selectively enable and disable movement of the end effectors 71 and 73 in response to movement of the handles 105 and 102.
(43) Master Apparatus and Slave Computer
(44) Still referring to FIG. 1, in the embodiment shown, the master apparatus 64 is controlled by program codes stored on a non-transitory computer readable medium such as a disk drive 114. The codes direct the master apparatus 64 to perform various functions including collision detection functions. Referring to FIG. 6, these functions may be grouped into categories and expressed as functional blocks of code including a base setting block 216, an end effector position and orientation calculation block 116, a kinematics block 118, a motion control block 120, and a feedback force control block 122, each block including codes stored on the disk drive 114 of the master apparatus 64.
(45) For ease of description, the above blocks are shown as functional blocks within the master apparatus 64 in FIG. 6. These functional blocks are executed separately but in the same manner for each input device of master subsystem 52. In the embodiment shown, there are only two input devices, 58 and 60. While the execution of these functional blocks for the input device 60, tool positioning device 81 and end effector 73 are described, it should be understood that the codes are separately executed in the same way for all other input devices, such as the input device 58, tool positioning device 79 and end effector 71 shown in FIG. 1 to achieve control of both end effectors 73 and 71 by the respective right and left hands of the operator.
(46) The base setting block 216 is executed asynchronously, whenever the enablement signal produced by the footswitch 170 transitions from an inactive state to an active state, such as when the operator releases the footswitch in this embodiment. The base setting block 216 includes codes that direct the master apparatus 64 to set new base positions and orientations for positions and orientations of the handle 102 and end effector 73, respectively as will be described below.
(47) Generally, the end effector position and orientation calculation block 116 includes codes that direct the master apparatus 64 to calculate new end effector position and new orientation signals, custom character and R.sub.EENEW, which position and orient the end effector 73 in the desired position and orientation custom character and R.sub.MCURF in response to the position and orientation of the handle 102. The end effector position and orientation calculation block 116 receives the enablement signal from the footswitch 170 and produces output signals including a “new” signal and a signal that is coupled to the feedback force control block 122.
(48) The kinematics block 118 includes codes that direct the master apparatus 64 to produce configuration variables in response to the newly calculated end effector position and orientation signals, custom character and R.sub.EENEW. The configuration variables define a tool positioning device pose required to position and orient the end effecter 73 in the desired position and orientations.
(49) The feedback force control block 122 includes codes that direct the master apparatus 64 to receive the configuration variables from the kinematics block 118 and to determine a theoretical location of various points along the tool positioning devices 81 and 79 in the end effector workspace, and to determine whether a distance between any two of these theoretical locations on respective tool positioning devices 81 and 79 is less than a threshold distance. When such distance is less than the threshold distance, the codes of the feedback force control block 122 direct the master apparatus 64 to cause feedback to notify the operator of the proximity.
(50) The motion control block 120 includes codes that direct the master apparatus 64 to produce the slave control signals, in response to the configuration variables.
(51) In the embodiment shown in FIG. 1, the slave control signals represent wire length values indicating how much certain control wires of the tool positioning device 81 of the slave subsystem 54 must be extended or retracted to cause the end effector 73 of the tool 67 to assume a desired position and orientation defined by positioning and rotating the input device 60. The slave control signals representing the control wire length values are transmitted to the slave computer 74, which has its own computer readable medium encoded with a communication interface block 124 which includes codes for directing the slave computer to receive the slave control signals from the master apparatus 64. The computer readable medium at the slave computer is also encoded with a motor control signal generator block 126 which includes codes for causing the slave computer 74 to generate motor control signals for controlling the motors 76 on the tool controller 78 to extend and retract the control wires controlling the attached tool positioning device 81 according to the control wire length values represented by the slave control signals from the master apparatus 64. The various blocks in FIG. 6 are described below in greater detail.
(52) Base Setting Block
(53) A flow chart showing details of operations included in the base setting block 216 is shown in FIG. 7. Referring to FIG. 7, as disclosed above, the base setting block 216 is executed asynchronously, whenever the enablement signal transitions from an inactive state to an active state. The base setting block 216 directs the master apparatus 64 to set new base positions and new base orientations for positions and orientations of the handle 102 and end effector 73, respectively. Referring back to FIG. 3, the master apparatus 64 stores values x.sub.mb, y.sub.mb, z.sub.mb representing a definable master base position vector represented by a base position signal custom character in a third store 146 and stores values representing a definable master base rotation matrix represented by a base orientation signal R.sub.MBASE in a fourth store 148.
(54) On startup of the system 50 the master apparatus 64 initially causes the definable master base position vector custom character to be set equal to the current handle position vector custom character and causes the definable master base rotation matrix R.sub.MBASE to define an orientation that is the same as the current orientation defined by the handle rotation matrix R.sub.MCURR associated with the current handle rotation.
(55) Initially, therefore:
custom character=custom character; and
R.sub.MBASE=R.sub.MCURR
(56) In other words, a definable master base reference frame represented by the axes x.sub.mb, y.sub.mb and z.sub.mb and the handle reference frame represented by the axes x.sub.6, y.sub.6 and z.sub.6 coincide at startup.
(57) Thereafter, the master base position vector custom character and the master base rotation matrix R.sub.MBASE are maintained at the same values as on startup until the enablement signal is activated, such as by the release of the footswitch (170 in FIG. 1), which causes the enablement signal to transition from the inactive state to the active state. In response to the inactive to active state transition of the enablement signal, the base setting block 216 in FIGS. 6 and 7 is executed to change the master base position vector custom character and master base rotation matrix R.sub.MBASE values to the values of the currently acquired master position signal custom character and currently acquired master orientation signal R.sub.MCURR respectively.
(58) Referring back to FIG. 3, in addition to storing the current master position and orientation signals custom character and R.sub.MCURR in first and second stores 142 and 144 respectively of the current buffer 140, the master apparatus 64 also stores the calculated values for the position signal custom character and orientation signal R.sub.EENEW of the end effector in the fifth and sixth stores 152 and 154 respectively of the current buffer 140. The base setting block 216 also directs the master apparatus 64 to further store values x.sub.sb, y.sub.sb, z.sub.sb representing a definable end effector base position vector custom character in a seventh store 162 and stores values representing a definable end effector base rotation matrix R.sub.EEBASE in a eighth store 164 in the current buffer 140. The end effector base position is shown as a reference frame represented by the axes x.sub.sb, y.sub.sb, z.sub.sb in FIG. 4. The input device 60 and the master base reference frame represented by the axes x.sub.mb, y.sub.mb and z.sub.mb is also shown in FIG. 4. The master apparatus 64 initially causes the definable end effector base position vector custom character to be set equal to the new end effector position vector custom character on startup of the system and causes the definable slave base rotation matrix R.sub.EEBASE to define an orientation that is the same as the orientation defined by the new end effector rotation matrix R.sub.EENEW, on startup of the system. On initialization of the system when there are no previously stored values for custom character or R.sub.EENEW, custom character and R.sub.EEBASE will be set equal to the custom character and R.sub.EENEW defined based on a home configuration of the tool positioning device 81, tool 66 and end effector 73. In this embodiment, the home configuration defines configuration variables to produce a generally straight tool positioning device pose (as shown in FIG. 4) and is preconfigured before initialization of the system. In other embodiments, the home configuration can define configuration variables to produce different bent or both straight and bent tool positioning device poses. Initially, therefore:
custom character=custom character; and
R.sub.EEBASE=R.sub.EENEW
(59) In other words, a definable slave base reference frame represented by the axes x.sub.sb, y.sub.sb and z.sub.sb and the end effector reference frame represented by the axes x.sub.5, y.sub.5 and z.sub.5 coincide at startup.
(60) The end effector base position vector custom character and end effector base rotation matrix R.sub.EEBASE are maintained at the same values as on startup until the enablement signal is activated by the footswitch 170 (shown in FIG. 1), which causes the enablement signal to transition from the inactive state to the active state. In response, the base setting block 216 in FIGS. 6 and 7 changes the end effector base position vector custom character and end effector rotation matrix R.sub.EEBASE to the newly calculated end effector position vector custom character and newly calculated end effector orientation matrix R.sub.EENEW.
(61) End Effector Position and Orientation Calculation Block
(62) Generally, the end effector position and orientation calculation block 116 includes codes that direct the master apparatus 64 to calculate new end effector position and orientation signals, referred to herein as {right arrow over (P)}.sub.EENEW and R.sub.EENEW, which position and orient the end effectors 73 into a desired position and orientation in response to the current handle position custom character and current handle orientation R.sub.MCURR. In one embodiment the end effector position and orientation calculation block 116 is executed periodically at a rate of about 1 kHz. A flow chart showing details of operations included in the end effector position and orientation calculation block 116 is shown in FIG. 8. The operations begin with block 159 directing the master apparatus 64 to query the control unit 92 of the input device 60 for the current handle position vector custom character and current handle rotation matrix R.sub.MCURR. As previously described and referring to FIG. 3, custom character and R.sub.MCURR values are stored by the master apparatus 64, the first store 142 storing the three values representing the current handle position vector custom character and the second store 144 storing the nine values representing the current handle rotation matrix R.sub.MCURR.
(63) After new values for custom character and R.sub.MCURR are acquired from the control unit 92, block 160 directs the master apparatus 64 to calculate new end effector position signals custom character and new end effector orientation signals R.sub.EENEW representing a desired end effector position 150 and desired end effector orientation, relative to the fixed slave reference position 128 and the slave base orientation. Block 160 also directs the master apparatus 64 to store, in the fifth store 152 in FIG. 3, values representing the new end effector position vector custom character and to store, in the sixth store 154 in FIG. 3, values representing the desired end effector orientation matrix R.sub.EENEW.
(64) The new end effector position signals {right arrow over (P)}.sub.EENEW and new end effector orientation signals R.sub.EENEW are calculated according to the following relations:
custom character=A(custom character-custom character)+custom character (1a)
and
R.sub.EENEW=R.sub.EEBASER.sub.MBASE.sup.-1R.sub.MCURR (1b), where: custom character is the new end effector position vector that represents the new desired position of the end effector 73 in the end effector workspace, and is defined relative to the slave base reference position; A is a scalar value representing a scaling factor in translational motion between the master and the slave; custom character is the current representation of the handle position vector stored in the first store 142, the handle position vector being defined relative to the fixed master reference frame; custom character is the last-saved position vector custom character for handle 102 that was shifted upon the last inactive to active state transition of the enablement signal such as by release of the footswitch 170 or on system initialization or by operation of a control interface by an operator; custom character is the last saved position vector custom character for the end effector 73 that was shifted upon the last inactive to active state transition of the enablement signal or on system initialization; R.sub.EENEW is the new end effector orientation matrix representing the current orientation of the end effector 73, and is defined relative to the fixed slave reference position 128; R.sub.EEBASE is the last-saved rotation matrix R.sub.EENEW of the end effector 73 shifted upon the last inactive to active state transition of the enablement signal; R.sub.MBASE.sup.-1 is the inverse of rotation matrix R.sub.MBASE, where R.sub.MBASE is the last-saved rotation matrix R.sub.MCURR of the handle 102 saved upon the last inactive to active state transition of the enablement signal; R.sub.MCURR is the currently acquired rotation matrix representing the orientation of the handle 102 relative to the fixed master reference frame;
(65) Block 161 then directs the master apparatus 64 to determine whether or not the enablement signal is in the active state. If the enablement signal is in the active state, optional block 208 directs the master apparatus 64 to execute certain special functions, such as alignment control functions, for example. Such alignment control functions are described in applicant's applications U.S. 62/101,734 and U.S. 62/101,804, for example, hereby incorporated by reference in their entirety.
(66) Where the special functions are alignment control functions, such functions may have one of two outcomes, for example. The first outcome may direct the master apparatus 64 to execute block 215 which causes the master apparatus 64 to send a “new” signal to the motion control block 120 to signal the motion control block 120 to send slave control signals to the slave computer 74 based on the newly calculated end effector position and newly calculated end effector orientation custom character and R.sub.EENEW. The second outcome directs the master apparatus 64 to execute block 163, which causes the master apparatus 64 to set the “new” signal inactive to signal the motion control block 120 to send slave control signals based on a previously calculated end effector position and previously calculated end effector orientation custom character and R.sub.EEPREV.
(67) If block 215 is executed, the slave control signals are based on the newly calculated values for custom character and R.sub.EENEW. This causes the end effector 73 to assume a position and orientation determined by the current position and current orientation of the handle 102.
(68) Block 159 then directs the master apparatus 64 to copy the current position vector custom character and the current rotation matrix R.sub.MCURR stored in stores 142 and 144 into stores 143 and 145 of a “previous” buffer 141 referred to in FIG. 3 and to copy newly calculated end effector position vector custom character and newly calculated end effector rotation matrix R.sub.EENEW into stores 147 and 149 of the previous buffer 141. The newly calculated end effector position vector custom character and newly calculated end effector rotation matrix R.sub.EENEW are thus renamed as “previously calculated end effector position vector” custom character and “previously calculated end effector rotation matrix” R.sub.EEPREV. By storing the newly calculated end effector position vector custom character and newly calculated end effector rotation matrix R.sub.EENEW, as previously calculated end effector position vector custom character and previously calculated end effector rotation matrix R.sub.EEPREV, a subsequently acquired new end effector position vector custom character and subsequently acquired new end effector rotation matrix R.sub.EENEW can be calculated from the next current handle position vector custom character and next current handle rotation matrix R.sub.MCURR.
(69) If block 163 is executed, the slave control signals are based on custom character and R.sub.EEPREV. This causes the end effector 73 to assume a position and orientation determined by a previous position and previous orientation of the handle 102. The end effector position and orientation calculation block 116 is then ended.
(70) Still referring to FIG. 8, at block 161, if the enablement signal is in the inactive state, and while it remains in the inactive state, the master apparatus 64 will immediately execute block 163 which directs the master apparatus 64 to set the “new” signal inactive to indicate to the motion control block 120 in FIG. 5 that it should send the slave control signals based on the previously calculated values of custom character and R.sub.EEPREV in stores 147 and 149, respectively. The slave control signals produced by the motion control block 120 thus represent control wire length values derived from the last saved values of custom character and R.sub.EENEW, causing the end effector 73 to remain stationary because the same slave control signals as were previously determined are sent to the slave computer 74. The end effector position and orientation calculation block 116 is then ended. As long as the enablement signal is inactive, slave control signals are based only on the previously calculated end effector position and previously calculated orientation signals custom character and R.sub.EEPREV as they exist before the enablement signal became inactive.
(71) Accordingly, when the enablement signal is in the inactive state, the handle 102 can be moved and rotated and the calculations of custom character and R.sub.EENEW will still be performed by block 160 of the end effector position and orientation calculator block 116, but there will be no movement of the end effector 73, because the previous slave control signals are sent to the slave computer 74. This allows “clutching” or repositioning the handle 102 without corresponding movement of the end effector 73 and enables the end effector 73 to have increased range of movement and allows the operator to reposition their hands to a comfortable position within the handle translational workspace.
(72) While it has been shown that either the previously calculated end effector position and previously calculated orientation signals custom character and R.sub.EEPREV or the newly calculated end effector position and newly calculated orientation custom character and R.sub.EENEW are used as the basis for producing the slave control signals sent by the motion control block 120 to the slave computer 74, the newly calculated end effector position and newly calculated end effector orientation signals custom character and R.sub.EENEW are always presented to the kinematics block 118 and the feedback force control block 122. In other words, the kinematic block 118 always calculates the configuration variables based on the newly calculated end effector position and newly calculated end effector orientation signals custom character and R.sub.EENEW, and the feedback force control block 122 always calculates the theoretical locations of various points along the tool positioning device and the distance between the various points on the left tool positioning device and the various points on the right tool positioning device based on custom character and R.sub.EENEW.
(73) Kinematics Block
(74) The kinematics block 118 includes codes that direct the master apparatus 64 to produce configuration variables in response to the newly calculated end effector position and orientation signals custom character and R.sub.EENEW. The configuration variables define a tool positioning device pose required to position and orient the end effector 73 into the desired end effector position and orientation.
(75) The kinematics block 118 receives newly calculated end effector position and orientation signals {right arrow over (P)}.sub.EENEW and R.sub.EENEW each time the end effector position and orientation calculation block 116 is executed. In response, the kinematics block 118 produces configuration variables for the tool positioning device 81.
(76) Referring to FIGS. 5 and 9, the tool positioning device 81 has a first articulated segment 130, referred to as an s-segment and a second articulated segment 132 referred to as a distal segment. The segments each include a plurality of “vertebra” 224. The s-segment 130 begins at a distance from the insertion tube 61, referred to as the insertion distance q.sub.ins, which is the distance between the fixed slave reference position 128 defined as the origin of the slave fixed base reference frame x.sub.v,y.sub.v,z.sub.v and a first position 230 at the origin of a first position reference frame x.sub.1, y.sub.1, and z.sub.1 (shown in FIG. 9). The insertion distance q.sub.ins represents an unbendable portion of the tool positioning device 81 that extends out of the end of the insertion tube 61. In the embodiment shown, the insertion distance q.sub.ins may be about 10-20 mm, for example. In other embodiments, the insertion distance q.sub.ins may be longer or shorter, varying from 0-100 mm, for example.
(77) The s-segment 130 extends from the first position 230 to a third position 234 defined as an origin of a third reference frame having axes x.sub.3, y.sub.3, and z.sub.3 and is capable of assuming a smooth S-shape when control wires (not shown) inside the s-segment 130 are pushed and pulled. The s-segment 130 has a mid-point at a second position 232, defined as the origin of a second position reference frame having axes x.sub.2, y.sub.2, z.sub.2. The s-segment 130 has a length L.sub.1, seen best on the left-hand side tool positioning device 79 in FIG. 9. In the embodiment shown, this length L.sub.1 may be about 65 mm, for example.
(78) The distal segment 132 extends from the third position 234 to a fourth position 236 defined as an origin of a fourth reference frame having axes x.sub.4, y.sub.4, z.sub.4. The distal segment 132 has a length L.sub.2 also seen best on the left-hand side tool positioning device 79 in FIG. 9. In the embodiment shown, this length L.sub.2 may be about 23 mm, for example.
(79) Each tool 66 and 67 also has an end effector length, which in the embodiment shown is a gripper length L.sub.3 that extends from the fourth position 236 to the end effector position 150 defined as the origin of axes x.sub.5, y.sub.5, and z.sub.5. The gripper length L.sub.3 is again best seen on the left-hand side tool positioning device 79 in FIG. 9 and in this embodiment may be about 25 mm, for example. The slave reference position 128, first position 230, second position 232, third position 234, fourth position 236 and end effector position 150 may collectively be referred to as tool reference positions.
(80) As explained in PCT/CA2013/001076, hereby incorporated herein by reference in its entirety, by pushing and pulling on certain control wires inside the tool positioning devices 79 and 81, the s-segment 130 can be bent into any of various degrees of an S-shape, from straight as shown in FIG. 9 on the left hand tool positioning device 81 to a partial S-shape as shown in FIG. 9 on the right hand tool positioning device 79 to a full S-shape. The s-segment 130 is sectional in that it has a first section 220 and a second section 222 on opposite sides of the second position 232. Referring now to FIG. 5, the first and second sections 220 and 222 lie in a first bend plane containing the first position 230, second position 232, and third position 234. The first bend plane is at an angle d.sub.prox to the x.sub.v-z.sub.v plane of the fixed slave reference frame. The first section 220 and second section 222 are bent in the first bend plane through opposite but equal angles ?.sub.prox such that no matter the angle ?.sub.prox or the bend plane angle d.sub.prox, the z.sub.3 axis of the third position 234 is always parallel to and aligned in the same direction as the z.sub.v axis of the fixed slave reference position 128.
(81) Thus, by pushing and pulling on the control wires within the tool positioning device 81, the third position 234 can be placed at any of a number of discrete positions within a cylindrical volume in space. This volume may be referred to as the s-segment workspace.
(82) In addition, the distal segment 132 lies in a second bend plane containing the third position 234 and the fourth position 236. The second bend plane is at an angle d.sub.dist to the x.sub.v-z.sub.v plane of the fixed slave reference frame. The distal segment 132 is bent in the second bend plane at an angle ?.sub.dist. Thus, by pushing and pulling the control wires within the tool positioning device 81, the fourth position 236 can be placed within another volume in space. This volume may be referred to as the distal workspace. The combination of the s-segment workspace plus the distal workspace can be referred to as the tool positioning device workspace, as this represents the total possible movement of the tools 66 and 67 as effected by the respective tool positioning devices 79 and 81.
(83) The distance between the fourth position 236 and the end effector position 150 is the distance between the movable portion of the distal segment 132 and the tip of the gripper end effector 73 (and 73) in the embodiment shown, i.e. the length the gripper length L.sub.3.
(84) Generally, the portion of the gripper between the fourth position 236 and the end effector position 150 (L.sub.3) will be unbendable.
(85) In the embodiment shown, the end effector 71 or 73 is a gripper jaw tool that is rotatable about the z.sub.5 axis in the x.sub.5-y.sub.5 plane of the end effector reference frame, the angle of rotation being represented by an angle ? relative to the positive x.sub.5 axis. Finally, the gripper jaws may be at any of varying degrees of openness from fully closed to fully open (as limited by the hinge). The varying degrees of openness may be defined as the “gripper”.
(86) In summary therefore, the configuration variables provided by the kinematic block 118 codes are: q.sub.ins: represents a distance from the slave reference position 128 defined by axes x.sub.v, y.sub.v, and z.sub.v to the first position 230 defined by axes x.sub.1, y.sub.1 and z.sub.1 where the s-segment 130 of the tool positioning device 81 begins; d.sub.prox: represents a first bend plane in which the s-segment 130 is bent relative to the x.sub.v-y.sub.v plane of the fixed slave reference frame; ?.sub.prox: represents an angle at which the first and second sections 220 and 222 of the s-segment 130 is bent in the first bend plane; d.sub.dist: represents a second bend plane in which the distal segment 132 is bent relative to the x.sub.v-y.sub.v plane of the fixed slave reference frame; ?.sub.dist: represents an angle through which the distal segment 132 is bent in the second bend; ?: represents a rotation of the end effector 73 about axis z.sub.5; and Gripper: represents a degree of openness of the gripper jaws of the end effector 73. (This is a value which is calculated in direct proportion to a signal produced by an actuator (not shown) on the handle 102 indicative of an amount of pressure the operator exerts by squeezing the handle).
(87) To calculate the configuration variables, it will first be recalled that the end effector rotation matrix R.sub.EENEW is a 3×3 matrix:
(88)
[
?
5
?
?
?
5
?
?
?
5
?
?
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5
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5
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5
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]
.
(89) Since the last column of R.sub.EENEW is the z-axis of the end effector reference frame written relative to the fixed slave reference frame x.sub.v, y.sub.v and z.sub.v, the values ?.sub.dist, d.sub.dist, and ? associated with the distal segment 132 can be calculated according to the relations:
(90)
?
dist
=
?
2
-
?
?
?
tan
?
?
2
?
(
?
5
?
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2
+
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(
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=
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else
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(
4
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)
(91) These values can then be used to compute the location of third position 234 (p.sub.3/v) relative to the fixed slave reference position 128 by computing the vectors from the third position 234 to the fourth position 236 (p.sub.4/3) and from the fourth position 236 to the end effector position 150 (p.sub.5/4) and subtracting those vectors from {right arrow over (P)}.sub.EENEW.
p.sub.3/s=p.sub.EENEW-p.sub.4/3-p.sub.5/4, (5)
(92) where:
(93)
?
_
4
/
3
.Math.
?
_
=
-
?
2
?
cos
?
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dist
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sin
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-
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=
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(94) and where: i is a unit vector in the x direction; j is a unit vector in the y direction; and k is a unit vector in the z direction.
(95) Once the vector from the fixed slave reference position 128 to the third position 234 (custom character) is known, the configuration variables, d.sub.prox and d.sub.prox, for the s-segment 130 can be found. d.sub.prox associated with the s-segment 130 is calculated by solving the following two equations for d.sub.prox:
(96)
?
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3
/
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.Math.
?
_
=
-
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1
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cos
?
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prox
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-
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(
8
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.Math.
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=
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)
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prox
.
(
8
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)
(97) The ratio of (8b) and (8a) gives
d.sub.prox=a tan 2(-p.sub.3/v.Math.j,p.sub.3/v.Math.i), (9)
(98) where i and j are unit vectors in the x and y directions respectively.
(99) A closed form solution cannot be found for d.sub.prox, thus d.sub.prox must be found with a numerical equation solution to either of equations (8a) or (8b). A Newton-Raphson method, being a method for iteratively approximating successively better roots of a real-valued function, may be employed, for example. The Newton-Raphson method can be implemented using the following equations:
(100)
?
?
(
?
prox
)
=
?
1
?
2
-
?
prox
?
cos
?
?
?
prox
?
(
1
-
sin
?
?
?
?
?
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?
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?
)
-
?
¯
3
/
?
.Math.
?
¯
=
0
,
(
10
)
(101) where i is the unit vector in the x direction; and p.sub.3/v is a vector from the fixed slave reference position 128 to the third position 234.
(102) The equation (10) is equation (8a) rewritten in the form f(?.sub.prox)=0. The Newton-Raphson method tends to converge very quickly because in the range 0<?.sub.prox<p, the function has a large radius of curvature and has no local stationary points. Following the Newton-Raphson method, successive improved estimates of ?.sub.prox can be made iteratively to satisfy equation (10) using the following relationship:
(103) 0
?
?
+
1
=
?
?
-
?
?
(
?
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)
?
'
?
(
?
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)
(
11
)
(104) Finally, upon determination of ?.sub.prox, the following equation can be used to find q.sub.ins,
(105)
?
ins
=
-
?
_
3
/
?
.Math.
?
_
-
?
1
?
cos
?
?
?
prox
?
2
-
?
prox
,
(
12
)
(106) where: k is the unit vector in the z direction; p.sub.3/v is a vector from the fixed slave reference position 128 to the third position 234; and p.sub.3/v.Math.k is the dot product of the vector p.sub.3/v and the unit vector k.
(107) The codes in the kinematics block 118 shown in FIG. 6 direct the master apparatus 64 to calculate values for the above configuration variables in response to the end effector position and orientation signals {right arrow over (P)}.sub.EENEW and R.sub.EENEW produced by the end effector position and orientation calculation block 116 and these calculated configuration variables generally define a tool positioning device pose required to position the end effector 71 or 73 at a desired location and at a desired orientation in the end effector workspace.
(108) It will be appreciated that configuration variables are produced for each end effector 71 and 73 and therefore in the embodiment shown, two sets of configuration variables which will be referred to as left and right configuration variables respectively are produced and forwarded or otherwise made available to the motion control block 120 and feedback force control block 122.
(109) Feedback Force Control Block
(110) Referring back to FIG. 6, the feedback force control block 122 directs the master apparatus 64 to receive the left and right configuration variables from the kinematics blocks 118 executed for both the left and right end effectors 71 and 73 respectively and to determine a theoretical location in the tool positioning device workspace of various points along each of the tool positioning devices 79 and 81. The feedback force control block 122 also directs the master apparatus 64 to determine whether a distance between any two theoretical locations located on separate tool positioning devices is less than a threshold distance. When such distance is less than the threshold distance, the codes of the feedback force control block 122 direct the master apparatus 64 to cause the operator to be notified of the proximity. Notifying the operator of this proximity may be provided by visual means through the LCD display 68 in the viewer 62 and/or by audio means and/or by providing haptic feedback using the input devices 58 and 60, for example.
(111) A flow chart showing details of operations included in the feedback force control block 122 is shown in FIG. 10. Referring to FIG. 10, the feedback force control block 122 includes blocks 250 and 252 that respectively receive the left and right configuration variables produced by the kinematics block 118. Blocks 250 and 252 direct the master apparatus 64 to use the methods described below to perform the calculations required to determine, relative to the fixed slave reference position 128 and thus in absolute terms within the tool positioning device workspace and end effector workspace, the theoretical locations of each of the tool reference points, namely a first position 230, a second position 232, a third position 234, a fourth position 236 and the end effector position 150, for both the left and right hand tool positioning devices 79 and 81 and end effectors 71 and 73.
(112) Once the theoretical location of each reference point is determined, the theoretical locations of various intermediate points along the tool positioning devices 79 and 81 within the tool positioning device workspace may then be determined. Each of the sections 220, 222 of the s-segment 130 and the distal segment 132 of the tool positioning devices 79 and 81 is comprised of a plurality of the identical “vertebra” 224 generally extending between first position 230 and fourth position 236 and the centers of the vertebrae are spaced apart by the same distance, and the intermediate points are defined as a position at the center of each identical vertebra of respective tool positioning devices 79 and 81. Since the s-segment 130 and distal segments 132 form smooth continuous constant-radius curves when bent, the theoretical location of the center of each vertebra can be calculated mathematically.
(113) For example, for any given tool positioning device 79 or 81, the theoretical location of the first position 230 reference point relative to the fixed slave reference position 128 can be determined through simple addition of the q.sub.ins configuration variable determined by the kinematics block 118 to the fixed slave reference position 128 in the z.sub.v axis, as the q.sub.ins generally represents an unbendable portion of the tool positioning device. Determining the vector from the fixed slave reference position 128 to the first position 230 (custom character) will provide a theoretical location of the first position 230 in absolute terms within the tool positioning device workspace.
(114) Once the theoretical location of the first position 230 is determined, the theoretical location of all vertebrae 224 in the first section 220 of the s-segment 130, namely from the first position 230 to the second position 232, can be determined. For example in the embodiment shown in FIG. 9, assuming there are 15 vertebrae 224 in the first section 220, extending from the first position 230 to the second position 232. The center of the n.sup.th vertebrae of the first section 220 would lie at a theoretical location that is at an intermediate point along the first section 220, and the intermediate point can be calculated as n* 1/15*?.sub.prox relative to the first position 230 reference point. A vector from the first position 230 to the n.sup.th vertebra position can then be determined. Adding the vector from the first position 230 to the n.sup.th vertebrae to the vector from the fixed slave reference position 128 to the first position 230 (custom character) will arrive at the theoretical location of the vertebrae of the first section 220 in absolute terms in the positioning device workspace, relative to the fixed slave reference position 128. This procedure is done for each of the 15 vertebrae in the first section 220 of the s-segment 130 to find the theoretical location relative to the fixed slave reference position 128 for each of the vertebra 224 of the first section 220 within the tool positioning device workspace.
(115) Additionally, for any given tool positioning device 79 or 81, the theoretical location of the second position 232 reference point relative to the fixed slave reference position 128 can be determined from the configuration variables q.sub.ins, ?.sub.prox and d.sub.prox. Determining a vector from the fixed slave reference position 128 to the second position 232 (custom character) will provide a theoretical location of the second position 232 in absolute terms within the tool positioning device workspace.
(116) Once the theoretical location of the second position 232 is determined, it is used as the reference point for the determination of the theoretical location of all vertebrae intermediate points in the second section 222 of the s-segment 130, namely extending from the second position 232 to the third position 234. For the embodiment of the tool positioning device 81 shown in FIG. 9, assuming again that there are 15 vertebrae in the second section 222, the center of the n.sup.th vertebrae of the second section 222 would lie in an intermediate point along the second section 222. The angle the second section 222 is bent in the first bend plane d.sub.prox is equal and opposite to the angle ?.sub.prox used for the calculations concerning the vertebrae of the first section 220. Therefore, intermediate point of the n.sup.th vertebrae can be calculated as n* 1/15*-?.sub.prox relative to the second position 232. Adding the vector from the second position 232 reference point to the n.sup.th vertebra to the vector from the slave reference position 128 to the second position 232 (custom character) will provide the theoretical location of the n.sup.th vertebrae of the second section 222 in absolute terms within the tool positioning device workspace. This procedure is done for each of the 15 vertebrae in the second section 220 of the s-segment 130 to find the absolute positions for each vertebrae intermediate point within the tool positioning device workspace, relative to the fixed slave reference position.
(117) Additionally, for any given tool positioning device 79 or 81, the theoretical location of the third position 234, which is at the end of the s-segment 130, can be expressed by a vector custom character defined by the following vector components expressed relative to the fixed slave reference position:
(122) Adding the vector from the third position 234 reference point to the fourth position 236 reference point (custom character) to the vector from the fixed slave reference position 128 to the third position 234 (custom character) will arrive at the theoretical location of the fourth position 236 reference point in absolute terms relative to the fixed slave reference position 128 in the tool positioning device workspace.
(123) Finally, the theoretical location of the end effector position 150 reference point can be determined as a vector relative to the fourth position 236 (p.sub.5/4) according to the following vector component relations, as previously presented:
p.sub.5/4.Math.i=L.sub.3 cos(d.sub.dist)cos(?.sub.dist) (7a)
p.sub.5/4.Math.j=-L.sub.3 sin(d.sub.dist)cos(?.sub.dist) (7b)
p.sub.5/4.Math.k=L.sub.3 sin(?.sub.dist) (7c)
(124) Adding the vector from the fourth position 236 reference point to the end effector position 150 reference point (p.sub.5/4) to the vector from the third position 234 reference point to the fourth position 236 reference point (p.sub.4/3) and to the vector from the fixed slave reference position 128 to the third position 234 reference point (p.sub.3/v) will arrive at the theoretical location of the end effector position 150 in absolute terms relative to the fixed slave reference position 128 in the end effector workspace.
(125) Following calculation of the theoretical location of reference position points and intermediate vertebra points of the left and right tool positioning devices 79 and 81 and end effectors 71 and 73 at blocks 250 and 252, block 254 of the feedback force control block 122 directs the master apparatus 64 to calculate the distance between each reference point and intermediate point associated with the left-hand tool positioning device 79 and each reference point and intermediate point associated with the right-hand tool positioning device 81. This is done simply by the following vector calculation:
d=|p.sub.L-p.sub.R|, (14)
(126) where: p.sub.L is a vector to the point of interest, defined as either a reference point or an intermediate point, on the left tool positioning device 79 or left end effector 71; p.sub.R is a vector to the point of interest, defined as either a reference point or an intermediate point, on the right tool positioning device 81 or right end effector 73; and d=calculated distance.
(127) Upon calculating the distances between all left points of interest associated with left tool positioning device 79 and all right points of interest associated with the right tool positioning devices 81, block 256 then directs the master apparatus 64 to determine whether any calculated distance between any two points of interest on the separate tool positioning devices 79 and 81 meets a proximity criterion. In this embodiment, the proximity criterion is whether the calculated distance between the two points of interest is less than a threshold distance (TH). Specifically, as illustrated in FIG. 12, the proximity criterion is not met when the calculated distance between the two points of interest is greater or equal to the threshold distance and, as illustrated in FIG. 13, the proximity criterion is met when the calculated distance between the two points of interest is less than the threshold distance. The threshold distance may be set relative to the diameters of the tool positioning devices. In one embodiment the threshold distance may be set to a distance of no less than 1 diameter of the tool positioning devices 79 and 81 since the tool positioning devices physically cannot assume a pose where their axes are spaced closer than 1 diameter. A safe threshold may be about 2 tool holder diameters, for example.
(128) It will be appreciated that the signals representing newly calculated end effector positions custom character and orientation R.sub.EENEW for any two tool positioning devices 79 and 81 may specify end effector positions for each end effector 71 and 73 associated with the tool positioning devices that seek to pose the two tool positioning devices such that two points would physically occupy the same theoretical location in space at the same time (“coincide”) or place a point on the right tool positioning device 81 to the left of the left tool positioning device 79 (“cross”). Of course, these are not positions that can actually be attained because, physically, two points cannot occupy the same location in space at the same time nor can one tool positioning device penetrate the solid matter of the second tool positioning device. However, the theoretical locations of points of interest along each tool positioning device calculated by the feedback force control block 122 can define coinciding positions or crossing positions.
(129) In any situation where any theoretical location of one point on the left tool positioning device 79 or end effector 71 is closer to the theoretical location of one point on the right tool positioning device 81 or end effector 73 than the threshold distance and thus meet the proximity criterion, the two points are said to “overlap”. There may be different degrees of overlap, calculated from the amount of difference between the calculated distance between the two points and the threshold distance (the “overlap distance”), for example.
(130) If any calculated distance between two points on the tool positioning devices 79 and 81 or end effectors 71 and 73 overlap in the embodiment shown in FIG. 10, block 258 directs the master apparatus 64 to calculate a haptic force magnitude and direction dependent on the degree of overlap. In other embodiments, block 258 may direct the master apparatus 64 to produce a visual or audio annunciation signal.
(131) The magnitude of the haptic force may be determined using a defined function of the overlap distance between the point of interest on the left tool positioning device 79 and end effector 71 and the point of interest on the right tool positioning device 81 and end effector 73. For example, the force magnitude may be proportional to the square of the overlap distance multiplied by a scaling factor. For example, the magnitude of the haptic force may be calculated according to the relation:
F=0.35(overlap distance).sup.2. (15)
(132) The direction of the haptic force may be determined by computing a unit vector normal to a point of contact, where the point of contact is defined as the point midway along the vector between p.sub.R and p.sub.L when the distance between p.sub.R and p.sub.L is equal to the threshold distance. For example, the force direction can be computed using vector addition. The force direction on the right tool positioning device 81 and end effector 73 may be computed by subtracting the vector to the point of interest on the left instrument (p.sub.L) from the vector to the point of interest on the right instrument (p.sub.L), and then normalizing to give a unit vector e.sub.R by the relation:
(133)
?
¯
?
=
?
¯
?
-
?
¯
?
.Math.
?
¯
?
-
?
¯
?
.Math.
(
16
)
(134) In one embodiment, the force direction on the left tool positioning device 79 and end effector 71 may be in the opposite direction to the force direction on the right tool positioning device 81 and end effector 73 so that to the operator, the forces presented by input devices 58 and 60 are equal but opposite, thus simulating contact between the tool positioning devices 79 and 81.
(135) Block 260 then directs the master apparatus 64 to produce a feedback signal for receipt by the control unit 92. In this embodiment the feedback signal causes the control unit 92 to produce a haptic force detectable by the operator, to indicate to the operator that the tool positioning devices are in close proximity. For example, the feedback signal may include a representation of the magnitude of haptic force to be felt by the operator in equal and opposite directions normal to the contact tangent plane so as to feel to the operator as though the instruments are touching one another. Alternatively, the feedback signal can be used to produce display control signals for causing the viewer 62 in FIG. 1, for example to show the closest points of approach on the left and right tool positioning devices 79 and 81. For example, referring to FIG. 11, the view can show the left tool positioning device as a first circle 244, the right tool positioning device as a second circle 246 and a line 242 between the first and second circles representing the nearest distance calculated by block 256. After the feedback signal is sent to the control unit at block 260, the feedback force control block 122 is then ended.
(136) If, at block 256, none of the calculated distances between two points are less than the threshold distance, i.e. they are all equal to or more than the threshold distance, then block 260 of feedback force control block 122 directs the master apparatus 64 send a feedback signal that causes the input device to stop causing haptic force to be produced based on collision detection. If no other feedback producing systems are requesting haptic force feedback, the master apparatus 64 produces a feedback signal for receipt by the control unit 92 to cause the control unit to cease producing any haptic force previously detectable by the operator, indicating to the operator that the tool positioning devices 79 and 81 are not in close proximity. The feedback force control block 122 is then ended.
(137) In response to the feedback signal from the master apparatus 64 to produce the haptic force, the control unit 92 presents a haptic force to the arms 94, 96, 98, to impede movement of the handle 102, and in the embodiment shown, the magnitude of haptic force is set depending on the degree of overlap by which the calculated distance between any two points on the left and right tool positioning devices 79 and 81 and the end effectors 71 and 73 is less than the threshold distance. In response to the feedback signal from the master apparatus 64 to cease producing haptic force, the control unit 92 ceases to present a haptic force to the arms 94, 96, 98, thus allowing movement of the handle 102.
(138) Motion Control Block
(139) The motion control block 120 shown in FIG. 6 includes codes that direct the master apparatus 64 to produce the slave control signals, in response to the configuration variables. The motion control block 120 uses the configuration variables produced by the kinematics block 118 to produce control wire length values by applying transfer functions to the calculated configuration variables to determine required wire lengths. Such transfer functions can be derived theoretically and/or empirically, for example, for the specific tools used. The motion control block 120 is also responsive to the “new” signal provided by the end effector position and orientation calculator block 116 of FIG. 6 and controlled by blocks 215 and 163 of FIG. 8.
(140) Referring to FIG. 8, an active “new” signal is produced by block 215 of the end effector position and orientation calculation block 116 when the enablement signal is active and causes the present control wire length values to be represented by the slave control signals. An inactive “new” signal is produced by block 163, when the enablement signal is not active and when the enablement signal is active but the alignment error is not less than the threshold, and causes the previous control wire length values to be represented by the slave control signals.
CONCLUSION
(141) The above described system is a robotic control system comprising a master apparatus 64 in communication with a plurality of input devices 58 and 60 having respective handles 102 and 105 capable of translational and rotational movement and a slave subsystem having a tool positioning device 79 and 81 corresponding to each respective handle, each tool positioning device 79 and 81 holding a respective tool 66 and 67 having an end effector 71 and 73 whose position and orientation is determined in response to a position and orientation of the respective corresponding handle.
(142) The master apparatus 64 contains at least one processor circuit, the at least one processor circuit configured by the blocks shown in FIGS. 6-8 and 10 to cause the at least one processor to execute a method of operating the robotic control system to detect potential collisions between any of the tool positioning devices 79 and 81 and their respective end effectors 71 and 73, which may be part of the slave subsystem 54. In the embodiments shown, there are two tool positioning devices 79 and 81 and respectively, two end effectors 71 and 73, it being understood that there may be more than two tool positioning devices and end effectors in other embodiments.
(143) In general the method involves causing the at least one processor circuit associated with the master apparatus 64 to produce desired new end effector positions and desired new end effector orientations of the respective end effectors 71 and 73, in response to current positions custom character and current orientations R.sub.MCURR of corresponding respective handles 102 and 105. The at least one processor circuit is caused to use the desired new end effector positions and orientations custom character and R.sub.EENEW to determine the pose of the tool positioning devices 79 and 81 and from there, calculate the distances from each point of a first plurality of points along the first tool positioning device 79 to each point of a plurality of points along at least one other tool positioning device 81. The at least one processor circuit is then caused to determine whether any of the calculated distances meets a proximity criterion and to notify the operator when the proximity criterion has been met.
(144) Causing the at least one processor circuit to notify the operator tool positioning devices 79 and 81 meets a proximity criterion may include causing the at least one processor circuit to signal the input devices 58 and 60 associated with the handles 102 associated with the tool positioning devices 79 and 81, to cause the handles 102 associated with the tool positioning devices 79 and 81 associated with the calculated distance that meets the proximity criterion to present haptic feedback to the operator, the haptic feedback impeding movement of the handles in a direction that would shorten the calculated distance between the tool positioning devices 79 and 81 that meets the proximity criterion.
(145) Alternatively or in addition, causing the at least one processor circuit to notify the operator may include causing the at least one processor circuit to produce annunciation signals for causing an annunciator to annunciate that the proximity criterion has been met and this may involve causing the at least one processor circuit to produce display control signals for causing the LCD display 68 to depict a visual representation indicative of the distance that meets the proximity criterion and/or causing the at least one processor circuit to produce audio control signals for causing an audio device to provide an audible sound indicative of the distance that meets the proximity criterion.
(146) In the embodiments described, the at least one processor circuit may be configured to cause the input devices 58 to cease producing haptic feedback, to produce annunciation signals to cause an annunciator to cease to annunciate that a proximity criterion has been met, or to enable movement of the tool positioning devices 79 and 81 associated with the distance that met the proximity criterion when the calculated distance no longer meets the proximity criterion.
(147) In the further alternative or in further addition, the at least one processor circuit may be configured to then disable movement of all tool positioning devices 79 and 81 associated with a distance that meets the proximity criterion.
(148) Causing the at least one processor circuit to disable movement of all tool positioning devices 79 and 81 associated with the any distance that meets the proximity criterion may involve causing the at least one processor circuit to transmit control signals to respective slave subsystems 54 associated with the tool positioning devices 79 and 81 associated with the calculated distance that meets the proximity criterion, each control signal identifying a current end effector position and orientation based on a current position and orientation of the corresponding handle when the proximity criterion is not met and causing the at least one processor circuit to cause the control signals transmitted to the slave subsystems 54 associated with the tool positioning devices 79 and 81 associated with the calculated distance that meets the proximity criterion to identify a previous position (custom character) and orientation (R.sub.EEBASE) of associated respective end effectors 71 and 73 when the proximity criterion is met.
(149) Producing the desired new end effector position and desired new end effector orientation and may involve causing the at least one processor circuit to receive from each input device 58 and 60 current handle position signals (custom character) and current handle orientation signals (R.sub.MCURR) representing a current position and a current orientation respectively of the handle 102 of the corresponding input devices and causing the at least one processor circuit to produce, for corresponding tool positioning devices 79 and 81, new end effector position signals (custom character) and new end effector orientation signals (R.sub.EENEW) defining the desired new end effector position and the desired new end effector orientation, respectively of the end effectors 71 and 73, in response to the corresponding current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR).
(150) Causing the at least one processor circuit to receive the current handle position signal custom character and the current handle orientation signals R.sub.MCURR may involve causing the at least one processor circuit to periodically receive the current handle position signals and the current handle orientation signals.
(151) The method may further involve causing the at least one processor circuit to receive an enablement signal controlled by the operator and causing the at least one processor circuit to detect a change in state of the enablement signal. When the change is detected the at least one processor may be caused to store the current handle position signals (custom character) and the current handle orientation signals (R.sub.MCURR) as master base position signals (custom character) and master base orientation signals (R.sub.MBASE) respectively; and store the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) as end effector base position signals (custom character) and end effector base orientation signals (R.sub.EEBASE) respectively.
(152) Causing the master apparatus 64 to produce the new end effector position signals (custom character) and the new end effector orientation signals (R.sub.EENEW) may involve causing the master apparatus 64 to compute the new end effector position signals and the new end effector orientation signals according to the following relations:
custom character=A(custom character-custom character)+custom character; and (1a)
R.sub.EENEW=R.sub.EEBASER.sub.MBASE-R.sub.MCURR (1b)
(153) Each of the tool positioning devices 79 and 81 may include a plurality of segments 130 and 132 each comprised of a plurality of vertebrae 224 and at least some of the points in each of the plurality of points may be points on a respective segment or vertebrae of a segment 130 and 132.
(154) The method may involve, for each tool positioning device 79 and 81, causing the at least one processor circuit to compute vectors from a reference point associated with the tool positioning devices 79 and 81 to a point on a segment of the tool positioning device, based on the desired new end effector position and orientation calculated for the end effector associated with the tool positioning device.
(155) The method may further involve causing the at least one processor circuit to compute a position of at least one vertebrae associated with the segment, based on the position of the point on the segment.
(156) While specific embodiments of the invention have been described and illustrated, such embodiments should be considered illustrative of the invention only and not as limiting the invention as construed in accordance with the accompanying claims.
Claims
1. A robotic surgery system comprising: a plurality of surgical tool manipulators including respective handles configured to be operated by a user, the plurality of surgical tool manipulators configured to manipulate a plurality of surgical tools comprising a plurality of end effectors whose positions and orientations are determined based on positions and orientations of the handles of the plurality of surgical tool manipulators, the plurality of surgical tools comprising a first surgical tool including at least one first segment comprising a first plurality of sections configured to bend and form a continuous curve and a second surgical tool including at least one second segment comprising a second plurality of sections configured to bend and form a continuous curve; and a processor configured to: determine new end effector positions and new end effector orientations of the plurality of end effectors based on current positions and current orientations of the respective handles of the plurality of surgical tool manipulators; using the new end effector positions and the new end effector orientations, 1) determine a new location of a first reference position of the first surgical tool adjacent to the at least one first segment and determine, using the new location of the first reference position, new locations of the first plurality of sections and 2) determine a new location of a second reference position of the second surgical tool adjacent to the at least one second segment and determine, using the new location of the second reference position, new locations of the second plurality of sections; determine a plurality of distances between the new location of each section of the first plurality of sections of the first surgical tool and the new location of a corresponding section of the second plurality of sections of the second surgical tool; in response to a determination that at least one distance of the plurality of distances satisfies a proximity threshold: cause movement of the plurality of end effectors associated with the first and second surgical tools to be disabled; and cause the plurality of end effectors associated with the first and second surgical tools to remain at respective previous positions and previous orientations; and in response to a determination that no distance of the plurality of distances satisfies the proximity threshold, cause the plurality of end effectors associated with the first and second surgical tools to be positioned and oriented at respective new end effector positions and respective new end effector orientations.
2. The system of claim 1, wherein the processor is further configured to generate a notification that the at least one distance of the plurality of distances satisfies the proximity threshold.
3. The system of claim 2, wherein the notification comprises at least one of a visual or audio notification.
4. The system of claim 1, wherein the processor is further configured to, in response to the determination that the at least one distance of the plurality of distances satisfies the proximity threshold, determine at least one parameter of a haptic feedback and cause first and second handles associated, respectively, with the first and second surgical tools to provide the haptic feedback to the user to impede movement of the first and second handles in a direction that would shorten the at least one distance.
5. The system of claim 4, wherein the at least one parameter of the haptic feedback comprises an intensity of a haptic feedback force, the intensity being proportional to a difference between the at least one distance and the proximity threshold.
6. The system of claim 4, wherein the at least one parameter of the haptic feedback comprises a first direction associated with a first handle of the first surgical tool and a second direction associated with a second handle of the second surgical tool, the first direction being opposite to the second direction.
7. The system of claim 1, wherein the processor is further configured to cause movement of the plurality of end effectors associated with the first and second surgical tools to be enabled in response to a determination that the at least one distance no longer satisfies the proximity threshold.
8. The system of claim 1, wherein the processor is configured to determine a new end effector position and a new end effector orientation of an end effector of the plurality of end effectors based on a current position and orientation of a handle of a surgical tool manipulator of the plurality of surgical tool manipulators, the surgical tool manipulator associated with the end effector.
9. The system of claim 8, wherein the processor is configured to periodically receive the current position and orientation of the handle from the surgical tool manipulator.
10. The system of claim 1, wherein: the first plurality of sections comprises a first plurality of disks; and the second plurality of sections comprises a second plurality of disks.
11. The system of claim 10, wherein the processor is configured to, for at least one of the first or second surgical tools, determine a set of vectors from a reference point associated with the at least one of the first or second surgical tools to a point on a disk of the at least one of the first or second surgical tools based on the new end effector position of an end effector associated with the at least one of the first or second surgical tools.
12. A non-transitory computer readable medium storing instructions that, when executed by a processor of a robotic surgery apparatus, cause the processor to: determine new end effector positions and new end effector orientations of a plurality of end effectors of a plurality of surgical tools based on current positions and current orientations of a plurality of user input interfaces of a plurality of surgical tool manipulators configured to manipulate the plurality of surgical tools comprising the plurality of end effectors whose positions and orientations are determined based on positions and orientations of the plurality of user input interfaces, the plurality of surgical tools comprising a first surgical tool including at least one first segment comprising a first plurality of sections configured to bend and form a continuous curve and a second surgical tool including at least one second segment comprising a second plurality of sections configured to bend and form a continuous curve; using the new end effector positions and the new end effector orientations, 1) determine a new location of a first reference position of the first surgical tool adjacent to the at least one first segment and determine, using the new location of the first reference position, new locations of the first plurality of sections and 2) determine a new location of a second reference position of the second surgical tool adjacent to the at least one second segment and determine, using the new location of the second reference position, new locations of the second plurality of sections; determine a plurality of distances between the new location of each section of the first plurality of sections of the first surgical tool and the new location of a corresponding section of the second plurality of sections of the second surgical tool; in response to a determination that at least one distance of the plurality of distances satisfies a proximity threshold: cause movement of the plurality of end effectors associated with the first and second surgical tools to be disabled; and cause the plurality of end effectors associated with the first and second surgical tools to remain at respective previous positions and previous orientations; and in response to a determination that no distance of the plurality of distances satisfies the proximity threshold, cause the plurality of end effectors associated with the first and second surgical tools to be positioned and oriented at respective new end effector positions and the respective new end effector orientations.
13. The computer readable medium of claim 12, wherein the plurality of user input interfaces comprise a plurality of handles.
14. The computer readable medium of claim 13, wherein the instructions further cause the processor to, in response to the determination that the at least one distance of the plurality of distances satisfies the proximity threshold, determine at least one parameter of a haptic feedback and cause first and second handles associated, respectively, with the first and second surgical tools to provide the haptic feedback to a user to impede movement of the first and second handles in a direction that would shorten the at least one distance.
15. The computer readable medium of claim 14, wherein the at least one parameter of the haptic feedback comprises an intensity of a haptic feedback force, the intensity being proportional to a difference between the at least one distance and the proximity threshold.
16. The computer readable medium of claim 14, wherein the at least one parameter of the haptic feedback comprises a first direction associated with a first handle of the first surgical tool and a second direction associated with a second handle of the second surgical tool, the first direction being opposite to the second direction.
17. The computer readable medium of claim 12, wherein the instructions further cause the processor to generate a notification that the at least one distance of the plurality of distances satisfies the proximity threshold.
18. The computer readable medium of claim 17, wherein the notification comprises at least one of a visual or audio notification.
19. The computer readable medium of claim 12, wherein the processor is further configured to cause movement of the plurality of end effectors associated with the first and second surgical tools to be enabled in response to a determination that the at least one distance no longer satisfies the proximity threshold.
20. The computer readable medium of claim 12, wherein the instructions cause the processor to: determine a new end effector position and a new end effector orientation of an end effector of the plurality of end effectors based on a current position and orientation of a user input interface of the plurality of user input interfaces of a surgical tool manipulator of the plurality of surgical tool manipulators, the surgical tool manipulator associated with the end effector; and periodically receive the current position and orientation of the user input interface from the surgical tool manipulator.
but they didn't say
“….. there is no other material information concerning its affairs that have not been generally disclosed”
now we can spend!
https://clinicaltrials.gov/ct2/show/NCT05552183?cond=pacritinib&draw=2&rank=2
https://clinicaltrials.gov/ct2/history/NCT05552183
https://clinicaltrials.gov/ct2/show/NCT05657613?cond=pacritinib&draw=2&rank=3
https://clinicaltrials.gov/ct2/history/NCT05657613
How sad all the difficulties encountered for JB's cunning!
After all, those who pay the most are the sick since time is the most precious thing we have!
Is it possible that there is no one willing to up the ante a bit?
https://www.surgicalroboticstechnology.com/news/japan-ready-for-first-robotic-surgery-system/
holy scoop! but it's really similar!
Sobi's got a deal!
If it goes wrong they take 59 million!
It could happen
In the event of a termination of the Merger Agreement under certain specified circumstances, including (i) termination by CTI to enter into an agreement providing for a Superior Offer (provided that CTI did not materially breach its non-solicitation obligations in any manner that results in such Superior Offer), (ii) termination by Sobi following a Company Adverse Recommendation Change, (iii) termination by Sobi due to the CTI board of directors’ failure to include its recommendation in the Schedule 14D-9, (iv) termination by Sobi because CTI has materially breached its obligations in respect of the non-solicitation provisions in the Merger Agreement, or (v) termination by either CTI or Sobi if the closing of the transactions contemplated by the Merger Agreement has not occurred by the Outside Date or termination by Sobi prior to the Offer Acceptance Time if CTI breaches its representations, warranties or covenants in the Merger Agreement in a way that would cause certain conditions of the Offer not to be satisfied (subject to CTI’s right to cure the breach as set forth in the Merger Agreement prior to such time of termination), and (A) a bona fide “Acquisition Proposal” (as defined in the Merger Agreement) has been publicly disclosed after the date of the Merger Agreement and (B) within twelve months following such termination, CTI signs a definitive agreement for an Acquisition Proposal or consummates an Acquisition Proposal, in each case of the foregoing clauses (i)-(v), CTI is required to pay Sobi a termination fee equal to $59,000,000.
This summary is qualified in its entirety by reference to the Merger Agreement, which is filed as Exhibit 2.1 hereto and incorporated by reference herein.
7,77 *0,1783 = 1,385
7,51 * 0,1783= 1,339