Register for free to join our community of investors and share your ideas. You will also get access to streaming quotes, interactive charts, trades, portfolio, live options flow and more tools.
Register for free to join our community of investors and share your ideas. You will also get access to streaming quotes, interactive charts, trades, portfolio, live options flow and more tools.
Stephen Oh, MD, PhD, Associate Professor of Medicine, Hematology Division at Washington University School of Medicine in St. Louis. "As anemia poses a substantial burden for patients with myelofibrosis, the potential role of pacritinib in addressing anemia is highly encouraging."
"As our understanding of the mechanism of action of pacritinib expands, the full potential of pacritinib as a therapy for cytopenic myelofibrosis is emerging," said Adam Craig, MD, PhD, President and Chief Executive Officer of CTI BioPharma. "We continue in our commitment to meaningfully change the treatment paradigm for cytopenic myelofibrosis."
Somehow I feel in the same boat!
Break a leg, Frederick!
i like his name
https://www.hgpauction.com/auctions/114156/rubius/
https://hgpauction.hibid.com/catalog/416585/rubius-therapeutics/?
mmm they sell everything out!
They burned more than 800 million to shit a patent... they showed that it works on some tumors!
https://static.seekingalpha.com/uploads/sa_presentations/554/84554/original.pdf
They bring a nice loss as a dowry…
They finally found a more efficient way…
Rubius has recently generated new non-human primate data with the next generation cell conjugation RED PLATFORM, demonstrating longer circulation time than observed with the first generation platform and pronounced pharmacodynamic effects as shown by increased levels of interferon gamma, a cytokine critical to both innate and adaptive immunity. In parallel, the Company has advanced a next generation Red Cell Therapeutic, RTX-250, an antigen-specific therapy that is designed to activate dendritic cells.
… will it be true?
is there any value?
0.15/0.10?
i don't have many and i kept something to load at those levels!
but maybe I'll stop, except that...
https://fintel.io/so/us/ruby
why do they still keep all this?
The single door is a surgeons wish!
IMO, What Vicarius does they can do with Da Vinci SP and soon also with Enos!
Just use them outside!
Ohhhhhhh
Maybe it will be cheaper... but who knows!
Money money!
we are almost there
Because they have the money to finish the job!
ISRG has a lot of cash that burns with inflation and I see many reasons for them to beat a beat!!
But for now only MDT has shown interest!
They let us survive and I gained, I think I even added to 0.19 if I remember correctly!
Are you deciding whether to enter or hedge or sell?
Huge market
IDE under the corner
MDT (number 1?) involved
ENOS gold mine
Benchmark Delivery
Patent protection
all in all I earned... I sold well... I reloaded less well than the first time... but ok, I know I could lose everything! for now I've been lucky in the times...
For the rest… we will know soon!
Forget about it!
it's all shit until it glitters!
Bud, I hope you find someone to follow you!
right now the more it goes down, the more I'm tempted to add!
Maybe it's like Sport says that they wanted few people around right now!
Eventually something has to come out before the 24th!
Something more substantial than the delivery of ENOS!
Then if there was also an offer at $1.10 the share for ten days would stay above 1 and therefore the meeting is not needed!
I don't think a vote on an offer can take place in less than 10 days!
what is it that pisses you off?
it seems to me that they have cleaned up ... maybe waiting for new videos on the new prototype
In the next videos they should show how they can masturbate a bee with Enos!
Those who went short are advised not to eat broccoli, licorice and cheese!
Playing with fire causes a burn!
BOOM!
ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME
DOCUMENT ID
US 20220387011 A1
DATE PUBLISHED
2022-12-08
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Robert; Rene
East Greenwich
RI
N/A
US
Zitnick; David Allen
Providence
RI
N/A
US
Cameron; Peter John Kenneth
St. Louis Park
MN
N/A
US
Faria; Leonard M.
Swansea
MA
N/A
US
Bajo; Andrea
Fort Lauderdale
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
APPLICATION NO
17/887714
DATE FILED
2022-08-15
DOMESTIC PRIORITY (CONTINUITY DATA)
parent US continuation 17842889 20220617 PENDING child US 17887714
parent US continuation 17242371 20210428 parent-grant-document US 11369353 child US 17842889
parent US continuation 16991423 20200812 PENDING child US 17242371
parent US continuation 16185788 20181109 parent-grant-document US 11026666 child US 16991423
parent US continuation 14899768 20151218 parent-grant-document US 10278683 WO continuation PCT/CA2013/001076 20131220 child US 16185788
us-provisional-application US 61837112 20130619
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 M 25/0147
2013-01-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 1/0057
2013-01-01
CPCI
A 61 B 46/10
2016-02-01
CPCI
A 61 B 1/0055
2013-01-01
CPCI
A 61 B 50/13
2016-02-01
CPCI
A 61 B 17/00234
2013-01-01
CPCI
A 61 B 17/29
2013-01-01
CPCA
A 61 B 2017/2905
2013-01-01
CPCA
A 61 B 2034/306
2016-02-01
CPCA
A 61 B 90/361
2016-02-01
CPCA
A 61 B 2017/00314
2013-01-01
CPCA
A 61 B 1/00193
2013-01-01
CPCA
A 61 B 2017/2906
2013-01-01
CPCA
A 61 B 2017/2903
2013-01-01
CPCA
A 61 B 2017/00323
2013-01-01
CPCA
A 61 B 2034/301
2016-02-01
Abstract
A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.
Background/Summary
BACKGROUND OF THE INVENTION
1. Field of Invention
[0001] This invention relates to robotic manipulators and more particularly to an articulated tool positioner with an example of a use of the articulated tool positioner for laparoscopic surgery.
2. Related Art
[0002] Articulating surgical systems for laparoscopic surgery are gaining acceptance.
[0003] Various systems exist including a system described in US Publication No. 2012/0253131 A1 published Oct. 4, 2012 to Malkowski et al.
[0004] Malkowski et al. describe a surgical system that includes one or more arms defining a passageway therethrough. The arm includes a proximal portion configured for positioning externally of a patient's body and a distal portion configured for positioning within an internal body cavity. The distal portion includes first and second articulatable segments spaced apart from one another and capable of independent articulation between a substantially straight configuration and an articulated configuration. A first articulation assembly is coupled to the proximal portion of the one arm and is transitionable between a first state and a second state for articulating the first articulatable segment between the substantially straight configuration and the articulated configuration. A second articulation assembly is coupled to the proximal portion of the arm and is configured to move between a plurality of positions for articulating the second articulatable segment between the substantially straight configuration and the articulated configuration. Links forming articulable segments of the articulation assemblies are biased by springs into a substantially straight position and cables are tensioned and untensioned to selectively pull on parts of the first and second articulation assemblies such that neutrality of tension between opposed internal cables is lost and this moves the arm between the plurality of positions.
[0005] The arrangement described by Malkowski et al. could be complicated to assemble due to the springs in the links and is likely to require careful manipulation by an operator who must be mindful to counteract the bias exerted by the springs to avoid undesired straightening of the articulable segments.
SUMMARY
[0006] The present invention provides an alternative articulated tool positioning apparatus that avoids the need for springs biasing articulated segments into a straight position through the use of cables capable of tension and compression connecting terminating members between articulating links, thereby supporting both pushing and pulling on the cables and providing for simpler assembly.
[0007] In accordance with one aspect of the invention, there is provided an articulated tool positioning apparatus. The apparatus includes a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. The apparatus further includes a first plurality of coupled guides between the base member and the intermediate member at least one of the first plurality of coupled guides is coupled to the base member and at least one of the first plurality of coupled guides is coupled to the intermediate member. Each coupled guide of the first plurality of coupled guides has a respective central opening. The apparatus further includes a second plurality of coupled guides between the intermediate member and the end member. At least one of the second plurality of coupled guides is coupled to the intermediate member and at least one of the second plurality of coupled guides is coupled to the end member. Each coupled guide of the second plurality of coupled guides also has a respective central opening. The apparatus further includes a third plurality of coupled guides between the end member and the tool holder. At least one of the third plurality of coupled guides is coupled to the end member and at least one of the third plurality of coupled guides is coupled to the tool holder. Each coupled guide of the third plurality of coupled guides also has a respective central opening. The apparatus further includes first guide openings in the base member and corresponding first guide openings in each coupled guide of the first plurality of coupled guides. A first plurality of flexible control links disposed in parallel spaced apart relation extend through respective openings of the first guide openings in the base member and through respective openings of the corresponding first guide openings in the first plurality of coupled guides. Each of the first plurality of flexible control links has respective first end portions connected to the intermediate member and respective second end portions extending away from the base member.
[0008] The apparatus further includes second guide openings in the intermediate member and corresponding second guide openings in each coupled guide of the first and second pluralities of coupled guides. The apparatus further includes a second plurality of flexible control links disposed in parallel spaced apart relation, each having a first end connected to the end member, a second end connected to at least one of the base member and an object spaced apart from the base member. Each of the second flexible control links includes an intermediate portion between the first and second ends. Each intermediate portion extends through a respective second guide opening in the intermediate member and through respective second guide openings in each guide of the first and second pluralities of coupled guides.
[0009] The apparatus further includes third guide opening in the base member and in each coupled guide of the first plurality of coupled guides and in the intermediate member and in each coupled guide of the second plurality of coupled guides and in the end member and in each coupled guide of the third plurality of coupled guides.
[0010] The apparatus further includes a third plurality of flexible control links disposed in parallel spaced apart relation and extending through respective third guide openings in the base member, in each coupled guide of the first plurality of coupled guides through respective third guide openings, in the intermediate member through respective third guide openings, in each coupled guide of the second plurality of coupled guides through respective third guide openings, in the end member and through respective third guide openings in each coupled guide of the third plurality of coupled guides. Each flexible control link of the third plurality of flexible control links has a first end connected to the tool holder and a second end extending away from the base member.
[0011] Pushing or pulling control links of the first plurality of control links causes the base member, the first plurality of coupled guides, the intermediate member, the second plurality of coupled guides and the end member to selectively define a continuous curve. The second plurality of control links causes the end member to maintain an orientation generally the same as the base member, when any of the first or third flexible control links is pushed or pulled. Pushing or pulling control links of the third plurality of control links causes the tool holder to be selectively moved into any of a plurality of orientations, such that the third plurality of coupled guides between the end member and the tool holder defines a continuous curve from the end member to the tool holder.
[0012] The first, second and third pluralities of flexible control links may include wires capable of experiencing about 200N of tension and compression without yielding and up to about 2% to 4% strain.
[0013] The wires may be comprised of a metal alloy of nickel and titanium having shape memory and superelasticity.
[0014] The second plurality of control links may include wires having a common stiffness.
[0015] The base member, the intermediate member, the end member, the first tool holder and the coupled guides of the first, second and third pluralities of coupled guides may each have a generally circular cylindrical outer surface portion, and each the generally circular cylindrical outer surface portion may have a common diameter.
[0016] The base member, the intermediate member, the end member, the first tool holder and the coupled guides of the first, second and third pluralities of coupled guides may each have generally annular segments. At least one annular segment of the base member and at least one annular segment of each coupled guide of the first plurality of coupled guides may have the first guide openings. At least one annular segment of each coupled guide of the first and second pluralities of coupled guides and at least one annular segment of the intermediate member may have the second guide openings, and at least one annular segment of each of the base member, the intermediate member, the end member, and each coupled guide of the first, second and third pluralities of coupled guides may have the third guide openings.
[0017] Each of the annular segments of the coupled guides of the first plurality of coupled guides may have opposite faces disposed at acute angles to an axis of the central opening in the coupled guide.
[0018] Each of the annular segments of the second plurality of coupled guides may have opposite faces disposed at acute angles to an axis of the central opening in the coupled guide.
[0019] Each of the annular segments of the third plurality of coupled guides may have opposite faces disposed at acute angles to an axis of the central opening in the coupled guide.
[0020] The opposite faces of annular segments of the coupled guides of the first and second pluralities of coupled guides may be disposed at a first acute angle to the axis and the opposite faces of annular segments of the coupled guides of the third plurality of the coupled guides may be disposed at a second acute angle to the axis, the second acute angle may be different from the first acute angle.
[0021] The second acute angle may be greater than the first acute angle.
[0022] Adjacent pairs of coupled guides of the first, second and third pluralities of coupled guides may be coupled by at least one projection on one guide of the pair and a receptacle for receiving the projection on the other guide of the pair.
[0023] Each of the coupled guides of the first, second and third pluralities of coupled guides may have an axially extending projection having a truncated spherical portion and an axially aligned socket for receiving an axially extending projection of an adjacent coupled guide to permit adjacent coupled guides to spherically pivot relative to each other. The central opening of the coupled guide may have a first terminus on the projection and a second terminus in the socket so that central openings of adjacent coupled guides are in communication with each other so as to define a central channel operable to receive a portion of a tool held by the tool holder.
[0024] The apparatus may further include a first support conduit having first and second open ends, and the base may be connected to the first open end of the support conduit to support the base and the second end portions of the first and third control links may extend through the first support conduit to extend out of the second open end of the first support conduit.
[0025] In accordance with another aspect of the invention, there is provided a tool assembly comprising the apparatus described above and further including a first tool. The first tool may include a first end effector, a first coupler for coupling the first end effector to the first tool holder, the tool may further include a first flexible shaft portion having a length approximately the same as a length defined between the base member and the tool holder, and a first rigid shaft portion having a length approximately equal to a length of the first support conduit. The tool may further include a first tool control link having a first end connected to the first end effector and a second end extending from the first rigid shaft portion. The first rigid shaft portion may be received in the central opening of the first tool holder and may extend through the central openings in the third plurality of coupled guides through the central opening in the end member, through the central openings in the second plurality of coupled guides, through the central opening in the intermediate member, the central openings in the first plurality of coupled guides, and through the central openings in the base member and the first support conduit such that the first flexible shaft portion is coaxial with the tool positioning apparatus and such that the first rigid shaft portion is generally coaxial with the first support conduit and such that the second end of the first tool control link extends from the second end portion of the first support conduit.
[0026] In accordance with another aspect of the invention, there is provided a tool controller assembly including the tool assembly described above and further including a first control mount. The first support conduit of the tool positioning apparatus may be connected to the first control mount such that the first control mount may be on a first side of a first longitudinal axis of the first support conduit. The first control mount may have a first plurality of actuators connected to respective flexible control links of the first and third pluralities of flexible control links of the first tool positioning apparatus, for selectively pushing and pulling on the second end portions of the respective flexible control links to cause the base member, the first plurality of coupled guides, the intermediate member, the second plurality of coupled guides and the end member to selectively define a continuous curve and to cause the tool holder to be selectively moved into any of a plurality of orientations, such that the third plurality of coupled guides between the end member and the first tool holder apparatus may define a continuous curve from the end member to the first tool holder. The first control mount may include a first tool actuator connected to the first tool control link of the first tool, for selectively pushing and pulling on the second end portion of the first tool control link to effect operation of the end effector.
[0027] Each actuator of the first plurality of actuators and the first tool actuator may include a respective rotatable spool portion to which a respective control link is connected to permit a portion of the respective control link to be taken up or payed out from the spool portion in response to corresponding rotation of the spool portion, and a respective driver for selectively rotating the spool portion in first and second opposite directions. The respective control link may be pulled when the spool portion is rotated in the first direction to take up the portion of the respective control link and the respective control link may be pushed when the spool portion is rotated in the second direction to pay out the portion of the respective control link.
[0028] Each driver may include a gear segment.
[0029] The first control mount may have a first mounting surface and each gear segment may have a portion that projects beyond the first mounting surface to engage a corresponding drive gear on a first tool controller mount.
[0030] In accordance with another aspect of the invention, there is provided a tool controller mount including a first tool controller assembly as described above mounting interface for holding a first tool controller and may further include a first plurality of drive gears for engaging respective gear segments on the first tool controller assembly.
[0031] The drive gears of the first plurality of drive gears may include respective linear gear racks operably configured to slide linearly in parallel spaced apart relation.
[0032] The apparatus may include a first plurality of linear actuators connected to respective linear gear racks for sliding the linear gear racks linearly to impart movement to corresponding gears of the second plurality of drive gears.
[0033] The apparatus may include a second tool controller mounting interface comprising a second plurality of drive gears for engaging respective gear segments on a second tool controller similar to the first tool controller described above.
[0034] The drive gears of the second plurality of drive gears may include respective linear gear racks operably configured to slide linearly in parallel spaced apart relation.
[0035] The apparatus may include a second plurality of actuators connected to respective linear gear racks for sliding the linear gear racks linearly to impart movement to corresponding drive gears of the second plurality of drive gears.
[0036] In accordance with another aspect of the invention, there is provided a tool supervisory apparatus including a positioning tube positioned to receive at least one support conduit of a tool controller assembly as described above. The positioning tube may have a length approximately the same as or less than a length of the support conduit so that a tool holder supported by the support conduit extends from a distal end of the positioning tube. The tool supervisory apparatus further includes a camera holder in a position off an axis of the positioning tube such that the camera may be directed toward an end effector of a tool held by the tool holder to facilitate visual monitoring of movement of the end effector.
[0037] The camera holder may include the tool holder. The support conduit of the camera holder may extend inside the positioning tube and a tool positioner of the camera holder may extend from the distal end of the positioning tube and may be operably configured to hold and position the camera in a position off the second axis. The second axis may be generally perpendicular to the longitudinal axis of the support conduit.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0038] In drawings which illustrate embodiments of the invention,
[0039] FIG. 1 is a perspective view of an articulated tool positioning apparatus according to a first embodiment of the invention;
[0040] FIG. 2 is a perspective view of a distal end of a base member of the apparatus shown in FIG. 1;
[0041] FIG. 3 is a distal end view of the base member shown in FIG. 2;
[0042] FIG. 4 is a perspective view of a proximal side of a coupled guide of the apparatus shown in FIG. 1;
[0043] FIG. 5 is a top view of the coupled guide shown in FIG. 1;
[0044] FIG. 6 is an exploded view of two coupled guides of the apparatus shown in FIG. 1, including the coupled guide shown in FIGS. 4 and 5;
[0045] FIG. 7 is a side view of the coupled guides of FIG. 6 shown engaged;
[0046] FIG. 8 is a perspective view of the apparatus shown in FIG. 1 illustrating a bended configuration of the tool positioner shown in FIG. 1;
[0047] FIG. 9 is a perspective view of a proximal face of an intermediate member of the apparatus shown in FIG. 1;
[0048] FIG. 10 is a perspective view of a distal face of the intermediate member shown in FIG. 9;
[0049] FIG. 11 is a perspective view of a proximal side of an end member of the apparatus shown in FIG. 1;
[0050] FIG. 12 is a perspective view of a distal side of the side member shown in FIG. 11;
[0051] FIG. 13 is a perspective view of a proximal side of a tool holder of the apparatus shown in FIG. 1;
[0052] FIG. 14 is a perspective view of a distal side of the tool holder shown in FIG. 13;
[0053] FIG. 15 is a side view of a tool apparatus for use with the tool positioner shown in FIG. 1;
[0054] FIG. 16 is a perspective view of a tool assembly comprised of the apparatus shown in FIG. 1 with the tool apparatus shown in FIG. 15 connected thereto;
[0055] FIG. 17 is a perspective view of a tool controller shown connected to the tool assembly shown in FIG. 16;
[0056] FIG. 18 is a perspective view of a laparoscopic surgical apparatus employing the device shown in FIG. 17;
[0057] FIG. 19 is a side view of a head of the apparatus shown in FIG. 18 and a coupler operable to be coupled to the head;
[0058] FIG. 20 is a side view of the head and coupler of FIG. 19 with the coupler connected to the head;
[0059] FIG. 21 is a side view of the coupler connected to the head of FIGS. 19 and 20 with a sterile cover connected to the coupler draped over the head and nearby components;
[0060] FIG. 22 is a side view of the head and coupler of FIGS. 19-21 and a camera/delivery tube assembly operable to be coupled to the coupler;
[0061] FIG. 23 is a detailed view of the camera/delivery tube assembly shown in FIG. 22;
[0062] FIG. 24 is a side view of the camera/delivery tube assembly shown in FIG. 23 coupled to the coupler shown in FIGS. 19-22;
[0063] FIG. 25 is a side view of the camera/delivery tube assembly coupled to the coupler and a tool positioning device of the type shown in FIG. 17 being engaged therewith;
[0064] FIG. 26 is a perspective view from below of the tool controller of FIG. 17 connected to the coupler of FIGS. 19-22 with a tube associated with the tool positioning device inserted in the delivery tube shown in FIG. 23;
[0065] FIG. 27 is a side view of the delivery tube of FIG. 23 with a first tube supporting the tool positioner of FIG. 1 extending therethrough;
[0066] FIG. 28 is a side view of the apparatus of FIG. 27 further including a second tool support tube supporting a second tool positioner extending through the delivery tube of FIG. 23;
[0067] FIG. 29 is a side view of a laparoscopic surgical apparatus employing the apparatuses described in FIGS. 1-28; and
[0068] FIG. 30 is a perspective view of a surgeon's work-station for controlling the apparatus shown in FIG. 29.
[0069] FIG. 31 is a perspective view from below of two tool controllers of the type shown in FIG. 17 on a coupler according to an alternative embodiment of the invention;
[0070] FIG. 32 is a fragmented side view of first and second articulated tool positioning apparatuses extending at different distances from an end of a delivery tube of the coupler shown in FIG. 31, when first and second tool controllers thereon are disposed at different linear distances from the delivery tube.
DETAILED DESCRIPTION
[0071] Referring to FIG. 1, an articulated tool positioning apparatus according to a first embodiment of the invention is shown generally at 20. In this embodiment, the apparatus 20 includes a base member 22, an intermediate member 24, an end member 26 and a first tool holder 28 arranged in succession as shown in FIG. 1. The base member 22 may be considered to be in a proximal position while the tool holder may be considered to be in a distal position. Thus, the base member 22, intermediate member 24, end member 26 and first tool holder 28 are arranged in succession from a proximal position to a distal position.
[0072] The apparatus 20 further includes a first plurality 30 of coupled guides, disposed between the base member 22 and the intermediate member 24. At least one (32) of the first plurality 30 of coupled guides is coupled to the base member 22 and another one (34) of the first plurality 30 of coupled guides is coupled to the intermediate member 24. Each of the coupled guides of the first plurality 30 is coupled to an adjacent guide or to the base member 22 or intermediate member 24.
[0073] The tool positioning apparatus 20 further includes a second plurality 36 of coupled guides between the intermediate member 24 and the end member 26. At least one (38) of the second plurality 36 of coupled guides is coupled to the intermediate member 24 and another one (40) of the second plurality 36 of coupled guides is coupled to the end member 26. Each of the coupled guides of the second plurality 36 of coupled guides is thus connected to an adjacent guide of the second plurality or to the intermediate member 24 or the end member 26.
[0074] The apparatus 20 further includes a third plurality 42 of coupled guides between the end member 26 and the tool holder 28. At least one (44) of the third plurality 42 of coupled guides is coupled to the end member 26 and another one (46) of the third plurality 42 of coupled guides is coupled to the tool holder 28. Each of the coupled guides of the third plurality 42 is thus connected to an adjacent coupled guide of the third plurality or to the end member 26 or to the tool holder 28.
[0075] Referring to FIG. 2, the base member 22 has a generally circular cylindrical first outer surface portion 50 having a first diameter and a second coaxial, generally circular cylindrical surface portion 52 having a second diameter smaller than the first diameter. The surface portion 52 having the smaller diameter facilitates connection to an adjacent support conduit as will be described below.
[0076] Referring back to FIG. 1, the intermediate member 24 also has a generally circular cylindrical outer surface portion 54, the end member 26 has a similar outer surface portion 56 and the tool holder 28 has a similar outer surface portion 58 all having a diameter the same as the diameter of the first outer surface portion 50 of the base member 22. In addition, each coupled guide of the first, second, and third pluralities 30, 36 and 42 of coupled guides has an outer circular cylindrical surface portion, exemplary ones of which are shown at 60, 62 and 64 respectively. Thus, the tool positioning apparatus 20 has a plurality of generally coaxially aligned components all having outer surfaces of the same common diameter.
[0077] Referring to FIGS. 2 and 3, the base member 22 has a generally cylindrical body having a distal-facing end face 66 having an axially extending projection 68 with a truncated spherical portion 70 through which a central opening 72 is formed. The central opening 72 extends axially through the entire base member 22. The distal-facing end face 66 also has receptacles 74 and 76 disposed diametrically opposite each other and extending into the outer surface portion 50 to receive corresponding projections on coupled guide 32 shown in FIG. 1.
[0078] Referring to FIGS. 1 and 2 as will be explained below, the truncated spherical portion 70 and the receptacles 74 and 76 serve to couple the base member 22 to coupled guide 32 of the first plurality 30 of coupled guides.
[0079] Referring back to FIGS. 2 and 3, the distal-facing end face 66 further has a first plurality of guide openings 80, 82, 84, 86 through which a first plurality of flexible control links 88, 90, 92, 94 connected to the intermediate member 24 extend through the base member 22.
[0080] In the embodiment shown, the distal-facing end face 66 also has a plurality of receptacles 96, 98, 100 and 102 to which ends of respective ones of a second plurality of flexible control links 104, 106, 108, 110 extending between the base member 22 and the end member 26 are connected. In an alternate embodiment, the plurality of receptacles 96, 98, 100 and 102 may instead be a plurality of openings extending through the base member 22, allowing the second plurality of flexible control links 104, 106, 108, 110 to extend through and away from the base member 22. In this alternate embodiment, the ends of respective ones of the second plurality of flexible control links 104, 106, 108, 110 are connected to a fixed object (not shown), spaced apart from the base member 22. The fixed object may be a tool controller of the type described at 602 in FIG. 17, suitably modified such that the ends of respective ones of the second plurality of flexible control links 104, 106, 108, 110 are connected to the base plate 612 thereof, for example.
[0081] The distal-facing end face 66 also has a third plurality of guide openings 112, 114, 116, 118 through which respective ones of a third plurality of flexible control links 120, 122, 124, 126 connected to the tool holder 28 extend through the base member 22.
[0082] Each link of the first, second and third pluralities of flexible control links may be a single nitinol wire capable of about 200N in tension or compression without permanent deformation and capable of experiencing up to about 4% strain. Nitinol is an alloy of nickel and titanium having shape memory and superelasticity and its ability to support both tension and compression allows the links to be selectively pushed or pulled with similar forces without permanent deformation, which provides for precise control of the flexible control links, actuation redundancy and increased structural stiffness. Accordingly, only two flexible control links are required in each of the first, second, and third plurality of flexible control links to achieve a full range of movement of the tool holder relative to the base member 22.
[0083] Referring back to FIG. 1, the first plurality 30 of coupled guides are configured to cause the tool positioning apparatus 20 to have a flexible section while at the same time maintaining the first, second and third flexible control links 88, 90, 92, 94, 104, 106, 108, 110, 120, 122, 124, 126 in a pre-defined spaced apart relation relative to each other. Generally, the individual flexible control links in each plurality of flexible control links are spaced apart angularly on a circle such that the flexible control links of a given plurality are spaced apart from each other as far as possible. This reduces and balances actuation loads, increases the stiffness of the flexible section and reduces backlash effects as the direction of force on the flexible control links is changed in response to pushing and pulling of the flexible control links.
[0084] In the embodiment shown, the first plurality 30 of coupled guides includes fourteen coupled guides. Coupled guide 32 is an exemplary coupled guide of the first plurality 30 and is shown in greater detail in FIG. 4.
[0085] Referring to FIG. 4, coupled guide 32 has a body having proximal and distal-facing sides 130 and 132 and first and second annular segments 134 and 136.
[0086] The proximal facing side 130 has first and second projections 138 and 140 disposed diametrically opposite each other, the annular segments 134 and 136 being defined between the projections 138 and 140. The projections 138 and 140 are operably shaped to be received in receptacles 74 and 76 on the base member 22. The annular segments 134 and 136 have receptacles 142 and 144 disposed diametrically opposite each other and disposed in positions angularly offset by 90 degrees from the first and second projections 138 and 140.
[0087] The proximal facing side 130 also has a socket 146 having a shape complementary to the truncated spherical shape of the projection 68 on the base member 22 to receive that projection therein. The projection 68 on the base member 22 and the socket 146 on the coupled guide 32 allow the coupled guide to pivot about the projection 68 and such pivoting is constrained in a vertical or pitch direction (e.g. up and down in the plane of the drawing, FIG. 7) by the projections 138 and 140 received in the receptacles 74 and 76 on the distal facing end face 66 of the base member 22.
[0088] The socket 146 terminates in a cylindrical wall 148 disposed in a truncated spherical projection 150 seen in FIG. 5 extending from the distal facing side 132. The cylindrical wall 148 defines central opening 152 in the body of the coupled guide 32.
[0089] Referring back to FIG. 4, the annular segments 134 and 136 have a first plurality of guide openings 160, 162, 164 and 166 which are generally aligned with first guide openings 80, 82, 84 and 86 in the base member 22 to guide the first plurality of flexible control links (88, 90, 92 and 94) through the coupled guide 32.
[0090] The annular segments 134 and 136 also have a second plurality of guide openings 168, 170, 172 and 174 which are generally aligned with the second receptacles 96, 98, 100 and 102 (shown in FIGS. 2 and 3) in the base member 22 to guide the second plurality of flexible control links (104, 106, 108 and 110 shown in FIGS. 2 and 3) through the coupled guide 32.
[0091] The annular segments 134 and 136 also have a third plurality of guide openings 176, 178, 180 and 182 which are generally aligned with the third plurality of guide openings 112, 114, 116, 118 in the base member 22 to guide the third plurality of flexible control links (120, 122, 124, 126) through the coupled guide 32.
[0092] Referring to FIG. 5, the coupled guide 32 is shown from above looking in the direction of arrow 189 in FIG. 1. Annular segments 134 and 136 have portions 190 and 192 respectively having angled surfaces 194 and 196 that form an obtuse angle in a horizontal plane intersecting the axis 200 of the coupled guide 32. These surfaces 194 and 196 extend symmetrically at about a 6 degree angle to a first plane 198 perpendicular to the axis 200 of the coupled guide 32.
[0093] Referring back to FIG. 4, the coupled guide 32 also has proximal facing surfaces 202 and 204 defined between the receptacles 142 and 144 that form an obtuse angle in a vertical plane intersecting the axis 200 of the coupled guide 32. This can be seen as a slight incline in proximal facing surface 202 in FIG. 5, which forms an angle of about 6 degrees with a second plane 199 perpendicular to the axis 200 of the coupled guide 32 and provides for rotation of up to 6 degrees in the pitch direction, relative to the base member 22.
[0094] Referring to FIG. 6, the distal facing side 132 of the coupled guide 32 is shown along with an immediately distally-adjacent coupled guide 60. Immediately distally adjacent coupled guide 60 is similar to coupled guide 32 in that it includes annular segments having the same first plurality of guide openings 160, 162, 164 and 166, the same second plurality of guide openings 168, 170, 172 and 174 and the same third plurality of guide openings 176, 178, 180 and 182. It also has a truncated spherical projection 207 having a bore 209. It also has a socket (not shown) like socket 146 in the coupled guide 32, in its proximal facing side.
[0095] The immediately adjacent coupled guide 60 is different than the coupled guide 32 in that it has receptacles 210 and 212 where the projections 138 and 140 of the coupled guide 32 are located and has projections, only one of which is shown at 214, where the receptacles 142 and 144 of the coupled guide 32 are located.
[0096] In addition, referring to FIG. 7, the immediately adjacent coupled guide 60 has annular segments 216 and 218 extending between the receptacles 210 and 212 having portions 220 and 222 having distal facing surfaces 224 and 226 that form an obtuse angle in a vertical plane intersecting the axis of the immediately distally adjacent coupled guide 60 and proximal facing surfaces only one of which is seen at 227 in FIG. 7, extending between the receptacles 210 and 212 that form an obtuse angle in a horizontal plane intersecting the axis 230. The distal facing surfaces 224 and 226 are disposed at about a 6 degree angle to a first vertical plane 228 intersecting the axis 230 and perpendicular thereto and the proximal facing surfaces, only one of which is shown at 227, are disposed at about a 6 degree angle to a second vertical plane 229 intersecting the axis 230.
[0097] Still referring to FIG. 7, it can be seen that the coupled guide 32 and immediately distally adjacent coupled guide 60 are coupled together to form a pair of coupled guides by receiving the projection 150 of the coupled guide 32 in the socket (not shown) of the immediately distally adjacent coupled guide 60 and receiving the proximal facing projections of the immediately distally adjacent coupled guide 60, only one of which is shown at 214, in corresponding receptacles, only one of which is shown at 144 of the coupled guide 32. The projection 150 and socket arrangement provides for pivoting in any direction and the proximally facing projections 214 received in corresponding receptacles 144 prevent torsional movement about the axis 230, of the immediately distally adjacent coupled guide 60 relative to the coupled guide 32 and limit relative rotational movement to what is shown as a horizontal or yaw direction, i.e. into and out of the plane of the page. The angled surface 227 of the immediately distally adjacent coupled guide 60 faces angled surface 196 of the coupled guide 32 and this provides clearance for relative movement pivoting about the truncated spherical projection 150 of up to a total of 12 degrees in the yaw direction.
[0098] Similarly, the angled distal facing surfaces 224 and 226 on the immediately distally adjacent coupled guide 60 will face proximally facing surfaces like surfaces 202 and 204 on a next distally adjacent coupled guide 205 and this will provide for relative rotational movement between the immediately adjacent coupled guide 60 and the next distally adjacent coupled guide 205 of up to 12 degrees in the pitch direction. Thus each pair of coupled guides provides for limited defined movement in the pitch and yaw directions. More generally, every odd numbered coupled guide is operable to rotate in a vertical plane (pitch direction) and every even numbered coupled guide is operable to rotate in a horizontal plane (yaw direction).
[0099] Referring back to FIG. 1, in the embodiment shown the first plurality 30 of coupled guides includes seven pairs of coupled guides which enables the first plurality of coupled guides to have pitch and yaw bend components sufficient to define a continuous arc extending through up to 90 degrees. Thus, the intermediate member 24 can be positioned in an orientation in any direction relative to the axis of the base member 22 up to an angle of about 90 degrees off the axis of the base member such as shown in FIG. 8.
[0100] Referring to FIG. 9, the intermediate member 24 has a body having proximal and distal facing sides 250 and 252. The proximal facing side 250 has first and second annular segments 254 and 256 disposed between first and second projections 258 and 260 that project proximally toward the first plurality 30 of coupled guides. These projections 258 and 260 are received in receptacles like those shown at 210 and 212 in FIG. 6 in the immediately adjacent coupled guide 34 of the first plurality 30 of coupled guides as seen in FIG. 1. Referring back to FIG. 9, the proximal facing side 250 has a socket 262 terminating in an annular wall 264 defining a central opening 266 through the body. A projection like the one shown at 207 in FIG. 6 of the immediately adjacent coupled guide 32 of the first plurality 30 of coupled guides is operable to be received in the socket 262 and the projections 258 and 260 are received in receptacles similar to those shown at 210 and 212 in FIG. 6 of the immediately adjacent coupled guide 34. This permits the immediately adjacent coupled guide 34 to pivot about the projection 207 in a pitch direction.
[0101] The intermediate member 24 further includes first, second, third and fourth receptacles 270, 272, 274 and 276 disposed at locations aligned with the first set of guide openings 160, 162, 164 and 166 respectively in the immediately adjacent coupled guide 34 to receive and hold ends of the first plurality of flexible control links 88, 90, 92 and 94 respectively, extending through the first set of guide openings 160, 162, 164 and 166 of the immediately adjacent coupled guide 34.
[0102] The proximal facing side 250 further includes a second plurality of openings 280, 282, 284 and 288 which extend entirely through the intermediate member 24 for guiding the second plurality of flexible control links 104, 106, 108 and 110 therethrough. In addition, the proximal facing side 250 includes a third plurality of guide openings 290, 292, 294 and 296 that extend through the entire intermediate member 24 for guiding the third plurality of flexible control links 120, 122, 124, and 126 therethrough.
[0103] Referring to FIG. 10, the intermediate member 24 further includes a projection 300 projecting from the distal facing side 252 and has first and second receptacles 302 and 304 diametrically opposed and disposed in the outer surface portion 54 and terminating on an end face 306 of the distal facing side 252. Referring back to FIG. 1, the receptacles 302 and 304 receive corresponding projections on the immediately adjacent coupled guide 38 of the second plurality 36 of coupled guides. The second plurality 36 of coupled guides is the same as the first plurality of coupled guides, described above, in connection with FIGS. 4 through 7.
[0104] Referring to FIG. 11, the end member 26 has a body having proximal and distal facing sides 350 and 352. The proximal facing side 350 has first and second annular segments 354 and 356 disposed between first and second projections 358 and 360 that project proximally toward the second plurality 36 of coupled guides. These projections 358 and 360 are received in receptacles like those shown at 210 and 212 in FIG. 6 in the immediately adjacent coupled guide 40 of the second plurality of coupled guides 36 as seen in FIG. 1. Referring back to FIG. 11, the proximal facing side 350 has a socket 362 terminating in an annular wall 364 defining a central opening 366 through the body. A projection like the one shown at 207 in FIG. 6 of the adjacent coupled guide 40 of the second plurality of coupled guides 36 is operable to be received in the socket 362 and the projections 358 and 360 are received in receptacles similar to those shown at 210 and 212 in FIG. 6 of the immediately adjacent coupled guide 40. This permits the immediately adjacent coupled guide 40 to pivot about the projection (207) in a pitch direction.
[0105] The end member 26 further includes first, second, third and fourth receptacles 370, 372, 374 and 376 disposed at locations aligned with the second set of guide openings 168, 170, 172 and 174 respectively in the adjacent coupled guide 40 to receive and hold ends of the second plurality of flexible control links 104, 106, 108 and 110 respectively, extending through the second guide openings 168, 170, 172 and 174 of the immediately adjacent coupled guide 40.
[0106] The proximal facing side 350 further includes a third plurality of openings 380, 382, 384 and 386 which extend entirely through the end member 26 for guiding the third plurality of flexible control links 120, 122, 124 and 126 therethrough.
[0107] Referring to FIG. 12, the end member 26 further includes a projection 400 projecting from the distal facing side 352 and has first and second receptacles 402 and 404 disposed in the outer surface portion 56 and terminating on a flat annular end face 406 of the distal facing side 352. Referring back to FIG. 1, the receptacles 402 and 404 receive corresponding projections on the immediately adjacent coupled guide 44 of the third plurality 42 of coupled guides.
[0108] The third plurality 42 of coupled guides includes coupled guides the same as those shown in FIGS. 4 through 7 with the exception that the surfaces 194 and 196 extend symmetrically at about an 8.5 degree angle to the first plane 198 perpendicular to the axis of the coupled guide and the proximal facing surfaces 202 and 204 form angles of about 8.5 degrees with the second plane 199 perpendicular to the axis of the coupled guide. With the angles of the indicated surfaces on the third plurality of coupled guides being slightly greater than the angles on the first and second plurality of coupled guides, the third plurality of coupled guides can include fewer elements such as shown in this embodiment where there are only about 10 coupled guides and enable the portion extending from the end member 26 to be bent in a tighter radius than the coupled guides of the first and second pluralities 30 and 36 can be bent as shown in FIG. 8.
[0109] Referring to FIGS. 13 and 14, the tool holder 28 has a body having proximal and distal facing sides 450 and 452. The proximal facing side 450 has first and second annular segments 454 and 456 disposed between first and second projections 458 and 460 that project proximally toward the third plurality 42 of coupled guides. These projections 458 and 460 are received in receptacles like those shown at 210 and 212 in FIG. 6 in the immediately adjacent coupled guide 46 of the third plurality 42 of coupled guides as seen in FIG. 1. Referring back to FIG. 13, the proximal facing side 450 has a socket 462 terminating in an annular wall 464 defining a central bore 466 through the body. A projection like the one shown at 207 in FIG. 6 of the adjacent coupled guide 46 of the third plurality of coupled guides 42 is operable to be received in the socket 462 and the projections 458 and 460 are received in receptacles similar to those shown at 210 and 212 in FIG. 6 of the immediately adjacent coupled guide 46.
[0110] This permits the immediately adjacent coupled guide 46 to pivot about the projection 207 in a pitch direction.
[0111] The tool holder 28 further includes first, second, third and fourth receptacles 470, 472, 474 and 476 disposed at locations aligned with the third set of guide openings 176, 178, 180 and 182 respectively in the adjacent coupled guide 46 to receive and hold ends of the third plurality of flexible control links 120, 122, 124 and 126 respectively, extending through the second set of guide openings 176, 178, 180 and 182 of the immediately adjacent coupled guide 46.
[0112] Referring to FIG. 14, the tool holder 28 has a flat annular end face 500 on the distal facing side 452 and the bore 466 is coterminous with the annular end face 500. Aligned openings 502 and 504, are aligned on a chord extending through the wall 464 and are operable to receive a threaded fastener, for example, for securing a tool in the tool holder 28, so that the tool can rotate axially in the tool holder.
[0113] Referring to FIG. 15, an exemplary tool for use in the tool holder shown in FIGS. 13 and 14 is shown generally at 550. In the embodiment shown, the tool 550 includes an end effector 552, which, in the embodiment shown includes a gripper having fixed and pivotal opposing jaws 554 and 556 extending from a base 558. Other tool arrangements could alternatively be employed. For example, the tool may alternatively be a cauterizing device, a suctions device, a retraction device or a grasping device. In the embodiment shown a flexible tool control link 560 is connected to the pivotal jaw 556 and extends through an axial opening in the base 558 to open and close the pivotal jaw 554 on the fixed jaw 556 in response to linear movement of the flexible control link 560.
[0114] The tool 550 further includes a coupler comprised of first and second spaced apart cylinders 562 and 564 rigidly connected to the base 558 and having outer cylindrical surfaces 563 and 565 slightly smaller than a diameter of the bore 466 in the tool holder 28 so that the tool 550 can be held snugly in the tool holder 28. A flexible conduit 566 having a length approximately equal to a distance between the tool holder 28 and the base member 22 has a first end 568 connected to the cylinder 564 and a second end 570 connected to a first end 572 of a rigid conduit 574 by a crimp connector 576. The flexible tool control link 560 extends through the cylinders 562 and 564, through the flexible conduit 566 and through the rigid conduit 574 and has a second end 578 that extends outwardly from a proximal end 580 of the rigid conduit 574. Accordingly, linear movement of the second end 578 of the flexible tool control link 560 relative to the proximal end 580 of the rigid conduit 574 opens and closes the pivotal jaw 556.
[0115] Referring to FIGS. 15 and 16, the tool 550 is shown installed in the tool holder 28 whereby only the base 558 and jaws 554 and 556 project distally from the tool holder and the flexible conduit 566 extends through the central openings 152 in the third plurality of coupled guides 42, the central opening 266 in the end member 26, the central openings 152 in the second plurality of coupled guides 36, the central opening 266 in the intermediate member 24, and the central openings (152) in the first plurality 30 of coupled guides. The crimp connector 576 is located in the central opening 72 in the base member 22 and is about the same length as the base member and the rigid conduit 574 extends outwardly from the base member in a proximal direction. The tool 550 installed in the tool holder thus forms a tool assembly 600 comprised of the tool 550 and the tool positioning apparatus 20.
[0116] Referring to FIG. 17, the tool assembly 600 is connected to a tool controller 602 comprising a second rigid conduit 604 having a first end 606 rigidly connected to the outer surface portion 52 of reduced diameter of the base member 22 and having a second end 608 connected to a drive mechanism 610. The drive mechanism 610 includes a base plate 612 having a conduit coupling 614 for rigidly connecting the second rigid conduit 604 to the base plate 612. In addition the drive mechanism includes a rotational coupling 616 connected to the proximal end 580 of the rigid conduit 574 whereupon rotation of the rotational coupling 616 causes a corresponding rotational movement of the rigid conduit 574 about its axis. A rotational flexible control link 618 is connected to the rotational coupling 616 and is routed to a rotational spool 620 which is connected to a gear segment 622 such that when the gear segment is rotated the rigid conduit 574 is rotated by a corresponding amount. Such rotation of the rigid conduit 574 rotates the tool 550 by a corresponding amount.
[0117] The first, third and tool flexible control links 88, 90, 92 and 94; 120, 122, 124 and 126; and 560 extend through the interior of the second rigid conduit 604 and emanate from the second end 608 of the second rigid conduit 604. The drive mechanism 610 has a link guide shown generally at 624 for guiding the tool control link 560 to a tool spool 626 connected to a tool gear segment 628. The tool control link 560 is wound on the tool spool 626 such that rotation of the tool gear in a first direction opens the end effector 552 of the tool 550 and rotation of the tool spool 626 in a second, opposite direction closes the end effector.
[0118] Two of the third flexible control links in a horizontal plane at the tool holder 28 such as links 120 and 126 or links 122 and 124 are wound in opposite directions on a horizontal tool control spool 630 connected to a horizontal tool control gear 632, such that rotation of the horizontal tool control gear 632 in a first direction pulls on, say, a left side link 120 or 122 while pushing on a corresponding right side link 126 or 124 and rotation of the horizontal tool control gear 632 in a second direction opposite to the first direction pushes on the left side link 120 or 122 while pulling the corresponding right side link 126 or 124. This has the effect of moving the tool holder 28 to the left or right.
[0119] Two of the third flexible control links in a vertical plane at the tool holder 28 such as links 120 and 122 or links 124 and 126, depending on which of these links are not already connected to the horizontal tool control spool 630, are wound in opposite directions on a vertical tool control spool 634 connected to a vertical tool control gear 636, such that rotation of the vertical tool control gear 636 in a first direction pulls on, say, an upper link 120 or 126 while pushing on a corresponding lower link 122 or 124 and rotation of the vertical control gear 636 in a second direction opposite to the first direction pushes on the upper link 120 or 122 while pulling the corresponding lower link 122 or 124. This has the effect of moving the tool holder 28 up or down.
[0120] Two of the first flexible control links in a horizontal plane at the intermediate member 24 such as links 88 and 94 or links 90 and 92 are wound in opposite directions on a horizontal s-curve control spool 638 connected to a horizontal s-curve gear 640, such that rotation of the horizontal s-curve control gear 640 in a first direction pulls on, say, a left side link 88 or 90 while pushing on a corresponding right side link 92 or 94 and rotation of the horizontal s-curve control gear 640 in a second direction opposite to the first direction pushes on the left side link 88 or 90 while pulling the corresponding right side link 92 or 94. This has the effect of moving the intermediate member 24 to the left or right.
[0121] Two of the first flexible control links in a vertical plane at the intermediate member 24 such as links 88 and 90 or links 92 and 94, depending on which of these links are not already connected to the horizontal s-curve control spool 638, are wound in opposite directions on a vertical s-curve control spool 642 connected to a vertical s-curve control gear 644, such that rotation of the vertical s-curve control gear 644 in a first direction pulls on, say, an upper link 88 or 94 while pushing on a corresponding lower link 90 or 92 and rotation of the vertical s-curve control gear 644 in a second direction opposite to the first direction pushes on the upper link 88 or 94 while pulling the corresponding lower link 90 or 92. This has the effect of moving the intermediate member 24 up or down.
[0122] While spools 626, 620, 630, 634, 638 and 642, and corresponding gear segments 628, 622, 632, 636, 640 and 644 are arranged in a particular order as depicted in FIG. 17, the ordering is not important. Thus, for example, spool 626 and corresponding gear segment 628 may be arranged such that they are positioned between spool 620 and corresponding gear segment 622, and spool 630 and corresponding gear segment 632.
[0123] The second flexible control links 104, 106, 108 and 110, being connected between the base member 22 and the end member 26, act as a kind of parallelogram in two dimensions, tending to keep the end member 26 at the same orientation as the base member 22. The first plurality of flexible control links 88, 90, 92 and 94 move the intermediate member 24 but parallelogram effect of the second plurality of control links tends to keep the end member 26 at the same orientation as the base member 22. Similarly, the third plurality of control links 120, 122, 124 and 126 moves the tool holder 28, but again the end member 26 is held under the constraints of the parallelogram formed by the second plurality of flexible control links and maintains the same orientation as the base member 22.
[0124] While the second plurality of flexible control links 104, 106, 108 and 110 have been shown as being connected between the base member 22 and the end member 26, it is only necessary that the proximal ends of the second plurality of flexible control links be fixed to some reference point. Thus, for example, they need not be connected to the base member 22 but could alternatively be connected to some other fixed structure located in the proximal direction away from the base member 22.
[0125] Therefore by rotating gear segments 622, 628, 632, 636, 640 and 644, the end effector can be moved with 5 degrees of freedom and the jaws can be opened and closed. As described below a suitable gear drive mechanism may be used to drive the gear segments 622, 628, 632, 636, 640 and 644 to manipulate the end effector 550 in space to perform an operation. Such operation may be a medical operation for example.
[0126] For example, the apparatus described herein may be used in performing laparoscopic surgery such as shown in FIG. 18. To do this, there is provided a movable platform 700 on which is secured a cabinet 702 housing a computer 704 either wired or wirelessly connected to a computer network such as an ethernet network. A gross positioning mechanism shown generally at 706 is connected to the cabinet 702 and has a head 708 to which the tool controller 602 shown in FIG. 17 is ultimately secured. The gross positioning mechanism 706 and the movable platform 700 allow the head 708 to be positioned at a location in space such that the tool positioning apparatus 20 can be placed inside the patient's body at a position that allows the desired laparoscopic surgery to be performed.
[0127] Referring to FIG. 19, to facilitate connection of the tool controller (602) to the head 708 while maintaining a sterile environment, the head is provided with a first portion 712 of a mechanical connector and first and second pluralities of spaced apart coaxial drive gear segments, only one gear segment of each plurality being shown at 710 and 711 in FIG. 19. As will be described below, the first plurality of drive gear segments controls the position of a camera and the second plurality of drive gear segments controls the tool controller (602). In this embodiment, respective separate motors, only two of which are shown at 714 and 715 are provided to independently drive each drive gear in a direction, at a speed and for a time responsive to control signals received from the computer 704 shown in FIG. 18.
[0128] The computer 704 may receive commands from the network to control the motors and a separate computer (shown in FIG. 30) connected to an input device controlled by a surgeon performing the surgery may generate the commands and transmit them on the network in response to hand, finger and arm movements, for example of the surgeon performing the surgery. The surgeon performing the surgery may be located in the operating room near the patient or may be located remotely anywhere in the world.
[0129] A coupler 720 comprising a housing 722 and having a second connector portion 724 of the mechanical connector has a plastic cover 726 connected around the perimeter of the housing 722 just below the second connector portion 724 of the mechanical connector. Before the second portion 724 of the mechanical connector is connected to the first connector portion 712, the plastic cover 726 is arranged to drape downwardly such that an open end portion 728 of the plastic cover 726 faces downwardly. The coupler 720 is then moved into place such that the second connector portion 724 mates with the first connector portion 712 as shown in FIG. 20. Then, referring to FIG. 21, the plastic cover 726 is raised up over the head 708 and onto a portion of the gross positioning arm 706, leaving only the portion of the coupler 720 below the perimeter line at which the plastic cover 726 is attached to the housing 722, exposed to the patient.
[0130] Referring to FIG. 22, the coupler 720 serves to couple a camera/delivery tube assembly 730 to the head 708 and further serves to connect one or more tool controllers of the type shown at 602 in FIG. 17 to the head 708.
[0131] The camera/delivery tube assembly comprises a base 732 having a connector portion 734 that mates with a corresponding connector portion 736 on the coupler 720. A clear plastic delivery tube 738 approximately about 1 inch (2.5 cm) in diameter, about 20 (51 cm) inches long and having a wall thickness of about 0.035 (0.1 cm) inches has a proximal end portion 740 connected to the base 732 and has a distal second end portion 742. A camera assembly 748 comprising a camera 750 and a camera positioner 752 are located at the distal end of the delivery tube and a rigid camera positioner support tube 754 extends from the camera positioner 752 up the delivery tube 738 from the distal second end portion 742 of the delivery tube 738 and is rigidly connected to the base 732.
[0132] Referring to FIG. 23 the camera positioner 752 may be the same as the tool positioner 20 and coupled to a camera controller 760 like the tool controller shown at 602 in FIG. 17 to enable the camera 750 to be positioned on or off the axis 762 of the delivery tube 738. The camera 750 need not have the same range of movement as the formerly described tool positioner 20 and therefore fewer flexible control links may be used in the camera positioner 752. For example, only two of the first flexible control links may be required to move the camera positioner 752 in a vertical direction off-axis of the delivery tube 738 and the flexible control link for rotating the tool may not be required. This simplifies the camera controller 760 in that it has fewer spools and gear segments. Only one gear segment is shown at 761 in FIG. 23 but there are as many gear segments are there are flexible control links for controlling the camera position. Referring back to FIG. 19, each gear segment is engaged with a corresponding linear gear rack 763 on the coupler. The linear gear rack 763 on the coupler 720 has a gear portion that faces upwardly so as to engage with the gear segment 711 on the head 708 and has a gear portion that faces downwardly to engage with the gear segment 761 shown in FIG. 23 on the camera/delivery tube assembly 730.
[0133] Referring back to FIG. 19, the coupler 720 also has a plurality of linear gear racks having upwardly facing gear portions 765 for engaging corresponding gear segments 710 on the head 708 and has downwardly facing gear portions 767 for engaging corresponding gear segments on at least one tool controller such as 602 in FIG. 17, as will be described below.
[0134] Referring back to FIG. 23, the base 732 further has an optical connector 770 and an electrical connector 772 that project in a proximal direction from the base 732 so that when the base is coupled to the coupling 720 shown in FIG. 22, they mate with corresponding optical and electrical connectors 774 and 776 on the head 708. The optical connector 774 on the head 708 provides light by way of an optical fiber 778 and a corresponding optical fiber 780 connected to the optical connector 770 on the base 732 is routed in the camera positioner and terminates at a location above a lens 781 on the camera 750 so as to illuminate the subject of the image taken by the camera 750. The electrical connector 772 on the base is connected to the camera 750 to receive image signals and passes these image signals to the electrical connector 776 on the head 708, which communicates them to the computer 704 shown in FIG. 18. The camera 750 may have two lenses or be otherwise configured to produce 3D image signals, for example. The computer 704 formats the image signals as necessary and transmits them on the network to enable capture of the image signals by devices connected to the network, including a display that may be located at or near the input device being operated by the surgeon.
[0135] Referring back to FIG. 23, the delivery tube 738 has a proximal end portion 782 that extends rearward of the base 732.
[0136] Referring to FIG. 24, the base 732 is shown coupled to the coupler 720, whereupon the gear segments, one of which is shown at 711, for controlling the camera positioner 752 engage with the linear gear racks 763 on the coupler 720. In addition, the gear segments 710 associated with the tool positioner engage with corresponding linear gear racks 765 on the coupler 720. A space is provided adjacent the linear gear racks 765 to enable at least one tool controller to be mounted in the space in a manner in which the gear segments (628, 622, 632, 636, 640 and 644 on a tool controller 602) are engaged with corresponding linear gear racks, only one of which is shown at 765 in FIG. 24. Also in the position shown in FIG. 24, the optical connectors (770) and (774) and electrical connectors (772) and (776) are connected to permit light to be transmitted to the camera head and to permit the camera to send image signals to the computer 704 in FIG. 18. Also, when the camera/delivery tube assembly 730 is connected to the coupler 720, the proximal end portion 782 of the delivery tube is disposed adjacent the space adjacent the linear gear racks 765.
[0137] Referring to FIG. 25, with the camera/delivery tube assembly 730 connected to the coupler 720, the tool controller 602 can be installed. Referring to FIG. 26, to install the tool controller 602, the tool controller is positioned such that the tool 550 is inserted into the proximal end portion 782 of the delivery tube (738) and is pushed all the way through the delivery tube until the tool 550 and tool positioner 20 extend outwardly from the distal second end portion 742 of the delivery tube as shown in FIG. 27. Thus, the second rigid conduit 606 extends inside the delivery tube parallel to the camera positioner support tube 754 and the tool positioner 20 can be freely moved about in the space adjacent the distal second end portion 742 of the delivery tube. Referring to FIGS. 26 and 27, the length of the second rigid conduit 606 is pre-configured so that when the gear segments 628, 622, 632, 636, 640 and 644 are engaged with their corresponding linear gear racks (629, 623, 633, 637, 641 and 645), the tool positioner 20 is completely outside the delivery tube 738.
[0138] Referring to FIG. 26, in the embodiment shown, the coupler 720 has first and second linear gear rack assemblies 800 and 802 that are operable to receive first and second tool controllers respectively. A first tool controller is shown at 602 and a second tool controller is shown in broken outline at 804. In the above-described design of the first tool controller 602 each gear segment 628, 622, 632, 636, 640 and 644 has a symmetrically opposite gear segment 928, 922, 932, 936, 940, and 944 on the same hub. These gear segments 928, 922, 932, 936, 940, and 944 lie in respective parallel planes at pre-defined distances from a parallel plane in which the base plate 612 lies and protrude beyond an edge 950 of the base plate 612 by the same amount by which their corresponding opposite gear segments protrude beyond an opposite edge 952 of the base plate 612. In the embodiment shown, the first tool controller 602 is installed on the coupler 720 to cooperate with the first linear gear rack assembly 800 and when installed to effect this cooperation, edge 952 of the first tool controller 602 is facing the first linear gear rack assembly 800.
[0139] The second tool controller 804 is the same as the first tool controller 602 but is installed in a mirror image orientation relative to the first tool controller 602 as shown in broken outline in FIG. 26. In this orientation, an edge 954 of the second tool controller 804 corresponding to edge 950 of the first tool controller 602 faces the second linear gear rack assembly 802 and gear segments (equivalent to 928, 922, 932, 936, 940, and 944 of the first tool controller 602) of the second tool controller 804 engage with corresponding linear gear racks of the second linear gear rack assembly 802. Thus, a second tool positioner 812 connected to a second tool controller 804 may be fed through the delivery tube 738 to extend outside the delivery tube as shown in FIG. 28.
[0140] Referring to FIG. 29, with the above described components connected together as described, the laparoscopic surgical apparatus shown in FIG. 18 is further described. The movable platform 700 can be used to move the head 708 into a position such as shown, wherein the tools 550 and 810 and camera 750 are positioned inside a patient (not shown) through a single, relatively small incision. Initially, the camera 750 and first and second tool positioners are positioned so as to be closely adjacent each other within the diameter of the delivery tube 738 to facilitate inserting the camera and first and second tool positioners 20 and 812 and tools 550 and 810 thereon into the patient through the small incision. Then the patient can be inflated with CO.sub.2 in the conventional manner and then the camera can be positioned off-axis of the delivery tube, upwardly, for example and positioned to have a field of view that encompasses the locations of the tools 550 and 810, for example. The camera 750 may also have zoom capability to zoom in on any area of particular interest inside the patient in the vicinity of the tools 550 and 810. Then, the tools 550 and 810 may be positioned and manipulated to perform surgery while the actions of the tools are viewed by the camera 750.
[0141] The positioning and manipulation of the tools 550 and 810 is directed by a surgeon operating a workstation such as shown at 860 in FIG. 30, having a 3D portal 862, for example, for viewing three-dimensional images produced by the camera 750 on a screen and having left and right input devices 864 and 866, a handrest 868 and a support cabinet 870 mounted on a movable platform 872. The movable platform may have first and second footswitches 874 and 876. The support cabinet 870 may include a computer 878 operably configured to receive signals from the left and right input devices 864 and 866 and from the first and second footswitches 874 and 876 and to produce and transmit command signals on the network to the computer of the laparoscopic surgical apparatus 850 shown in FIG. 29 to cause the liner gear racks to move in directions and distances that will effect a desired movement of the tool.
[0142] Above it was mentioned that the end effector or tool can be moved with 5 degrees of freedom by pulling or pushing on various links of the first, second and/or third pluralities of flexible control links 88, 90, 92, 94, 104, 106, 108, 110, 120, 122, 124, 126 by moving corresponding ones of the linear gear rack assemblies. A 6.sup.th degree of freedom of movement is provided by causing the tool assembly 600 and the tool controller 602 to move in a direction along the axis of the second rigid conduit 604. Such motion may be provided by moving the head 708 in a linear direction along a line coincident with the delivery tube 738, for example.
[0143] Alternatively, referring to FIGS. 26 and 31, in an alternative embodiment of the coupler 720 the first and second linear gear rack assemblies 800 and 802 can be formed on separate bases 900 and 902 and the cooperating gear racks (765 on the coupler 720) can be made long enough to permit the first and second linear gear racks 800 and 802 to be moved linearly relative to a base 904 of the coupler 720 to provide a 6.sup.th degree of freedom of movement in the direction of the axis of the delivery tube 738. To affect this movement, the base 904 can be provided with first and second gear racks 906 and 908 that engage with corresponding linear gear segments (not shown) on undersides of the first and second bases 900 and 902. The first and second gear racks can be actuated by corresponding mating gear racks (not shown) on the head (708) in a manner similar to that described in connection with the way individual racks of the first and second linear gear rack assemblies 800 and 802 are actuated.
[0144] In the alternative embodiment of the coupler 720 shown in FIG. 31, referring to FIG. 32, when the first and second tool controllers 602 and 804 are disposed at different distances from the proximal end portion 782 of the delivery tube, the respective tool positioners 20 and 812 are disposed at different distances from the distal end portion 742 of the delivery tube which positions the respective tools 550 and 810 at different distances from the distal end portion of the delivery tube.
[0145] Advantageously, the apparatus described herein provides for different types of tools to be held by the same type of tool positioning apparatus which separates the tool positioning function from the tool operation function. Thus, a single type of tool positioner can be provided and different types of tools can selectively be used in that tool positioning apparatus, as desired. In addition, the apparatus provides for left and right surgical tools to be received through the same incision in the patient and allows these tools to be positioned on opposite sides of an axis defined by the delivery tube. This enables access to the area in which surgery is taking place from either side, making it seem to the surgeon quite like directly performing the surgery in the conventional manner. In addition the same tools that are being used to perform the functions of the end effector are rotatable about their longitudinal axes which provides for more convenient and independent positioning of the end effectors.
[0146] 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. (canceled)
2. An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is substantially parallel to the first pivot axis; and a head movably coupled to a distal end of the second pivot arm; a tool coupler supported on the head for movement therewith, the tool coupler configured to connect a plurality of tool controllers to the head; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a substantially rigid conduit of the first tool controller having a distal end; and a tool assembly supported at the distal end of the substantially rigid conduit of the first tool controller, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes: a first articulating section supported at a distal end of the substantially rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a tool; and a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a substantially rigid conduit of the second tool controller having a distal end; and a tool assembly supported at the distal end of the substantially rigid conduit of the second tool controller, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the tool assembly of the second tool controller includes: a first articulating section supported at a distal end of the substantially rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector of the second tool controller includes a tool.
3. The apparatus according to claim 2, wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly relative to a longitudinal axis of the second pivot arm.
4. The apparatus according to claim 2, wherein each of the plurality of coupled guides defines a respective articulating section.
5. The apparatus according to claim 2, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
6. The apparatus according to claim 2, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in operation of the tool of the respective end effector.
7. The apparatus according to claim 2, further comprising: a camera assembly including: a support tube defining a longitudinal axis extending substantially parallel to a longitudinal axis of the rigid conduit of the first tool controller and extending substantially parallel to a longitudinal axis of the rigid conduit of the second tool controller; and a camera movably supported on a distal end of the support tube.
8. The apparatus according to claim 7, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube.
9. The apparatus according to claim 2, wherein the tool of the tool assembly of either the first tool controller or the second tool controller is selected from the group consisting of a gripper having opposing jaws, a cauterizing device, a suctions device, a retraction device and a grasping device.
10. An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a plurality of pivot arms extending from the vertical post; and a head rotatably coupled to a distal end of the plurality of pivot arms; a tool coupler supported on the head for movement therewith, the tool coupler configured to connect a plurality of tool controllers to the head; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a tool assembly supported at a distal end of a conduit of the first tool controller, wherein the conduit of the first tool controller is substantially rigid, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the tool assembly of the first tool controller includes: a first articulating section supported at the distal end of the conduit of the first tool controller; a second articulating section supported at a distal end of the first articulating section; and a third articulating section supported at a distal end of the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller, wherein the end effector of the first tool controller includes a tool; and a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a tool assembly supported at a distal end of a conduit of the second tool controller, wherein the conduit of the second tool controller is substantially rigid, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the tool assembly of the second tool controller includes: a first articulating section supported at the distal end of the conduit of the second tool controller; a second articulating section supported at a distal end of the first articulating section; and a third articulating section supported at a distal end of the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller, wherein the end effector of the second tool controller includes a tool.
11. The apparatus according to claim 10, wherein the plurality of pivot arms includes: a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; and a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is substantially parallel to the first pivot axis.
12. The apparatus according to claim 10, wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly of the first tool controller and the tool assembly of the second tool controller relative to a longitudinal axis of the second pivot arm.
13. The apparatus according to claim 10, wherein each of the plurality of coupled guides defines a respective articulating section.
14. The apparatus according to claim 13, whereby, for each of the plurality of coupled guides: the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit; the second articulating section enables the tool assembly to articulate relative to the first articulating section; and the third articulating section enables the tool assembly to articulate relative to the second articulating section.
15. The apparatus according to claim 10, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
16. The apparatus according to claim 10, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in operation of the tool of the respective end effector.
17. The apparatus according to claim 10, further comprising: a camera assembly including: a support tube defining a longitudinal axis extending substantially parallel to a longitudinal axis of the conduit of the first tool controller and extending substantially parallel to a longitudinal axis of the conduit of the second tool controller; and a camera movably supported on a distal end of the support tube.
18. The apparatus according to claim 17, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube.
19. The apparatus according to claim 10, wherein the tool of the tool assembly of either the first tool controller or the second tool controller is selected from the group consisting of a gripper having opposing jaws, a cauterizing device, a suctions device, a retraction device and a grasping device.
20. An apparatus for performing laparoscopic surgery, the apparatus comprising: a movable platform; a gross positioning mechanism supported on the movable platform, the gross positioning mechanism including: a vertical post extending upwardly from the movable platform, wherein the vertical post defines a longitudinal axis; a plurality of pivot arms extending from the vertical post; and a head pivotably coupled to a distal end of a distal most arm of the plurality of pivot arms, wherein the distal-most arm defines a longitudinal axis, and wherein the head is pivotable about a pivot axis oriented orthogonally relative to the longitudinal axis of the distal-most arm; a tool coupler supported on the head, the tool coupler configured to connect a plurality of tool controllers to the head, wherein the tool coupler defines a connector portion; a first tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the first tool controller including: a substantially rigid conduit having a distal end; a tool assembly supported at the distal end of the substantially rigid conduit of the first tool controller, the tool assembly of the first tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly of the first tool controller relative to the longitudinal axis of the plurality of coupled guides of the first tool controller, wherein the plurality of coupled guides of the first tool controller includes: a first articulating section supported at a distal end of the substantially rigid conduit of the first tool controller, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit of the first tool controller; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the first tool controller; and a second tool controller, of the plurality of tool controllers, configured for selective connection to the tool coupler, the second tool controller including: a substantially rigid conduit having a distal end; a tool assembly supported at the distal end of the substantially rigid conduit of the second tool controller, the tool assembly of the second tool controller including: a plurality of coupled guides defining a longitudinal axis, the plurality of coupled guides being configured to permit off-axis articulation of the tool assembly of the second tool controller relative to the longitudinal axis of the plurality of coupled guides of the second tool controller, wherein the plurality of coupled guides of the second tool controller includes: a first articulating section supported at a distal end of the substantially rigid conduit of the second tool controller, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit of the second tool controller; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section; and an end effector supported at a distal end of the plurality of coupled guides of the second tool controller.
21. The apparatus according to claim 20, wherein the plurality of pivot arms includes: a first pivot arm having a proximal end pivotally connected to the vertical post, wherein the first pivot arm pivots about a first pivot axis coincident with the longitudinal axis defined by the vertical post; and a second pivot arm having a proximal end pivotally connected to first pivot arm, wherein the second pivot arm pivots about a second pivot axis which is substantially parallel to the first pivot axis.
22. The apparatus according to claim 20, wherein the head pivotably coupled to a distal end of the plurality of pivot arms; and wherein the head defines a pivot axis about which the head is pivotable to vary at least one of a pitch or yaw of a longitudinal axis of the tool assembly relative to a longitudinal axis of the second pivot arm.
23. The apparatus according to claim 20, wherein each of the plurality of coupled guides defines a respective articulating section.
24. The apparatus according to claim 23, wherein each of the plurality of coupled guides includes: a first articulating section supported at a distal end of the substantially rigid conduit, whereby the first articulating section enables the tool assembly to articulate relative to the substantially rigid conduit; a second articulating section supported at a distal end of the first articulating section, whereby the second articulating section enables the tool assembly to articulate relative to the first articulating section; and a third articulating section supported at a distal end of the second articulating section, whereby the third articulating section enables the tool assembly to articulate relative to the second articulating section.
25. The apparatus according to claim 24, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
26. The apparatus according to claim 20, further comprising a respective flexible tool control link connected to each end effector and extending along the plurality of coupled guides, wherein actuation of the respective flexible tool control link results in operation of the respective end effector.
27. The apparatus according to claim 20, further comprising: a camera assembly including: a support tube defining a longitudinal axis extending substantially parallel to a longitudinal axis of the substantially rigid conduit of the first tool controller and extending substantially parallel to a longitudinal axis of the substantially rigid conduit of the second tool controller; and a camera movably supported on a distal end of the support tube.
28. The apparatus according to claim 20, wherein the camera is axially translatable relative to the of the first tool controller and the second tool controller upon axial reciprocation of the support tube.
29. The apparatus according to claim 20, wherein the end effector of the tool assembly of either the first tool controller or the second tool controller is selected from the group consisting of a gripper having opposing jaws, a cauterizing device, a suctions device, a retraction device and a grasping device.
If it's too cheap it would be crazy for ISRG not to bid!
I'd settle for a 13g at 5% to beggin!
How much would the price be after?
I'm afraid they gobble it all up now
it seems to me the bull that tells the donkey that it is horned!
TMDI on fire
Does MDT want to be number 1?
Do they want the door open because they are trustworthy?
The future of robotic surgery
“We intend to keep minimizing incisions, possibly working toward robotic surgery with no incisions, done through natural orifices,” says Dr. Kaouk. “Advances in robotic surgery also will involve creating robots that aren’t just an extension of the surgeon’s hands and eyes, but a virtual assistant — a smart robot that can use imaging to improve surgical precision, for example.”
https://consultqd.clevelandclinic.org/single-port-robot-turns-radical-prostatectomy-into-outpatient-procedure/
BOOM!
Imaging Apparatus For Use In A Robotic Surgery System
DOCUMENT ID
US 11523084 B2
DATE PUBLISHED
2022-12-06
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Jones; Evan Rittenhouse
Pittsford
NY
N/A
US
Costello; Spencer James
Huntington
NY
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
17/371243
DATE FILED
2021-07-09
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 16598751 20191010 US 11070762 20210720 child-doc US 17371243
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
H 04 N 5/2252
2013-01-01
CPCI
A 61 B 1/00078
2013-01-01
CPCI
A 61 B 1/051
2013-01-01
CPCI
A 61 B 1/0669
2013-01-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
H 04 N 5/2256
2013-01-01
CPCI
A 61 B 1/00009
2013-01-01
CPCI
H 04 N 13/239
2018-05-01
CPCI
A 61 B 1/07
2013-01-01
CPCI
H 04 N 5/22521
2018-08-01
CPCI
A 61 B 1/005
2013-01-01
CPCI
H 04 N 5/38
2013-01-01
CPCI
A 61 B 1/00045
2013-01-01
CPCI
A 61 B 1/00018
2013-01-01
CPCA
A 61 B 2034/301
2016-02-01
CPCA
H 04 N 2005/2255
2013-01-01
CPCA
A 61 B 90/361
2016-02-01
CPCA
A 61 B 1/00193
2013-01-01
Abstract
A stereoscopic imaging apparatus for use in a robotic surgery system is disclosed and includes an elongate sheath having a bore. First and second image sensors are adjacently mounted at the distal end to capture high definition images from different perspective viewpoints for generating three-dimensional image information. The image sensors produce an unprocessed digital data signal representing the captured images. A wired signal line transmits the unprocessed digital data signals along the sheath to a proximal end to processing circuitry. The processing circuitry is configured to perform processing operations on the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system or for driving a 3D display. A secondary camera is also disclosed and includes an elongate strip of circuit substrate sized for insertion through a narrow conduit, the strip of circuit substrate connecting between an image sensor and a processing circuit substrate.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
(1) The present application is an International Patent Application a Continuation Application claiming the benefit of and priority to U.S. patent application Ser. No. 16/598,751, filed on Oct. 10, 2019, now U.S. Pat. No. 11,070,762, the entire content of which is incorporated herein by reference.
BACKGROUND
1. Field
(1) This disclosure relates generally to imaging and more particularly to a stereoscopic imaging apparatus for use in generating images within a body cavity of a patient.
2. Description of Related Art
(2) Stereoscopic imaging generally involves capturing a pair of images from spaced apart perspective viewpoints and processing the images to generate a three-dimensional (3D) view or 3D information based on a disparity between the pair of images. Conventional endoscopes used in medical and surgical procedures use relay lenses to convey captured light from a distal end of a narrow elongate tube inserted into a patient's body cavity to form an image at a proximal end of the tube. Alternatively, a small format image sensor capable of generating high resolution video signals may be used to capture an image at the distal end of the tube and to relay an image signal back to a host system for display. When implementing high definition imaging at high frame rates, image signals that are transmitted back to the host system by the image sensor have a relatively high data rate and there is consequently significant heat generation at the image sensor. The heat generation at the end of the tube may cause an unacceptable and/or unpredictable temperature increase of the distal end of the endoscope and within the body cavity of a patient.
SUMMARY
(3) In accordance with one disclosed aspect there is provided a stereoscopic imaging apparatus for use in a robotic surgery system. The apparatus includes an elongate sheath having a bore extending therethrough. The sheath terminates in a distal end sized for insertion into a body cavity of a patient. First and second image sensors are adjacently mounted at the distal end of the sheath and oriented to capture high definition images of an object field from different perspective viewpoints for generating three-dimensional image information. Each of the first and second image sensors is configured to produce an unprocessed digital data signal representing the captured images. The apparatus also includes a wired signal line connected to transmit each of the unprocessed digital data signals from the first and second image sensors along the sheath to a proximal end thereof. The apparatus further includes processing circuitry disposed at the proximal end of the sheath and connected to the wired signal line to receive the unprocessed digital data signals from each of the first and second image sensors. The processing circuitry is configured to perform processing operations on each of the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system for driving a display capable of three-dimensional information.
(4) Each of the unprocessed digital data signals may have a bit rate higher than about 1 gigabit per second.
(5) Each of the first and second image sensors have at about least 2,000,000 pixels.
(6) The unprocessed digital data signal may include 10 bit pixel intensity values read out from the pixels of the respective first and second image sensors.
(7) The unprocessed digital data signal may include a signal in accordance with a MIPI Camera Serial Interface protocol and the length of the sheath may be greater than 30 millimeters.
(8) The apparatus of the length of the sheath may be at least about 800 millimeters.
(9) The wired signal line may include a plurality of individual conductors including conductors for implementing at least one MIPI data lane for each image sensor, conductors for transmitting a synchronization clock signal between the processing circuitry and the first and second image sensors, and at least two conductors for carrying image sensor control signals.
(10) The first and second image sensors may be mounted on a sensor circuit substrate disposed within the bore of the sheath and the wired signal line may include a plurality of individual conductors connected via the a sensor circuit substrate to unprocessed digital data outputs of the respective first and second image sensors.
(11) The plurality of individual conductors of the wired signal line may be connected at the proximal end to a strip of circuit substrate sized to pass through the bore of the sheath, the strip of circuit substrate including a multiple pin connector for connecting to a corresponding multiple pin connector on a circuit substrate associated with the processing circuitry.
(12) The apparatus may include a graphene sheet within the bore of the sheath, the graphene sheet being in thermal communication with the sensor circuit substrate and wrapped around at least a portion of a length of the wired signal line for channeling heat away from the distal end of the sheath.
(13) The apparatus may include a heating element disposed at the distal end of the sheath and operably configured to selectively heat the distal end of the sheath to maintain the distal end of the sheath at a temperature that prevents formation of condensation.
(14) The apparatus may include signal conditioning circuitry for conditioning the unprocessed digital data signals for transmission, the signal conditioning circuitry including at least one of conditioning circuitry at the distal end of the sheath between each of the first and second images sensors and the wired signal line, conditioning circuitry located partway along the sheath in-line with the wired signal line, or conditioning circuitry configured to re-condition the received unprocessed digital data signals prior to performing processing operations on the signals.
(15) The processing circuitry may include circuitry that converts each of the unprocessed digital data signals into a serial digital interface (SDI) video signal for transmission to a host system.
(16) The processing circuitry may include circuitry that converts each of the unprocessed digital data signals into a FPD link video signal for transmission to a host system.
(17) The sheath may include one of a rigid sheath or a flexible sheath.
(18) The sheath may include a flexible articulating portion which when actuated by the host system facilitates movement of the distal end of the sheath within the body cavity of a patient to orient the image sensors for image capture.
(19) The apparatus may include a plurality of optical fibers extending through the sheath and terminating at the distal end, the plurality of optical fibers being operable to channel light from a distally located light source for illuminating the object field.
(20) The first and second image sensors may be mounted on a sensor circuit substrate sized to occupy a central portion of the bore of the sheath and the plurality of optical fibers may terminate at regions between the sensor substrate and the sheath at the distal end of the sheath.
(21) The sheath may have a generally circular cross section.
(22) The sheath may have an outside diameter of less than about 10 millimeters.
(23) Each of the image sensors may include imaging optics disposed in front of the respective faces of each of the image sensors and configured to capture light from the object field to form an image on the respective image sensors.
(24) In accordance with another disclosed aspect there is provided an imaging apparatus. The apparatus includes an image sensor oriented to capture high definition images of an object field and configured to produce an unprocessed digital data signal representing the captured images. The apparatus also includes an elongate strip of circuit substrate sized for insertion through a narrow conduit. The image sensor is mounted at a distal end of the circuit substrate and connected to a plurality of conductors extending along the elongate circuit substrate to a proximal end thereof. The proximal end has a multiple pin connector for connecting to a corresponding multiple pin connector on a processing circuit substrate. The processing circuit substrate includes processing circuitry configured to receive and process the unprocessed digital data signal from the image sensor to produce a video signal suitable for transmission to a host system for driving a display.
(25) The elongate strip of circuit substrate may have a length of at least about 20 centimeters and a width of less than about 4 millimeters.
(26) In accordance with another disclosed aspect an insertion device for a robotic surgery apparatus includes an insertion section including first and second camera channels and at least one instrument channel extending along at least a portion of the insertion section. The first camera channel is configured to facilitate insertion and removal from the insertion section of the sheath and the first and second image sensors of as disclosed above for use as a primary camera. The second camera channel is configured to enclose the image sensor and elongate strip of circuit substrate disclosed above for use as a secondary camera. The at least one instrument channel is configured to permit insertion and removal of at least one surgical instrument from the insertion section. The apparatus also includes a housing attached to the insertion section. The housing includes a passage configured to permit at least a portion of the primary camera to pass through the housing into the first camera channel and exit the first camera channel, the housing configured to be removably attached to the robotic surgery apparatus. The secondary camera is configured to provide image data of a surgical site to facilitate insertion into the surgical site of at least one of the at least one surgical instrument or the primary camera.
(27) 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 stereoscopic imaging apparatus according to a first disclosed embodiment;
(3) FIG. 2A is a perspective view of first and second image sensors of the stereoscopic imaging apparatus shown in FIG. 1;
(4) FIG. 2B is an exploded view of a sensor circuit substrate shown separated from a connector circuit substrate of the stereoscopic imaging apparatus shown in FIG. 1;
(5) FIG. 2C is a rear view of the connector circuit substrate shown in FIG. 2B;
(6) FIG. 2D is a further perspective view of first and second image sensors of the stereoscopic imaging apparatus shown in FIG. 1;
(7) FIG. 3 is a schematic diagram of processing circuitry, the connector circuit substrate, and the sensor circuit substrate of the stereoscopic imaging apparatus shown in FIGS. 1, 2A and 2B;
(8) FIG. 4 is a perspective view of an insertion device through which the stereoscopic imaging apparatus shown in FIG. 1 is inserted; and
(9) FIG. 5 is a perspective view of a secondary camera used in the insertion device shown in FIG. 4.
DETAILED DESCRIPTION
(10) Referring to FIG. 1, a stereoscopic imaging apparatus according to a first disclosed embodiment is shown generally at 100. The apparatus 100 includes an elongate sheath 102. The sheath 102 terminates in a distal end 104 sized for insertion through an opening into a body cavity of a patient. The opening may be an incision made by a surgeon to permit access to the body cavity. In other embodiments the opening may be a natural orifice that permits access to the body cavity of the patient. The apparatus 100 may be part of a robotic surgery system for performing robotic surgery. In one embodiment the sheath 102 may be about 800 millimeters in length but in other embodiments may be longer or shorter.
(11) The apparatus 100 further includes first and second image sensors at the distal end 104 of the elongate sheath 102. The distal end 104 is shown in greater detail in the insert in FIG. 1 with a portion of the sheath 102 removed. The first and second image sensors 106 and 108 are adjacently mounted at the distal end 104 of the sheath 102 within a sensor housing portion 140 at the end of the sheath. The first and second image sensors 106 and 108 are oriented to capture high definition images of an object field 110 from different perspective viewpoints 112 and 114 for generating three-dimensional (3D) image information.
(12) The first and second image sensors 106 and 108 are each configured to produce an unprocessed digital data signal representing the images captured from the perspective viewpoints 112 and 114. Unprocessed digital video signals generally represent the actual intensity read out from each pixel on the image sensor. Some image sensors are configured to compress the video signal using a lossy compression method in which some of the video information may be removed. Otherwise known as a raw-video signal, an unprocessed digital data signal maintains the full integrity of the actual image information and preserves options for subsequent processing by the host system.
(13) The apparatus 100 also includes a bore 116 extending through the elongate sheath 102 that accommodates a wired signal line 118 (shown in part in the insert of the distal end 104). The wired signal line 118 is connected to transmit each of the unprocessed digital data signals from the first and second image sensors 106 and 108 along the sheath 102 to a proximal end 120 of the sheath. The apparatus 100 also includes processing circuitry 122 disposed at the proximal end 120 of the sheath 102. The processing circuitry 122 is shown in greater detail in the insert in FIG. 1 and is connected to the wired signal line 118 via a strip of circuit substrate 124. Individual conductors of the wired signal line 118 are soldered to the strip of circuit substrate 124. The processing circuitry 122 includes a multiple pin connector 126 that connects to a corresponding multiple pin connector on the strip of circuit substrate 124. The strip of circuit substrate 124 is sized to pass through the bore 116 of the sheath 102 to facilitate threading of the wired signal line 118 through the sheath 102 from the distal end 104. The processing circuitry 122 thus receives the unprocessed digital data signals from each of the first and second image sensors 106 and 108 via the wired signal line 118 and is configured to perform processing operations on each of the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system for driving a display (not shown) capable of displaying 3D information.
(14) An advantage provided by the apparatus 100 is that the processing circuitry 122 is separated from the distal end 104 of the sheath 102 and the image sensors 106 and 108. The distal portion of the sheath 102 will generally be inserted into the patient's body cavity while the processing circuitry 122 remains outside the body cavity or otherwise away from the surgical site. Heat generated by the processing circuitry 122 while processing and transmitting the image signals is thus able to dissipate outside the body cavity of the patient (or otherwise away from the surgical site). Some heat is also generated by the first and second image sensors 106 and 108 but causes a lesser temperature increase than would be if the heat generated by the processing circuitry 122 were also to be dissipated proximate the distal end 104 of the sheath 102.
(15) In the embodiment shown, the distal end 104 of the sheath 102 includes a flexible articulating portion 128, which includes a plurality of vertebra 130 that are moveable when actuated by a host system (not shown) by pushing and/or pulling on a plurality of control links 132. The flexible articulating portion 128 is shown in the distal end insert with one of the vertebra 130 omitted to reveal the underlying structure. In the embodiment shown, each vertebra 130 has a central opening for receiving a tube 134 that defines the bore 116 within the sheath 102. The plurality of control links 132 are routed through respective channels extending through the vertebrae and the distal ends of the control links are fixed at a last vertebra 136 in the flexible articulating portion 128. A face 138 of each vertebra includes a curved portion to accommodate movement with respect to adjacent vertebra so that the flexible articulating portion 128 is able to flex in all directions. The plurality of control links 132 are shown truncated in the insert of the distal end 104 but in practice extend through the length of the sheath 102 and are connected to an actuator drive of the host system at the proximal end 120. The vertebrae 130 move with respect to each other when actuated by the plurality of control links 132 cause movement of the distal end 104 of the sheath 102 such that the first and second image sensors 106 and 108 are oriented within the body cavity of the patient for image capture within the object field 110. In the embodiment shown, at least a portion of the tube 134 that passes through the flexible articulating portion 128 would be fabricated from a flexible material. However in some embodiments the entire tube 134 and the sheath 102 may be fabricated from flexible materials that allow the apparatus 100 to be flexed along its length.
(16) In the embodiment shown, the apparatus 100 and sheath 102 have a generally circular cross section, and in one embodiment may have an outside diameter of less than about 10 millimeters. In the embodiment shown, the apparatus 100 also includes a fiber bundle 142 including a plurality of optical fibers. The fibers insert in an outer perimeter space 144 between the bore 116 and the sheath 102 at the proximal end 120 and are routed through the sheath to the distal end 104 where the fibers terminate in regions 146 and 148 above and below the image sensors 106 and 108. The fiber bundle 142 has an end 150 that couples to a distally located light source (not shown) that generates and couples light into the fiber bundle. The fiber bundle 142 guides the light along the sheath 102 to the regions 146 and 148 where the light is directed to illuminate the object field 110 for capturing images at the image sensors 106 and 108. In other embodiments, the fibers may terminate in other regions at the distal end 104, including, for example, at a plurality of regions.
(17) Referring to FIG. 2A, the first and second image sensors 106 and 108 are shown with the sensor housing portion 140 and the remainder of the sheath 102 removed. The first and second image sensors 106 and 108 are substantially identical and are mounted on a common sensor circuit substrate 200. The sensor circuit substrate 200 is accommodated within a bore of the sensor housing portion 140 at the end of the sheath 102. Each of the image sensors 106 and 108 include a plurality of light sensitive elements or pixels. In one embodiment, the image sensors 106 and 108 may be implemented using a CMOS image sensor such as the OH02A10 available from OmniVision of Santa Clara, USA. The OH02A10 image sensor has 1.4 µm square pixels in a 1920×1080 array and the sensor has a ? inch (i.e. 4.23 millimeters across its diagonal). Each image sensor 106 and 108 has associated imaging optics 202 and 204 disposed in front of the respective image sensors and configured to capture light from the object field 110 to form images on the respective image sensors. The OH02A10 image sensor is capable of a frame rate of 60 frames per second (fps) at full 1080p scan resolution thus providing high resolution video images.
(18) In this embodiment, the sensor circuit substrate 200 on which the first and second image sensors 106 and 108 are mounted is connected to a connector circuit substrate 206 via a multiple pin connector 210. Referring to FIG. 2B, the sensor circuit substrate 200 is shown separated from the connector circuit substrate 206. The connector 210 includes a connector portion 210' mounted on the connector circuit substrate and a corresponding connector portion 210? mounted on a rear surface of the sensor circuit substrate 200.
(19) Referring to FIG. 2C, the wired signal line 118 is connected to a rear surface 212 of the connector circuit substrate 206. In this embodiment, the connection is formed by directly soldering individual conductors 214 in the wired signal line 118 at solder pads 216 on the rear surface 212 of the connector circuit substrate. Signals are routed to and from unprocessed digital data outputs of the respective first and second image sensors 106 and 108 via the sensor circuit substrate 200, the connector 210, and the connector circuit substrate 206, for transmission over the wired signal line 118 to the processing circuitry 122. The wired signal line 118 generally includes a plurality of conductors 214, including conductors for supplying power to the image sensors 106 and 108, conductors for transmitting image sensor control signals and a clock synchronization signal to the image sensors, and conductors that act as signal transmission lines for transmitting image signals to the processing circuitry 122 via the wired signal line. In the embodiment shown, the sensor circuit substrate 200 includes only passive electronic components 208 such as decoupling capacitors. In the embodiment shown, the only active components on the sensor circuit substrate 200 are the image sensors 106 and 108. In other embodiments, the sensor circuit substrate 200 or connector circuit substrate 206 may include additional signal conditioning circuitry for conditioning the signals to be transmitted to the processing circuitry 122 via the wired signal line 118.
(20) Referring to FIG. 2D, in this embodiment the sensor circuit substrate 200, connector circuit substrate 206, and wired signal line 118 are enclosed by a graphene sheet, a portion of which is shown at 218. The graphene sheet 218 extends into the bore 116 of the tube 134 and is wrapped about the sensor circuit substrate 200. The graphene sheet 218 channels heat away from the image sensors 106 and 108 along a length of the wired signal line 118. Graphene, having a high level of thermal conductivity, is effective at channeling the heat from the image sensors 106 and 108 along the sheath 102 away from a portion of the apparatus 100 that will be inserted into the patient's body cavity. Operation of image sensors and/or processing circuitry can cause a temperature increase, which if occurring at the distal end of the sheath 102 may affect sensitive tissues at the site of surgical operations.
(21) In some embodiments the removal of heat by the graphene sheet 218 may reduce the temperature within the housing portion 140 of the sheath 102 to a point where condensation may form on the imaging optics 202 and 204 associated with the first and second image sensors 106 and 108. The body cavity temperature of the patient will typically be somewhere in the region of 37° C. and it would be desirable that the sensor housing portion 140 remain above this temperature to prevent condensation forming. Referring to FIG. 2D, in the embodiment shown, a heating element (or heater) 220 is provided at the distal end 104 of the sheath 102. The heating element 220 may be wrapped around the sensor circuit substrate 200 under the graphene sheet 218. Suitable heating elements including resistive traces formed on a flexible kapton sheet are available from Heatact Super Conductive Heat-Tech Co. Ltd of Taiwan or Embro GmbH, of Germany. The heating element 220 includes a pair of contact pads 222 that may be connected to receive a heating current via a pair of conductors that form part of the line 118. In one embodiment, a temperature at the first and second image sensors 106 and 108 may be monitored and the heating current supplied to the heating element 220 may be increased to heat the distal end 104 apparatus 100 when a risk of condensation is detected.
(22) A schematic diagram of the processing circuitry 122, connector circuit substrate 206, and sensor circuit substrate 200 is shown in FIG. 3. The first and second image sensors 106 and 108 are packaged for solder connection to the sensor circuit substrate 200 via a number of connection points that provide power and control signals to the sensor and read out image data. In the case of the Omnivision OH02A10 sensor, the package is a chip on polymer (CIP) package having 32 connections. The sensor circuit substrate 200 provides solder pads for soldering the sensors to the substrate such that the sensors can be mounted in alignment with each other and at a fixed lateral offset or stereoscopic separation distance. The sensor circuit substrate 200 further includes internal traces and via connections that route the necessary connections on the sensor to the connector portion 210?. The connector circuit substrate 206 similarly includes traces and vias that route the connections from the connector portion 210', through the substrate, and out to the solder pads 216 on the rear surface 212 of the connector circuit substrate (shown in FIG. 2C).
(23) As disclosed above, in this embodiment the sensor circuit substrate 200 and connector circuit substrate 206 only route connections between the image sensors 106, 108 and the wired signal line 118 and there is no active circuitry other than the image sensors mounted on these circuit substrates. In the embodiment shown, the sensor circuit substrate 200 and connector circuit substrate 206 are separate substrates, which facilitates separate fabrication and handling of the sensor circuit substrate 200 for protection of the sensitive CMOS image sensors 106, 108. In other embodiments, the sensor circuit substrate 200 and connector circuit substrate 206 may be fabricated as a single circuit substrate or the image sensors 106, 108 may be otherwise mounted and connected.
(24) The wired signal line 118 includes the plurality of individual conductors 214 that extend between the solder pads 216 and the strip of circuit substrate 124, which connects to the multiple pin connector 126 on the processing circuitry 122. As disclosed above, image data from each of the first and second image sensors 106 and 108 are transmitted as unprocessed digital data signals to the processing circuitry 122 via the wired signal line 118. In the example of the Omnivision OH02A10 sensor, the unprocessed digital data signals comply with the MIPI CSI-2 transmission protocol, which is a camera serial interface protocol administered by the Mobile Industry Processor Interface (MIPI) Alliance. Other unprocessed data signal or raw image data protocols may be implemented depending on the selection of image sensors. Video signals may be transmitted using a variety of signal protocols such as Serial digital interface (SDI), Serial Peripheral Interface (SPI), I.sup.2C (Inter-Integrated Circuit), RGB video, or Low-voltage differential signaling (LVDS), some of which may be employed to transmit the video signals along the wired signal line 118.
(25) In the embodiment shown in FIG. 3, the wired signal line 118 includes two twisted pairs of conductors for implementing two MIPI data lanes for each image sensor 106, 108. For the first (right hand side) image sensor 106, MIPI data lane 0 and MIPI data lane 1 are implemented, while for the second (left hand side) image sensor 108, MIPI data lane 0 and MIPI data lane 1 are implemented. The wired signal line 118 also includes a twisted pair of conductors for transmitting a clock associated with the MIPI signals for each of the sensors 106 and 108. In other embodiments, a single MIPI data lane or more than two MIPI data lanes may be implemented for each image sensor 106, 108. The MIPI CSI-2 protocol is generally used for short distance transmission between an imaging sensor and processing circuitry within in an imaging device, but in the apparatus 100 the distance over which transmission occurs is significantly increased. The wired signal line 118 also includes several power and ground conductors for delivering operating power to each of the sensors 106 and 108. The wired signal line 118 further includes a coaxial conductor for transmitting a synchronization clock signal between the processing circuitry 122 and each of the first and second image sensors 106 and 108. The wired signal line 118 also includes a two-wire inter-integrated circuit (I.sup.2C) control line for carrying image sensor control signals between the processing circuitry 122 and each of the image sensors 106 and 108. The I.sup.2C control may be implemented using a serial data line (SDA) and a serial clock line (SCL) to control each of the image sensors 106 and 108. The image sensor control signals are used to set up and control parameters for image capture at the chip level.
(26) An imaging apparatus used to generate views inside a patient's body cavity will generally have a length of at least 300 millimeters or greater between the distal end and the proximal end. In the example of the apparatus 100 shown in FIG. 1, the overall length is about 900 mm. The Omnivision OH02A10 sensor has 2,073,60 pixels (1920×1080) and an output format of 10 bit raw RGB data representing each pixel intensity. A single frame thus amounts to 20,736,000 bits of data, which at a frame rate of 60 frames per second represents a data rate of 1.24 gigabits per second for each image sensor. In the apparatus 100, there is a requirement to continuously transmit well in excess of 2 gigabits per second. This high data rate must be carried along the wired signal line 118 per sensor without significant signal degradation since image dropout in a medical device such as a surgical system is generally considered to be unacceptable. Data rates of well over 1 gigabit per second are not generally regarded to be successfully transmissible over MIPI CSI-2 data lanes when the length of transmission exceeds about 30 millimeters and thus the 900 mm transmission would be generally avoided.
(27) The processing circuitry 122 is connected to the connector circuit substrate 206 via the wired signal line 118 at the multiple pin connector 126. In this embodiment, the processing circuitry 122 includes signal conditioning blocks 300 and 302 that receive and condition the unprocessed data signals (i.e. the MIPI data 0 and data 1 lane signals from the respective image sensors 106 and 108). In one embodiment, the MIPI data lane signals may be passed through a circuit that boosts the potentially weakened signals and to compensate for any degradation of the bits in each data stream. In this embodiment, the signal conditioning blocks 300 and 302 are implemented in the processing circuitry 122, which is disposed after the unprocessed data signals have been transmitted along the length of the wired signal line 118. In other embodiments, signal conditioning may additionally or alternatively be performed partway along the sheath 102 of the apparatus 100 in-line with the wired signal line 118. Alternatively, in other embodiments, signal conditioning may be performed at the sensor circuit substrate 200 or connector circuit substrate 206 should it be necessary to further extend transmission distance for the image signals. In other embodiments, signal conditioning functions may be omitted where the signal degradation during transmission over the wired signal line 118 is not of issue.
(28) The conditioned signals are then passed by the signal conditioning blocks 300, 302 to respective image signal interface blocks 304 and 306 for conversion into video signals suitable for transmission over a longer distance to a host system. The image signal interface blocks 304 and 306 may each be implemented using a field-programmable gate array (FPGA) that performs a signal format conversion between the unprocessed signal format and a format suitable for transmission to a host system. The FPGA generally combines the MIPI data lane 0 and 1 streams and formats the signal into a video signal that can be transmitted over a greater distance to a host system and/or displayed on a 3D capable display. The processing circuitry 122 further includes ports 308 and 310 for connecting the apparatus 100 to enable a host system to receive the processed and formatted video image signals for display and/or further processing. The image signal interface blocks 304 and 306 may optionally perform other image processing functions on the signals such as filtering, white balance, color control and correction, etc.
(29) In one embodiment, the image signal interface blocks 304 and 306 may be configured to produce serialized signals that comply with a flat panel display (FPD)-Link signal transmission protocol, which can be transmitted to a host system over a coaxial signal line via the ports 308 and 310. For example, an interface implementing the FPD-Link III update to the protocol is able to transmit the video data signals and also embed clock signals and a bidirectional communication channel on the same signal line.
(30) In another embodiment, the image signal interface blocks 304 and 306 process and format the image data from each image sensor 106 and 108 into a 3G serial digital interface (SDI) serial data stream and the ports 308 and 310 are implemented as BNC connectors that connect to coaxial cables for carrying the first (right) and second (left) image sensor SDI serial data streams to the host system or display. SDI is a family of digital video interfaces commonly used for transmitting broadcast-grade video.
(31) The processing circuitry 122 also receives a power feed at a connector 312 and further includes a power and control block 314, which is configured to receive the power feed and to supply power to the image sensors 106 and 108. The power and control block 314 also provides a control interface for sending imaging commands between a host system and the image sensors 106 and 108. In the embodiment shown, where the image signal interface blocks 304 and 306 implement the FPD-link III protocol, the bidirectional communication channel may be exploited to transmit image sensor control commands to the first and second image sensors 106 and 108 via the ports 308 and 310. In this case, the image signal interface blocks 304 and 306 are further configured to detect image sensor command signals on the bi-directional communication channel and to forward these command signals to the power and control block 314. The power and control block 314 acts as an interface for transmission of the commands to the respective image sensors 106 and 108 via the PC control signal conductors within the wired signal line 118.
(32) Referring to FIG. 4, an insertion device for use with a robotic surgery apparatus (not shown) is shown at 400. The insertion device 400 includes an insertion section 402, which in turn includes first and second camera channels 404 and 406 for receiving a camera, such as the imaging apparatus 100. The insertion section 402 also includes one or more instrument channels (in this case instrument channels 408 and 410) that extend along at least a portion of the insertion section 402. The insertion section 402 is inserted into a body cavity of a patient and instruments (manual laparoscopic or robotic) are inserted through the instrument channels 408 and 410 to perform surgical operations within the body cavity. The insertion device 400 also includes a housing 414 attached to the insertion section 402. The housing 414 includes a passage 416 configured to permit at least a portion of the sheath 102 of the apparatus 100 to pass through the housing into the first camera channel 404 and to exit the first camera channel. The imaging apparatus 100 acts as a primary camera for producing 3D stereoscopic images of the body cavity. The second camera channel 406 receives a secondary camera 412, which provides 2D image data of a surgical site within the body cavity to facilitate insertion into the surgical site of surgical instruments through the instrument channels 408 and 410. The secondary camera 412 generates images of the body cavity of the patient prior to the apparatus 100 being inserted to provide the surgeon with a view of the surgical site for insertion of the instruments and the primary camera apparatus 100. The insertion device 400 is described in more detail in commonly owned patent application entitled “SYSTEMS, METHODS, AND APPARATUSES FOR CAPTURING IMAGES DURING A MEDICAL PROCEDURE”, filed on Jun. 21, 2019 as U.S. patent application Ser. No. 16/449,095 and in commonly owned U.S. Pat. No. 10,398,287 entitled “CAMERA POSITIONING SYSTEM, METHOD, AND APPARATUS FOR CAPTURING IMAGES DURING A MEDICAL PROCEDURE”, both of which are incorporated herein by reference in their entirety.
(33) An embodiment of the secondary camera 412 is shown in FIG. 5. Referring to FIG. 5, in the embodiment shown, the secondary camera 412 includes an image sensor 500 oriented to capture high definition images of an object field 502. The image sensor 500 is mounted at a distal end 504 of an elongate strip of circuit substrate 506. The circuit substrate 506 includes a plurality of conductors 508 extending along the circuit substrate to a proximal end 510. The secondary camera 412 includes a processing circuit substrate 512, shown in greater detail in an insert in FIG. 5. The processing circuit substrate 512 includes a multiple pin connector 514, which is configured to receive and connect to the circuit substrate 506. The circuit substrate 506 includes a plurality of conductors 508 on the elongate circuit substrate 506 that form a connector at the proximal end of the strip. In some embodiments, two image sensors may be mounted at the distal end 504 to capture stereoscopic image data.
(34) The distal end 504 of the secondary camera 412 is shown in greater detail in an insert in FIG. 5. In the embodiment shown, the image sensor 500 is connected to a sensor circuit substrate 516, which in turn is connected to the elongate circuit substrate 506. In one embodiment the connection between the sensor circuit substrate 516 and the elongate circuit substrate 506 may be a directly soldered connection. The image sensor 500 may produce an unprocessed digital data signal representing images captured from the object field 502 as described above in connection with the apparatus 100. The image sensor 500 is connected via the sensor circuit substrate 516 to the conductors 508 on the circuit substrate 506. The elongate strip of circuit substrate 506 is sized for insertion through a narrow conduit such as the second camera channel 406 of the insertion device 400 shown in FIG. 4. In some cases, the width (or diameter) of the conduit can be about 4 millimeters. In some embodiments, the secondary camera 412 may be removably insertable through the secondary camera channel 406. As an example, this would allow replacement of the secondary camera with another camera capable of capturing non-visible light (such as infrared light or the like). Alternatively the secondary camera may be replaced with a surgical instrument or other accessory.
(35) The processing circuit substrate 512 includes processing circuitry 518 configured to receive and process the unprocessed digital data signal from the image sensor 500 to produce a video signal suitable for transmission to a host system for driving a display. In one embodiment, the elongate strip of circuit substrate 506 has a length of about 20 centimeters and a width of about 4 millimeters. In other embodiments, the circuit substrate 506 may have a length of greater than 20 centimeters and may be wider or narrower than 4 millimeters. The elongate circuit substrate 506 and image sensor 500 may be fabricated as a module that facilitates insertion of the proximal end 510 through the second camera channel 406 in the insertion section 402 of the insertion device 400. Once inserted, the camera module may be connected to the multiple pin connectors 514 at the proximal end.
(36) The above embodiments of both the 3D stereoscopic primary imaging apparatus 100 and the secondary camera 412 provide for separation between the image sensors and the processing circuitry while facilitating relatively convenient handling during manufacture and subsequent use. The transmission of unprocessed raw image data from the sensor chips to the processing circuitry over a longer than conventional distance separates heat sources that would otherwise be in close proximity to the portions of the imaging apparatus 100 and secondary camera 412 that are inserted into the body cavity of the patient.
(37) 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 stereoscopic imaging apparatus for use in a robotic surgery system, the apparatus comprising: an elongate sheath with a bore extending therethrough, the sheath terminating in a distal end sized for insertion into a body cavity of a patient; first and second image sensors adjacently mounted at the distal end of the sheath and oriented to capture high definition images of an object field from different perspective viewpoints for generating three-dimensional image information, each of the first and second image sensors configured to produce a digital data signal representing the captured images; a wired signal line configured to transmit the digital data signals from each of the first and second image sensors along the sheath to a proximal end thereof; and processing circuitry disposed at the proximal end of the sheath and connected to the wired signal line to receive the unprocessed digital data signals from each of the first and second image sensors, the processing circuitry configured to perform processing operations on each of the unprocessed digital data signals to produce respective video signals for transmission to a host system and driving a display configured to display three-dimensional information, wherein the length of the sheath is greater than 30 millimeters.
2. The apparatus of claim 1 wherein a bit rate of each of the unprocessed digital data signals is higher than about 1 gigabit per second.
3. The apparatus of claim 1 wherein each of the first and second image sensors include at least about 2,000,000 pixels.
4. The apparatus of claim 3 wherein the at least one unprocessed digital data signal comprises 10 bit pixel intensity values read out from the pixels of the respective first and second image sensors.
5. The apparatus of claim 1 wherein each of the first and second image sensors is configured to produce an unprocessed digital data signal representing the captured images, wherein the wired signal line is configured to transmit the unprocessed digital data signals from each of the first and second image sensors along the sheath to a proximal end thereof, and wherein the processing circuitry is configured to receive the unprocessed digital data signals from each of the first and second image sensors and to perform processing operations on each of the unprocessed digital data signals to produce respective video signals for transmission to a host system and driving a display configured to display three-dimensional information.
6. The apparatus of claim 5 wherein at least one unprocessed digital data signal includes a signal in accordance with a Mobile Industry Processor Interface (MIPI) Camera Serial Interface protocol.
7. The apparatus of claim 1 wherein the length of the sheath is at least about 800 millimeters.
8. The apparatus of claim 1 wherein the wired signal line comprises a plurality of individual conductors including: conductors for implementing at least one Mobile Industry Processor Interface (MIPI) data lane for each image sensor; conductors for transmitting a synchronization clock signal between the processing circuitry and the first and second image sensors; and at least two conductors for carrying image sensor control signals.
9. The apparatus of claim 5 wherein the processing circuitry is configured to convert each of the unprocessed digital data signals into a serial digital interface (SDI) video signal for transmission to the host system.
10. The apparatus of claim 5 wherein the processing circuitry is configured to convert each of the unprocessed digital data signals into a flat patent display (FPD) link video signal for transmission to the host system.
11. The apparatus of claim 1 wherein the sheath comprises one of a rigid sheath or a flexible sheath.
12. The apparatus of claim 1 wherein the sheath comprises a flexible articulating portion which, when actuated by the host system, facilitates movement of the distal end of the sheath within the body cavity of a patient to orient the image sensors for image capture.
13. A stereoscopic imaging apparatus for use in a robotic surgery system, the apparatus comprising: an elongate sheath with a bore extending therethrough, the sheath terminating in a distal end sized for insertion into a body cavity of a patient; first and second image sensors adjacently mounted at the distal end of the sheath and oriented to capture high definition images of an object field from different perspective viewpoints for generating three-dimensional image information, each of the first and second image sensors configured to produce a digital data signal representing the captured images; a wired signal line configured to transmit the digital data signals from each of the first and second image sensors along the sheath to a proximal end thereof; processing circuitry disposed at the proximal end of the sheath and connected to the wired signal line to receive the digital data signals from each of the first and second image sensors, the processing circuitry configured to perform processing operations on each of the digital data signals to produce respective video signals for transmission to a host system and driving a display configured to display three-dimensional information; and a plurality of optical fibers extending through the sheath and terminating at the distal end, the plurality of optical fibers configured to channel light from a distally located light source for illuminating the object field.
14. The apparatus of claim 13 wherein the first and second image sensors are mounted on a sensor circuit substrate sized to occupy a central portion of the bore of the sheath and wherein the plurality of optical fibers terminate at one or more regions between the sensor substrate and the sheath at the distal end of the sheath.
15. A stereoscopic imaging apparatus for use in a robotic surgery system, the apparatus comprising: an elongate sheath with a bore extending therethrough, the sheath terminating in a distal end sized for insertion into a body cavity of a patient; first and second image sensors adjacently mounted at the distal end of the sheath and oriented to capture high definition images of an object field from different perspective viewpoints for generating three-dimensional image information, each of the first and second image sensors configured to produce a digital data signal representing the captured images, wherein the first and second image sensors are mounted on a sensor circuit substrate disposed within the bore of the sheath; a wired signal line configured to transmit the digital data signals from each of the first and second image sensors along the sheath to a proximal end thereof, wherein the wired signal line comprises a plurality of individual conductors connected via the sensor circuit substrate to the unprocessed digital data outputs of the respective first and second image sensors; and processing circuitry disposed at the proximal end of the sheath and connected to the wired signal line to receive the digital data signals from each of the first and second image sensors, the processing circuitry configured to perform processing operations on each of the digital data signals to produce respective video signals for transmission to a host system and driving a display configured to display three-dimensional information.
16. The apparatus of claim 15 wherein the plurality of individual conductors of the wired signal line are connected at the proximal end to a strip of the sensor circuit substrate sized to pass through the bore of the sheath, the strip of the sensor circuit substrate including a multiple pin connector for connecting to a corresponding multiple pin connector on a circuit substrate associated with the processing circuitry.
17. The apparatus of claim 15 further comprising a graphene sheet within the bore of the sheath, the graphene sheet being in thermal communication with the sensor circuit substrate and wrapped around at least a portion of a length of the wired signal line to channel heat away from the distal end of the sheath.
18. The apparatus of claim 17 further comprising a heater disposed at the distal end of the sheath and configured to selectively heat the distal end of the sheath to maintain the distal end of the sheath at a temperature that prevents formation of condensation.
imagine if tomorrow they announce the delivery of ENOS... and then the days to follow photos and videos...
Boom!
CONTROL DRIVE ASSEMBLIES FOR ROBOTIC SURGICAL SYSTEMS
DOCUMENT ID
US 20220378533 A1
DATE PUBLISHED
2022-12-01
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
McDiarmid; Ian
Worthing
N/A
N/A
GB
King; Brian
Stowmarket
N/A
N/A
GB
Cooke; Jon
Cambridge
N/A
N/A
GB
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
Pflaumer; Hans Christian
Apex
NC
N/A
US
Ahuja; Akshaya
St. Neots
N/A
N/A
GB
Medeiros; Chace F.
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
APPLICATION NO
17/686890
DATE FILED
2022-03-04
DOMESTIC PRIORITY (CONTINUITY DATA)
us-provisional-application US 63193750 20210527
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 34/71
2016-02-01
CPCI
A 61 B 34/35
2016-02-01
CPCI
A 61 B 90/50
2016-02-01
CPCI
A 61 B 34/25
2016-02-01
CPCI
A 61 B 34/37
2016-02-01
CPCA
A 61 B 2034/301
2016-02-01
Abstract
A control unit assembly for a robotic surgical system includes a housing, a surgical instrument, and a motor block assembly supported within the housing. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The motor block assembly includes a motor block module that is selectively attachable to the surgical instrument. The motor block module is remotely actuatable to control the surgical instrument. The motor block module is axially movable relative to the housing to facilitate movement of the surgical instrument relative to the housing.
Background/Summary
CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application claims the benefit of U.S. Provisional Application Ser. No. 63/193,750, filed May 27, 2021, the entire contents of which are incorporated by reference herein.
TECHNICAL FIELD
[0002] This disclosure relates to robotic systems and, more particularly, to control drive assemblies for robotic surgical systems.
BACKGROUND
[0003] Robotic surgical systems include control drive assemblies supporting surgical instruments used in laparoscopic and/or robotic surgery. These surgical instruments generally have a proximally located actuating mechanism that is operably coupled to a control drive unit of a control drive assembly for actuating distal end effectors of the surgical instruments. The control drive unit includes any number of motors operably associated with the actuating mechanisms of the surgical instruments. These motors are remotely controlled by a clinician to enable the surgical instruments to robotically perform a surgical task within a body cavity of a patient, and often in remote locations within the body cavity that are not easily accessed without robotic surgical systems.
SUMMARY
[0004] According to an aspect of this disclosure, a robotic surgical system includes an instrument cart having a setup arm assembly and a control drive assembly coupled to the instrument cart. The control drive assembly includes at least one surgical instrument and a control drive unit. The control drive unit is secured to the setup arm assembly. The control drive unit is movable relative to the setup arm assembly. The control drive unit includes a housing and a motor block assembly supported within the housing. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
[0005] In aspects, the control drive unit may include a mounting clevis that secures the housing to the setup arm assembly. The mounting clevis may be pinned to the sidewall of the housing to enable the housing to pitch relative to the mounting clevis. The mounting clevis may be secured to the setup arm assembly by a yaw pin that enables the housing to yaw with the mounting clevis relative to the setup arm assembly.
[0006] In aspects, the at least one motor block module may include a plurality of motor block modules. Each motor block module of the plurality of motor block modules may be independently axially movable relative to the other motor block modules.
[0007] In aspects, the robotic surgical system may further include a support arm extending from the control drive unit. The support arm may be secured to an insertion tube on a distal end portion of support arm.
[0008] In aspects, the at least one surgical instrument may include a plurality of surgical instruments, and wherein the plurality of surgical instruments may be secured to the plurality of motor block modules.
[0009] In aspects, the plurality of surgical instruments may be selectively movable through the insertion tube.
[0010] In aspects, the at least one motor block module may support a sterile interface module that couples the at least one surgical instrument to the at least one motor block module.
[0011] In aspects, the at least one motor block module may include at least one motor that imparts rotational force to the at least one surgical instrument.
[0012] According to another aspect, this disclosure is directed to a surgical system. The surgical system includes a housing, a support arm, an insertion tube, at least one surgical instrument, a motor block assembly. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The support arm extends distally from the front face of the housing. The insertion tube is supported on a distal end portion of the support arm. The motor block assembly is supported within the housing. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the insertion tube.
[0013] In aspects, the housing may support a mounting clevis for selectively securing the housing to an instrument cart. The mounting clevis may be pinned to the sidewall of the housing to enable the housing to pitch relative to the mounting clevis. The mounting clevis may be selectively securable to a setup arm assembly of the instrument cart by a yaw pin that enables the housing to yaw with the mounting clevis relative to the setup arm assembly.
[0014] In aspects, the at least one motor block module may include a plurality of motor block modules. Each motor block module of the plurality of motor block modules may be independently axially movable relative to the other motor block modules. The at least one surgical instrument may include a plurality of surgical instruments. The plurality of surgical instruments may be secured to the plurality of motor block modules. The plurality of surgical instruments may be selectively movable through the insertion tube.
[0015] In aspects, the at least one motor block module may support a sterile interface module that couples the at least one surgical instrument to the at least one motor block module.
[0016] In aspects, the at least one motor block module may include at least one motor that imparts rotational force to the at least one surgical instrument.
[0017] According to yet another aspect of this disclosure, a control unit assembly for a robotic surgical system includes a housing, at least one surgical instrument, and a motor block assembly. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The motor block assembly is supported within the housing. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
[0018] According to another aspect, a robotic surgical system includes an instrument cart and a control drive assembly. The instrument cart has a setup arm assembly. The control drive assembly is coupled to the instrument cart. The control drive assembly includes at least one surgical instrument and a control drive unit. The control drive unit is secured to the setup arm assembly. The control drive unit is movable relative to the setup arm assembly. The control drive unit includes a housing and a motor block assembly supported within the housing. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument when the at least one surgical instrument is loaded into the housing through the rear face of the housing. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
[0019] In aspects, a proximal portion of the at least one surgical instrument may laterally engage with the at least one motor block module to impart rotational force from the at least one motor block module to the proximal portion of the at least one surgical instrument.
[0020] In aspects, the at least one motor block module may include at least one motor.
[0021] According to yet another aspect, this disclosure is directed to a surgical system. The surgical system includes a housing, a support arm, an insertion tube, at least one surgical instrument and a motor block assembly. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The support arm extends distally from the front face of the housing. The insertion tube is supported on a distal end portion of the support arm. The motor block assembly is supported within the housing. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument when the at least one surgical instrument is loaded into the housing through the rear face of the housing. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the insertion tube.
[0022] According to a further aspect, this disclosure is directed to a control unit assembly for a robotic surgical system. The control unit assembly includes a housing, at least one surgical instrument, and a motor block assembly. The housing includes a front face, a rear face, and a sidewall extending between the front and rear faces. The motor block assembly is supported within the housing. The motor block assembly includes at least one motor block module that is selectively attachable to the at least one surgical instrument when the at least one surgical instrument is loaded into the housing through the rear face of the housing. The at least one motor block module is remotely actuatable to control the at least one surgical instrument. The at least one motor block module is axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
[0023] Other aspects, features, and advantages will be apparent from the description, the drawings, and the claims that follow.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate aspects of this disclosure and, together with a general description of this disclosure given above, and the detailed description given below, explain the principles of this disclosure, wherein:
[0025] FIG. 1 is a perspective view of a robotic surgical system being used for a surgical procedure on a patient in accordance with the principles of this disclosure;
[0026] FIGS. 2-4 are progressive views illustrating surgical instruments of the robotic surgical system of FIG. 1 being manipulated within a body cavity of the patient;
[0027] FIG. 5 is an enlarged, perspective view of the robotic surgical system of FIG. 1 and illustrating a control drive assembly thereof being used to perform a surgical procedure on a patient;
[0028] FIG. 6 is an enlarged, perspective view of a control drive unit of the control drive assembly of FIG. 5;
[0029] FIG. 7 is a perspective view of the control drive unit of FIG. 6 with surgical instruments shown attached thereto and disposed in a retracted position;
[0030] FIG. 8 is a perspective view of FIG. 7 with one of the surgical instruments shown in an extended position;
[0031] FIG. 9 is a perspective view of FIG. 7 with the surgical instruments shown in extended positions;
[0032] FIG. 10 is an enlarged, perspective view the robotic surgical system of FIG. 1 illustrating another control drive assembly thereof being used to perform a surgical procedure on a patient;
[0033] FIG. 11 is an enlarged, perspective view of a control drive unit of the control drive assembly of FIG. 10;
[0034] FIGS. 12-15 are progressive views illustrating surgical instruments being attached to the control drive unit of FIG. 11;
[0035] FIG. 16 is a front, perspective view illustrating one of the surgical instruments in a retracted position and other surgical instruments in extended positions;
[0036] FIG. 17 is a rear, perspective view of FIG. 16;
[0037] FIG. 18 is a front, perspective view of another control drive assembly in accordance with the principles of this disclosure;
[0038] FIG. 19 is a rear view of the control drive assembly of FIG. 18;
[0039] FIG. 20 is a front, perspective view of still another control drive assembly in accordance with the principles of this disclosure;
[0040] FIG. 21 is a rear view of the control drive assembly of FIG. 20;
[0041] FIG. 22 is a perspective view of yet another control drive assembly in accordance with the principles of this disclosure, the surgical instruments thereof shown in extended positions;
[0042] FIG. 23 is a perspective view of one control drive assembly in accordance with the principles of this disclosure, the control drive assembly shown with one surgical instrument attached thereto and disposed in a retracted position; and
[0043] FIG. 24 is a perspective view of another control drive assembly in accordance with the principles of this disclosure, the surgical instruments thereof shown in retracted positions.
DETAILED DESCRIPTION
[0044] Aspects of this disclosure are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “distal” refers to that portion of structure farther from the user, while the term “proximal” refers to that portion of structure, closer to the user. As used herein, the term “clinician” refers to a doctor, nurse, or other care provider and may include support personnel and/or equipment operators.
[0045] In the following description, well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail.
[0046] Robotic surgical systems have been used in minimally invasive medical procedures and can include robotic arm assemblies. Such procedures may be referred to as what is commonly referred to as “Telesurgery.” Some robotic arm assemblies include one or more robot arms to which surgical instruments can be coupled. Such surgical instruments include, for example, endoscopes, electrosurgical forceps, cutting instruments, staplers, graspers, electrocautery devices, or any other endoscopic or open surgical devices. Prior to or during use of the robotic surgical system, various surgical instruments can be selected and connected to the robot arms for selectively actuating end effectors of the connected surgical instruments.
[0047] With reference to FIGS. 1-5, a robotic surgical system is shown generally at 10. Robotic surgical system 10 employs various robotic elements to assist the clinician and allow remote operation (or partial remote operation) of surgical instruments 60 of surgical instrument systems 50 of robotic surgical system 10. Various controllers, circuitry, robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with surgical system 10 to assist the clinician during an operation or treatment. Such robotic systems may include remotely steerable systems, automatically flexible surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.
[0048] Robotic surgical system 10 includes a workstation 12 and an instrument cart 14. The instrument cart 14 supports a control drive assembly 100. Control drive assembly 100 includes one or more surgical instrument systems 50 mounted on a control drive unit 101. Control drive unit 101 is movable relative to cart 14 and houses an instrument drive assembly 103 for manipulating the surgical instrument systems 50 and/or independent surgical instruments 60 thereof with the assistance of, for example one or more computing devices or controllers. Although only four surgical instruments 60 are shown, surgical instrument system 50 can include any number and/or type of surgical instruments. The surgical instruments 60 can include, for example, graspers or forceps 26, which may be electrosurgical, an endoscope 28, and/or any other suitable instrument that can be driven by one or more associated tool drives (not shown) of instrument drive assembly 103. For example, besides graspers 26 and endoscope 28, the one or more surgical instruments 60 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.
[0049] Surgical instrument system 50 includes an insertion tube 16 defining a plurality of separate conduits, channels or lumens 16a therethrough that are configured to receive, for instance, the surgical instruments 60 for accessing a body cavity “BC” of a patient “P.” In other aspects, the insertion tube 16 may define a single conduit, channel or lumen therethrough that is configured to receive, for instance, the surgical instruments 60 for accessing a body cavity “BC” of a patient “P.” In particular, the insertion tube 16 can be inserted through an incision “I” and/or access devices 17a, 17b (e.g., a surgical portal, which may include or more seals to facilitate sealed insertion through tissue “T” of the patient “P”) and into the body cavity “BC” of the patient “P”). With insertion tube 16 positioned in the patient “P,” the surgical instruments 60 can be advanced through insertion tube 16 into the body cavity “BC” of the patient “P.” Further, the workstation 12 includes an input device 22 in communication with control drive unit 101 for use by a clinician to control the insertion tube 16 and the various surgical instrument systems 50 (and surgical instruments 60 thereof) via the instrument drive assembly 103 for performing surgical operations on the patient “P” while the patient “P” is supported on a surgical table 24, for example. Input device 22 is configured to receive input from the clinician and produces input signals. Input device 22 may also be configured to generate feedback to the clinician. The feedback can be visual, auditory, haptic, or the like.
[0050] The workstation 12 can further include computing devices and/or controllers such as a master processor circuit 22a in communication with the input device 22 for receiving the input signals and generating control signals for controlling the robotic surgical system 10, which can be transmitted to the instrument cart 14 via an interface cable 22b. In some cases, transmission can be wireless and interface cable 22b may not be present. The input device 22 can include right and left-hand controls (not shown) and/or foot pedals (not shown), which are moved/operated to produce input signals at the input device 22 and/or to control robotic surgical system 10. The instrument cart 14 can include a slave processor circuit 20a that receives and the control signals from the master processor circuit 22a and produces slave control signals operable to control the various surgical instrument systems 50 (and surgical instruments 60 thereof) during a surgical procedure. The workstation 12 can also include a user interface, such as a display (not shown) in communication with the master processor circuit 22a 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 a clinician. While both master and slave processor circuits are illustrated, in other aspects, a single processor circuit may be used to perform both master and slave functions.
[0051] Turning now to FIGS. 5-9, control drive unit 101 of control drive assembly 100 includes a housing 102 that supports instrument drive assembly 103, a motor block assembly 104 of instrument drive assembly 103, and a support arm 106 that extends distally from housing 102 to a port latch 108 on a distal end of support arm 106 for supporting insertion tube 16.
[0052] Housing 102 of control drive unit 101 includes a front face 102a, a rear face 102b, and a sidewall 102c extending between the front and rear faces 102a, 102b. Housing 102 further includes a mounting clevis 110 that is pinned to opposite sides of sidewall 102c of housing 102 via pitch pins 112 extending from sidewall 102c to enable housing 102 to rotate (e.g., pitch in clockwise and/or counterclockwise directions such as in upward and/or downward directions) relative to mounting clevis 110 about pitch pivot axis “P1” defined through pitch pins 112, as indicated by arrows “A.” Mounting clevis 110 further includes a yaw pin 114 extending from a central portion of mounting clevis 110 that secures to a setup arm assembly 15 (FIG. 5) of robotic surgical system 10, namely, a distal setup arm 15c, of setup arm assembly 15. Distal setup arm 15c is pivotably cantilevered from an intermediate set up arm 15b, which is pivotally cantilevered from a proximal set up arm 15a that is secured to instrument cart 14. Yaw pin 114 of mounting clevis 110 enables housing 102 to rotate (e.g., yaw in clockwise and/or counterclockwise directions such as in left and/or right directions) relative to setup arm assembly 15, and with mounting clevis 110, about yaw pivot axis “P2” defined through yaw pin 114, as indicated by arrows “B.”
[0053] Motor block assembly 104 of instrument drive assembly 103 includes a plurality of motor block modules 116, each of which is independently axially movable relative to the other motor block modules 116 along a longitudinal axis “L” defined through control drive unit 101, as indicated by arrows “C.” Each motor block module 116 includes a module casing 118 that housing any number of motors 120, driver boards 122 (e.g., a controller or printed circuit board), and cooling fans 124 (for cooling motors 120 and/or driver boards 122) therein for efficiently and effectively imparting rotational driving force to surgical instruments 60 attached to the respective motor block module 116. Motors 120, driver boards 122, and/or cooling fans 124 may be disposed in electrical communication with workstation 12 to enable a clinician to operate the motor block modules 116 of motor block assembly 104. Motors 120 are coupled to instrument couplers 126 of a sterile interface module 125 supported on a distal end portion of each motor block module 116. Instrument couplers 126 are positioned to operatively engage with counterpart couplers (not shown) extending from a proximal end portion (e.g., a proximal housing portion) of surgical instruments 60 when respective surgical instruments 60 are front (proximally) and/or side (e.g., laterally or radially) loaded onto each motor block module 116 so that the rotational drive force can be transferred distally from the respective motor block module 116 to the respective surgical instrument 60.
[0054] Each motor block module 116 of motor block assembly 104 is coupled to a lead screw assembly 128 supported in housing 102 that is rotatable about respective central screw axes “S1”-“S4” thereof to axially advance the respective motor block modules 116 (with and/or relative to one another and relative to housing 102), as indicated by arrows “C.” Axial movement of motor block modules 116 relative to housing 102 enables surgical instruments 60 to be advanced axially through and/or relative to insertion tube 16 for accessing different locations with the body cavity “BC” of the patient “P” during a surgical task (see FIGS. 1-5). Also, although not specifically shown, instrument drive assembly 103 and/or motor block assembly 104 may include any number and/or type of sensors (e.g., encoders or the like) to determine rotational and/or axial positioning of one or more components of motor block assembly 104 and/or surgical instruments 60 relative to housing 102, other surgical instruments 60, insertion tube 16, support arm 106, setup arm 15, and/or patient “P”, etc.
[0055] With reference to FIGS. 10-17, instrument cart 14 can support a control drive assembly 200. Control drive assembly 200 includes one or more surgical instrument systems 202 mounted on a control drive unit 204 via rear-loading, but control drive unit 204 is otherwise substantially similar to control drive unit 101. In particular, control drive unit 204 is movable relative to cart 14 and houses an instrument drive assembly 203 for manipulating the surgical instrument systems 202 and/or independent surgical instruments 206 thereof with the assistance of, for example one or more computing devices or controllers. Surgical instrument systems 202 can include insertion tube 16 for accessing a body cavity “BC” (FIG. 2) of a patient “P” and any number and/or type of surgical instruments 206 advanceable through insertion tube 16. For example, such surgical instruments 206 can include dexterous tools such as graspers, endoscopes, needle drivers, staplers, dissectors, cutters, hooks, scissors, coagulators, irrigators, suction devices etc., and/or any other suitable instrument that can be driven by one or more associated tool drives (not shown) of instrument drive assembly 203 and used for performing a surgical procedure in the body cavity “BC.” Surgical instruments 206 include a proximal housing portion 207 having a flat or paddle-shaped configuration.
[0056] Control drive unit 204 of control drive assembly 200 includes housing 208 that supports instrument drive assembly 203, a motor block assembly 210 of instrument drive assembly 203, and a support arm 212 that extends distally from housing 208 to a port latch 214 on a distal end of support arm 212 for supporting insertion tube 16.
[0057] Housing 208 of control drive unit 204 includes an outer surface 208z having a front face 208a, a rear face 208b, and a sidewall 208c extending between the front and rear faces 208a, 208b. Housing 208 further includes an inner surface 208y defining an elongated instrument channel 208d through housing 208. Elongated instrument channel 208d is positioned to slidably receive surgical instruments 206 therein for enabling drive assemblies (see e.g., drive assemblies 230 shown in FIG. 15) of proximal housing portions of surgical instruments 206 to radially and/or laterally engage motor block modules 210a, 210b, 210c, 210d of motor block assembly 210 of instrument drive assembly 203 when surgical instruments 206 are rear-loaded into control drive unit 204. Once surgical instruments 206 are rear-loaded, surgical instruments 206 are positioned to axially advance relative to housing 208 with the respective motor block modules 210a, 210b, 210c, 210d of motor block assembly 310.
[0058] Housing 208 of control drive unit 204 further includes a mounting clevis 216 that is pinned to opposite sides of sidewall 208c of housing 208 via pitch pins 218 extending from sidewall 208c to enable housing 102 to rotate (e.g., pitch in clockwise and/or counterclockwise directions such as in upward and/or downward directions) relative to mounting clevis 216. Mounting clevis 216 further includes a yaw pin 220 extending from a central portion of mounting clevis 216 that secures to setup arm assembly 15 and enables housing 208 to rotate (e.g., yaw in clockwise and/or counterclockwise directions such as in left and/or right directions) relative to setup arm assembly 15.
[0059] Motor block assembly 210 of instrument drive assembly 203 includes motor block modules 210a, 210b, 210c, 210d, each of which is independently axially movable relative to and/or with the other motor block modules along a longitudinal axis “L2” defined through control drive unit 204. Each motor block module 210a, 210b, 210c, 210d includes any number of motors 222, driver boards 224 (e.g., a controller or printed circuit board), and cooling fans 226 (for cooling motors 222 and/or driver boards 224) therein for efficiently and effectively imparting rotational driving force to surgical instruments 206 attached to the respective motor block module 210a, 210b, 210c, 210d. Motors 222, driver boards 224, and/or cooling fans 226 may be disposed in electrical communication with workstation 12 to enable a clinician to operate the motor block modules 210a, 210b, 210c, 210d of motor block assembly 210. Motors 222 are coupled to instrument couplers 228 supported on each motor block module 210a, 210b, 210c, 210d and disposed in registration with elongated instrument channel 208d.
[0060] Instrument couplers 228 of motor block assembly 210 are positioned to operatively engage with driving assemblies 230 having counterpart couplers extending laterally from a sidewall 206a of a proximal end portion of surgical instruments 206 when respective surgical instruments 206 are rear-loaded into control drive unit 204. Notably, such driving assemblies 230 can include any number and/or arrangement of cranks, pulleys, sliders, cables, racks, pinions, gears, etc. to facilitate operation of a distal end effector of such surgical instruments 206 (e.g., graspers, staplers, shears, endoscopes, etc.). Each motor block module 210a, 210b, 210c, 210d is positioned so that the rotational drive force can be transferred from the respective motor block module 116, through instrument couplers 228, to the respective surgical instrument 206 via a side or lateral drive.
[0061] To effectuate the axial movement of each motor block module 210a, 210b, 210c, 210d of motor block assembly 210, each motor block module 210a, 210b, 210c, 210d is coupled to a lead screw assembly 232 supported in housing 102 that is rotatable to axially advance the respective motor block modules 210a, 210b, 210c, 210d (with and/or relative to one another and relative to housing 208), as indicated by arrows “D.” Axial movement of motor block modules 210a, 210b, 210c, 210d relative to housing 208 enables surgical instruments 206 to be advanced axially through and/or relative to insertion tube 16 for accessing different locations with the body cavity “BC” of the patient “P” during a surgical task (see FIGS. 1-5). Also, although not specifically shown, instrument drive assembly 203 and/or motor block assembly 210 may include any number and/or type of sensors (e.g., encoders or the like) to determine rotational and/or axial positioning of one or more components of motor block assembly 210 and/or surgical instruments 206 relative to housing 208, other surgical instruments 206, insertion tube 16, support arm 106, setup arm 15, and/or patient “P”, etc.
[0062] With reference to FIGS. 18 and 19, another control drive assembly is generally shown as 300. Control drive assembly 300 is similar to control drive assembly 200. In particular, control drive assembly 300 includes one or more surgical instrument systems 302 mounted on a control drive unit 304 via rear-loading.
[0063] Control drive unit 304 of control drive assembly 300 includes housing 308 that supports instrument drive assembly 203, a motor block assembly 310 of an instrument drive assembly 303, and a support arm 312 that extends distally from housing 308 to a port latch 314 on a distal end of support arm 312 for supporting insertion tube 16.
[0064] Housing 308 of control drive unit 304 includes a front portion 308a, a rear portion 308b, and a side portion 308c extending between the front and rear portions 308a, 308b. Housing 208 defines an instrument channel 309 centrally therethrough that is configured to receive surgical instruments 306 therein for respective engagement with motor block modules 310a, 310b, 310c, 310d of motor block assembly 310 disposed between adjacent surgical instruments 306. Instrument channel 309 includes channel segments 309a, 309b, 309c, 309d that are arranged in a cross or intersecting configuration (e.g., x, t, etc.). Instrument channel 309 is positioned to slidably receive surgical instruments 306 therein for enabling proximal housing portions of surgical instruments 306 to radially and/or laterally engage motor block modules 310a, 310b, 310c, 310d of motor block assembly 310 of instrument drive assembly 303 when surgical instruments 306 are rear-loaded into control drive unit 304. Once surgical instruments 306 are rear-loaded, surgical instruments 306 are positioned to axially advance relative to housing 308 with the respective motor block modules 310a, 310b, 310c, 310d of motor block assembly 310, similar to that detailed above with respect to control drive assembly 200.
[0065] As seen in FIGS. 20 and 21, yet another control drive assembly is generally shown as 400. Control drive assembly 400 is similar to control drive assembly 300 and includes one or more surgical instrument systems 402 mounted on a control drive unit 404 via rear-loading. Instead of the cross or intersecting configuration illustrated in FIGS. 18 and 19 with respect to control drive assembly 300, control drive assembly 400, namely, control drive unit 404 and surgical instruments 406 of surgical instruments systems 402, are arranged to support surgical instruments 406 in a square configuration within a square-shaped instrument channel 408 defined through control drive unit 404. Each surgical instrument 406 has a proximal housing 406a that has a triangular configuration.
[0066] With reference to FIG. 22, still another control drive assembly is generally shown as 500. Control drive assembly 500 is similar to control drive assembly 100, but includes motor block modules 502 having a number of telescopic segments 504, 506, 508, etc. that are movable relative to one another (and may be positioned to nest within one another) to move each motor block module 502 between extended and retracted positions, as indicated by arrows “T,” for axially retracting or advancing surgical instruments 510 secured to distal end portions thereof.
[0067] As seen in FIG. 23, yet another control drive assembly is generally shown as 600. Control drive assembly 600 is similar to control drive assembly 100, but includes a lead screw assembly 602 that is cantilevered to a distal end portion of a housing 604a of a control drive unit 604. A support arm 606 thereof can be cantilevered from the distal end portion of lead screw assembly 604 for supporting insertion tube 16 on a distal end portion thereof.
[0068] Alternatively, as seen in FIG. 24, one control drive assembly 700 includes a lead screw assembly 702 that is supported within a housing 704a of a control drive unit 704, on opposite ends of housing 704a, with support arm 706 extending distally from a distal end portion of housing 704a for supporting insertion tube 16. Control drive assembly 700 further includes a mounting clevis 708 supported on proximal end portion of housing 704a.
[0069] The disclosed structure can include any suitable mechanical, electrical, and/or chemical components for operating the disclosed system or components thereof. For instance, such electrical components can include, for example, any suitable electrical and/or electromechanical, and/or electrochemical circuitry, which may include or be coupled to one or more printed circuit boards. As appreciated, the disclosed computing devices (and/or servers) can include, for example, a “controller,” “processor,” “digital processing device” and like terms, and which are used to indicate a microprocessor or central processing unit (CPU). The CPU is the electronic circuitry within a computer that carries out the instructions of a computer program by performing the basic arithmetic, logical, control and input/output (I/O) operations specified by the instructions, and by way of non-limiting examples, include server computers. In some aspects, the controller includes an operating system configured to perform executable instructions. The operating system is, for example, software, including programs and data, which manages hardware of the disclosed apparatus and provides services for execution of applications for use with the disclosed apparatus. Those of skill in the art will recognize that suitable server operating systems include, by way of non-limiting examples, FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS X Server®, Oracle® Solaris®, Windows Server®, and Novell® NetWare®. In some aspects, the operating system is provided by cloud computing.
[0070] In some aspects, the term “controller” may be used to indicate a device that controls the transfer of data from a computer or computing device to a peripheral or separate device and vice versa, and/or a mechanical and/or electromechanical device (e.g., a lever, knob, etc.) that mechanically operates and/or actuates a peripheral or separate device.
[0071] In aspects, the controller includes a storage and/or memory device. The storage and/or memory device is one or more physical apparatus used to store data or programs on a temporary or permanent basis. In some aspects, the controller includes volatile memory and requires power to maintain stored information. In various aspects, the controller includes non-volatile memory and retains stored information when it is not powered. In some aspects, the non-volatile memory includes flash memory. In certain aspects, the non-volatile memory includes dynamic random-access memory (DRAM). In some aspects, the non-volatile memory includes ferroelectric random-access memory (FRAM). In various aspects, the non-volatile memory includes phase-change random access memory (PRAM). In certain aspects, the controller is a storage device including, by way of non-limiting examples, CD-ROMs, DVDs, flash memory devices, magnetic disk drives, magnetic tapes drives, optical disk drives, and cloud-computing-based storage. In various aspects, the storage and/or memory device is a combination of devices such as those disclosed herein.
[0072] In various aspects, the memory can be random access memory, read-only memory, magnetic disk memory, solid state memory, optical disc memory, and/or another type of memory. In various aspects, the memory can be separate from the controller and can communicate with the processor through communication buses of a circuit board and/or through communication cables such as serial ATA cables or other types of cables. The memory includes computer-readable instructions that are executable by the processor to operate the controller. In various aspects, the controller may include a wireless network interface to communicate with other computers or a server. In aspects, a storage device may be used for storing data. In various aspects, the processor may be, for example, without limitation, a digital signal processor, a microprocessor, an ASIC, a graphics processing unit (“GPU”), field-programmable gate array (“FPGA”), or a central processing unit (“CPU”).
[0073] The memory stores suitable instructions and/or applications, to be executed by the processor, for receiving the sensed data (e.g., sensed data from camera), accessing storage device of the controller, generating a raw image based on the sensed data, comparing the raw image to a calibration data set, identifying an object based on the raw image compared to the calibration data set, transmitting object data to a post-processing unit, and displaying the object data to a graphic user interface. Although illustrated as part of the disclosed structure, it is also contemplated that a controller may be remote from the disclosed structure (e.g., on a remote server), and accessible by the disclosed structure via a wired or wireless connection. In aspects where the controller is remote, it is contemplated that the controller may be accessible by, and connected to, multiple structures and/or components of the disclosed system.
[0074] The term “application” may include a computer program designed to perform functions, tasks, or activities for the benefit of a user. Application may refer to, for example, software running locally or remotely, as a standalone program or in a web browser, or other software which would be understood by one skilled in the art to be an application. An application may run on the disclosed controllers or on a user device, including for example, on a mobile device, an IOT device, or a server system.
[0075] In some aspects, the controller includes a display to send visual information to a user. In various aspects, the display is a cathode ray tube (CRT). In various aspects, the display is a liquid crystal display (LCD). In certain aspects, the display is a thin film transistor liquid crystal display (TFT-LCD). In aspects, the display is an organic light emitting diode (OLED) display. In certain aspects, on OLED display is a passive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display. In aspects, the display is a plasma display. In certain aspects, the display is a video projector. In various aspects, the display is interactive (e.g., having a touch screen) that can detect user interactions/gestures/responses and the like. In some aspects, the display is a combination of devices such as those disclosed herein.
[0076] The controller may include or be coupled to a server and/or a network. As used herein, the term “server” includes “computer server,” “central server,” “main server,” and like terms to indicate a computer or device on a network that manages the disclosed apparatus, components thereof, and/or resources thereof. As used herein, the term “network” can include any network technology including, for instance, a cellular data network, a wired network, a fiber-optic network, a satellite network, and/or an IEEE 802.11a/b/g/n/ac wireless network, among others.
[0077] In various aspects, the controller can be coupled to a mesh network. As used herein, a “mesh network” is a network topology in which each node relays data for the network. All mesh nodes cooperate in the distribution of data in the network. It can be applied to both wired and wireless networks. Wireless mesh networks can be considered a type of “Wireless ad hoc” network. Thus, wireless mesh networks are closely related to Mobile ad hoc networks (MANETs). Although MANETs are not restricted to a specific mesh network topology, Wireless ad hoc networks or MANETs can take any form of network topology. Mesh networks can relay messages using either a flooding technique or a routing technique. With routing, the message is propagated along a path by hopping from node to node until it reaches its destination. To ensure that all its paths are available, the network must allow for continuous connections and must reconfigure itself around broken paths, using self-healing algorithms such as Shortest Path Bridging. Self-healing allows a routing-based network to operate when a node breaks down or when a connection becomes unreliable. As a result, the network is typically quite reliable, as there is often more than one path between a source and a destination in the network. This concept can also apply to wired networks and to software interaction. A mesh network whose nodes are all connected to each other is a fully connected network.
[0078] In some aspects, the controller may include one or more modules. As used herein, the term “module” and like terms are used to indicate a self-contained hardware component of the central server, which in turn includes software modules. In software, a module is a part of a program. Programs are composed of one or more independently developed modules that are not combined until the program is linked. A single module can contain one or several routines, or sections of programs that perform a particular task.
[0079] As used herein, the controller includes software modules for managing various aspects and functions of the disclosed system or components thereof.
[0080] The disclosed structure may also utilize one or more controllers to receive various information and transform the received information to generate an output. The controller may include any type of computing device, computational circuit, or any type of processor or processing circuit capable of executing a series of instructions that are stored in memory. The controller may include multiple processors and/or multicore central processing units (CPUs) and may include any type of processor, such as a microprocessor, digital signal processor, microcontroller, programmable logic device (PLD), field programmable gate array (FPGA), or the like. The controller may also include a memory to store data and/or instructions that, when executed by the one or more processors, cause the one or more processors to perform one or more methods and/or algorithms.
[0081] The phrases “in an aspect,” “in aspects,” “in various aspects,” “in some aspects,” “in other aspects” or the like may each refer to one or more of the same or different aspects in accordance with the present disclosure. A phrase in the form “A or B” means “(A), (B), or (A and B).” A phrase in the form “at least one of A, B, or C” means “(A); (B); (C); (A and B); (A and C); (B and C); or (A, B, and C).”
[0082] Various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques).
[0083] Certain aspects of the present disclosure may include some, all, or none of the above advantages and/or one or more other advantages readily apparent to those skilled in the art from the drawings, descriptions, and claims included herein. Moreover, while specific advantages have been enumerated above, the various aspects of the present disclosure may include all, some, or none of the enumerated advantages and/or other advantages not specifically enumerated above.
[0084] The aspects disclosed herein are examples of the disclosure and may be embodied in various forms. For instance, although certain aspects herein are described as separate, each of the aspects herein may be combined with one or more of the other aspects herein. Specific structural and functional details disclosed herein are not to be interpreted as limiting, but as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure. Like reference numerals may refer to similar or identical elements throughout the description of the figures.
[0085] Any of the herein described methods, programs, algorithms, or codes may be converted to, or expressed in, a programming language or computer program. The terms “programming language” and “computer program,” as used herein, each include any language used to specify instructions to a computer, and include (but is not limited to) the following languages and their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, machine code, operating system command languages, Pascal, Perl, PL1, scripting languages, Visual Basic, metalanguages which themselves specify programs, and all first, second, third, fourth, fifth, or further generation computer languages. Also included are database and other data schemas, and any other meta-languages. No distinction is made between languages which are interpreted, compiled, or use both compiled and interpreted approaches. No distinction is made between compiled and source versions of a program. Thus, reference to a program, where the programming language could exist in more than one state (such as source, compiled, object, or linked) is a reference to all such states. Reference to a program may encompass the actual instructions and/or the intent of those instructions.
[0086] Securement of any of the components of the disclosed devices may be effectuated using known securement techniques such welding, crimping, gluing, fastening, etc.
[0087] Persons skilled in the art will understand that the structures and methods specifically described herein and shown in the accompanying figures are non-limiting exemplary aspects, and that the description, disclosure, and figures should be construed merely as exemplary of aspects. It is to be understood, therefore, that this disclosure is not limited to the precise aspects described, and that various other changes and modifications may be effectuated by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, the elements and features shown or described in connection with certain aspects may be combined with the elements and features of certain other aspects without departing from the scope of this disclosure, and that such modifications and variations are also included within the scope of this disclosure. Accordingly, the subject matter of this disclosure is not limited by what has been particularly shown and described.
Claims
1. A robotic surgical system, comprising: an instrument cart having a setup arm assembly; and a control drive assembly coupled to the instrument cart, the control drive assembly including: at least one surgical instrument; and a control drive unit that is secured to the setup arm assembly, the control drive unit movable relative to the setup arm assembly, the control drive unit including a housing and a motor block assembly supported within the housing, the housing including a front face, a rear face, and a sidewall extending between the front and rear faces, the motor block assembly including at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading, the at least one motor block module being remotely actuatable to control the at least one surgical instrument, the at least one motor block module axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
2. The robotic surgical system of claim 1, wherein the control drive unit includes a mounting clevis that secures the housing to the setup arm assembly.
3. The robotic surgical system of claim 2, wherein the mounting clevis is pinned to the sidewall of the housing to enable the housing to pitch relative to the mounting clevis.
4. The robotic surgical system of claim 3, wherein the mounting clevis is secured to the setup arm assembly by a yaw pin that enables the housing to yaw with the mounting clevis relative to the setup arm assembly.
5. The robotic surgical system of claim 1, wherein the at least one motor block module includes a plurality of motor block modules, each motor block module of the plurality of motor block modules is independently axially movable relative to the other motor block modules.
6. The robotic surgical system of claim 5, further comprising a support arm extending from the control drive unit, the support arm secured to an insertion tube on a distal end portion of support arm.
7. The robotic surgical system of claim 6, wherein the at least one surgical instrument includes a plurality of surgical instruments, and wherein the plurality of surgical instruments is secured to the plurality of motor blocks.
8. The robotic surgical system of claim 7, wherein the plurality of surgical instruments is selectively movable through the insertion tube.
9. The robotic surgical system of claim 1, wherein the at least one motor block module supports a sterile interface module that couples the at least one surgical instrument to the at least one motor block module.
10. The robotic surgical system of claim 1, wherein the at least one motor block module includes at least one motor that imparts rotational force to the at least one surgical instrument.
11. A surgical system, comprising: a housing including a front face, a rear face, and a sidewall extending between the front and rear faces; a support arm extending distally from the front face of the housing; an insertion tube supported on a distal end portion of the support arm; at least one surgical instrument; and a motor block assembly supported within the housing, the motor block assembly including at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading, the at least one motor block module being remotely actuatable to control the at least one surgical instrument, the at least one motor block module axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the insertion tube.
12. The surgical system of claim 11, wherein the housing supports a mounting clevis for selectively securing the housing to an instrument cart.
13. The surgical system of claim 12, wherein the mounting clevis is pinned to the sidewall of the housing to enable the housing to pitch relative to the mounting clevis.
14. The surgical system of claim 13, wherein the mounting clevis is selectively securable to a setup arm assembly of the instrument cart by a yaw pin that enables the housing to yaw with the mounting clevis relative to the setup arm assembly.
15. The surgical system of claim 11, wherein the at least one motor block module includes a plurality of motor block modules, each motor block module of the plurality of motor block modules is independently axially movable relative to the other motors block modules.
16. The surgical system of claim 15, wherein the at least one surgical instrument includes a plurality of surgical instruments, and wherein the plurality of surgical instruments is secured to the plurality of motor block modules.
17. The surgical system of claim 16, wherein the plurality of surgical instruments is selectively movable through the insertion tube.
18. The surgical system of claim 11, wherein the at least one motor block module supports a sterile interface module that couples the at least one surgical instrument to the at least one motor block module.
19. The surgical system of claim 11, wherein the at least one motor block module includes at least one motor that imparts rotational force to the at least one surgical instrument.
20. A control unit assembly for a robotic surgical system, the control unit assembly including: a housing including a front face, a rear face, and a sidewall extending between the front and rear faces; at least one surgical instrument; and a motor block assembly supported within the housing, the motor block assembly including at least one motor block module that is selectively attachable to the at least one surgical instrument via front or side loading, the at least one motor block module being remotely actuatable to control the at least one surgical instrument, the at least one motor block module axially movable relative to the housing to facilitate movement of the at least one surgical instrument relative to the housing.
a feeling of deja vu
I think we will wait until the 24th
0,4977
at this point I see it as risky for those who go short!
even in the case of a low sale, it can be expensive to be short!
0,4799
Our management team is completely aligned with the Board's decision to explore options to maximize shareholder value. We believe it is prudent to undertake a review of our strategic options to determine the best path forward to realize the value of our innovations in single-access robotic-assisted technologies to maximize shareholder value. Our Board and management team remain committed to our strategy of providing patients, surgeons and hospitals with an innovative improved surgical experience.
BOARD TO CONSIDER FULL RANGE OF STRATEGIC ALTERNATIVES INCLUDING CORPORATE SALE, MERGER, OTHER BUSINESS COMBINATION
BOARD WILL CONSIDER SALE OF ALL OR A PORTION OF COMPANY'S ASSETS, STRATEGIC INVESTMENT OR OTHER SIGNIFICANT TRANSACTION
Come on, ISRG, hit it!
Next month is coming... Enos is about to be born!
will It have two or three arms?
I added!
Oh wow! took my order at $77!
Now I hope to grasp well the return ....
AXS-05, met the primary and key secondary goals of a late-stage study testing it in Alzheimer’s disease patients
Simon says: Let's bring it up to $1
https://fintel.io/sst/us/tmdi
LOL so many went short