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ASSERTIO
Financial Highlights (unaudited):
Three Months Ended March 31,
(in millions, except per share amounts) 2023 2022
Net Product Sales (GAAP) $ 41.8 $ 35.5
Net (Loss) Income (GAAP) $ (3.5 ) $ 9.1
(Loss) Earnings Per Share (GAAP) $ (0.07 ) $ 0.20
Adjusted EBITDA (Non-GAAP) (1) $ 25.6 $ 23.9
Adjusted Earnings Per Share (Non-GAAP) (1) $ 0.29 $ 0.38
First quarter results included the following as compared to the prior year quarter: * Net product sales increased 18%, to $41.8 million. * Increased sales of Indocin and the addition of Sympazan more than offset expected declines in Cambia and Zipsor.
* Indocin sales increased 42%, primarily due to the transition of volumes to more profitable commercial channels implemented in October 2022.
* Sympazan prescriptions achieved a new record in the quarter, following its prior record in the third quarter 2022.
* GAAP net loss of $3.5 million, compared to GAAP net income of $9.1 million in the prior year quarter. The decrease was primarily due to: * $9.9 million in expenses associated with the exchange of convertible debt during the quarter, * $7.5 million non-cash increase in contingent consideration associated with future Indocin royalties as a result of continued sales growth, and * Increased operating expenses, including $2.4 million in transaction costs associated with the pending acquisition of Spectrum Pharmaceuticals, Inc., as announced on April 25, 2023.
* Adjusted EBITDA of $25.6 million, increased from $23.9 million in the first quarter 2022. * The change in adjusted EBITDA was driven by $6.2 million of additional net product sales, partially offset by higher operating expenses.
* On February 23, 2023, the Company strengthened its balance sheet through a $30.0 million exchange of convertible debt in a cash and stock exchange transaction. * The transaction reduced Assertio’s overall debt by 43%, will save the Company $2.0 million in annual interest payments, and reduced the potential dilution from the exchanged convertible notes by 4.6%.
* At March 31, 2023, cash and cash equivalents was $68.6 million and outstanding principal amount of convertible debt was $40 million.
March 31, September 30,
2023 2022
Cash and cash equivalents $ 44,301 $ 57,076
Prepaids and other assets 114,203 112,429
Total assets $ 158,504 $ 169,505
Current liabilities 2,146 2,310
Long-term debt 20 76
Shareholders' deficiency 156,338 167,119
Total liabilities and shareholders' equity $ 158,504 $ 169,505
March 31, 2023 March 31, 2022 March 31, 2023 March 31, 2022
OPERATING EXPENSES
Research and development $ 4,481 $ 7,649 $ 9,825 $ 13,669
Financing costs 2 4 4 8
General and administration 3,731 3,817 6,250 6,880
Total operating expenses (8,214) (11,470) (16,079) (20,557)
Gain on derivative liability - 118 - 18
Interest and other items 1,155 498 2,279 586
Net loss before taxes (7,059) (10,854) (13,800) (19,953)
Income tax expense (recovery) (2) - (2) 1
Net loss and comprehensive $ (7,061) $ (10,854) $ (13,802) $ (19,952)
loss for the period
Basic and diluted loss per
common share
$ (0.16) $ (0.25) $ (0.31) $ (0.45)
- Q1 2023 net sales of $15.6 million, an increase of 54% compared to Q4 2022 --
-- Company to be acquired by Assertio Holdings, Inc., delivering value to stakeholders in an all stock and contingent value rights (CVR) transaction --
-- Transaction expected to close in Q3 2023 --
Spectrum Pharmaceuticals, Inc. (NasdaqGS: SPPI), a commercial stage biopharmaceutical company focused on novel and targeted oncology therapies, announced today financial results for the three-month period ended March 31, 2023, and provided a corporate update.
The Company had a total cash, cash equivalents, and marketable securities balance of approximately $56.1 million as of March 31, 2023.
BOOM!
Actuator And Drive For Manipulating A Tool
DOCUMENT ID
US 11642188 B2
DATE PUBLISHED
2023-05-09
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Robert; Rene
East Greenwich
RI
N/A
US
Zitnick; David Allen
Providence
RI
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
17/062654
DATE FILED
2020-10-05
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 15893195 20180209 US 10813712 child-doc US 17062654
continuation parent-doc US 15442070 20170224 US 9925014 20180327 child-doc US 15893195
continuation parent-doc US 15294477 20161014 US 9629688 20170425 child-doc US 15442070
continuation parent-doc US PCT/CA2015/000098 20150218 PENDING child-doc US 15294477
us-provisional-application US 62090798 20141211
US CLASS CURRENT:
74/89.23,74/89
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 17/00234
2013-01-01
CPCI
F 16 C 1/12
2013-01-01
CPCI
A 61 B 34/70
2016-02-01
CPCI
A 61 B 34/30
2016-02-01
CPCA
A 61 B 2017/00367
2013-01-01
CPCA
A 61 B 2017/00318
2013-01-01
CPCA
A 61 B 2017/00398
2013-01-01
CPCA
A 61 B 2017/00305
2013-01-01
CPCA
A 61 B 2017/00477
2013-01-01
CPCA
A 61 B 2017/00371
2013-01-01
CPCA
F 16 H 25/20
2013-01-01
Abstract
A tool apparatus and a method for actuating a tool apparatus are disclosed. The tool apparatus includes an actuator housing, and an elongate tool manipulator extending outwardly from the actuator housing and having a plurality of control links extending along a length of the tool manipulator. The control links are operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator. The apparatus also includes a plurality of actuators, each actuator being associated with at least one of the control links and being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction, and a plurality of linkages.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
(1) This application is a Continuation Application of U.S. patent application Ser. No. 15/893,195, filed on Feb. 9, 2018, which is a Continuation Application of U.S. patent application Ser. No. 15/442,070, filed on Feb. 24, 2017 (now U.S. Pat. No. 9,925,014), which is a Continuation Application of U.S. patent application Ser. No. 15/294,477, filed on Oct. 14, 2016 (now U.S. Pat. No. 9,629,688), which is a U.S. National Stage Application filed under 35 U.S.C. § 371(a) of International Patent Application No. PCT/CA2015/000098, filed Feb. 18, 2015, which claims the benefit to U.S. Provisional Patent Application No. 62/090,798, filed Dec. 11, 2014, the entire disclosure of each of which is incorporated by reference herein.
BACKGROUND OF THE INVENTION
1. Field of Invention
(1) This invention relates to robotic manipulators and more particularly to an actuator and a drive for manipulating a tool.
2. Description of Related Art
(2) Robotically actuated tools may be used in applications where there is an area of limited access for an operator. The robotically actuated tools may be inserted into the area of limited access and the operator may remotely manipulate the tool via one or more actuators and drivers, generally placed outside the area of limited access. However, while the actuators and drivers may be disposed outside the limited access area, there may still be constraints placed on their overall extent. Accordingly, there remains a need for actuators and drivers that are suitable for various robotically actuated tools, such as tools used in laparoscopic surgery.
SUMMARY OF THE INVENTION
(3) In accordance with one disclosed aspect there is provided a tool apparatus including an actuator housing, an elongate tool manipulator extending outwardly from the actuator housing and having a plurality of control links extending along a length of the tool manipulator. The control links are operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator. The apparatus also includes a plurality of actuators, each actuator being associated with at least one of the control links and being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction, and a plurality of linkages. Each linkage is associated with one of the control links and extends between the control link and the respective actuator and is operable to transmit drive forces between the actuator and the control link.
(4) Each linkage may include a flexible length of the respective control link and the actuator housing may include a guide associated with each linkage that causes the flexible length of the control link to be curved through a generally circular arc between the tool manipulator and the respective actuator.
(5) The guide may include an arcuate channel.
(6) The apparatus may include a sheath covering the flexible length of the control link disposed within the channel, the sheath being operable to reduce friction between the control link and the channel.
(7) Each linkage may further include a transition length extending in a direction generally aligned with the actuating direction, the transition length of each linkage having a length selected to cause successive ones of the plurality of actuators to be spaced along the actuator housing away from the elongate tool manipulator.
(8) The guide may include a pulley.
(9) Each linkage may include a lever coupled between the associated control link and the respective actuator, the lever being operably configured to pivot in response to movement of the actuator to cause movement of the control link.
(10) The tool manipulator may include a rigid shaft portion and an articulated tool positioner operably configured to cause the movement of the distal end of the tool manipulator and the control link may include a substantially inflexible portion extending along the rigid shaft portion, and a flexible portion extending through the articulated tool positioner.
(11) The actuator housing may include a plurality of parallel rails, each actuator being received on one of the parallel rails for guiding the actuator to provide the travel in the transverse direction.
(12) The actuator housing may include a drive face and each actuator may include at least one drive engaging portion for receiving a drive force for moving the actuator, the at least one drive engaging portion being exposed on the drive face to facilitate coupling the actuator to a drive apparatus operable to provide the drive force.
(13) The drive face may include a first drive face on a side of the actuator housing and may further include a second drive face disposed on an opposite side of the actuator housing and each actuator may include a first drive engaging portion exposed on the first drive face and a second drive engaging portion exposed on the second drive face, the first and second drive faces being operable to permit coupling of the actuator apparatus to a drive apparatus from either side of the actuator housing.
(14) The tool manipulator may extend outwardly from a portion of actuator housing proximate an edge of the actuator housing such that the length of the tool manipulator is generally aligned with the edge of the housing.
(15) Each actuator and respective linkage may be configured to place the associated control links in a relaxed condition when the actuator is disposed at a location within the actuator housing that is offset from a center of the range of travel of the actuator by a small proportion of the range of travel.
(16) The control links may include at least one pair of control links associated with movements of the distal end of the tool manipulator in opposing directions within a common plane and the actuators associated with the pair of control links may be disposed in adjacent locations within the actuator housing.
(17) The apparatus may include at least one tool connected to the distal end of the tool manipulator, the at least one tool providing functions controlled by at least one tool control link extending along the tool manipulator and the actuator housing may further include at least one tool actuator for controlling the at least one tool control link.
(18) The tool control link may include at least one of a control link moveable in the actuating direction for actuating a jawed instrument and the plurality of actuators and linkages may include at least one actuator and a respective linkage for moving the control link in the actuating direction, and a tool control shaft for causing rotation of the tool about the distal end of the tool manipulator and the plurality of actuators and linkages may include at least one actuator and a respective linkage for transforming linear movement of the actuator into a rotating movement of the shaft.
(19) The tool may be configured to operate in response to receiving an electrical actuation signal and the actuator housing may further include at least one input for receiving the electrical actuation signal, and a conduit extending through the housing for receiving an electrical cable for connecting the electrical signal between the input and the tool.
(20) In accordance with another disclosed aspect there is provided a drive apparatus for providing a drive force to actuators of a tool apparatus as set forth above. The drive apparatus includes a chassis, a mounting interface for receiving the tool apparatus, and a plurality of drivers mounted side-by-side in the chassis, each driver corresponding to one of the plurality of actuators and having a drive coupling operable to move in the transverse direction for transmitting a drive force to one of the plurality of actuators when the tool apparatus is received at the mounting interface.
(21) Each actuator of the tool apparatus may include at least one drive engaging portion and the drive coupling of each driver may be exposed on the mounting interface and disposed such that drive engaging portions on the tool apparatus interconnect with corresponding drive couplings when the tool apparatus is received at the mounting interface.
(22) Each actuator and respective linkage of the tool apparatus may be configured to place the associated control links in a relaxed condition when the actuator is disposed at a location within the actuator housing that is offset from a center of the range of travel of the actuator by a small proportion of the range of travel and the drive coupling of each driver may be disposed to cause each respective drive engaging portion of the tool apparatus to be displaced from the center of the range of travel to place the associated control links in a pre-stressed condition when the tool apparatus is received at the mounting interface.
(23) The mounting interface may include a slide interface configured to permit the tool apparatus to be received by sliding the actuator interface into engagement with the chassis in a direction generally aligned with the actuating direction, the drive engaging portions and corresponding drive couplings being aligned to permit the drive engaging portions to slide to interconnect with the respective drive couplings.
(24) Each drive coupling of the plurality of drivers may include one of a protruding portion and a slot and each drive engaging portion of the plurality of actuators may include the other of a protruding portion and a slot.
(25) The slide interface may be operably configured to provide sufficient retaining force in the transverse direction to prevent de-seating of the tool apparatus when transmitting drive forces, the retaining force being provided by at least one of static friction provided by contact forces between the drive engaging portions interconnecting with the corresponding drive couplings, actuation of at least one of the drivers causing movement of an associated drive coupling such that the plurality of drive couplings are no longer in alignment, thus preventing deseating of the tool apparatus, engagement of a detent operable to provide a sufficient retaining force in the actuating direction to prevent the tool apparatus sliding out of engagement with the mounting interface, and a fastener operable to provide a sufficient retaining force in the actuating direction to prevent the tool apparatus sliding out of engagement with the mounting interface.
(26) Each driver may include a traversing element operably configured for movement in the transverse direction, and a rotating element coupled to the traversing element and being operable to cause traversing element to move in the transverse direction.
(27) The rotating element may include a leadscrew and the traversing element may include a leadscrew nut coupled to the traversing element, the leadscrew nut being received on the leadscrew.
(28) The apparatus may include a motor coupled to the rotating element for providing a rotational drive force.
(29) The motor may provide a rotational drive force to rotating elements of at least two of the drivers, and the traversing elements of the at least two drivers may be configured for movement in opposing transverse directions for providing opposing drive forces to respective actuators of the tool apparatus, the opposing drive forces being operable to simultaneously cause pushing of one of the control links and pulling of another of the control links.
(30) The motor may be mounted on a distal side of the chassis with respect to the tool manipulator.
(31) In the event of a loss of power to the drive apparatus, each driver may be operably configured to maintain the drive coupling in a generally static location with respect to the chassis to prevent unintended movement of the distal end of the tool manipulator.
(32) The mounting interface may include a removable barrier covering the chassis and plurality of drivers, the barrier having a plurality of intermediate couplers, the intermediate couplers being moveable in the transverse direction and being operable to transmit drive forces between the drive couplers of the drive apparatus and the respective drive engaging portions of the tool apparatus.
(33) The removable barrier may be configured to receive a sterile drape for draping the drive apparatus.
(34) In accordance with another disclosed aspect there is provided a method for actuating a tool apparatus, the tool apparatus including an elongate tool manipulator extending outwardly from an actuator housing and having a plurality of control links extending along a length of the tool manipulator, the control links being operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator. The method involves receiving drive forces at a plurality of actuators, the plurality of actuators being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction. The method also involves transmitting the drive forces through a plurality of linkages, each linkage extending between one of the actuators and an associated control link, the transmitted drive forces causing movement of the associated control link in the actuating direction.
(35) Receiving the drive forces may involve receiving drive forces from a plurality of drivers mounted side-by-side in a chassis, each driver corresponding to one of the plurality of actuators and having a drive coupling operable to move in the transverse direction for transmitting the drive force to the respective actuator.
(36) The chassis may include a mounting interface and the method may involve slidably receiving the actuator in the mounting interface in a direction generally aligned with the actuating direction, the drive engaging portions and corresponding drive couplings being aligned to permit the drive engaging portions to slide to interconnect with the respective drive couplings.
(37) Other aspects and features of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying figures.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) In drawings which illustrate embodiments of the invention,
(2) FIG. 1 is a perspective view of a tool apparatus according to a first embodiment;
(3) FIG. 2 is an enlarged perspective view of a portion of the tool apparatus shown in FIG. 1;
(4) FIG. 3 is a perspective view of one of a plurality of actuators and an associated linkage used in the tool apparatus shown in FIG. 1 and FIG. 2;
(5) FIG. 4 is a perspective view of an alternative linkage embodiment;
(6) FIG. 5 is a view of the tool apparatus shown in FIG. 1 from a different perspective viewpoint;
(7) FIG. 6 is a perspective view of a drive apparatus for use with the tool apparatus shown in FIG. 1;
(8) FIG. 7 is a perspective view of a chassis of the drive apparatus shown in FIG. 6;
(9) FIG. 8 is a perspective view of a pair of drivers shown in FIG. 7;
(10) FIG. 9 is a perspective view showing engagement between the tool apparatus shown in FIG. 1 and the drive apparatus shown in FIG. 7 in accordance with one embodiment;
(11) FIG. 10 is a view of a mounting interface of the drive apparatus shown in FIG. 6 from a different perspective viewpoint;
(12) FIG. 11 is a view of a rear portion of an intermediate coupling of the mounting interface shown in FIG. 10;
(13) FIG. 12 is a perspective view showing engagement between the tool apparatus shown in FIG. 1 and the drive apparatus shown in FIG. 7 in accordance with another embodiment; and
(14) FIG. 13A-13C are a series of perspective views depicting a mounting process for engaging the tool apparatus shown in FIG. 1 in the drive apparatus shown in FIG. 6.
DETAILED DESCRIPTION
(15) Tool Apparatus
(16) Referring to FIG. 1, a tool apparatus according to a first embodiment of the invention is shown generally at 100. The tool apparatus 100 includes an actuator housing 102 and an elongate tool manipulator 104 extending outwardly from the actuator housing.
(17) The tool manipulator 104 includes a plurality of control links 106, shown in the partial cut-away on the tool manipulator. The plurality of control links 106 extend along a length of the tool manipulator 104 and are operable to cause movement of a distal end 108 of the tool manipulator in response to movement of the control links in an actuating direction. The actuating direction is generally aligned with the length of the tool manipulator and is indicated by the arrow 110. In one embodiment the control links 106 may each be a single flexible 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 control links 106 to be selectively pushed or pulled with similar forces without permanent deformation.
(18) In the embodiment shown, the tool manipulator 104 includes a rigid shaft portion 112 and an articulated tool positioner 114 including a plurality of coupled guides 116. The plurality of coupled guides 116 are operable to move with respect to each other in response to pushing and/or pulling of the control links 106 causing the distal end 108 to assume various positions and orientations. An articulated tool positioner is described in detail in commonly owned patent application PCT/CA2013/001076 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME”, now U.S. Pat. No. 10,278,683. The tool manipulator 104 is configured to receive a tool 118, such as may be commonly used in laparoscopic surgery.
(19) As disclosed above the plurality of control links 106 may be implemented using flexible wires such as nitinol. However, in other embodiments, the control links 106 may include an inflexible portion along the rigid shaft portion 112 since flexibility of the control links is not required along the rigid shaft, which would not bend significantly during operation. In such a case, the control links 106 may include an inflexible portion extending through the rigid shaft portion 112 and a flexible portion extending between the rigid shaft portion 112 and through the articulated tool positioner 114 to the distal end 108. The flexible and inflexible portions may be crimped, swaged, or welded together to form the control link 106.
(20) The actuator housing 102 and a portion of the tool manipulator 104 are shown in enlarged detail in FIG. 2. Referring to FIG. 2, the actuator housing 102 includes a cover plate 120, which is shown partially cut-away. The tool apparatus 100 includes a plurality of actuators 130. In this embodiment, the plurality of actuators 130 includes eight adjacently disposed actuators 132-146 for positioning the distal end 108 of the elongate tool manipulator 104. In this embodiment each of the actuators 132-146 is associated with a respective control link of the plurality of control links 106 and is mounted in the actuator housing 102 to facilitate a range of travel in a transverse direction. The transverse direction is substantially orthogonal to the actuating direction 110 and is indicated by the arrow 148. In the embodiment shown, each actuator 132-146 is received on one of a plurality of adjacently located parallel rails 150 extending in the transverse direction 148. The parallel rails 150 guide the respective actuators 132-146 for movement in the transverse direction 148. In other embodiments, the plurality of actuators 130 may include more or less than the eight actuators 132-146 shown in FIG. 2, depending on requirements for manipulating the distal end 108 of the tool manipulator 104.
(21) In other embodiments a single actuator may be configured to actuate two control links. For example, two joined control link portions may be looped around a pulley such that movement of the actuator causes a pulling movement of one control link portion and a pushing movement of the other control link portion.
(22) The plurality of actuators 130 may include further actuators 152 and 154 for controlling functions of the tool 118. For example, the tool 118 may be surgical scissors, forceps, or other jawed instrument that is operated by a tool control link extending along the length of the tool manipulator 104 and actuated by one of the actuators 152 or 154. The jaw of the tool 118 to be opened and closed in response to movement of the control link. Additionally, the tool 118 may also be rotatable about the distal end 108 and one of the actuators 152 and 154 may be used to actuate rotation of the tool through rotation of a tool control link such as a shaft extending along the length of the tool manipulator 104. In this embodiment the linkage associated with the tool control actuator may be configured to transform linear movement of the actuator into a rotating movement of the tool control shaft.
(23) In other embodiments additional actuators may be provided as necessary for operating the tool 118. In some embodiments, the tool manipulator 104 may carry a tool such as a surgical cauterizer that is configured to operate in response to receiving an electrical actuation signal. The tool manipulator 104 may have a conduit extending through the actuator housing 102 for receiving an electrical cable and may also include an input connector for connecting the electrical actuation signal through the cable to the tool. The tool manipulator 104 may include a corresponding conduit for carrying the electrical cable between the housing and the tool. Alternatively, a conduit through the shaft may be omitted and the electrical cable may extend through the center of the shaft. In other embodiments where the shaft comprises an electrically conductive material, the shaft may be used as a first electrical conductor with a second electrical conductor being run along the tool manipulator to provide either the signal line or the ground return for the electrical actuation signal. In other cases a ground return may be provided through the patient's tissues and the conductive shaft may be sufficient to couple the electrical actuation signal to the tool 118.
(24) The tool apparatus 100 further includes a plurality of linkages, of which linkages 160 and 162 are visible in FIG. 2. In the embodiment shown, the linkages are provided by a flexible length of one of the control links 106. For example, the linkage 160 comprises a length of one of the control links 106 and is associated with the actuator 138. The linkage 162 comprises a flexible length of another of the control links 106 and is associated with the actuator 134. As disclosed above, in some embodiments the control links 106 may be fabricated from a flexible material such as nitinol in which case the linkages 160 and 162 would be provided by a length of the flexible material. In other embodiments the control links 106 may have some flexible and some inflexible portions, and the linkages 160 and 162 may be provided by a further flexible length joined to the control link. The actuator housing 102 further includes channels 164 and 166 for receiving and guiding the respective lengths of the control links acting as linkages. The channels 164 and 166 each include an arcuate portion that guides the control link 106 through a generally circular arc between the actuator and the tool manipulator 104. The channels also include a straight portion extending through the actuator housing 102 in the actuating direction 110. Each of the linkages 160 and 162 are thus received within a respective channel and extend between one of the control links 106 and a respective actuator in the plurality of actuators 130. Other control links 106 are routed through respective arcuate channels on an opposite side of the actuator housing 102 (not shown in FIG. 2) to the actuators 132, 136, and 140. The linkages are operable to transmit forces between the associated actuator and control link.
(25) The channels 164 and 166 are sized and toleranced to guide the respective linkages 160 and 162 without significantly constraining their movement within the channel. The control links 106 associated with each of the linkages and actuators in the plurality of actuators 130 have successively longer lengths selected to cause successive actuators to be spaced along the actuator housing 102 away from the tool manipulator 104. The additional length of the control links 106 for actuators in the plurality of actuators 130 that are spaced further away from the tool manipulator 104 does not introduce appreciable additional friction, since the additional lengths are guided by the straight portions of the channels 164 and 166.
(26) Referring to FIG. 3, one of the plurality of actuators 130 (i.e. actuator 134) and the associated linkage 160 is shown in isolation. The actuator 134 includes a body 170 having an opening 172 for being received on the rail 150. The body 170 also includes an opening 174 for receiving and securing an end 176 of the control link 106 associated with the actuator 134. The linkage 160 is provided by a length 178 of the control link 106 that is curved through a generally circular arc and terminates in the opening 174. In this embodiment, the linkage 160 further includes a sheath 180 covering at least a portion of the length 178 that is disposed within the channel 164 (shown in FIG. 2). The sheath 180 may be a material such as Polytetrafluoroethylene (PTFE) that is operable to reduce friction between the linkage 160 and the channel 164.
(27) Referring to FIG. 4, an alternative linkage embodiment actuated by the actuator 134 is shown generally at 200. The linkage 200 includes an arm 202 and a lever 204 received within the actuator housing 102. The lever 204 is mounted at a pivot point 206 and the control link 106 is attached to the lever. The arm 202 extends between the actuator 134 and the lever 204. When the actuator 134 is moved along the rail 150 in the transverse direction 148, the arm 202 causes the lever 204 to pivot about the pivot point 206 and a force is transmitted to the control link 106. A similar linkage to the linkage 200 would be provided on an opposite side of the actuator housing 102 for the actuator 132. In other embodiments, the linkage may be implemented using a pulley for guiding the control link 106 through the circular arc between the transverse direction 148 and the actuating direction 110.
(28) Referring back to FIG. 3, the body 170 of the actuator 134 includes a drive engaging portion. The drive engaging portion 182 protrudes from the body 170 and is operable to receive a drive force for moving the body 170 along the rail 150. Referring back to FIG. 2, the actuators 130 each include respective drive engaging portions 190 similar to the drive engaging portion 182. The drive engaging portions 190 protrude outwardly beyond the cover plate 120 and are thus exposed to provide a drive face 192 on the actuator housing 102. The drive face 192 facilitates coupling of the plurality of actuators 130 of the tool apparatus 100 to a drive apparatus operable to provide the drive force. An embodiment of the drive apparatus is described later herein.
(29) Referring to FIG. 5, the tool apparatus 100 is shown oriented with the drive face 192 obscured and in this embodiment the tool apparatus has a second drive face 230 disposed on an opposite side of the actuator housing 102 to the drive face 192. Referring back to FIG. 3, the body 170 includes a second drive engaging portion 194 extending from an opposite side of the body 170 to the drive engaging portion 182. Referring again to FIG. 5, the drive face 230 includes a second plurality of drive engaging portions 232 including the second drive engaging portion 194 associated with the actuator 134. The first drive face 192 and the second drive face 230 are substantially identical and permit the tool apparatus 100 to be driven via either the first or the second drive face. The tool manipulator 104 also extends outwardly from a portion 234 of actuator housing 102 that is proximate to an edge 236 of the actuator housing such that the length of the tool manipulator 104 is generally aligned with the edge. Together with the substantially identical drive faces 192 and 230, mounting the elongate tool manipulator 104 proximate the edge of the actuator housing 102 provides options for mounting the tool apparatus 100 in different orientations, as described later herein.
(30) Referring back to FIG. 2, in the embodiment shown, the plurality of actuators 130 and the associated linkages 160 are configured to place the control links 106 of the tool manipulator 104 in a relaxed condition when the actuators are disposed at a location within the actuator housing 102 that is offset from a center of the range of travel of the actuator (indicated by line 196) by a distance d. As described later herein, during the process of loading the tool apparatus 100 the actuators 130 may be subsequently displaced from the offset location to align with the line 196 causing the actuators to align along the line 196, and placing the control links 106 in a pre-stressed tension condition. In one embodiment the offset d is selected to be a small proportion of the range of travel of the actuators 130 (about 0.5 mm).
(31) Drive Apparatus
(32) Referring to FIG. 6, a drive apparatus for providing a drive force to actuators 130 of the tool apparatus 100 (shown in FIG. 1) is shown generally at 250. The drive apparatus 250 includes a chassis 252 and a mounting interface 254 for receiving the tool apparatus 100. The chassis 252 is shown in FIG. 7 with the mounting interface 254 removed. Referring to FIG. 7, the drive apparatus 250 includes a plurality of drivers 256 mounted side-by-side in the chassis 252. Each driver in the plurality of drivers 256 corresponds to one of the plurality of actuators 130 on the tool apparatus 100. Two exemplary drivers of the plurality of drivers 256 are indicated at 258 and 260 in FIG. 7, and respectively correspond to the actuators 132 and 134 on the tool apparatus 100. The drivers 258 and 260 each include respective drive couplings 262, 264, which are operable to move in the transverse direction for transmitting a drive force to the drive engaging portions 232 and 234 of the actuators 130 when the tool apparatus is received in the mounting interface 254.
(33) Each driver in the plurality of drivers 256 includes a rotating element in the form of a leadscrew 266, 268 extending in the transverse direction 148. In this embodiment, the drive apparatus 250 also includes a drive shaft for each pair of drivers (In FIG. 7, a drive shaft 270 is associated with the pair of drivers 258, 260). Components of the pair of drivers 258 and 260 are shown removed from the chassis in FIG. 8. Referring to FIG. 8, the drivers 258 and 260 each include a traversing element 300 and 302 received on respective rails 304 and 306. The rails 304, 306 extend in the transverse direction 148 and permit movement of the traversing elements 300 and 302 in the transverse direction. The leadscrews 266, 268 are threadably coupled to leadscrew nuts 308 and 310, which are coupled to the respective traversing elements 300 and 302. Rotation of the leadscrew 266 causes motion of the traversing element 300 along the rail 304 and rotation of the leadscrew 268 causes motion of the traversing element 302 along the rail 306. The drive shaft 270 is coupled to a motor 312 for providing a rotational drive force. In this embodiment, the motor 312 includes an encoder 314 for controlling rotational movement of the motor. The drive shaft 270 also includes a worm gear 316 disposed to engage a corresponding gear 318 on the leadscrew 266 for driving the leadscrew. The gear 318 on the leadscrew 266 engages a corresponding gear 320 and transmits the rotational drive to the leadscrew 268. The rotational drive imparted to the leadscrew 266 is thus in an opposite direction to the rotational drive imparted to the leadscrew 268, causing the traversing elements 300 and 302 to move in different transverse directions along the rails 304 and 306. The motor 312 thus provides a rotational drive force to rotating elements of at least two of the drivers configured for movement in opposing transverse directions. The opposing drive forces provided to adjacently located actuators 130 of the tool apparatus 100 are operable to simultaneously cause pushing of one of the control links 106 and pulling of another of the control links.
(34) In the embodiment shown in FIG. 8, the motor 312 is mounted such that it would be on a distal side of the chassis 252 with respect to the tool manipulator 104. Mounting the motor 312 extending away from the rear of the chassis 252 has an advantage of removing elements from the vicinity of the tool manipulator 104 so as not to obstruct the portions of the apparatus that are closest to the surgical site.
(35) In the event of a loss of power to the drive apparatus 250, friction associated with the gears and other elements of the drivers 258 and 260 would tend to cause the drive couplings 262 to be immobilized within the chassis 252. The distal end 108 of the tool manipulator 104 would thus also be immobilized preventing unintended movement of the distal end 108 of the elongate tool manipulator 104 and thus preventing the tool 118 from injuring the patient.
(36) Referring back to FIG. 7, in the embodiment shown the six drivers of the plurality of drivers 256 that are adjacent to the pair of drivers 258, 260 are each paired with another driver and coupled to one of the shafts 272, 274, and 276, which are in turn coupled to respective motors (not shown in FIG. 7). In this embodiment, rotational drive is thus provided by four motors each motor driving a pair of drivers in the plurality of drivers 256. The remaining two drivers located furthest away from the drivers 258 and 260 are associated with driving the actuators 152 and 154 for controlling functions of the tool 118 and may be configured as required for the tool mounted on the tool manipulator 104.
(37) The configuration shown in FIG. 7 is suitable for actuating a tool manipulator 104 having pairs of control links 106 associated with movements of the distal end 108 of the tool manipulator in opposing directions within a common plane. For example, with reference to FIG. 1, in one embodiment side-to-side movement of the distal end 108 in one may be associated with pushing one link of a pair of control links 106 while pulling another link of the pair. The push/pull actuation of pairs of control links provides a smooth movement by applying two separate actuation forces to move the articulated tool positioner 114. The push/pull actuation of pairs of control links also provides some redundancy should one of the control links fail during an operation since a single actuated link is sufficient to cause movement of the distal end 108 articulated tool positioner 114, such as the side to side movement described above.
(38) Opposing transverse movements of the drivers that are coupled via the actuators 130 to the respective pairs of control links may thus actuate the side-to-side movement. In this embodiment, the opposing movements are provided by the drive apparatus 250 thus simplifying the tool apparatus 100. In use, a robotic surgery apparatus may include two or more units of the drive apparatus 250 for simultaneously driving two or more units of the tool apparatus 100. However, several differently configured tool apparatuses 100 having different tools 118 may be used during a surgery procedure and thus moving the opposing drive provisions to the drive apparatus 250 reduces overall system complexity. Alternatively, in another embodiment (not shown) the opposing movements may be provided within the tool apparatus 100.
(39) In other embodiments movements to one side may be actuated by pulling only one of the control links while movement to the other side is associated with pulling the other control link. Alternatively, a single link can be implement that causes movement to one side by pulling the control link and movement to the other side by pushing the control link.
(40) In the embodiment shown in FIG. 7, the plurality of drivers 256 each include slots, of which two slots 280 and 282 are indicated. The slots 280 and 282 are sized to receive the drive engaging portions 182 or 194 of the actuators 130 on the tool apparatus 100. Referring to FIG. 9, the traversing element 302 of the driver 260 and the body 170 of the actuator 134 are shown in an engaged state. The second drive engaging portion 194 of the actuator 134 engages the slot 282 in the drive coupling 264 of the driver 260. Movement of the drive coupling 264 in the transverse direction 148 imparts a drive force to the second drive engaging portion 194 causing movement of the actuator 134. The slot 282 is dimensioned to provide sufficient engagement between the drive engaging portion 194 and slot 282 when transmitting drive forces. In an alternative embodiment (not shown) the protruding portion may be on the driver 260 and the slot may be on the actuator 134.
(41) The mounting interface 254 (shown in FIG. 6) is shown from a different perspective in FIG. 10. Referring to FIG. 10, in the embodiment shown the mounting interface 254 includes a plurality of intermediate couplers 350, including intermediate couplers 352 and 354. The intermediate couplers 350 are received in respective slots 356 and 358 in the mounting interface 254. Each of the plurality of intermediate couplers 350 have a shape that generally corresponds to the shape of the drive couplings (i.e. the drive couplings 262 and 264 shown in FIG. 7). Referring to FIG. 11, the intermediate coupler 354 is shown in rear view, and includes a sliding portion 370 received within the slot 358. The intermediate coupler 354 also includes a receptacle portion 372, shaped to receive the drive coupling 264. Referring to FIG. 12, the intermediate coupler 354 is shown in engagement between the traversing element 302 of the driver 260 and the body 170 of the actuator 134. The intermediate coupler 354 includes a drive coupling including a slot 374, which is shaped to receive the second drive engaging portion 194 on the body 170 of the actuator 134.
(42) In operation, the intermediate coupler 354 slides within the slot 358 in the transverse direction 148 and thus provides an additional interface between the driver 260 and the actuator 134. The plurality of intermediate couplers 350 together with the mounting interface 254 act as part of a sterile barrier between the drive apparatus 250 and the tool apparatus 100. In one embodiment, the mounting interface 254 is provided as a removable barrier, which may be secured to the chassis 252 when setting up for a surgical procedure. The removable barrier may be provided in a sterile packaging, either for a single-use or for re-use after sterilization. In other embodiments, a sterile drape 368 may be attached around a perimeter of the mounting interface 254. The sterile drape is used to cover the chassis 252 of the drive apparatus 250 and other portions of a surgical apparatus, which the drive apparatus is coupled to.
(43) Referring back to FIG. 10, the mounting interface 254 includes a first slot 360 and a second slot 362. The slots 360 and 362 have a generally cylindrical profile and are configured to provide a slide interface for receiving corresponding portions of the tool apparatus 100. Referring back to FIG. 5, in the embodiment shown the tool apparatus 100 includes a generally cylindrical portion 198 corresponding to the first slot 360 and a further generally cylindrical portion 199 corresponding to the second slot 362. The slots 360, 362, and cylindrical portions 198, 199 facilitate mounting of the tool apparatus 100 on the mounting interface 254 of the drive apparatus 250 while simultaneously engaging the cylindrical portions in the slots as the tool apparatus is slid into engagement.
(44) The engagement process is described further with reference to FIGS. 13A, 13B and 13C. Referring to FIG. 13A, initially the tool apparatus 100 is aligned with the drive apparatus 250 such that the portions 198 and 199 align with the respective slots 360 and 362 (shown in FIG. 10, slot 362 is not shown in FIG. 13A as it is obscured by the tool manipulator 104). The plurality of drivers 256 (not shown) of the drive apparatus 250 are actuated to each line up each of the plurality of intermediate couplers 350 at a center of their respective range of travel in the transverse direction 148. The driver alignment may be initiated by a computer controller (not shown) associated with the drive apparatus 250. The tool apparatus 100 is then slid into engagement with the mounting interface 254 of the drive apparatus 250.
(45) Referring to FIG. 13B, as the tool apparatus 100 engages the mounting interface 254, the drive engaging portions 190 of the actuators 130 successively slide through the respective slots (374 in FIG. 12) of the plurality of intermediate couplers 350. As noted above in connection with FIG. 2, the actuators 130 may be located at a location 197 that is offset from a center of the range of travel 196, and as the drive engaging portions 190 of the actuators 130 successively slide through the actuator slots, each actuator is offset by the distance d placing the control links 106 in tension. Since the drivers 256 and intermediate couplers 350 have been aligned with the center line 196, the tool apparatus 100 is able to slide along the slots 360, 362 under relatively little applied force while simultaneously tensioning the plurality of control links 106.
(46) Referring to FIG. 13C, the mounting interface 254 includes a stop plate 400 that engages a portion 402 of the actuator housing 102 (shown in FIG. 13B) when the plurality of actuators 130 of the tool apparatus 100 are each aligned with a corresponding one of the plurality of intermediate couplers 350. In this condition, the drive engaging portions 190 (as shown in FIG. 2) of the plurality of actuators 130 interconnect with the corresponding plurality of intermediate couplers 350. In the embodiment shown, the actuator housing 102 has a threaded opening 406 (FIG. 13B) and the stop plate 400 has a corresponding opening for receiving a retainer screw (not shown) for retaining the tool apparatus 100 in the mounting interface 254.
(47) One advantage associated with the sliding engagement provided by the slots 360, 362 and the corresponding portions 198 and 199 (as shown in FIG. 10) is that the tool apparatus 100 is securely mounted to withstand operating forces in the transverse direction 148. The slide interface of the mounting interface 254 thus provides a sufficient retaining force in the transverse direction 148 to prevent de-seating of the tool apparatus while transmitting drive forces to the plurality of control links 106. Forces on the tool apparatus 100 in the actuating direction 110 during operation will be minimal and the tool apparatus will be adequately restrained by without the need for external retaining means. The drive apparatus 250 also includes inherent features that prevent the tool apparatus 100 from sliding out of engagement with mounting interface 254. When the actuators 130 of the tool apparatus 100 are actuated and the elongate tool manipulator 104 is articulated, sufficient contact forces would be present in the direction 148 to cause static friction that would prevent motion of the apparatus in the actuating direction 110 (FIG. 13C). In addition, when any of the actuators 130 are actuated to locations away from the center line 196 (shown in FIG. 13A) and are thus not in alignment with one another, the actuator will act as a physical stop preventing motion of the instrument in the actuating direction 110 that would tend to deseat the tool apparatus 100. As a consequence, when unloading the tool apparatus 100 form the drive apparatus 250 it is necessary to position the drivers 256 and intermediate couplers 350 in alignment with the central line 196 to permit the tool apparatus to be removed. The alignment function may be provided by the computer controller associated with the drive apparatus 250 causing the drivers 256 to be aligned for tool apparatus removal. Additionally, the computer controller may also record and save the driver locations prior to removal of the tool apparatus so that when a new tool apparatus is inserted the controller can actuate the drivers to place the distal end 108 of the new tool in the same general location as the removed tool.
(48) In addition, the tool apparatus 100 could also be further restrained by the retainer screw received in the opening 404 and 406. The retainer screw provides additional retaining force in the actuating direction 110 to prevent the tool apparatus 100 from sliding out of engagement with mounting interface 254. In other embodiments, the retainer screw opening may be omitted in favor of an alternative retaining mechanism, such as a detent.
(49) In some cases, the tool apparatus 100 may be changed during a surgical procedure as necessary for the surgical operation being performed. The drive apparatus 250 may thus already be oriented so as to provide access to a surgery site on a patient and the distal end 108 of the tool manipulator 104 may be operating within the surgery site. Sliding engagement of the tool apparatus 100 within the drive apparatus 250 has an advantage of facilitating withdrawal of the tool apparatus rearwardly away from the surgery site. Similarly, when inserting a new tool apparatus 100 the distal end 108 and tool manipulator 104 are fed into the surgery site along the same path along which the previous tool apparatus was removed. The slide interface of the mounting interface 254 thus provides for simultaneous loading, engagement, and securing of the tool apparatus 100 with no secondary action associated with the loading being required other than securing the retainer screw if provided.
(50) Another advantage associated with the tool apparatus 100 is the removal of drive components and complexity from the tool apparatus and location of these components on the chassis 252 of the drive apparatus 250. As a consequence, the tool apparatus 100 may be easier to sterilize and several units of the tool apparatus may be placed side-by-side in a trays for sterilization in an autoclave, for example. Sterile storage of the tool apparatus 100 after sterilization is also simplified. Additionally, the substantially identical drive faces 192 and 230 permit the tool apparatus 100 to be used as either a left hand side tool, or a right hand side tool. The inventory of tools that would need to be on hand is therefore minimized.
(51) The mounting of the motor 312 extending away from the chassis 252 with respect to the tool manipulator 104 along with the mounting of the tool manipulator 104 proximate the edge 236 of the actuator housing 102, also permits two tool manipulators 104 to be operated side-by-side and in close proximity to each other.
(52) While specific embodiments of the invention have been described and illustrated, such embodiments should be considered illustrative of the invention only and not as limiting the invention as construed in accordance with the accompanying claims.
Claims
1. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool; a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage with the plurality of actuators of the surgical tool, each of the plurality of drivers configured to be independently moved along a second direction; wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement of the plurality of drivers with the plurality of actuators of the surgical tool, and wherein the plurality of drivers are configured to be aligned substantially along a line that is parallel to the first direction to permit engagement with the plurality of actuators when the surgical tool is slid onto the mounting interface; and a controller configured to: cause the plurality of drivers to be aligned substantially along the line that is parallel to the first direction; record positions of the plurality of drivers along the second direction prior to causing the plurality of drivers to be aligned substantially along the line that is parallel to the first direction; and subsequent to receiving the surgical tool at the mounting interface and engagement of the plurality of drivers with the plurality of actuators, restore the positions of the plurality of drivers along the second direction.
2. The apparatus of claim 1, wherein the at least one slot comprises first and second slots that are positioned on opposite ends of the mounting interface.
3. The apparatus of claim 1, wherein the at least one slot is configured to receive a protruding portion of a housing of the surgical tool.
4. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool, wherein the mounting interface comprises a stop plate configured to engage a portion of a housing of the surgical tool, wherein the stop plate is configured to receive a retaining mechanism, the retaining mechanism configured to attach the stop plate to the housing of the surgical tool; and a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage with the plurality of actuators of the surgical tool, each of the plurality of drivers configured to be independently moved along a second direction, wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement of the plurality of drivers with the plurality of actuators of the surgical tool, and wherein the plurality of drivers are configured to be aligned substantially along a line that is parallel to the first direction to permit engagement with the plurality of actuators when the surgical tool is slid onto the mounting interface.
5. The apparatus of claim 4, wherein the retaining mechanism comprises a screw, detent, or fastener.
6. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool, wherein the mounting interface is configured to provide sufficient retaining force in the second direction to prevent disengagement of the surgical tool, the retaining force being provided by at least one of: static friction provided by contact forces between the plurality of drivers engaging the plurality of actuators; actuation of at least one of the plurality of drivers causing movement of an associated actuator such that at least some of the plurality of actuators become misaligned; engagement of a retaining mechanism between the mounting interface and a housing of the surgical tool; or a fastener configured to provide a sufficient retaining force in the first direction to prevent the surgical tool sliding out of engagement with the mounting interface; and a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage with the plurality of actuators of the surgical tool, each of the plurality of drivers configured to be independently moved along a second direction, wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement of the plurality of drivers with the plurality of actuators of the surgical tool, and wherein the plurality of drivers are configured to be aligned substantially along a line that is parallel to the first direction to permit engagement with the plurality of actuators when the surgical tool is slid onto the mounting interface.
7. The apparatus of claim 1, wherein the mounting interface is sterile and removable.
8. The apparatus of claim 7, further comprising a plurality of removable, sterile couplers configured to be interposed between the plurality of drivers.
9. The apparatus of claim 1, wherein a sterile drape is configured to be attached to the mounting interface.
10. The apparatus of claim 1, wherein the at least one slot of the mounting interface is configured to permit the surgical tool to be removed from the mounting interface in a direction opposite to a direction in which the surgical tool was slidingly received onto the mounting interface.
11. The apparatus of claim 1, wherein the movement of the plurality of drivers in the second direction is in a non-parallel direction to the movement of the control links in the first direction.
12. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool; and a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage, via a plurality of removable couplers, with the plurality of actuators of the surgical tool, wherein: each of the plurality of drivers is configured to be independently moved along a second direction; and the plurality of drivers are configured to be aligned substantially along a center line that is parallel to the first direction to permit engagement with the plurality of actuators when the surgical tool is being attached to the housing, wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement, via the plurality of couplers, of the plurality of drivers with the plurality of actuators of the surgical tool, and wherein the plurality of couplers are sterile.
13. The apparatus of claim 12, wherein a sterile drape is configured to be attached to the mounting interface.
14. The apparatus of claim 12, wherein the mounting interface is removable and sterile.
15. The apparatus of claim 12, further comprising a controller configured to cause the plurality of drivers to be aligned substantially along the center line.
16. The apparatus of claim 15, wherein the controller is further configured to: record positions of the plurality of drivers along the second direction prior to causing the plurality of drivers to be aligned substantially along the center line; and following attachment of the surgical tool to the housing and engagement of the plurality of drivers with the plurality of actuators, restore the positions of the plurality of drivers along the second direction.
17. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool, wherein the mounting interface is configured to provide sufficient retaining force in a first direction along which the plurality of drivers are configured to be moved to prevent dislodgment of the surgical tool, the retaining force being provided by at least one of: static friction provided by contact forces between the plurality of drivers engaging the plurality of actuators via the plurality of couplers; actuation of at least one of the plurality of drivers causing movement of an associated actuator such that at least some of the plurality of actuators become misaligned; engagement of a retaining mechanism between the mounting interface and a housing of the surgical tool; or a fastener configured to provide a sufficient retaining force in a second direction along which a plurality of control links of the surgical tool are configured to be moved to prevent the surgical tool sliding out of engagement with the mounting interface, the plurality of control links being associated with the plurality of actuators and configured to control one or more functions of the surgical tool; and a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage, via a plurality of removable couplers, with the plurality of actuators of the surgical tool, wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement, via the plurality of couplers, of the plurality of drivers with the plurality of actuators of the surgical tool.
18. A robotic surgery apparatus comprising: a housing; a mounting interface positioned at least partially on an exterior of the housing, the mounting interface configured to receive a surgical tool comprising a plurality of actuators associated with a plurality of control links configured to be moved axially in a first direction to control one or more functions of the surgical tool, wherein: the mounting interface comprises a stop plate configured to engage a portion of a housing of the surgical tool; the stop plate is configured to receive a retaining mechanism; and the retaining mechanism is configured to attach the stop plate to the housing of the surgical tool; and a plurality of drivers positioned at least partially on the exterior of the housing, the plurality of drivers configured to engage, via a plurality of removable couplers, with the plurality of actuators of the surgical tool, wherein the mounting interface comprises at least one slot configured to permit the surgical tool to be slid onto the mounting interface in order to removably attach the surgical tool to the housing and permit engagement, via the plurality of couplers, of the plurality of drivers with the plurality of actuators of the surgical tool.
19. The apparatus of claim 18, wherein the retaining mechanism comprises a screw, detent, or fastener.
20. The apparatus of claim 12, wherein the movement of the plurality of drivers in the second direction is in a non-parallel direction to the movement of the control links in the first direction.
https://www.univrmagazine.it/2023/04/20/chirurgia-robotica-da-vinci-hugo-e-versius/
first comparative study
ENOS is missing!
Curse!
I don't think anything in the stock market makes sense
It seems that on the 16th something will be voted!
The latest update is dated April 17th so we'll know something in early May.
We are cornered at 90 degrees!
Let's hope they are kind!
Here, if there is an interested buyer, it can only be MDT who wants to pay as little as possible!
The only chance for us is that they are gentlemen as they always have been!
if Rolvedon sales exceed $175 million during the calendar year ending December 31, 2024, and again a few more shares on revenue of $225 million during the calendar year ending December 31, 2025.
if they have made certain estimates, perhaps they will come close... we will see in the next quarters!
If Assertio got a good deal why this drop, is anyone pissed?
Expected to Be Accretive to Adjusted EPS and Operating Cash Flow in 2024: Assertio intends to retain the majority of Spectrum’s commercial team and add operating costs of approximately $60 million annually. The remaining cost synergies are expected to accelerate and enhance the profit opportunities for the combined company and generate double-digit accretion to adjusted EPS and increased operating cash flow in 2024.
what else do you want?
Under the terms of the Merger Agreement, Spectrum will be acquired by Assertio Holdings, Inc. (“Assertio”) (Nasdaq - ASRT). Spectrum stockholders will receive a fixed exchange ratio of 0.1783 shares of Assertio common stock for each share of Spectrum common stock they own, implying an upfront value of $1.14 per Spectrum share (approximately $248 million) based on Assertio’s stock price on April 24, 2023. Additionally, Spectrum stockholders will receive one CVR per Spectrum share entitling them to receive up to an additional $0.20 per share in total (approximately $43 million), payable in cash or stock at Assertio’s election. Following the close of the transaction, Assertio stockholders will own approximately 65% of the combined company, and Spectrum stockholders will own approximately 35%, on a fully diluted basis.The investigation concerns whether the Spectrum Board breached its fiduciary duties to shareholders by failing to conduct a fair process, including whether Assertio is paying too little for the Company.
BOOM
I like CVR
Under the terms of the agreement, at closing, Spectrum stockholders will receive a fixed exchange ratio of 0.1783 shares of Assertio common stock for each share of Spectrum common stock they own, implying an upfront value of $1.14 per Spectrum share (approximately $248 million) based on Assertio’s stock price on April 24, 2023 and an initial 65% premium to Spectrum’s closing price on such date. Additionally, Spectrum stockholders will receive one CVR per Spectrum share entitling them to receive up to an additional $0.20 per share in total (approximately $43 million), payable in cash or stock at Assertio's election, for $1.34 (approximately $291 million), a total potential premium of 94%. Subject to adjustments, each CVR shall represent the right to receive $0.10 payable upon ROLVEDON net sales (less certain deductions) achieving $175 million during the calendar year ending December 31, 2024, and $0.10 payable upon ROLVEDON net sales (less certain deductions) achieving $225 million during the calendar year ending December 31, 2025.
BOOM BOOM BOOM!
Instrument Insertion System, Method, And Apparatus For Performing Medical Procedures
DOCUMENT ID
US 11633243 B2
DATE PUBLISHED
2023-04-25
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Genova; Perry A.
Chapel Hill
NC
N/A
US
Pflaumer; Hans Christian
Apex
NC
N/A
US
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
Katz; Allan
Farmingdale
NY
N/A
US
Espinosa; Alejandro
Miramar
FL
N/A
US
Ampuero; Eduardo A.
Miramar
FL
N/A
US
Hoffman; Daniel
Raleigh
NC
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
TITAN MEDICAL INC.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/404034
DATE FILED
2021-08-17
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 16299834 20190312 US 11109746 child-doc US 17404034
continuation-in-part parent-doc US 16156651 20181010 US 10624532 20200421 child-doc US 16299834
continuation-in-part parent-doc US 16156625 20181010 US 10398287 20190903 child-doc US 16156651
US CLASS CURRENT:
600/104
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 1/0052
2013-01-01
CPCI
A 61 B 1/018
2013-01-01
CPCI
A 61 B 1/00087
2013-01-01
CPCI
A 61 B 1/3132
2013-01-01
CPCI
A 61 B 34/70
2016-02-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 1/00147
2013-01-01
CPCA
A 61 B 2034/301
2016-02-01
CPCA
A 61 B 34/20
2016-02-01
CPCA
A 61 B 1/0661
2013-01-01
Abstract
In some embodiments, an insertion device for a single port robotic surgery apparatus includes a plurality of instrument channels positioned in an interior of a housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
(1) This application is a continuation in part Continuation Applications which claims the benefit of and priority to U.S. patent application Ser. No. 16/299,834, filed on Mar. 12, 2019, now U.S. Pat. No. 11,109,746, which is a Continuation-in-Part Application of each of U.S. patent application Ser. No. 16/156,651, now U.S. Pat. No. 10,624,532, and U.S. patent application Ser. No. 16/156,625, now U.S. Pat. No. 10,398,287, both of which were filed on Oct. 10, 2018, the disclosure of each of which being incorporated by reference in their entirety.
TECHNICAL FIELD
(1) This disclosure relates generally to positioning one or more instruments and more particularly to positioning one or more instruments inside a body cavity of a patient for performing a medical procedure.
DESCRIPTION OF RELATED ART
(2) Surgical instruments are used during investigative medical procedures and surgical procedures, such as laparoscopic surgery and computer assisted robotic surgery, to facilitate performing a procedure within a body cavity of the patient. Known instrument insertion systems suffer from a variety of shortcomings, including difficulties with use in the field, lack of reliability, and the like. The present disclosure overcomes these and other problems associated with known instrument insertion systems, methods, and apparatuses.
SUMMARY
(3) In some cases, an insertion device for a single port robotic surgery apparatus includes a housing. The housing can include a plurality of instrument channels positioned in an interior of the housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in a rear exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the plurality of openings, the illumination device configured to illuminate the openings to facilitate insertion of the plurality of instruments through the plurality of openings.
(4) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The illumination device can be positioned in a recess in the rear exterior surface of the housing. The recess can be positioned above the plurality of openings. The insertion device can further include a seal covering the plurality of openings and a closure covering the seal and preventing the seal from being dislodged. The seal can be configured to prevent ingress of fluids or solids into the plurality of openings. The closure can include substantially transparent material that permits viewing of the plurality of openings when illumination is provided by the illumination device. The closure can include a plurality of openings configured to permit access to a plurality of openings in the seal, each of the plurality of openings in the closure being tapered toward the plurality of openings proximal to the plurality of openings in the seal. Each of the plurality of openings in the closure can include a proximal end with a larger opening than an opening in the distal end. The closure can be removable to facilitate removal and replacement of the seal. The closure can be removably fastened to the housing. The closure can include a latch.
(5) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The housing can further include a camera channel enclosing a camera and a light source configured to provide illumination for the camera. The light source can include at least one of an optical fiber or a light emitting diode (LED). The illumination device can utilize the light source. The illumination device can include a light source separate from the light source configured to provide illumination for the camera. The separate light source can include an LED positioned in a recess in the housing.
(6) Any of the insertion and/or visualization devices of any of preceding paragraphs and/or described below can be used with any of insertion devices, visualization devices, and/or robotic surgery systems described herein.
(7) In some cases, an insertion device for a single port robotic surgery apparatus includes a housing. The housing can include a plurality of instrument channels positioned in an interior of the housing and extending along substantially an entire length of the housing, the plurality of instrument channels configured to removably house a plurality of surgical instruments, a plurality of openings in an exterior surface of the housing, the plurality of openings providing access to the plurality of instrument channels and configured to facilitate insertion of the plurality of surgical instruments into the plurality of instrument channels, and a seal covering the plurality of openings and configured to prevent ingress of fluids or solids into the openings, the seal including a plurality of ports, each of the ports covering a respective opening of the plurality of openings.
(8) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. Plurality of ports can include first and second ports proximal to each other, and wherein the first and second ports at least partially overlap. The first port can include a first valve, and the second port can include a second valve. Each of the first and second ports can include a proximal end and a distal end positioned proximal to an opening of a respective instrument channel, and wherein the proximal ends of the first and second ports at least partially overlap. Each of the first and second ports can be tapered toward the distal end. The seal can be removable.
(9) The insertion device of any of preceding paragraphs and/or any of insertion devices described below can include one or more of the following features. The insertion device can include a closure covering the seal and preventing the seal from being dislodged. The closure can be removable to permit removal and replacement of the seal. The closure can be removably attached to the housing. The closure can include a latch.
(10) Any of the insertion and/or visualization devices of any of preceding paragraphs and/or described below can be used with any of insertion devices, visualization devices, or robotic surgery systems described herein.
(11) In some cases, a method of using and/or operating a robotic surgery apparatus can include attaching an insertion device to a mounting interface of a robotic surgery apparatus. The method can include inserting at least one instrument into an instrument channel of the insertion device, as described in any of preceding paragraphs or below. The opening of the instrument channel and/or the instrument channel can be illuminated to facilitate insertion of the at least one instrument. The method can be at least partially performed by a user, such as a nurse, surgeon, or the like.
(12) In some cases, a method of using and/or operating a robotic surgery apparatus can include removing and/or replacing one or more seals of an insertion device, as described in any of preceding paragraphs or below. The one or more seals can include a seal covering an opening associated with at least one instrument channel of the insertion device. The method can be at least partially performed by a user, such as a nurse, surgeon, or the like.
(13) In some cases, a method of using and/or operating a robotic surgery apparatus as described and/or illustrated is provided. In some cases, a method of using and/or operating a visualization device as described and/or illustrated is provided. In some cases, a method of using and/or operating an insertion device as described and/or illustrated is provided.
(14) Any of the methods of any of preceding paragraphs and/or described below can be used with any of insertion devices, visualization devices, or robotic surgery systems and/or any of the methods of operating and/or using such devices and/or systems described herein.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Embodiments of the present disclosure will now be described hereinafter, by way of example only, with reference to the accompanying drawings in which:
(2) FIG. 1A illustrates a robotic surgery system in accordance with some embodiments;
(3) FIG. 1B illustrates a patient cart of a robotic surgery system according to some embodiments;
(4) FIGS. 2A-2B illustrate insertion and visualization devices according to some embodiments;
(5) FIGS. 3A-3E illustrate an insertion device according to some embodiments;
(6) FIGS. 3F-3H illustrate a seal of an insertion device according to some embodiments;
(7) FIG. 3I illustrates a rear view of a drive unit of a robotic surgery system according to some embodiments;
(8) FIGS. 3J-3K illustrate rear views of an insertion device according to some embodiments;
(9) FIGS. 4A-4C illustrate a visualization device according to some embodiments;
(10) FIGS. 5A-5E illustrate a mounting interface of a drive unit of a robotic surgery system according to some embodiments;
(11) FIGS. 6A-6I illustrate attachment of insertion and visualization devices to a mounting interface of a drive unit of a robotic surgery system according to some embodiments;
(12) FIGS. 7A-7H and 8 illustrate visualization devices with imagers according to some embodiments;
(13) FIGS. 9A-9B and 10A-10B illustrate visualization and/or insertion devices according to some embodiments;
(14) FIGS. 11 and 12A-12D illustrate drive units of a robotic surgery system according to some embodiments.
DETAILED DESCRIPTION
(15) Overview
(16) When performing medical procedures (for example, with assistance of surgery using a robotic surgical system) one or more instruments can be inserted into a body cavity of a patient. The insertion process has some risk since instruments may inadvertently damage organs or tissue while being inserted. Incorrect positioning of the one or more instruments in the body cavity may also result in a limited range of motion within the body cavity.
(17) As an example, when performing abdominal surgery, at least one incision would be made in a body wall of the patient's abdomen. A trocar or other access port, may then be inserted through the incision. A camera can be first inserted through the access port and used by a surgeon to capture and relay stereoscopic images of a surgical site. One or more instruments can be inserted following the camera insertion. Views provided by the camera facilitate insertion of the one or more instruments and their manipulation of the surgical site.
(18) Referring to FIG. 1A, a robotic surgery system in accordance with some embodiments is shown generally at 100. In some implementations, the robotic surgery system 100 can be configured to facilitate a medical procedure performed via a single incision. A single access port can be inserted into the incision to provide access for one or more instruments and cameras.
(19) The system 100 can include a workstation 102 and a patient cart 104, which is illustrated in more detail in FIG. 1B. The patient cart 104 can include a central unit or drive unit 106 to which instrument insertion and visualization devices 108 can be attached or mounted. The workstation 102 can include an input device 112 that receives operator input and produces input signals and may also be configured to generate feedback to the operator. The feedback can be visual, auditory, haptic, or the like. The input device 112 can be implemented using a haptic interface available from Force Dimension, of Switzerland, for example.
(20) The workstation 102 can further include a master processor circuit 114 in communication with the input device 112 for receiving the input signals and generating control signals for controlling the robotic surgery system, which can be transmitted to the patient cart 104 via an interface cable 116. In some cases, transmission can be wireless and interface cable 116 may not be present. The input device 112 can include right and left hand controllers 122 and 124, which are configured to be grasped by the operator's hands and moved to produce input signals at the input device 112. The patient cart 104 can include a slave processor circuit 118 that receives and the control signals from the master processor circuit 114 and produces slave control signals operable to control the instrument insertion and visualization devices 108 and one or more instruments (and their respective end effectors) during a surgical procedure. The one or more instruments can include dexterous tools, such as grippers, needle drivers, staplers, dissectors, cutters, hooks, graspers, scissors, coagulators, irrigators, suction devices, that are used for performing a surgical procedure. While both master and slave processor circuits are illustrated, in other embodiments a single processor circuit may be used to perform both master and slave functions. The workstation 102 can also include a user interface, such as a display 120 in communication with the master processor circuit 114 for displaying information (such as, body cavity images) for a region or site of interest (for example, a surgical site, a body cavity, or the like) and other information to an operator. The workstation 102 can also include one or more controllers, such as one or more pedals 126, for controlling the robotic surgery system. For example, one or more pedals 126 can include a clutch pedal that allows repositioning one or more controllers 122 or 124 without corresponding movement of the associated instrument.
(21) Referring to FIG. 2A, in some embodiments, insertion and visualization devices 108 can include an insertion device 210 and a visualization device 220. The insertion device 210 can include a housing 212 and a plurality of passages, lumens, or channels 214 for inserting and guiding one or more instruments. The plurality of channels 214 can be enclosed in another housing. The two housings can be connected. As is illustrated, the plurality of channels, such as radial channels, can be formed within a housing, which can be radially shaped. The plurality of channels 214 can also permit insertion of a camera lumen, cable, elongate shaft, or tube 224. As is illustrated, a distal end 224B of the camera tube can extend beyond the housing including the plurality of channels 214. At least a portion of the distal end 224B can be positioned near or in the site of interest. One or more cameras can be positioned at the distal end 224B. The camera tube 224 can also include a proximal end 224A as described herein. In some embodiments, a channel of the plurality of channels 214 can house or support a camera in addition to or instead of the one or more cameras of the camera tube 224.
(22) The visualization device can include a housing 222 to which the proximal end 224A of the camera tube can be removably (or non-removably) attached. The housing 222 can include an opening in which a one or more drivers, such as at least one of 232A or 232B, can be positioned. As described herein, the one or more drivers can move the camera tube 224 through the opening in the housing 222 and a channel of the plurality of channels 214 so that the distal end 224B extends away from one or more of the housings 212 or 222 or retracts back toward or into one or more of the housings 212 or 222. The camera tube 224 can form a loop around at least a portion of the housing 222 as illustrated in FIGS. 2A-2B. The diameter of the loop can be increased when the distal end 224B is retracted toward or into one or more of the housings 212 or 222 and be decreased when the distal end 224B is extended away from one or more of the housings 212 or 222. With reference to FIG. 2B, for example, when the distal end 224B is substantially fully retracted, the loop can have a diameter 262 as shown. When the distal end 224B is being extended away from the one or more of the housings 212 or 222, the diameter 264 of the loop decreases as compared to the diameter 264 of the loop. When the distal end 224B if fully extended away from the one or more of the housings 212 or 222, the diameter 268 of the loop can be smaller than the diameters 262 and 264. In some cases, extending the distal end 224B away from the one or more of the housings 212 or 222 causes the length of the proximal end 224A to decrease, which leads to a decrease in the diameter of the loop.
(23) One or more cables 240 can be used to transmit control signals and data, such as analog or digital image data provided by the one or more cameras positioned at the distal end 224B or in the insertion device 210, to the patient cart 104. In some cases, transmission can be wireless and one or more cables 240 may not be present.
(24) At least a portion of the camera tube 224 can be flexible or substantially flexible in order to form a loop and/or be guided through the one or more openings and/or channels are described herein. In some cases, looping the camera tube 224 upward around at least the portion of the housing 222 as described can permit the camera tube to have sufficient length for reaching near and/or into the site of interest, while eliminating or reducing the risk of the camera tube 224 coming into contact with non-sterile object, such as the floor.
(25) Insertion Device
(26) FIG. 3A illustrates a front perspective view of the insertion device 210 according to some embodiments. The housing 212 of the insertion device can include an opening 330 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the housing 212. The opening 330 can include a seal, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids into the insertion device 210 and/or prevent backflow of fluid, gas, or solids from the insertion device. Any of the seals described herein can include one or more valves, such as a duckbill valve. As illustrated in FIG. 3E showing a cross-section view of the insertion device 210, the housing 212 can include an interior passage 322 connecting the opening 330 to a channel 320 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the channel. The interior passage 322 can be a channel positioned in an interior of the housing. The interior passage 322 can be bent or curved to facilitate various positional configurations of the visualization device 220 with respect to the insertion device 210 and in particular the housing 222 with respect to housing 212. The interior passage 322 can include an opening that aligns with or includes the opening 300 and another opening that aligns with or includes opening of the channel 320. In some cases, sealing material can be used on or around the interior passage 322 in addition to or instead of the seal in the opening 330. As illustrated in FIG. 2A, the distal end 224B of the camera tube 224 can exit the channel 320 and extend away from the insertion device 210 toward a site of interest, such as a surgical site, body cavity, wound, or the like. Also, the distal end 224B of the camera tube 224 can retract toward or into the channel 320 toward the insertion device 210 and away from the site of interest.
(27) The plurality of channels 214 can include one or more instrument channels 340 configured (for example, sized and/or shaped) to permit one or more instruments to pass through and extend away from the insertion device 210 toward the site of interest. As is illustrated, there can be two channels for left and right instruments.
(28) In some cases, the interior passage 322 includes at least a portion with a central axis parallel to a central axis of the one or more instrument channels 340. The interior passage 322 can include at least a portion (for example, the curved portion illustrated in FIG. 3E) with a central axis not parallel to a central axis of the one or more instrument channels 340.
(29) The plurality of channels 214 can include a channel 310 for one or more cameras of the insertion device 210. In some implementations, a camera can be positioned at a distal end of the plurality of channels (or at or near position of the arrow 310). Such one or more cameras (which can be referred to as a secondary camera) can facilitate positioning adjacent to or insertion into the site of interest of at least one of one or more instruments or at least one of the one or more cameras of the visualization device 220 (such cameras can be referred to as a primary camera). The secondary camera can include a substantially flexible or substantially rigid lumen, cable, or elongate shaft that is inserted into the channel 310. The secondary camera can be integrated with the insertion device 210 or be removable. An opening of the channel 310 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around the opening of the channel 310 in addition to or instead of the seal(s) in the opening.
(30) With reference to FIG. 3D, a secondary camera 324 can include a substantially flexible or rigid cable with a proximal end 324A and a distal end 324B. The distal end 324B can include a protector 370 (such as glass or plastic). The protector 370 can protect an imager and/or other components of the secondary camera breaking or malfunctions due to, for example, coming into contact with fluid in the site of interest. In other embodiments, a protector may be included as part of the insertion device 210 at a distal end of the channel 310, and accordingly the protector 370 may be optional. The secondary camera can include one or more lenses that focus light from and/or reflected by at least the portion of the site of interest on an image sensor 384. The image sensor can be positioned at the proximal end 324A and/or distal end 324B. The one or more lenses can include concave and/or convex lenses. In some cases, one or more lenses can be moved to adjust the zoom (such as, an optical zoom). The image sensor 384 can detect the light and convert it to image information or data. For instance, the image sensor 384 can measure brightness at a plurality of points. The image sensor 384 can include at least one of charge-coupled devices (CCDs), complementary metal-oxide-semiconductor (CMOS) image sensors, or the like. The image sensor 384 can be a digital and/or analog image sensor. In some implementations, the secondary camera can include two or more cameras (for example, to produce a stereoscopic image).
(31) In some cases, the secondary camera 324 can include an optical system 382 that redirects the detected light. For example, the optical system 382 can be a prism that redirects the detected light down onto the image sensor 384. The image sensor 384 can be positioned in a different plane than a portion of the surgical site being imaged. The optical system 382 may be omitted in some implementations. For example, the optical system 382 may be omitted when the image sensor is positioned in the same plane as the surgical site being imaged.
(32) The secondary camera 324 can be removable. For example, the secondary camera cable can be inserted into and/or removed from the channel 310. When the secondary camera cable is removed, the channel 310 can be used for one or more of suction or irrigation of the site of interest. The channel 310 can alternatively or additionally be used to permit an instrument (such as, third instrument) to be inserted. The instrument can be controlled by the robotic surgery system or manually by a user. A protector would not be included at a distal end of the channel 310 or would otherwise be removable when the channel 310 is used for one or more of aspiration, irrigation, instrument manipulation, or the like.
(33) In some cases, the primary camera can be a stereo or stereoscopic camera, which can produce three-dimensional representation of at least a portion of the site of interest, and the secondary camera can be a two-dimensional camera. The secondary camera can have lower resolution than the primary camera. For example, the secondary camera can have 1920×1080 pixels (or 1080p) resolution. The primary camera can have resolution of 1080p, 4K, 8K, or the like. The channel 310 for the secondary camera can be smaller in size (such as, narrower or having smaller diameter) than the channel 320 for the primary camera. The secondary camera may also include an illumination source or device for illuminating the site of interest. The illumination device can be incorporated as part of the secondary camera such that the illumination device and a lens system of the secondary camera all fit within the diameter of the channel 310. In some cases, the illumination device can include optical fiber(s). For example, the illumination device can be an annular system with strands of fiber wrapping around a lens system so that illumination is provided to the site of interest, for instance, using known means of fiber illumination.
(34) In some cases, close proximity of the instrument channels 340 to one or more camera channels 310 or 320 can facilitate single port surgery.
(35) The housing 212 can include one or more attachment mechanisms 360. For example, the one or more attachment mechanisms 360 can be buttons positioned on opposite sides of the housing 212. The buttons can be configured to removably attach the insertion device 210 to a mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 222 of the visualization device 220). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 222 of the visualization device 220). The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from supporting pins of the mounting interface (and/or the housing 222).
(36) FIG. 3B illustrates a rear perspective view of the insertion device 210 according to some embodiments. Openings of the one or more instrument channels 340 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around at least one of the one or more openings of the one or more instrument channels 340 in addition to or instead of the seal(s) in the one or more openings. The housing 212 can include one or more openings 350 for receiving one or more supporting rods of pins, which can be positioned on the mounting interface. The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from the supporting pins (and/or from the visualization device 220). For example, the one or more attachment mechanisms 360 can activate or release a latch or lock, such as a cam lock, cam lock with a spring, or the like.
(37) FIG. 3C illustrates a rear perspective view of the insertion device 210 showing seals 392 and 396 according to some embodiments. As described herein, the opening 330 (through which the camera tube 224 is inserted as described herein) can be covered by a seal 396 held in place by a closure 398, which can be a latch, clip, or the like. The seal 396 can prevent ingress of fluid, gas, or solids into the interior portion of the insertion device 210 and/or prevent backflow of fluid, gas, or solids from the insertion device 210. The seal 396 can include a valve, such as a duckbill valve. The closure 398 can be removably fastened to the housing 212 of the insertion device 210 in order to provide access to the seal 396, allowing the seal 396 to be cleaned and/or replaced during the same surgical procedure of between surgical procedures (such as, when the insertion device 210 is being cleaned and/or sterilized). The closure 398 can be removably fastened to the housing 212 by a protrusion or latch 397 of the closure 398 releasably engaging the bottom of a protrusion or projection 399 of the housing 212. In FIG. 3C, the closure 398 is illustrated in an open configuration or mode in order to show the seal 396. In operation, the seal 396 is inserted into the opening 330 and the closure 398 is fastened to the housing 212 in order to hold the seal 396 in place. FIG. 3B illustrates the closure 398 in a closed configuration.
(38) One or more openings in the one or more instrument channels 340 through which the instruments are inserted can be covered by a seal 392 held in place by a closure 394, which can be a latch, clip, or the like. The seal 392 can prevent ingress of fluid, gas, or solids into the interior portion of the insertion device 210 and/or prevent backflow of fluid, gas, or solids from the insertion device 210. The closure 394 can be removably fastened to the housing 212 of the insertion device 210 similarly to the closure 398. The closure 394 can provide access to the seal 392, which can be removed and/or replaced during the same surgical procedure of between surgical procedures (such as, when the insertion device 210 is being cleaned and/or sterilized). In FIG. 3C, the closure 394 is illustrated in an open configuration or mode in order to show the seal 392. In operation, the seal 392 is inserted into the one or more openings of the one or more instrument channels 340 (see FIG. 3K) and the closure 394 is fastened to the housing 212 in order to hold the seal 392 in place. FIG. 3B illustrates the closures 394 in a closed configuration. One or more of the seals 392, 396 or the closures 394, 398 can be disposable and/or replaceable.
(39) As illustrated in FIGS. 3B and 3C, the closure 398 includes an opening that coincides with the opening 330, and the closure 394 includes one or more openings that coincide with the one or more openings in the one or more instrument channels 340.
(40) In some cases, as illustrated in FIG. 3C, a single seal 392 can cover both openings of the one or more instrument channels 340. Although it this can be preferable to using separate seals because of the close positioning of the one or more openings of the one or more instrument channels 340 relative to one another, in some instances, the seal 392 can include a plurality of separate seals. As illustrated in FIG. 3F (top view), 3G (bottom view view), and 3H (perspective view), the single seal 392 can include two ports which are sized and shaped to cover the one or more openings in the one or more instrument channels 340. The ports 352 can include openings in the body of the seal 392 and protruding portions. For example, the ports 352 can be valves, such as duckbill valves, as shown in FIGS. 3F-3H. Each of the ports 352 can be shaped as a funnel (as described herein), which can facilitate insertion of the instruments.
(41) In some cases, due to the proximity of the one or more openings of the one or more instrument channels 340 to each other, the ports 352 of the single seal 392 can also positioned close to each other. Such close proximity can cause the ports 352 to at least partially overlap as illustrated by a region 356 in FIG. 3F (top/rear view) and 3G (bottom/front view). The ports 352 can at least partially overlap on one or more of top surface of the single seal 392 (FIG. 3F) or bottom surface of the single seal 392 (FIG. 3G), which faces the one or more openings of the one or more instrument channels 340. For example, as illustrated in FIGS. 3F-3H, a port 352 can have a concave shape (or funnel shape) that tapers from a distal end toward a distal end that is positioned distal to and/or is inserted into an opening of the one or more instrument channels 340. As shown in FIGS. 3F-3H, the proximal ends of the ports 352 can overlap (on one or more of top or bottom surfaces of the single seal 392) in the region 356. For instance, the proximal ends of the ports can be circular or round, and the circles can overlap in the region 356, as illustrated in FIGS. 3F-3H. In some cases, the overlap can be smaller or larger than that illustrated in the region 356. In some instances, the ports 352 do not overlap. FIG. 31 illustrates a rear view of the drive unit 106 showing loading of one or more instruments 364 into the insertion device 210. Loading of an instrument 364 can involve inserting a tip 366 of the instrument into an opening of a corresponding instrument channel 340. As is illustrated, a user may experience difficulties with the insertion of an instrument due to, among others, close proximity of the openings of the one or more instrument channels 340 to each other, having to facilitate the insertion through the rear of the drive unit 106 where light may be lacking, or the like.
(42) To facilitate insertion of the one or more instruments, one or more openings in the one or more instrument channels 340 can be illuminated. Referring to FIG. 3J, which illustrates a rear view of the insertion device 210, in some cases, an illumination device 362 can be supported by the housing 212. The illumination device 362 can be positioned in a recess in the housing 212. For example, the illumination device 362 can be positioned in a recess 365 shown in the cross-sectional view of the housing 212 illustrated in FIG. 3K. The illumination device can 362 can include one or more light sources, such as one or more light emitting diodes (LEDs) or optical fibers (combined with a remotely located light source), that emit light. In some cases, the illumination device 362 can illuminate one or more of opening(s) in the closure 394, one or more ports 352 in the seal 392, or one or more of the openings in the one or more instrument channels 340. Such illumination can facilitate insertion of one or more instruments into the insertion device 210. The one or more light sources can be covered by one or more of a protective cover, lens (which can also serve as a protective cover), or the like.
(43) FIG. 3J illustrates the illumination device 362 positioned above one or more openings of the one or more instrument channels 340. In some instances, the illumination device 362 can be positioned on the bottom, on a side, or the like on the rear of the housing 212. In some cases, multiple illumination devices can be supported by the housing 212. Such multiple illumination devices can be positioned on same or different sides of the rear of the housing 212. For example, two illumination devices can each be positioned above a respective instrument channel opening. In some cases, an illumination device can be positioned at the opening of an instrument channel 340 or inside the instrument channel 340.
(44) In some cases, the closure 394 can be made at least partially from transparent or substantially transparent material so that light emitted by the illumination device 362 passes through the closure 394 and illuminates the one or more openings of the one or more instrument channels 340. In some cases, the closure 394 can at least partially cover the illumination device 362 (as shown in FIGS. 3J-3K). Alternatively or additionally, the closure 394 can include an opening or recess so that the illumination device 362 is at least partially not covered by the closure 394 so that at least some of the emitted light does not pass through the closure 394. FIG. 3J illustrates a transparent or substantially transparent closure 394 as the seal 392 is visible through the closure. In some cases, the illumination device 362 may include a plurality of illumination devices or be shaped to contact a larger area of the closure 394.
(45) As described herein, the illumination device 362 can include one or more light sources, such as LEDs. In some cases, the illumination device 362 can alternatively or additionally utilize one or more light sources already present in or incorporated into the insertion device 210, such as the illumination source of the secondary camera (as described herein), and/or the visualization device 220, such as the illumination source of the primary camera (as described herein), The insertion device 210 and/or the visualization device 220 can receive light from one or more external light source(s), such as from the patient cart 104 via one or more cables illustrated in FIGS. 1A-1B, or light source(s) internal to the insertion device 210 and/or the visualization device 220.
(46) In some cases, an illumination device (not shown) can be used to similarly illuminate any of the openings disclosed herein, such as 330, 410, 412, or the like.
(47) With reference to FIGS. 3B-3C, the closure 394 can be shaped as a funnel to facilitate insertion of the one or more instruments. The closure 394 can have a larger opening that is proximal from the one or more openings of the one or more instrument channels 340 than the one or more distal openings. The closure 394 can be shaped to taper from the proximal to the one or more distal openings, facilitating directing or guiding one or more instruments into the one or more openings of the one or more instrument channels 340.
(48) Visualization Device
(49) FIG. 4A illustrates a front perspective view of the visualization device 220 according to some embodiments. The housing 222 of the visualization device can include openings 410 and 412 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through. As illustrated, the proximal end 224A of the camera tube 224 (illustrated for convenience without a middle portion) can be attached to the housing. The camera tube 224 can loop around at least the portion of the housing 222 when the distal end 224B is inserted through one or more of the openings 410 and 412 (see FIG. 2A). The openings 410 and 412 can be aligned to permit the camera tube 224 to pass through. A bottom opening (not illustrated) aligned with the opening 412 can be positioned on the bottom of the housing 222 to permit the camera tube 224 to exit the housing 222 after passing through an interior portion of the housing (such as, the interior portion illustrated in FIG. 4C). This bottom opening can be positioned adjacent to (such as over or on top of) the opening 330 in the housing of the insertion device 210 when the visualization device 220 is positioned adjacent to and/or attached to the insertion device. One or more of the openings 410, 412, or the bottom opening can include a seal, which may be covered by a closure (such as a latch) as described herein.
(50) The housing 222 can include a drive opening 414. The drive opening can be positioned on a side of the housing 222 (for example, the back of the housing) that attaches to the mounting interface of the drive unit 106 as described herein. The drive opening 414 can be configured (for example, sized and/or shaped) to receive one or more drivers (at least one of 232A or 232B), such as a plurality of drive rollers as described herein (see, for example, FIG. 2A). With reference to FIG. 2A, the plurality of drive rollers can include right drive roller 232A and left drive roller 232B (collectively, referred to as 232). When inserted through the opening 410, the camera tube 224 is positioned between the right and left drive rollers 232A and 232B and contacts the drive rollers. The drive rollers 232 can contact, grip, or abut the camera tube 224. The drive rollers can advance the camera tube 224 down or retract it up through the drive opening 414. Movement of the drive rollers 232 in a first direction can advance the camera tube 224 forward or down through the drive opening 414 in order to advance the distal end 224B toward the site of interest. For example, the right driver roller 232A can spin counterclockwise and the left drive roller 232B can spin clockwise in order to advance the camera tube 224 forward. Such combination of the counterclockwise and clockwise movement of the drive rollers can constitute the first direction. Movement of the drive rollers 232 in a second direction can retract the camera tube 224 backward or up through the drive opening 414 in order to retract the distal end 224B away from the site of interest. For example, the right drive roller 232A can spin clockwise and the left drive roller 232B can spin counterclockwise in order to retract the camera tube 224 backward. Such combination of the clockwise and counterclockwise movement of the drive rollers can constitute the first direction. For each of the right and left drive rollers, movement in the second direction can be opposite to movement in the first direction even in cases where drive rollers spin in opposite directions during movement in the first and/or section direction.
(51) Drive rollers 232 can have an external surface that is made out of and/or is covered by soft material, such as rubber, foam, or the like, that grips an external surface of the camera tube 224 in order to one or more of advance or retract the camera tube. In some embodiments, a portion of the camera tube 224 positioned between the drive rollers 232 can slip along the drive rollers, and as a result the camera tube would not be advanced or retracted. For example, slipping can be advantageous when a user's limb becomes caught in the loop formed by the camera tube 224 or in case of malfunction to prevent or lessen the risk of injury to the user or damage to one or more of the camera tube 224, the visualization device 220, the insertion device 210, or any other part of the system 100. At least one of one or more of the material on the external surface of the drive rollers 232 or on an external surface of the camera tube 224 or a surface pattern on the surface of one or more of the external surface of the drive rollers 232 or the external surface of the camera tube 224 can be selected to have a friction coefficient that results in slippage in case force on the camera tube exceeds a maximum force, such as, a maximum frictional force. The maximum frictional force can depend on one or more of the friction coefficient between the drive rollers 232 and camera tube 224 or a clamping force between the drive rollers 232 and camera tube 224. In some cases, the maximum frictional force can be 5 N or less or more, 7 N or less or more, 10 N or less or more, or the like. Surface pattern on the external surface of the drive rollers 232 (and/or the external surface of the camera tube 224) can affect the friction coefficient. For example, ribbed surface pattern, toothed surface pattern, or the like can increase the friction coefficient compared to a smooth or substantially smooth surface pattern.
(52) At least a portion of the distal end 224B of the camera tube 224 can articulate to permit viewing of at least a portion of the site of interest. The housing 222 can include one or more actuators 420 configured to control movement of the distal end 224B of the camera tube 224, which can include one or more cameras. In some cases, a first actuator can control pitch or tilt (up/down movement) of the distal end 224B, and a second actuator can control yaw or pan (left/right movement) of the distal end 224B. The first and second actuators can control movement of the distal end 224B by manipulating links positioned in the interior of the camera tube 224 as described herein (for example, with reference to FIGS. 4B-4C).
(53) The housing 222 can include one or more attachment mechanisms 428. For example, the one or more attachment mechanisms 428 can be buttons positioned on opposite sides of the housing 222. The buttons can be configured to removably attach the visualization device 220 to the mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 212 of the insertion device 210). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 212). The one or more attachment mechanisms 428 can permit attachment to and release of the visualization device 220 from one or more supporting rods or pins (and/or the housing 212). As described herein, the one or more attachment mechanisms 428 can activate or release a lock, such as a cam lock, cam lock with spring, or the like. The housing 222 can include one or more openings 424 for receiving one or more the supporting pins that can be positioned on the mounting interface.
(54) FIG. 4B illustrates a perspective view of the distal end 224B of the camera tube 224 according to some embodiments. An imager 430 (which can be the primary camera) with one or more cameras can be positioned at or near the tip of the distal end 224B. The distal end 224B can include a pitch or tilt segment or section 442 for controlling up/down movement of the distal end 224B, and a yaw or pan segment section 444 for controlling left/right movement of the distal end 224B. As illustrated, the tilt section 442 can be positioned adjacent the imager 430, and the pan section 444 can be positioned adjacent to the tilt section. Pan section 444 can be positioned farther away from the tip of the distal end 224B than the tilt section 442. In some cases, positioning of the sections 442 and 444 relative to the tip can be reversed. In some cases, the sections 442 and 444 can be intermingled with respective couplings or guides (as described below) of the sections 442 and 444 alternating.
(55) At least one of sections 442 or 444 can include one or more couplings or guides 434. The one or more couplings 434 can be coupled to each other to allow bending of the distal end 224B. The sections 442 and 444 can bend (as described herein) as a result of at least one of pulling or pushing one or more flexible or substantially flexible links 448 positioned in the interior of the camera tube 224 that control, for example, the bend, curvature, or another aspect of spatial orientation of one or more of sections 442 or 444. One or more links 448 can include a wire, cable, or the like with elasticity that can support at least one of tension or compression without permanent deformation. One or more links 448 can be connected to the one or more guides 434 (for example, by being connected to the one or more guides in the interior of the camera tube 224). Movement, such as pulling and/or pushing, of the one or more links 448 can cause adjustment of the spatial orientation of the one or more guides 434 and, as a result, one or more sections 442 or 444.
(56) As described herein, one or more actuators 420 can pull and/or push the one or more links 448, for example, via rotation in first and/or second directions. Pulling a link 448 can cause shortening its length, while pushing the link can cause lengthening the link (such as, returning the link substantially to its initial length).
(57) Segment or section 446 can be positioned adjacent the pan section 444 at the distal end 224B of the camera tube 224. As described herein, section 446 can be flexible or substantially flexible. One or more of sections 442 or 444 can be rigid or substantially rigid to prevent at least the imager 430 of the distal end 224B from drooping or sagging as the distal end 224B exits the channel 320 of the insertion device. Drooping or sagging can undesirably lead to at least a temporary loss of vision of at least a part of the site of interest or inadvertent contact with tissue near or outside the site of interest. Rigidity of the one or more sections 442 or 444 can prevent movement of the distal end 224B in a downward direction (for example, in the absence of actively tilting the camera tube 224 as described herein), while permitting movement in the opposite direction as the camera tube 224 is passed through one or more openings or channels, as described herein. Rigidity can help maintain orientation of at least the imager 430 in same plane of the channel 320 or in a plane above the plane of the channel 320 as the distal end 224B of the camera tube 224 exits the channel 320. The latter plane can be parallel or substantially parallel to the plane of the channel 320.
(58) In some cases, to increase the rigidity of the distal end 224B, a supporting material or mechanism may be added to the distal end 224B to help maintain orientation of at least the imager 430 in the same plane of the channel 320. Such design can prevent the camera from drooping and/or contacting unwanted areas of the site of interest. The supporting material or mechanism can allow the distal end 224B to flex (or curve) in one direction in a plane while preventing other flexing (or curving), thereby allowing the distal end 224B to move through a curved portion of the interior passage 322 of the housing 212. With reference to FIG. 3E, for instance, flexing in the direction of the bend or curve of the interior passage 322 can be permitted, while flexing in the other direction may not be permitted.
(59) FIG. 4C illustrates a cross-sectional view of the housing 222 and camera tube 224 of the visualization device 220 according to some embodiments. The figure depicts view of an interior portion of the housing 222 looking up through the opening 412 in the housing 222. Proximal end 224A of the camera tube 224 can be attached to the housing 222 as described herein. As illustrated, interior of the proximal end 224A can include one or more links 448 that extend along the length of the camera tube 224 to the distal end 224B, as described herein. In use, the camera tube 224 passes through the interior portion illustrated in FIG. 4C.
(60) The one or more actuators 420 can include first and second actuators that, respectively, control tilting or panning of the distal end 224B of the camera tube 224. For example, the first actuator can control pulling and/or pushing of one or more links 448 connected to a plurality of guides in the tilt section 442. The first actuator can control tilting up/down of at least the imager 430. The second actuator can control pulling and/or pushing of one or more links 448 connected to a plurality of guides in the pan section 444. The second actuator can control left/right movement of at least one of the tilt section 442 and/or the imager 430.
(61) Pulling and/or pushing at least one link 448 can be performed via actuating the first and/or second actuator 420. With reference to the first actuator, for instance, its exterior portion that protrudes from the housing 222 can serve as a shaft connected to a drum 450 located in the interior of the housing 222. Rotation of the shaft and drum can cause a corresponding link pulley 460 to rotate, for example, in a plane perpendicular to the plan of rotation of the shaft and drum. The pulley 460 can be connected to the drum 450 such that rotation of the drum causes the pulley to rotate. The drum 450 can have threading on the surface that contact threading on the surface of the pulley 460 and transfers rotation to the pulley. The pulley 460 can be connected to at least one link 448. For instance, the at least one link can be attached to the pulley. Rotation of the actuator 420 in a first direction (for example, clockwise) can cause rotation of the corresponding shaft (for example, in the same clockwise direction). This can cause the corresponding pulley 460 to rotate and, for instance, pull (or push) the associated at least one link, which can cause tilting of at least the imager 430. In some cases, the pulley 460 can be connected to a pair of links 448 one of which is pulled while the other is pushed to control the tilting. Second actuator can operate similarly to control the panning.
(62) Additional details of controlling one or more of the tilt or pan of the distal end 224B of the camera tube are similar to those described in U.S. Patent Publication No. 2016/0143633 and U.S. Pat. No. 9,629,688, which are assigned to the assignee of the present application and the disclosure of each of which is incorporated by reference in its entirety.
(63) Mounting Interface and Sterile Barrier
(64) FIG. 5A illustrates the drive unit 106 of the robotic surgery system 100 according to some embodiments. The drive unit 106 can include a mounting interface 500 configured to support one or more of the insertion device 210 or visualization device 220. The mounting interface can include an opening or slit 504 for receiving a looped portion of the camera tube 224 (see, for example, FIG. 6I).
(65) FIG. 5B illustrates a perspective view of the mounting interface 500 according to some embodiments. The mounting interface 500 can include one or more posts or pins 510 configured to actuate one or more drivers 232 for moving the camera tube 224 as described herein. As illustrated, the pins 510 can be provided to support the rollers 232A and 232B. The pins 510 can be configured (for example, sized and/or shaped) to attach to the rollers 232A and 232B. For example, the pins 510 can be hexagonal, and the rollers 232A and 232B can include hexagonal openings (see, for example, FIG. 5D) configured (for example, sized and/or shaped) to be mounted on the hexagonal surface of the pins 510. In some cases, one or more shapes such as square, round, triangular, or the like can be used in addition to or instead of hexagonal.
(66) The mounting interface 500 can include one or more actuators 520 for causing movement of the one or more actuators 420 of the visualization device 220. As illustrated, two actuators 520 can be provided, and they can include shafts or recesses configured (for example, sized and/or shaped) to receive protruding exterior portions of the actuators 420. Within the recesses, the actuators 520 can include surfaces configured (for example, sized and/or shaped) to mate with the surfaces of the protruding exterior portions of the actuators 420. The mating can provide attachment of the actuators 420 of the visualization device 220 to the actuators 520 of the mounting interface 500.
(67) As described herein, the mounting interface 500 can support one or more of the insertion device 210 or visualization device 220. As illustrated in FIG. 5B, the visualization device 220 can be at least partially supported by the pins 510 supporting the drivers 232 that are placed in the recess 414 of the housing 222. The mounting interface 500 can include one or more pins 530 configured to support the insertion device 210. The one or more pins 530 can be configured (for example, sized and/or shaped) to be received in the one or more openings 350 of the insertion device 210. The one or more pins can have size, shape, and/or surface pattern configured to be attached to insertion device 210. For example, as is illustrated, a left pin 530 can have a groove, pattern, or indentation 552 at or near its tip. The indentation 552 can be configured (for example, sized and/or shaped) to mate with a surface in the interior of the left opening 350 (see, for example, FIG. 3B. This can provide attachment of the insertion device 210 to the mounting interface 500. As described herein, one or more attachment mechanisms 360 can operate to disengage the visualization device 210 from the mounting interface 500. For example, one or more attachment mechanisms 360 can be pressed to disengage mating of the surface in the interior of the left opening 350 with the indentation 552. The right pin 530 can have a similar groove, pattern, or indentation 552 at its tip on the side facing the left pin.
(68) FIG. 5C illustrates a rear view of the mounting interface 500 according to some embodiments. The mounting interface can include a first set of actuators 532, a first set of gears 534 connected to or attached to the first set of actuators 532, and a second set of gears 536 cooperating with the first set of gears 534. These components can be collectively configured to actuate the one or more pins 510. As illustrated, the first set of actuators 532 can include two actuators, the first set of gears 534 can include two gears, and the second set of gears 536 can include two gears. In some cases, the first set of actuators can be motors, for example, electric motors.
(69) The first set of gears 534 can interlock with the second set of gears 536. In some cases, the first set of actuators 532 can be configured to rotate the first set of gears 534 attached to the first set of actuators 532. Rotation of the first set of gears 534 can cause the second set of gears 536 to rotate in a plane perpendicular to the plane of rotation of the first set of gears 534. The one or more pins 510 can be connected or attached to the second set of gears 536. Rotation of the second set of gears 536 can cause rotation of the one or more pins 510. Rotation of the one or more pins 510 can cause rotation of the one or more drivers 232 and movement of the camera tube 224, as described herein. Rotation of the one or more pins 510 and one or more drivers 232 can be in the first and/or second direction to advance and/or retract the camera tube 224, as described herein. Rotation in the first and/or second direction can be caused by movement of the one or more actuators in at least two directions (for example, clockwise or counterclockwise).
(70) The mounting interface 500 can include a second set of actuators 542, a third set of gears 544 connected to or attached to the second set of actuators 542, and a fourth set of gears 546 cooperating with the third set of gears 544. Collectively these components can be configured to actuate the one or more actuators 520. As illustrated, the second set of actuators 542 can include two actuators, the third set of gears 544 can include two gears, and the fourth set of gears 546 can include two gears. In some cases, the first set of actuators can be motors, for example, electric motors.
(71) The second set of actuators 542, third set of gears 544, and fourth set of gears 546 can cooperate with each other and operate to actuate the one or more actuators 520 similarly to the foregoing description of actuating the one or more pins 510. As described herein, movement of the actuators 520 and corresponding movement of the actuators 420 of the visualization device 220 can cause the camera tube 224 to tilt and/or pan.
(72) FIG. 5D illustrates the mounting interface 500 prepared for supporting one or more of the insertion device 210 or visualization device 220 according to some embodiments. In some implementations, a sterile barrier may need to be provided between the mounting interface 500 of non-sterile drive unit 106 and the insertion device 210 and/or sterile visualization device 220. The insertion and visualization devices, 210 and 220, may be required to be sterile in order to protect the site of interest from infection in case of one or more of the insertion or visualization device coming into contact with the site of interest or with another sterile component of the system 100 (such as, an instrument) that may come into contact with the site of interest, with a user performing or assisting with the surgery.
(73) One or more drivers 232 (for example, rollers) can be sterile and can be attached to or mounted on the one or more pins 510 of non-sterile mounting interface 500. A sterile cover 550 can be attached to or mounted to cover the one or more pins 530. With reference to FIG. 5B, the cover 550 can be mounted in a region 560 on a front surface of the mounting interface 500. The cover 550 can be secured with one or more closures (not illustrated). For example, the one or more closures can be pins that are pushed in by the cover 550 when it is mounted in the region 560. Pushing of the pins can cause a closure, such as a latch, to become closed. The cover 550 can be removed from the region 560, for example, by pressing a button positioned on the bottom surface of the mounting interface 500 (not shown), which can push the pins against the cover 550 and dislodge the cover.
(74) The cover 550 can include a bottom set of pin covers for covering the one or more pins 530. The cover 550 can include a top set of pins 540 that can be configured to support the visualization device 220 when it is attached to the mounting interface 500. The set of pins 540 can be sized and/or shaped to be received in the one or more openings 424 of the visualization device 220. The set of pins 540 can have size, shape, and/or surface shape configured to be attached to the visualization device 220, for example, as described herein in connection with the pins 530.
(75) With reference to FIG. 5E, in some implementations, the mounting interface 500 can include one or more pins 530' configured (for example, sized and/or shaped) to support the visualization device 220. For example, the one or more pins 530' can function similar to the one or more pins 540. One or more pins 530' can be covered by the cover 550, such as by pin covers 540. In some cases, as illustrated in FIG. 5E, individual covers 550' can be used to cover each of the one or more pins 530 and/or 430'. In some embodiments, two separate covers can be used to cover the one or more pins 530 and 430' respectively. In some implementations, a single cover 550 (as illustrated in FIG. 5D) but with pin covers replacing the top set of pins 540 can be used to cover the one or more pins 530 and 530'.
(76) In some cases, a sterile barrier can be formed between one or more actuators 420 of the visualization device (see, for example, FIG. 4A) and one or more actuators 520 of the mounting interface (see for example, FIG. 5B) in one or more of the following ways. One or more actuators 420 can be covered by one or more sterile covers as described herein. A sterile drape can be placed over the drive unit 106 and the mounting interface. Drape material can flex and/or slip to provide the sterile barrier. Drape material can have appropriate thickness and/or other properties to allow for the flexing and/or slippage. The drape can include one or more sterile covers (which can function as actuators) that transfer motion between the one or more actuators 420 and one or more actuators 520. The one or more sterile covers can be embedded or integrated into the drape.
(77) The one or more drivers 232 and one or more covers 550 can serve as at least a partial sterile barrier between the mounting interface 500 and the insertion and visualization devices and the camera tube 224. Any one or more of the drivers 232, one or more of the covers 550, or any other sterile barriers disclosed herein can be disposable or can be reused after being sterilized. For example, the one or more sterile covers 550 can be made out of plastic and be disposable. As another example, rollers 232A and 232B can be disposable.
(78) Any of the sterile components described herein can be sterilized by fluid or gas (such as ethylene oxide (EtO)), heat (such as autoclaving), irradiation (such as gamma irradiation), or the like. For example, the one or more openings in the insertion device 210 and/or visualization device 220 can facilitate fluid or gas to contact exterior and interior surfaces during sterilization.
(79) Docking the Insertion and Visualization Devices
(80) FIG. 6A illustrates the insertion device 210, visualization device 220, one or more covers 550, drivers (such as rollers) 232A and 232B, and the mounting interface 500 of the drive unit 106 according to some embodiments. As illustrated in FIG. 6B, a sterile drape 600 can be placed over drive unit 106 (and, in some cases, other parts of the robotic surgery system) to provide additional or alternative sterile barrier. For example, the drape 600 can act as a sterile barrier permitting a user performing or assisting with the surgery to touch the drive unit 106. One or more holes 610 can be made in the drape 600 to permit one or more pins 510, 530, and/or 540 or 530' to be accessed. Positions and sizes of the one or more holes 610 can correspond to positions and sizes of the one or more pins. The drape 600 can be pulled tight around the drive unit 106 and other components of the system 100 as illustrated in FIG. 6C. The drape 600 can be held in place with one or more of ties, adhesive attachments, magnetic attachments, or the like.
(81) The drivers 232A and 232B can be mounted on the one or more pins 510 as illustrated in FIG. 6D and described herein. The one or more pins 510 can be exposed through corresponding one or more holes 610 in the drape 600. One or more covers 550 can be mounted on one or more pins 530 and/or 530' as illustrated in FIG. 6E and described herein. The one or more pins 530 and/or 530' can be exposed through corresponding one or more holes 610 in the drape 600.
(82) The visualization device 220 can be mounted on (or docked to) the mounting interface 500 as illustrated in FIG. 6F and described herein. The camera tube 224 (which can be sterile) can be inserted into the visualization device 220 as described herein. At least a portion of the loop of the camera tube 224 can be positioned in the slit 504 as shown. The drape 600 can include enough slack to allow the camera tube 224 and surrounding drape material to be placed in the slit 504. In some cases, the drape 600 can include a portion shaped to generally correspond with the slit 504 to facilitate positioning of the portion of the loop of the camera tube 224 in the slit 504.
(83) The insertion device 210 can be mounted on (or docked to) the mounting interface 500 as illustrated in FIG. 6G and described herein. In some cases, the insertion device 210 may have already been placed near or into the site of interest prior to being mounted on the mounting interface 500. In such cases, the drive unit 106 can be brought toward the insertion device 210 for docking the insertion device. The order of the mountings (or connections or dockings) can be interchanged. For example, the visualization device 220 can be mounted on the mounting interface 500 after the drive unit 106 has been docked with the insertion device 210. The visualization device 220 and insertion device 210 can be independent from each other (for example, modular) so that the visualization device 220 can be changed during surgery if it breaks down or otherwise becomes unresponsive without the need to first undock the insertion device 210 (and any instruments which may have been placed through the insertion device).
(84) Camera tube 224 can be advanced though the visualization device 220 and inserted into the interior of the insertion device 210 as illustrated in FIG. 6H and described herein. Camera tube 224 can be further advanced through the interior of the insertion device 210 so that the distal end 224B exits the insertion device 210 as illustrated in FIG. 6I and described herein. The distal end 224B of the camera tube 224 can be advanced near or into the site of interest. Then, one or more instruments (which can be sterile) can be inserted and advanced near or into the site of interest.
(85) In some cases, a user, such as a nurse, can insert one or more instruments, dock one or more of the visualization device or insertion device on the mounting interface 500, and advance and/or retract the camera tube 224. A surgeon operating the robotic surgical system 100 can cause the camera tube 224 to be advanced and/or retracted. For example, the surgeon can operate the camera tube 224 once the distal end 224B of the camera tube has been inserted into the opening 410 and past opening 412.
(86) Operation of a Visualization Device
(87) As described herein, the visualization device 220 can include an imager, such as the imager 430 illustrated in FIG. 4B. The imager can be positioned at or near the tip of the distal end 224B of the camera tube 224. As described below, the imager can be oriented in various positions in the camera tube 224.
(88) FIG. 7A illustrates a combination 700A of an image module or imager 702, which can be similar to the imager 430, and a proximal end 750 of the insertion device 210. The imager 702 can include one or more cameras 710 and one or more illumination channels 720 in which one or more illumination devices can be positioned. The one or more illumination sources or devices can illuminate at least a portion of the site of interest to permit viewing of the at least one portion. The one or more illumination devices can include one or more light sources, such as light emitting diodes (LEDs), optical fiber(s), or the like. As illustrated, in some cases, two (or more) cameras 710 can be used in order for the imager 702 to operate as a stereoscopic imager, and to produce three-dimensional representation of at least a portion of the site of interest. Each of the cameras 710 can include one or more lenses 730 that focus light from and/or reflected by at least the portion of the site of interest on an image sensor 740. The one or more lenses 730 can include concave and/or convex lenses. In some cases, one or more lenses 730 can be moved to adjust the zoom (such as, an optical zoom). The image sensor 740 can detect the light and convert it to image information or data. For instance, the image sensor 740 can measure brightness at a plurality of points. The image sensor 740 can include at least one of charge-coupled devices (CCDs), complementary metal-oxide-semiconductor (CMOS) image sensors, or the like. The image sensor 740 can be a digital and/or analog image sensor. In some implementations, one camera 710 can be used or more than two cameras can be used.
(89) The imager 702 can be positioned in the camera tube 224, such as at or near the tip of the distal end 224B of the camera tube. For example, the imager 702 can be at least partially inserted into the camera tube 224. As illustrated in FIG. 7A and described herein, the camera tube 224 with the distal end 224B can be inserted in a channel of the plurality of channels 214 of the insertion device 210. As described herein, such channel can be the channel 320. A protector 760 (such as glass or plastic) can be positioned in the camera tube 224 closer to the tip than the imager 702. The protector 760 can protect the imager 702 from breaking or malfunctions due to, for example, coming into contact with fluid in the site of interest. The imager 702 can serve as the primary camera as described herein. A secondary camera can be positioned in the channel 310 as described herein.
(90) In some cases, the imager 702 can be included inside an imaging module (not shown) that may be hermetically sealed and that is coupled or otherwise mounted to the distal end 224B of the camera tube. The imaging module enclosing the imager 702 could be removably mounted and allow the ability to have the imaging module and camera tube 224 manufactured and/or packaged at separate locations. A variety of imaging modules (for example, with different orientations) can be provided as described herein.
(91) Different orientations of the imager 702 in the camera tube 224 of the visualization device 220 can provide different advantages for exploring the site of interest. In some embodiments, the imager 702 can be positioned along or substantially along a central axis 792 of the distal end 224B of the camera tube 224 as illustrated in an arrangement 700B of FIG. 7B. In such orientation, the imager is not tilted down or up with respect to the distal end 224B of the camera tube when the proximal end is extended away from the insertion device 210 toward the site of interest. A field of view 770 of the imager 702, which can represent an area or region in which the imager obtains or captures image data, can be oriented along or substantially along the central axis 792. The field of view 770 can encompass a region straight ahead of the distal end 224B of the camera tube 224.
(92) Advantageously, in some cases, the imager 702 of the arrangement 700B can provide image data of at least a portion of the site of interest when the site is positioned in front of the insertion device 210. For example, the imager 702 can “look straight ahead” or provide image data of a region in front as the distal end 224B of the camera tube 224 exits the channel of the insertion device 210. When the insertion device 210 is positioned adjacent the site of interest, imager positioning in the arrangement 700B can permit viewing the site of interest. This can be important, for example, to facilitate safe insertion of at least a portion of the distal end 224B (along with, for example, the primary camera) into the site of interest.
(93) In some cases, the one or more instrument channels 340 are positioned below the channel 320 through which the distal end 224B of the camera tube 224 is passed. With reference to FIG. 7C, when one or more instruments are inserted through one or more instrument channels 340, it may be desirable to orient the imager 702 of the arrangement 700B to obtain a field of view oriented at least partially downward. For example, the imager 702 can be positioned to “look down” at the one or more instruments. Orienting the field of view 770 at least partially downward can advantageously permit viewing of the insertion of one or more instruments 758 into the site of interest. This can facilitate safe insertion of the one or more instruments into the site of interest.
(94) As illustrated in FIG. 7C, in order to orient the field of view 770 at least partially downward, the distal end 224B of the camera tube 224 may be bent along a plurality of segments or sections 762B and 764B. As described herein, section 764B can correspond to the tilt section 442, and section 762B can correspond to the pan section 444. Both sections 762B and 764B may be bent to orient the imager 702 to provide image data relating to the position of the one or more instruments 758.
(95) FIG. 7D illustrates an arrangement 700D in which the imager 702 is tilted downward at an angle ? relative to the central axis 792. The angle ? is formed between the central axis 792 and a central axis 794 of the imager 702. The angle ? can be 10 degrees or less or more, 15 degrees or less or more, 20 degrees or less or more, or the like. Tilting the imager 702 downward can cause the field of view 770 to be oriented at least partially downward. Advantageously, the field of view 770 can capture at least a portion of the region in front (which, for example, can be the site of interest as described herein) as well as at least a portion of the region below the imager 702. The arrangement 700D can permit viewing of the position of the one or more instruments 758 as well as viewing of at least the portion of the site of interest. This can facilitate insertion of both the primary camera and the one or more instruments 758.
(96) As illustrated in FIG. 7E, the field of view 770 in the arrangement 700D can be further oriented downward by bending the distal end 224B of the camera tube 224 along a plurality of segments or sections 762D and 764D. These sections can be similar to sections 762B and 764B of the arrangement 700B (shown in FIG. 7C), respectively. The angle or curvature of the bend in at least one of the sections 762D and 764D can be smaller than in at least one of the sections 762B and 764B, respectively. This reduction can be due to initially tilting the imager 702 downward at the angle ?.
(97) FIG. 7F illustrates an arrangement 700F in which the imager 702 is positioned downward at approximately 90 degree angle relative to the central axis 792. The field of view 770 captures a region below the imager 702. This can be advantageous to facilitate insertion of the one or more instruments 758. The field of view 770 may not capture or substantially not capture at least a portion of the region in front of the imager 702. In order to capture at least the portion of this region, the distal end 224B of the camera tube 224 can be bent along a segment or section 762F as illustrated in FIG. 7G. This orientation can facilitate insertion of the primary camera. Comparing with the arrangements 700B and 700D, adjustment of the orientation of a single segment 762F may be sufficient.
(98) As illustrated in arrangement 700H of FIG. 7H, in order to capture at least a portion of a region behind the imager 702, the distal end 224B of the camera tube 224 may be bent along a plurality of segments or sections 762H and 764H. These sections can similar to sections 762B and 764B of the arrangement 700B, respectively. The field of view 770 of the arrangement 700H can permit viewing of the one or more instruments 758 being advanced through the one or more instrument channels in the insertion device 210.
(99) In some cases, a second or another imager can be provided in the arrangement 700F, in which the imager 702 is positioned substantially downward. For example as illustrated in FIG. 8, such second imager 802 can be positioned along or substantially along the central axis of the distal end 224B of the camera tube 224 similarly to the arrangement 700B. The second imager 802 can provide an additional field of view 870 to the field of view 770 of the imager 702. The field of view 870 can capture at least a portion of the region in front of the second imager 802. This can facilitate insertion of the primary camera, which can include both imagers 702 and 802.
(100) In some implementations, the imager 702 can be tilted up. For example, this can be advantageous when one or more instrument channels through which one or more instruments are inserted are positioned above the channel 320 through which the distal end 224B of the camera tube 224 is passed.
(101) As described herein, the imager 702 can be oriented differently relative to the central axis 792 of the distal end 224B of the camera tube 224. The imager 702 can be positioned substantially along the central axis 792, perpendicular to the central axis, or at any angle between 0 degrees and 90 degrees (facing up or down) relative to the central axis. Varying the orientation of the imager 702 can adjust the orientation of the field of view 770 of the imager. A suitable orientation of the imager 702 can be selected based on a desired field of view 770.
(102) In some cases, one or more actuators configured to adjust orientation of the imager 702 can be provided. For example, the one or more actuators can include one or more motors. Advantageously, orientation of the imager 702 can be adjusted in operation.
(103) Movement of Primary Camera
(104) Oher mechanisms for advancing and/or retracting a camera tube can be used. In some cases, a movement device can travel along with the camera tube. For example, FIGS. 9A-9B illustrate an insertion and/or visualization device 920 with a movement device 930 configured to travel vertically (or, in some cases, horizontally) to advance and/or retract a camera tube 924. FIG. 9A illustrates a distal end 924B of the camera tube 924 extending at a maximum distance toward the site of interest (such as, fully extended). In this position, the movement device 930 is moved downward, such as to the bottom position in a housing 922, to advance the distal end 924B. FIG. 9B illustrates the distal end 924B of the camera tube 924 extending at a maximum distance away from the site of interest (such as, fully retracted). In this position, the movement device 930 is moved upward, such as to the top position in the housing 922, to retract the distal end 924B.
(105) The movement device 930 can include one or more actuators (for example, one or more motors) that move the movement device up and/or down (or, in some cases, left and/or right) within the housing 922. For example, the movement device 930 can move along a rail or post 940. In some cases, the rail 940 can include a chain for facilitating or guiding movement of the movement device. The movement device can include additional one or more actuators configured to tilt and/or pan one or more cameras positioned in the camera tube 924.
(106) As illustrated in FIGS. 10A-10B, a movement device 1030 may be positioned outside and/or away from a housing of an insertion and/or visualization device 1020. The movement device 1030 can move downward to advance a distal end 1024B of a camera tube toward the site of interest. The movement device 1030 can move upward to retract the distal end 1024B. As illustrated, the movement device 1030 can downward and/or upward at an angle to the vertical axis.
(107) In some cases, a movement device can be substantially stationary and the camera tube may not form a loop as described herein. For example, FIG. 11 illustrates a drive unit 1106 supporting (for example, on top) a movement device 1130 configured to advance and/or retract a camera tube 1124 that includes a proximal end 1124A and a distal end 1124B. The movement device 1130 can advance and/or retract the distal end 1124B of the camera tube 1124 along substantially horizontal direction (or, in some cases, a vertical direction). The proximal end 1124A of the camera tube 1124 can provide “slack” or sufficient camera tube length to advance the distal end 1124B to a maximum distance toward the site of interest (or away from the drive unit 1106). In some cases, the movement device 1130 can be positioned at another location on the drive unit 1106 or be supported by another component of a robotic surgery system.
(108) In some cases, at least a portion of the camera tube can be substantially rigid. For example, FIG. 12A illustrates perspective view of a movement device 1230 supported by a drive unit 1206. The movement device 1230 can be positioned at the rear of the drive unit 1206. The movement device 1230 can be configured to advance and/or retract a camera tube 1224 that includes a proximal end 1224A and a distal end 1224B. FIG. 12B illustrates a bottom view showing one or more openings 1240 for one or more instruments (not shown). In operation, the one or more instruments can be positioned adjacent to the camera tube 1224. In some cases, the movement device 1230 can be positioned at another location on the drive unit 1206 or be supported by another component of a robotic surgery system.
(109) FIG. 12C illustrates the camera tube extending at maximum distance away from the site of interest (such as, fully retracted). In this position, a movement portion or mover 1232 can be fully retracted. For example, the mover 1232 can retracted backward and oriented outside an interior portion of the drive unit 1206. Movement of the mover 1232 can cause the movement device 1230 to move in the same direction. The camera tube 1224 can be attached or connected to the movement device 1230, and movement of the movement device 1230 can cause the camera tube 1224 to move in the same direction. Also illustrated are one or more actuators 1220 configured to control tilt and/or pan of one or more cameras positioned in the camera tube 1224. FIG. 12D illustrates the camera tube extending at maximum distance toward the site of interest (such as, fully extended). In this position, the mover 1232 can be fully extended. For example, the mover 1232 can be extended forward and oriented in the interior portion of the drive unit 1206. As described, at least a portion of the camera tube 1224 can be substantially rigid at least because the proximal end 1224A may be maintained as substantially straight. For instance, the proximal end 1224A may not be bent in contrast with, for example, in FIG. 11). The proximal end 1224A can include the substantially rigid portion. Advantageously, having the substantially rigid portion may prevent the camera tube 1224 coming into contact with unsterile surface or object, such as the floor, because of the length of the slack.
(110) Advantageously, using a visualization device configured to cause the camera tube to form a loop as described herein can reduce or eliminate the risk of a camera tube coming into contact with an unsterile surface or object. Advantageously, drivers configured to rotate (such as, rollers) to advance/retract the camera tube as described herein can facilitate reducing the size of a visualization device.
OTHER VARIATIONS
(111) Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors. As yet another example, in addition to or instead of controlling tilt and/or pan of a camera, roll (or spin) can be controlled. For example, one or more actuators can be provided for controlling the spin.
(112) The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.
(113) It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.
(114) With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity.
(115) Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.
(116) It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).
(117) The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.
(118) Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.
(119) Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount.
(120) It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.
(121) Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.
(122) The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.
Claims
1. An insertion device for a single port robotic surgery apparatus, the insertion device comprising: a housing including: an instrument channel positioned in an interior of the housing and extending along substantially an entire length of the housing, the instrument channel configured to removably house a surgical instrument; and an opening in a rear exterior surface of the housing, the opening providing access to the instrument channel and configured to facilitate insertion of the surgical instrument into the instrument channel; and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the opening, the illumination device configured to illuminate the opening to facilitate insertion of the surgical instrument through the opening.
2. The device of claim 1, wherein the illumination device is positioned in a recess in the rear exterior surface of the housing.
3. The device of claim 2, wherein the recess is positioned above the opening.
4. The device of claim 1, further comprising: a seal covering the opening, and a closure covering the seal for preventing the seal from being dislodged, wherein the seal is configured to prevent ingress of fluids or solids into the opening, and wherein the closure comprises substantially transparent material that permits viewing of the opening when illumination is provided by the illumination device.
5. The device of claim 4, wherein the closure comprises an opening configured to permit access to an opening in the seal, the opening in the closure being tapered in a direction toward the opening in the rear exterior surface of the housing.
6. The device of claim 5, wherein the opening in the closure includes a proximal end with a larger opening than an opening in a distal end.
7. The device of claim 4, wherein the closure is removable to facilitate removal and replacement of the seal.
8. The device of claim 1, wherein the housing further includes: a camera channel enclosing a camera; and a light source configured to provide illumination for the camera.
9. The device of claim 8, wherein the light source comprises at least one of an optical fiber or a light emitting diode (LED).
10. The device of claim 8, wherein the illumination device utilizes the light source.
11. The device of claim 8, wherein the illumination device comprises a light source separate from the light source configured to provide illumination for the camera.
12. The device of claim 11, wherein the separate light source comprises an LED positioned in a recess in the housing.
13. An insertion device for a single port robotic surgery apparatus, the insertion device comprising: a housing including: a plurality of instrument channels positioned in an interior of the housing and extending along substantially an entire length of the housing, each instrument channel being configured to removably house a surgical instrument; and an opening in a rear exterior surface of the housing, the opening providing access to the plurality of instrument channels and configured to facilitate insertion of the surgical instrument into a selected one of the plurality of instrument channels; and an illumination device supported at least partially at the rear exterior surface of the housing and positioned proximal to the opening, the illumination device configured to illuminate the opening to facilitate insertion of the surgical instrument through the opening.
BOOM BOOM!
Hand Controller Apparatus Including Ergonomic Features For A Robotic Surgery System
DOCUMENT ID
US 11633244 B2
DATE PUBLISHED
2023-04-25
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Duke; Jonathan Bradley
Louisville
CO
N/A
US
Walters; Chad Clayton
Apex
NC
N/A
US
Currat; Olivier Franck
Louisville
CO
N/A
US
Collins; Eric
Louisville
CO
N/A
US
Ward; William Jacob
Apex
NC
N/A
US
Rector; Mark Curtis
Raleigh
NC
N/A
US
Kelly; Brandon Michael
Raleigh
NC
N/A
US
Collins; Michael Darter
Holly Springs
NC
N/A
US
Durand; Zachary Kevin
Waxhaw
NC
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
ASSIGNEE INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/811292
DATE FILED
2022-07-07
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 17643357 20211208 US 11446102 child-doc US 17811292
continuation parent-doc US 17468186 20210907 US 11413100 child-doc US 17643357
continuation parent-doc US 16174602 20181030 US 11116591 20210914 child-doc US 17468186
US CLASS CURRENT:
606/130
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 34/74
2016-02-01
CPCI
A 61 B 34/76
2016-02-01
CPCI
A 61 B 34/25
2016-02-01
CPCI
A 61 B 34/30
2016-02-01
CPCA
A 61 B 2034/305
2016-02-01
CPCA
A 61 B 2034/252
2016-02-01
CPCA
A 61 B 34/77
2016-02-01
CPCA
A 61 B 2034/744
2016-02-01
CPCA
A 61 B 2034/301
2016-02-01
Abstract
A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.
Background/Summary
INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS
(1) Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.
TECHNICAL FIELD
(2) This disclosure relates generally to robotic surgery systems and more particularly to a hand controller apparatus for receiving operator input for controlling the robotic surgery system to perform surgical procedures.
DESCRIPTION OF RELATED ART
(3) Robotic surgery systems generally include an operator interface that receives operator input from a surgeon and causes corresponding movements of surgical tools within a body cavity of a patient to perform a surgical procedure. For example, the operator may grasp and move a hand grip while the operator interface senses movements of the hand grip. The operator interface and hand grip may operate to sense inputs responsive to movement of the operator's hand in several different degrees of freedom, thus providing inputs for causing the surgical tool to mimic movements of the operator's hand. Additional movements such as opening and closing of jaws of an end effector associated with the surgical tool may also be initiated in response to additional operator inputs received at the operator interface.
SUMMARY
(4) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include and a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever. Detection of the lateral movement can cause the input apparatus to control movement of the surgical tool based on the detected lateral movement of the control lever.
(5) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The lateral movement detector can be positioned in the body or in the control lever. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper can be configured to move in a direction opposite to a lateral movement of the paddle. The lateral movement detector can include a magnetic angular sensor configured to detect an angle formed between the paddle and the side surface of the body.
(6) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include a magnet attached to the wiper and configured to move along with the wiper. The magnetic angular sensor can be configured to detect the angle based on movement of the magnet. At least a portion of the wiper can include a magnetic material. The magnetic angular sensor can be configured to detect the angle based on movement of the portion of the wiper. The lateral movement detector can include an inductive sensor including a curved coil and configured to detect a curved movement of the wiper based on an electrical current induced at the curved coil by the movement of the wiper. The wiper can be formed at least partially of a metal.
(7) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include an inductive sensor configured to detect a non-linear movement of a metallic portion disposed in or integrally formed with the paddle. The inductive sensor can include a substantially trapezoidal shaped coil. The inductive sensor can include a coil that can be curved toward the metallic portion. The metallic portion can include a substantially trapezoidal shape. The inductive sensor can include a substantially elliptical shaped coil. A portion of the elliptical shaped coil is curved toward the metallic portion.
(8) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. A portion of the metallic portion is curved toward the substantially elliptical shaped coil. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include a proximity sensor configured to detect a position of the paddle with respect to the side surface of the body. The hand controller apparatus can further include a presence detector configured to detect a presence of a hand of an operator on the body. The presence detector can include a capacitive proximity sensor coated on an inner wall of the body. The hand controller apparatus can further include a palm grip disposed on or in the proximal end, the palm grip including a generally downwardly curved and rounded shape configured to support a portion of an operator's palm.
(9) In some cases, a robotic surgery system can include an instrument station including an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in configured to be in data communication with the instrument station. The workstation can include a hand controller apparatus configured to control movement of the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end coupled to the input device. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include a lateral movement detector configured to magnetically or inductively detect a lateral movement of the control lever. The input device can be configured to control movement of the tool based on the detected lateral movement of the control lever.
(10) The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper can be configured to move in a direction opposite to a lateral movement of the paddle. The lateral movement detector can include a magnetic angular sensor configured to detect an angle formed between the paddle and the side surface of the body. The lateral movement detector can include an inductive sensor including a curved coil and configured to detect a curved movement of the wiper based on an electrical current induced at the curved coil by the movement of the wiper. The wiper can be formed at least partially of a metal. The control lever can include a paddle disposed outside the body and extending from the pivot joint toward the distally located interface end. The lateral movement detector can include an inductive sensor configured to detect a non-linear movement of a metallic portion disposed in or integrally formed with the paddle.
(11) In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include detecting lateral movement of a control lever of the hand controller apparatus between a closed position and an open position, the control lever rotatably attached to a body of the hand controller apparatus and configured to control opening and closing of a surgical tool. The method can also include magnetically or inductively detecting a change in an angle of the control lever relative to the body of the hand controller apparatus when the control lever is moved between the closed position and the open position. The method can also include causing opening and closing of the surgical tool based on the detected change in the angle.
(12) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from a pivot joint toward a proximal end of the body and a paddle disposed outside the body and extending from the pivot joint toward a distally located interface end, the paddle configured to move between the open and close positions. A magnetic portion can be disposed in or integrally formed with the wiper. The wiper and the magnetic portion can laterally move between a first position and a second position about the pivot joint in a direction opposite to a lateral movement of the paddle, the first and second positions respectively corresponding to the open and close positions of the paddle. Magnetically or inductively detecting the change in the angle can include determining an angular position of the magnetic portion between the first position and the second position in response to a lateral movement of the wiper and detecting the change in the angle based on the determined angular position of the magnetic target.
(13) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Determining the angular position can be performed with a magnetic angular detector disposed below the wiper. The control lever can include a wiper disposed inside the body and extending from a pivot joint toward a proximal end of the body and a paddle disposed outside the body and extending from the pivot joint toward a distally located interface end, the paddle configured to move between the open and close positions. A metallic portion can be disposed in or integrally formed with the wiper. Controlling the wiper and the metallic portion can partially rotate over a curved inductive coil between a first position and a second position about the pivot joint in a direction opposite to a lateral movement of the paddle. The first and second positions can respectively correspond to the open and close positions of the paddle. Magnetically or inductively detecting the change in the angle can include detecting induced electrical current at the curved inductive coil caused by a rotation of the wiper, demodulating the detected electrical current to produce a signal representing a position of the metallic portion and detecting the change in the angle based on the produced signal.
(14) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The control lever can include a paddle disposed outside the body and extending from a pivot joint, wherein a metallic portion can be disposed in or integrally formed with the paddle. The paddle and the metallic portion can move over an inductive coil between the open and close positions, the inductive coil facing the metallic portion. Magnetically or inductively detecting the change in the angle can include detecting induced electrical current at the inductive coil in response to a movement of the metallic portion, demodulating the detected electrical current to produce a signal representing a position of the metallic portion and detecting the change in the angle based on the produced signal. The inductive coil can have a substantially trapezoidal shape or a substantially elliptical shape.
(15) In some cases, a method of operating a robotic surgery system that comprises a workstation including a hand controller apparatus and an instrument station including a surgical tool can include detecting lateral movement of a control lever of the hand controller apparatus between a closed position and an open position, the movement of the control level changing an angle between the control lever and a body of the hand controller apparatus. The method can also include magnetically or inductively detecting the change in the angle in response to the control lever moving between the closed position and the open position. The method can also include controlling an opening and closing movement of the tool based on the detected angle.
(16) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body configured to be moved to generate a first operator input to cause a tool to move corresponding to the movement of the body. The hand controller apparatus can also include an input control interface formed on a surface of the body and configured to sense one or more of a plurality of second operator inputs associated with a plurality of tool functions, the plurality of second operator inputs being different from the first operator input. The hand controller apparatus can also include a processor configured to control the tool to perform one or more of the plurality of tool functions in response to the sensed one or more second operator inputs.
(17) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The tool can include a surgical instrument and at least one function of the plurality of tool functions comprises a surgery routine. The surgery routine can include controlling the surgical instrument to perform at least one of: suturing, cutting, grasping or moving in a predetermined direction. The tool can include a camera configured to image a surgical site, and wherein at least one function of the plurality of tool functions comprises at least one of: causing a lens of the camera to be washed, causing the camera to zoom in and/or out, causing the camera to pan, or causing the camera to tilt. The hand controller apparatus can further include a memory storing the plurality of tool functions corresponding with the plurality of second operator inputs.
(18) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The input control interface can be configured to sense at least one input of: swiping from a first side of the input control interface to a second side of the input control interface different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The processor can be configured to control the tool to perform one or more of the plurality of tool functions in response to the sensed at least one input. The input control interface can include a trackpad or a capacitive touch surface configured to sense the one or more second operator inputs. The one or more second operation inputs can include swiping from a first side of the trackpad to a second side of the trackpad different from the first side.
(19) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The processor can be configured to cause the tool to become locked in a current surgery position in response to the sensed swiping from the first side of the trackpad to the second side of the trackpad. The tool can include a pair of jaws, and wherein the processor is configured to control the pair of jaws of the tool to be fixed in the current surgery position while the body is being repositioned. The body can include a housing on an end thereof, the housing including a generally downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can further include at least one control lever attached to the body at a pivot joint and extending along the body, the at least one control lever being laterally moveable about the pivot joint, and wherein the at least one control lever is configured to control one or more of the plurality of tool functions.
(20) In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include generating a first operator input based on movement of a body of the hand controller apparatus, the first input configured to control the tool to move corresponding to the movement of the body. The method can also include sensing, at an input control interface formed on a surface of the body, one or more of a plurality of second operator inputs corresponding to a plurality of tool functions, the plurality of second operator inputs different from the first operator input. The method can also include, by a processor, controlling the tool to perform one or more of the plurality of tool functions in response to the sensed one or more second operator inputs.
(21) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The tool can be a surgical instrument. Controlling the tool can include controlling the surgical instrument to perform at least one of the following: suturing, cutting, grasping or moving in a predetermined direction. The tool can include a camera configured to image a surgical site. Controlling the tool can include at least one of: causing a lens of the camera to be washed, causing the camera to zoom in and/or out, causing the camera to pan, or causing the camera to tilt. The method can further include storing the plurality of tool functions corresponding with the plurality of second operator inputs in a memory.
(22) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Sensing the one or more of second operator inputs can include sensing at least one of the following inputs: swiping from a first side of the input control interface to a second side of the input control interface different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The input control interface can include a trackpad or a capacitive touch surface.
(23) In some cases, a hand controller apparatus for controlling one or more tools in a robotic surgery system can include a body configured to be moved to generate a first operator input to control a surgical instrument of the one or more tools to move corresponding to the movement of the body. The hand controller apparatus can also include an input control interface formed on a surface of the body and configured to sense a second operator input different from the first operator input. The hand controller apparatus can also include a processor configured to control at least first and second functions of first and second tools of the one or more tools in response to the received second operator input, the first function and the second function performed mutually exclusively of each other, the first and second functions being different from each other, and the first and second tools being different from each other.
(24) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The processor can be configured to control the first function of the first tool in response to a first type of the second operator input while disabling the second function of the second tool, and control the second function of the second tool in response to a second type of the second operator input while disabling the first function of the first tool. The input control interface can include a trackpad or a capacitive touch surface configured to sense at least one of: swiping from a first side of the trackpad to a second side of the trackpad different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding.
(25) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The trackpad can be configured to sense at least one of the following inputs: swiping from a first side of the trackpad to a second side of the trackpad different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding. The processor can be configured to perform different functions based on the sensed second operator input. The capacitive touch surface can include at least one capacitive input configured to sense a single-click or a multiple-click, and wherein the processor is configured to perform different functions based on the single-click or multiple-click.
(26) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The first tool can a camera configured to image a surgical site, the first function being enabling and/or disabling the camera. The second tool can include an instrument clutch configured to reposition the body, the second function being enabling and/or disabling the instrument clutch. The track pad can be configured to sense swiping from a first side of the trackpad to a second side of the trackpad different from the first side and holding the second side of the trackpad. The processor can be configured to, in response to the sensed swiping and holding, disable an association of the body with the surgical instrument and enable association of the body with the camera.
(27) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The track pad can be further configured to sense a release of the second side, and wherein the processor is further configured to, in response to the sensed release, disable the association of the body with the camera and enable the association of the body with the surgical instrument. The track pad can be further configured to sense a first swiping from a first side of the trackpad to a second side of the trackpad different from the first side and first releasing of the trackpad, and wherein the processor is further configured to, in response to the sensed first swiping and first releasing, disable an association of the body with the surgical instrument, and permit repositioning of the body without moving the surgical instrument.
(28) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The track pad can be further configured to sense a second swiping from the first side of the track pad to the second side of the track pad and a second releasing of the trackpad, and wherein the processor is configured to, in response to the sensed second swiping and second releasing, enable the association of the body with the surgical instrument.
(29) In some cases, a method of operating a hand controller apparatus for controlling one or more tools in a robotic surgery system can include generating a first operator input based on a movement of a body of the hand controller apparatus, the first operator input configured to control movement of a surgical instrument of the one or more tools. The method can also include sensing, at an input control interface formed on a surface of the body, a second operator input different from the first operator input. The method can also include, by a processor, controlling at least first and second functions of first and second tools of the one or more tools in response to the received second operator input by performing the first function and the second function mutually exclusively of each other, the first and second functions being different from each other, and the first and second tools being different from each other.
(30) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. Controlling the at least first and second functions can include controlling the first function of the first tool in response to a first type of the second operator input while disabling the second function of the second tool and controlling the second function of the second tool in response to a second type of the second operator input while disabling the first function of the first tool.
(31) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a feedback device supported by the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The function can include at least one: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical tool. The change from the first mode to the second mode can be configured to occur within the same function.
(32) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. When the function includes controlling the camera, the first mode can include enabling control of the camera, and the second mode can include disabling control of the camera. When the function comprises instrument clutching, the first mode can include enabling instrument clutching and the second mode can include disabling instrument clutching.
(33) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical instrument. The hand controller apparatus can also include a feedback device positioned in or on the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode.
(34) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a haptic feedback device configured to provide a haptic feedback in response to the change in the function. The haptic feedback device can include a haptic actuator and a controller configured to sense the change in the function and actuate the haptic actuator to vibrate in response thereto. The haptic actuator ca be disposed adjacent to the proximal end or the distally located interface end. The hand controller apparatus can further include an input control interface formed on an upper surface of the body and configured to receive an additional user input. The haptic actuator can be disposed adjacent to the input control interface.
(35) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The function can include at least one of: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical instrument. When the function includes controlling the camera, the first mode can include enabling control of the camera and the second mode can include disabling control of the camera. When the function includes instrument clutching, the first mode can include enabling instrument clutching and the second mode comprises disabling instrument clutching.
(36) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The change in the function can be generated from repositioning the body or from a secondary input of the robotic surgery system remote from the body. The feedback device can include a visual feedback device configured to provide a visual feedback in response to the change in the function. The feedback device can include an audio feedback device configured to provide an audio feedback in response to the change in the function.
(37) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a tactile feedback device configured to provide a tactile feedback in response to the change in the function. The tactile feedback can include at least one of the following: a bump, a beak, a grove, a lip, or a texture difference.
(38) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The feedback device can include a force feedback device configured to provide a force feedback in response to the change in the function. The force feedback device can include a self-centering wheel. The feedback device is located in a portion of the body configured to contact a user's palm. The feedback device is configured to provide different feedbacks in response to different changes in the function. The different feedbacks can be configurable by the user.
(39) In some cases, a robotic surgery system can include an instrument station comprising an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in data communication with the instrument station. The workstation can include a hand controller apparatus configured to receive an operator input for controlling the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can include a feedback device disposed in or on the body and configured to provide feedback to an operator in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode.
(40) The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The feedback device can include at least one of the following: a haptic feedback device configured to provide a haptic feedback in response to the change in the function, a visual feedback device configured to provide a visual feedback in response to the change in the function, an audio feedback device configured to provide an audio feedback in response to the change in the function, a tactile feedback device configured to provide a tactile feedback in response to the change in the function or a force feedback device configured to provide a force feedback in response to the change in the function.
(41) The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The change in the function can be generated from repositioning the body or from a secondary input of the workstation remote from the hand controller apparatus. The feedback device can be configured to provide different feedbacks in response to different changes in the function. The different feedbacks can be configurable by the operator.
(42) In some cases, a method of operating a hand controller apparatus for controlling a tool in a robotic surgery system can include receiving an operator input. The method can also include determining that the received operator input triggers a change in a function of the hand controller apparatus from a first mode to a second mode, the second mode different from the first mode. The method can also include, with a feedback device supported by a body of the hand controller apparatus, providing operator feedback in response to the change in the function.
(43) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. The function can include at least one of the following: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control a surgical tool of the robotic surgery system. When the function includes controlling the camera, the first mode can include enabling control of the camera and the second mode can include disabling control of the camera.
(44) The method of operating a hand controller apparatus of any of preceding paragraphs and/or any of methods described below can include one or more of the following features. When the function includes instrument clutching, the first mode can include enabling instrument clutching and the second mode comprises disabling instrument clutching. Providing the operator feedback can include providing different feedbacks in response to different changes in the function.
(45) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end, wherein the tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and wherein at least part of the outer surface of the tail region is outwardly curved.
(46) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The at least part of the outer surface of the tail region can include a substantially convex shape. The tail region can include a tail end horizontally overlapping the pivot joint. An outer surface of the tail end can be outwardly curved and an outer surface of the remaining portion of the tail region can be substantially flat. The tail region can include a tail end horizontally overlapping the pivot joint. A first portion of an outer surface of the tail end can be outwardly curved and a second portion of the outer surface of the tail end can be substantially flat.
(47) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The at least part of the outer surface of the extension can have a substantially concave shape. The control lever can further include an extension extending downwardly from the paddle region, wherein at least part of the extension is curved toward the body. The hand controller apparatus can further include a cutout formed on or in the side surface of the body and configured to accommodate the control lever therein such that a longitudinal axis of the control lever is substantially parallel to a longitudinal axis of the body.
(48) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include a palm grip disposed in or on the proximal end, the palm grip including a generally downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can further include a neck portion interposed between the pivot joint and the palm grip, wherein a width of the neck portion can be smaller than a width of the palm grip.
(49) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The neck portion can include a protruding side surface. The protruding side surface of the neck portion can have a curvature that is substantially the same as a curvature of the at least part of the outer surface of the tail region. At least one of i) the protruding side surface of the neck portion, or ii) the at least part of the outer surface of the tail region can be configured to enable an operator to rotate the body of the hand controller apparatus about a longitudinal axis of the body with the operator's finger without rotation of the operator's wrist.
(50) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The hand controller apparatus can further include an input control interface formed on an upper surface of the body and configured to sense an operator input. The input control interface can include a first side facing the proximal end and a second side opposing the first side and facing the distally located interface end. The hand controller apparatus can further include a slope region disposed between the first side of the input control interface and the neck portion and downwardly sloped to allow an operator's finger to be rested thereon. The slope region can be curved or linear. The input control interface can include a periphery at least part of which is raised to provide a tactile feedback for a location of the input control interface. The palm grip can be downwardly angled with respect to the neck portion to substantially resemble a natural curvature formed between an average operator's thumb and palm when the palm grip is grasped by the operator's hand.
(51) In some cases, a robotic surgery system can include an instrument station including an insertion device configured to support a surgical tool. The robotic surgery system can also include a workstation in data communication with the instrument station. The workstation can include a hand controller apparatus configured to receive an operator input for controlling the tool. The hand controller apparatus can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control the tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region extending from the tail region toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface. At least part of the outer surface of the tail region can be outwardly curved.
(52) The robotic surgery system of any of preceding paragraphs and/or any of robotic surgery systems described below can include one or more of the following features. The at least part of the outer surface of the tail region can include a substantially convex shape. The control lever can further include an extension extending downwardly from the paddle region. At least part of the downward extension can be curved toward the body. The at least part of the outer surface of the tail region can be configured to enable an operator to rotate the hand controller apparatus about a longitudinal axis of the body with the operator's finger without rotation of the operator's wrist.
(53) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical instrument. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The hand controller apparatus can also include a palm grip disposed in or on the proximal end, the palm grip including a substantially downwardly curved and rounded shape configured to receive and support a portion of an operator's palm. The hand controller apparatus can also include a neck portion interposed between the pivot joint and the palm grip, wherein a width of the neck portion is smaller than a width of the palm grip.
(54) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. At least part of the neck portion may not horizontally overlap the pivot joint. The palm grip can include an upper portion extending from the neck portion toward the proximal end, a middle portion downwardly extending at a first angle from the upper portion, and a lower portion downwardly extending at a second angle from the middle portion. Each of the upper and lower portions can include a width smaller than a width of the middle portion. The upper portion includes a width greater than a width of the neck portion.
(55) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The body can include an upper surface accommodating an input control interface configured to sense an operator input. The upper surface can be slanted toward the side surface of the body, the slanted upper surface configured to support an operator's index finger when the palm grip is grasped by the operator's hand. The pivot joint can be disposed inside the body and positioned closer to a longitudinal axis of the body than a longitudinal axis of the control lever.
(56) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The control lever can include a wiper disposed inside the body and extending from the pivot joint toward the proximal end and a paddle disposed outside the body and extending at an angle from the pivot joint toward the distally located interface end. The wiper and the paddle can be connected to the pivot joint such that longitudinal axes of the wiper and the paddle are substantially parallel to each other. The longitudinal axes of the wiper and the paddle may not intersect a center of the pivot joint.
(57) In some cases, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can also include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The pivot joint can be disposed inside the body and positioned closer to a longitudinal axis of the body than a longitudinal axis of the control lever. The longitudinal axis of the control lever may not intersect a center of the pivot joint.
(58) The hand controller apparatus of any of preceding paragraphs and/or any of hand controller apparatuses described below can include one or more of the following features. The longitudinal axis of the control lever can be parallel to the longitudinal axis of the body when the control lever is in a closed position.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) Embodiments of the present disclosure will now be described hereinafter, by way of example only, with reference to the accompanying drawings in which:
(2) FIG. 1 illustrates a robotic surgery system in accordance with some embodiments;
(3) FIG. 2 illustrates a perspective view of a right side input device of the workstation shown in FIG. 1;
(4) FIG. 3A illustrates a perspective view of a left side hand controller in an open position according to some embodiments;
(5) FIG. 3B illustrates a perspective view of a right side hand controller in an open position according to some embodiments;
(6) FIG. 4A illustrates a plan view of the hand controller of FIG. 3B according to some embodiments;
(7) FIG. 4B illustrates a left side view of the hand controller of FIG. 3B according to some embodiments;
(8) FIG. 5 illustrates a perspective view of a right side hand controller in a closed position according to some embodiments;
(9) FIG. 6A illustrates a perspective view of a left side hand controller grasped by a user's left hand according to some embodiments;
(10) FIG. 6B illustrates a perspective view of left and right side hand controllers grasped by a user's hands according to some embodiments;
(11) FIG. 7 illustrates a perspective view of a right side hand controller in an open position according to some embodiments;
(12) FIG. 8 illustrates a perspective view of a left side hand controller in an open position according to some embodiments;
(13) FIG. 9 illustrates a perspective view of a hand controller having two pinchers in an open position according to some embodiments;
(14) FIG. 10 illustrates an assembly view of the hand controller of FIG. 3B according to some embodiments;
(15) FIG. 11A illustrates a closed-up plan view of a hand controller pincher showing angular magnetic detection according to some embodiments;
(16) FIG. 11B illustrates a closed-up plan view of a hand controller wiper and a magnetic angular detector according to some embodiments;
(17) FIG. 12A illustrates a conceptual diagram showing a magnetic angular detection method for a metallic portion in a wiper according to some embodiments;
(18) FIG. 12B illustrates a perspective view of a hand controller including a linear coil inductive detector for sensing movement of a metallic portion in the paddle according to some embodiments;
(19) FIG. 12C illustrates a plan view of the hand controller including the linear coil inductive detector of FIG. 12B;
(20) FIG. 12D illustrates a modified printed circuit board (PCB) coil layout for the linear inductive detector shown in FIGS. 12B and 12C according to some embodiments;
(21) FIG. 12E illustrates a standard PCB coil layout for a linear coil inductive detector according to some embodiments;
(22) FIG. 13A illustrates a perspective view of a hand controller including a spiral coil inductive detector for sensing the movement of a metallic portion in the paddle according to some embodiments;
(23) FIG. 13B illustrates a plan view of the hand controller including the spiral coil inductive detector of FIG. 13A according to some embodiments;
(24) FIG. 13C illustrates a modified coil layout for the spiral inductive detector shown in FIGS. 13A and 13B according to some embodiments;
(25) FIG. 13D illustrates a standard coil layout for a spiral coil inductive detector according to some embodiments;
(26) FIG. 14 illustrates a perspective view of a metal shaped PCB coil formed inside the wall of a handpiece according to some embodiments;
(27) FIG. 15 illustrates a plan view of an example trackpad of a hand controller according to some embodiments;
(28) FIG. 16A illustrates a plan view of a capacitive touch surface having multiple ‘V’ shaped capacitive buttons according to some embodiments;
(29) FIG. 16B illustrates a plan view of a capacitive touch surface having multiple rectangular capacitive buttons according to some embodiments;
(30) FIG. 17A illustrates a closed-up view of the trackpad according to some embodiments;
(31) FIG. 17B illustrates an example location of a capacitive gesture recognition circuitry according to some embodiments;
(32) FIG. 17C illustrates a cross-sectional view of a capacitive gesture recognition PCB according to some embodiments;
(33) FIG. 18 illustrates a flowchart for a shared input control process according to some embodiments;
(34) FIGS. 19A and 19B illustrate conceptual diagrams showing a camera control operation according to some embodiments;
(35) FIG. 20 illustrates a flowchart for a camera control process shown in FIGS. 19A and 19B according to some embodiments;
(36) FIGS. 21A and 21B illustrate conceptual diagrams showing an instrument clutch operation according to some embodiments;
(37) FIG. 22 illustrates a flowchart for an instrument clutch process shown in FIGS. 21A and 21B according to some embodiments;
(38) FIG. 23 illustrates a flowchart for a gesture control process according to some embodiments;
(39) FIG. 24 illustrates a flowchart for a hand controller feedback control process according to some embodiments;
(40) FIG. 25A illustrates an example location of a haptic feedback device according to some embodiments;
(41) FIG. 25B illustrates another example location of a haptic feedback device according to some embodiments;
(42) FIG. 26 illustrates a block diagram of a hand controller according to some embodiments;
(43) FIG. 27 illustrates a perspective view of a right side hand controller showing palm grip ergonomic features according to some embodiments;
(44) FIG. 28 illustrates a perspective view of the right side hand controller of FIG. 27 grasped by a user's right hand according to some embodiments;
(45) FIG. 29 illustrates a perspective view of a right side hand controller showing paddle ergonomic features according to some embodiments;
(46) FIG. 30 illustrates a closed-up perspective view of a paddle of the right side hand controller of FIG. 29 according to some embodiments;
(47) FIG. 31 illustrates a closed-up left side view of the paddle of FIG. 30 according to some embodiments;
(48) FIG. 32 illustrates a rear view of a right side hand controller showing another example ergonomic features according to some embodiments; and
(49) FIG. 33 illustrates a perspective view of an example coil to be used as a compression spring for pincer angle detection according to some embodiments.
DETAILED DESCRIPTION
(50) Overview of Robotic Surgery System
(51) FIG. 1 illustrates a robotic surgery system 100 in accordance with some embodiments. The robotic surgery system 100 includes a workstation 102 and an instrument station or a patient cart 104. The patient cart 104 includes at least one tool mountable on a moveable instrument mount, central unit or drive unit 106 that houses an instrument drive (not shown) for manipulating the tool. The tool may include an insertion device 108 configured to support at least one surgical instrument (hereinafter to be interchangeably used with an “instrument” or “surgical tool”) and a camera (not shown) that images a surgical site. The workstation 102 may also include a tool such as an instrument clutch (that may be implemented by a foot pedal described below). The insertion device 108 can support two or more instruments (not shown). The camera may include a primary camera and at least one secondary camera. The primary camera and the secondary camera may provide different viewing angles, perform different functions and/or produce different images. At least one of the primary camera and the secondary camera may be a two-dimensional (2D) or a three-dimensional (3D) camera. FIG. 1 is merely an example of a robotic surgery system, and certain elements may be removed, other elements added, two or more elements combined or one element can be separated into multiple elements depending on the specification and requirements of the robotic surgery system.
(52) The workstation 102 includes an input device for use by a user (for example, a surgeon; hereinafter to be interchangeably used with an “operator”) for controlling the instrument via the instrument drive to perform surgical operations on a patient. The input device may be implemented using a haptic interface device available from Force Dimension, of Switzerland, for example. The input device includes a right input device 132 and a left input device 112 for controlling respective right and left instruments (not shown). The right input device 132 includes a right hand controller 122 (hereinafter to be interchangeably used with a “hand grip” or “handpiece”) and the left input device 112 includes a left hand controller 124. The right and left hand controllers 122 and 124 may be mechanically or electrically coupled to the respective input devices 132 and 112. Alternatively, the right and left hand controllers 122 and 124 may be wirelessly coupled to the respective input devices 132 and 112 or may be wireless coupled directly to the workstation 102. In some cases, when there are two instruments at the instrument station 104, the right and left hand controllers 122 and 124 may respectively control the two instruments. In some cases, when there are more than two instruments, the right and left hand controllers 122 and 124 may be used to select two of the multiple instruments that an operator wishes to use. In some cases, when there is only one instrument, one of the right and left hand controllers 122 and 124 may be used to select the single instrument.
(53) The input devices 132 and 112 may generate input signals representing positions of the hand controllers 122 and 124 within an input device workspace (not shown). In some cases where the input devices 132 and 112 are coupled directly and wirelessly to the workstation, they would include the necessary sensors to allow wireless control such as an accelerometer, a gyroscope and/or magnetometer. In other cases, a wireless connection of the input devices 132 and 112 to the workstation 102 may be accomplished by the use of camera systems alone or in combination with the described sensors. The afore described sensors for wireless functionality may also be placed in each handpiece to be used in conjunction with the input devices 132 and 112 to independently verify the input device data. The workstation 102 also includes a workstation processor circuit 114, which is in communication with the input devices 132 and 112 for receiving the input signals.
(54) The workstation 102 also includes a display 120 in communication with the workstation processor circuit 114 for displaying real time images and/or other graphical depictions of a surgical site produced by the camera associated with the instrument. The workstation 102 may include right and left graphical depictions (not shown) displayed on the display 120 respectively for the right and left side instruments (not shown). The graphical depictions may be displayed at a peripheral region of the display 120 to prevent obscuring a live view of the surgical workspace also displayed on the display. The display 120 may further be operable to provide other visual feedback and/or instructions to the user. A second auxiliary display 123 may be utilized to display auxiliary surgical information to the user (surgeon), displaying, for example, patient medical charts and pre-operation images. In some cases, the auxiliary display 123 may be a touch display and may also be configured to display graphics representing additional inputs for controlling the workstation 102 and/or the patient cart 104. The workstation 102 further includes a footswitch or foot pedal 126, which is actuatable by the user to provide input signals to the workstation processor circuit 114. In one case, the signal provided to the workstation processor circuit 114 may inhibit movement of the instrument while the footswitch 126 is depressed.
(55) The patient cart 104 includes an instrument processor circuit 118 for controlling the central unit 106, insertion device 108, one or more instruments and/or one or more cameras. In such case, the instrument processor circuit 118 is in communication with the workstation processor circuit 114 via an interface cable 116 for transmitting signals between the workstation processor circuit 114 and the instrument processor circuit 118. In some cases, communication between the workstation processor circuit 114 and the processor circuit 118 may be wireless or via a computer network, and the workstation 102 may even be located remotely from the instrument station 104. Input signals are generated by the right and left input devices 132 and 112 in response to movement of the hand controllers 122 and 124 by the user within the input device workspace and the instrument is spatially positioned in a surgical workspace in response to the input signals.
(56) FIG. 2 illustrates a perspective view of the right side input device 132 of the workstation 102 shown in FIG. 1. Since the structure and operations of the right and left input devices 132 and 112 are substantially the same, the description will be provided only for the right side input device 132. Furthermore, FIG. 2 illustrates only an example of an input device, input devices having other structures and shapes may also be used, as long as they receive a user's inputs for controlling the operation of the instrument. Referring to FIG. 2, the input device 132 includes three moveable arms 180, 182, and 184. The hand controller 122 may be coupled via a gimbal mount 186 to the moveable arms 180, 182, and 184. The input device 132 may include sensors (not shown) that sense the position of each of the arms 180, 182, and 184 and rotation of the hand controller 122 and produces signals representing a current position of the hand controller 122. In such case, the position signals are transmitted as input signals to the workstation processor circuit 114. The hand controller 122 may include a user actuatable button or input control interface 326a (see, for example, FIG. 3B), which may produce additional input signals for transmission to the workstation processor circuit 114.
(57) Additional details of the robotic surgery system 100 including the hand controllers 122 and 124 are described in U.S. Patent Publication No. 2018/0168758, which is assigned to the assignee of the present application and the disclosure of which is incorporated by reference in its entirety.
(58) Overview of Handpiece
(59) FIG. 3A illustrates a perspective view of a left side handpiece 124 in an open position according to some embodiments. FIG. 3B illustrates a perspective view of a right side handpiece 122 in an open position according to some embodiments. FIG. 4A illustrates a plan view of the handpiece 124 of FIG. 3B according to some embodiments. FIG. 4B illustrates a left side view of the handpiece 124 of FIG. 3B according to some embodiments. FIG. 5 illustrates a perspective view of a right side handpiece 122 in a closed position according to some embodiments. The handpieces 124 and 122 shown in FIGS. 3A to 5 can be used respectively as hand controllers for the input devices 112 and 132 shown in FIG. 1.
(60) Each of the handpieces 124 and 122 shown in FIGS. 3A and 3B includes a single pincher 308/328 (hereinafter to be interchangeably used with “pincer,” “paddle” or “control lever”). Each of the single paddle handpieces 124 and 122 may control the movement of one or a pair of jaws of a corresponding surgical instrument. The movement can include opening and/or closing of the one or more jaws. Thus, providing the single paddle handpieces 124 and 122 may be beneficial, as manufacturing costs can be reduced and their manufacturing procedure can be simplified. However, each handpiece may also include two pinchers (see, for example, FIG. 9). Furthermore, although FIG. 3A shows that the pincher 308 of the left side handpiece 124 is disposed on the left side of the body 305, the pincher 308 may be disposed on the right side of the body 305 (see, for example, FIG. 6A). Moreover, although FIG. 3B shows that the pincher 328 of the right side handpiece 122 is disposed on the right side of the body 325, the pincher 328 may be disposed on the left side of the body 325 (not shown).
(61) Referring to FIG. 3A, the left side handpiece 124 includes a proximal end 301, an upper handpiece housing 302, a lower handpiece housing 304, a handpiece body 305, an input control interface 306a, a pincher 308 having a pivot point, a tail end 311 and a paddle end 313, an upper housing 310, a lower housing 312, a front plate (or connector) 314 and a distally located interface end 315. The proximal end 301 and the distally located interface end 315 may be part of the handpiece body 305.
(62) Referring to FIG. 3B, the right side handpiece 122 includes a proximal end 321, an upper handpiece housing 322, a lower handpiece housing 324, a handpiece body 325, an input control interface 326a, a pincher 328 having a pivot joint 372 (see, for example, FIG. 11A), a tail end 331 and a paddle end 333, an upper housing 330, a lower housing 332 and a front plate 334, and a distally located interface end 335. The proximal end 321 and the distally located interface end 335 may be part of the handpiece body 325.
(63) The handpiece 122 may be configured for operation by a right hand of the operator and the handpiece 124 may be configured for operation by a left hand. The left handpiece 124 may be configured as a mirror image of the right handpiece 122 as shown in FIGS. 3A and 3B, but may be differently configured depending on the nature of the task. For example, only one of the right and left handpieces 122 and 124 may include an input control interface. In such case, actuation on the single input control interface may perform input control for both of the handpieces 122 and 124. Furthermore, depending on the embodiment, at least one of the right and left handpieces 122 and 124 may include a plurality of input control interfaces. In some cases, the plurality of input control interfaces may have the same shape, function and/or structure. In some cases, the plurality of input control interfaces may have different shapes, functions and/or structures. Since the structure and operations of the right and left handpieces 122 and 124 are substantially the same, the description will be provided only for the right side handpiece 122.
(64) The proximal end 321 of the right handpiece 122 may be shaped to be grasped by a right hand of an operator. Here, the proximal end 321 may include the handpiece housing 322 and 324. The proximal end 321 may also be referred to as a handle or a palm rest. The proximal end 321 may have a generally downwardly curved and rounded shape operable to receive and support a portion of the operator's palm when the body 325 is grasped in the hand of the operator. Although the upper and lower housings 322 and 324 appear to be as long as the remaining portion of the body 325, the present disclosure is not limited thereto. That is, the upper and lower housings 322 and 324 may be longer or shorter than the remaining portion of the body 325. The distally located interface end 335 may be configured for coupling to the input apparatus 132 for controlling the surgical tool associated with the robotic surgery system 100. At least a portion of the front plate 334 may be positioned in the distally located interface end 335.
(65) The pincher 328 may be attached to the body 325 at the pivot joint 372 (see, for example, FIG. 11A). The pincher 328 may extend from the tail end 331 to the paddle end 333 along the body 325 to be away from the proximal end 321. FIG. 3B shows that the pincher 328 is in an open position. The open position means that the pincher 328 is opened by laterally moving away from the body 325 in a direction (for example, a clockwise direction) so that the pincher 328 forms an angle of ? (hereinafter referred to as a “pincher angle” or “pincer angle”) with respect to a side surface of the body 325. For the left side handpiece 124, the pincher 313 is opened by laterally moving away from the body 305 in an opposite direction (for example, a counterclockwise direction) so that the pincher 308 has a pincer angle (?) with respect to the body 305. In some cases, the pincer angle (?) can be in the range of 0° to about 15°. In some cases, the pincer angle (?) can be in the range of 0° to about 12.5°. By adjusting the pincer angle, the position or movement of the instrument can be adjusted in a highly accurate manner. In some cases, the maximum pincer angle (?) can be greater or smaller than about 15°.
(66) In some cases, the pincher 328 can be elastically moved between the open position and the closed position. In such cases, the pincher 328 may be configured to have the open position as an original or default position. The pincher 328 can restore to the original position via an elastic element such as a compression spring, when it is released by a user (see reference numeral 348 in FIG. 11B). When an operator desires to fix the position of the pincher 328 in a partially open position, the operator may be required to hold the pincher 328 in the specific open position with his or her finger. In some cases, a magnet or an electromagnet may be used in place of or in addition to the compression spring to fix the pincher 328 in a particular position and/or to provide a rebounding or resistive force to cause the pincher 328 return to an open position upon being actuated/closed. Furthermore, the movement of the pincher 328 may be controlled by a processor so that the pincher 328 is fixed in a partially open position without the operator's finger holding the pincher 329 at the position. In such cases, the pincher 328 may be caused to remain in a particular position by varying the amount of electromagnetic force being delivered. Varying the electromagnetic force being delivered may also be used to provide a resistive or feedback force on the pincher 328 on the operator's finger placed on the pincher 328 or as the operator tries to actuate the pincher 328. In some cases, the pincher 328 can be non-elastically (for example, mechanically) moved between the open position and the closed position by pressing the tail end 331 of the pincher 328 or by pulling the paddle end 333 away from a side surface of the body 325 for example, in a clockwise direction. In such cases, the pincher 328 may be fixed in a partially open position without the operator's finger holding the pincher 328 at that position.
(67) When the pincher 328 is laterally moved in the workstation 102, the processor circuit 114 generates and transmits a control signal to the patient cart 104 such that one or both of the jaws of the instrument are simultaneously opened or closed accordingly based on the control signal. For example, if the pincer angle (?) is small, the one or more jaws of the instrument are opened in a correspondingly small amount. Furthermore, if the pincer angle (?) is large, the one or more jaws of the instrument are opened in a correspondingly large amount.
(68) The pincher 328 may be accommodated in a cutout 336 in a closed position where the pincer angle is generally 0° (see, for example, FIG. 5). The cutout 336 may include a recess, an indentation or a groove. The pincher 328 may be received in the cutout 336 such that a surface of the pincher 328 facing the body 325 is generally contiguous with side surfaces of the body 325 when the pincher 328 is in the closed position. In some cases, the handpiece 122 may not include a cutout portion, and the paddle end 333 of the pincher 328 contacts the body 325 in a closed position where the pincer angle is generally 0°.
(69) The input control interface 326a may be positioned on an upper surface of the body 325. An operator may perform a primary control of repositioning the input devices or actuating actuators to control end-effectors (for example, one or more jaws) of the instruments. An additional control or secondary control (other than the primary control) may be performed using the input control interface 326a. For example, the input control interface 326a may be used to receive additional user inputs such as camera control or instrument clutch, that may be difficult for an operator to provide a user input with the handpieces or foot pedal particularly while the operator is moving the handpieces. The additional user inputs may also include controlling tool functions (to be described later), controlling paddle movements, and/or selecting particular instruments when there are more than two surgical instruments. The input control interface 326a may be generally horizontally aligned with at least a portion of the pincher 328. The input control 326a may be a PCB slider having an actuator surface or an input control interface (to be described below in greater detail). The input control interface 326a may be slightly inclined toward a side of the body 325 where an operator's index finger would be located when the operator grasps the handpiece. A detailed structure of a handpiece having an inclined input control interface is described in U.S. Patent Publication No. 2018/0168758, which is incorporated by reference in its entirety.
(70) Operation of Handpiece
(71) FIG. 6A illustrates a perspective view of a left side handpiece 124a grasped by a user's left hand according to some embodiments. FIG. 6B illustrates a perspective view of left and right side handpieces 124 and 122 grasped by a user's hands according to some embodiments.
(72) Referring to FIG. 6A, a pincher 308a of the handpiece 124a is disposed on the right side of a body 325a. In such case, a user's left thumb 710 can be positioned on the pincher 308a of the handpiece 124a to close or open the pincher 308a. Furthermore, the remaining four fingers may be positioned on the left side of the body 325a. A user's index finger 720 may be positioned on the top surface of the body 325a to actuate the input control interface 326a.
(73) Referring to FIG. 6B, the left side handpiece 124 is grasped by a user's left hand, whereas the right side handpiece 122 is grasped by a user's right hand. The operator's left index finger 720 is shown operating the left pincher 308 (partially shown) whereas the operator's thumb 710 is shown grasping the body 325 of the handpiece 124. Furthermore, the operator's right index finger 740 is shown operating the right pincher 328 whereas the operator's thumb 730 is shown grasping the body 325 of the handpiece 122. The operator can open and close the left and right pinchers 308 and 328 by making pincher movements (for example, by pressing the respective paddle ends 313 and 333) with the index fingers respectively.
(74) The left handpiece 124 may be rotated by a user's left hand. Furthermore, the right handpiece 122 may be rotated by a user's right hand about the center of the front plate 334. For the left hand piece 124, a user's thumb 710 and a portion of a user's palm may grasp or support the handpiece 124, whereas one of the index finger 720, middle, ring and pinky fingers can be used to operate the pincher (not shown), for example, via a fingertip. Similarly, for the right hand piece 122, a user's thumb 730 and palm may grasp or support the handpiece 122, whereas one of the index finger 740, middle, ring and pinky fingers can be used to operate the pincher 328 (not shown), for example, via a fingertip. The pincher 308 of the left handpiece 124 and the pincher 328 of the right handpiece 122 may be sized such that when grasped by the hand of an average operator, the fingertips on the respective pinchers are positioned to receive distal phalanges of the operator's finger 720/740 and thumb 710/730.
(75) The single control lever 328 of the right handpiece 122 may produce a control signal for the right input device 132 configured to simultaneously move one or a pair of jaws of a corresponding surgical tool. Furthermore, the single control lever 308 of the left handpiece 124 may produce a control signal for the left input device 112 configured to simultaneously move one or a pair of jaws of a corresponding surgical tool.
(76) Additional Handpiece Examples
(77) FIG. 7 illustrates a perspective view of a right side handpiece 122b in an open position according to some embodiments. The handpiece 122b of FIG. 7 has a different shape compared to the previous handpiece examples. For example, the handpiece 122b has a relatively long and substantially linear housing 322a. Furthermore, the handpiece 122b has a pincher 328 disposed near the top of a body 325. The handpiece 122b has a paddle with a relatively narrower width (measured in a longitudinal direction of the handpiece).
(78) FIG. 8 illustrates a perspective view of a left side hand controller 124b in an open position according to some embodiments. The handpiece 124b of FIG. 8 has a different shape compared to the previous handpiece examples. For example, a portion of the body 305 and a portion of a housing 322b are cut. Thus, the housing 322b is relatively short. The housing 322b is also generally linear.
(79) FIG. 9 illustrates a perspective view of another handpiece 117 in an open position according to some embodiments. The hand controller 117 includes two pinchers 309 and 316 respectively disposed on the left and right sides of the body 327. In such case, as the pinchers 309 and 316 are opened and closed, one or a pair of jaws of the instrument are opened and closed. A detailed operation of a two pincher handpiece is described in U.S. Patent Publication No. 2018/0168758, which is incorporated by reference in its entirety.
(80) It is appreciated that the handpieces shown in FIG. 3A to FIG. 9 are merely examples and the present disclosure is not limited thereto. For example, it is possible to provide many other handpieces including one or more of the following variations: different body shapes, different pincher shapes or dimensions, different numbers of pinchers, different positions, shapes or numbers of input control interfaces, and/or different positions of other handpiece elements may also be possible.
(81) Assembly of Handpiece
(82) FIG. 10 illustrates an assembly view of the handpiece 122 of FIG. 3B according to some embodiments. FIG. 10 is merely an example assembly view of the handpiece 122, and certain elements may be removed, other elements added, two or more elements combined or one element can be separated into multiple elements depending on the specification and requirements of the handpiece. Referring to FIG. 10, the upper and lower handpiece housings 322 and 324 accommodate a first PCB 350, a first PCB carrier 354, a wiper (or extension or inner paddle) 370, a bar magnet (hereinafter to be interchangeably used with a “magnet,” “magnetic portion,” or a “magnetic target”) 352, a compression spring 348 and a pivot joint 372. The upper and lower housings 330 and 332 accommodate a center mount 342, a vibration motor (or a haptic actuator) 344 and a second PCB 326. The upper housing 330 has an opening 346 that accommodates and exposes a top surface of the second PCB 326. The front plate 334 and a front plate label 338 are connected to the center mount 342 via a screw 336 and a threaded insert 340.
(83) The first PCB 350 may include a pincer angle detector and/or a presence detector (to be described in greater detail below). The first PCB 350 may also include a handpiece feedback control device (to be described later). The first PCB holder 354 accommodates the first PCB 350. The bar magnet and/or the compression spring 348 can also be used to detect a pincer angle in connection with the pincer angle detector as described herein. The pincher 328 may be rotatably fixed to an interior portion of the upper and lower handpiece housings 322 and 324 via a pin (not shown) inserted into a pin hole 334 of the pivot joint 372. For example, the pincher 328 may rotate laterally from a side portion of the body 325 about the pivot joint 372.
(84) The second PCB 326 may include an IC for driving a trackpad or a capacitive touch surface 326a for user input and gesture control (to be described in greater detail below). The trackpad or capacitive touch surface may be positioned on the top surface of the second PCB 326. The second PCB 326 may also include one or more of the pincer angle detector, the presence detector or the handpiece feedback control device. The vibration motor 344 may be mounted on the center mount 342. However, the vibration motor 344 may be located in other positions inside the handpiece 122. The vibration motor 344 can be used for providing a haptic feedback to an operator (to be described in greater detail below).
(85) Paddle Actuation Sensing/Pincer Angle Detection
(86) As described herein, the pincher or paddle moves between a closed position and an open position. The open position includes a partially open position and a completely open position. The paddle would form a pincer angle with respect to a side surface of the handpiece body facing the paddle. In some cases, the pincer angle is the minimum at the closed position and the maximum at the completely open position. In operation, the pincer angle would be between the minimum and maximum at a partially open position. As the paddle moves from a closed position to a partially or completely open position, the one or more jaws of the surgical instrument also move to correspond to the movement of the paddle. Furthermore, as the paddle moves from the open position to the closed position, the one or more jaws of the surgical instrument also move to correspond to the movement of the paddle. Thus, it is advantageous to sense or detect an accurate position of the paddle or a pincer angle in order to more precisely control the movement of the surgical instrument.
(87) Pincer angle detection or paddle actuation sensing can be done in various ways. In some cases, pincer angle can be detected by magnetically or inductively sending a movement of a metallic portion or target disposed in the wiper or paddle. For example, a magnetic angular detector, an inductive/eddy current detector or proximity sensor can be used for pincer angle detection. However, other detection methods can also be used as long as they can detect a position of the paddle or a pincer angle with respect to the body, or distance between the paddle and the body. Although the pincer angle detection or paddle actuation sensing is described in connection with one paddle handpiece, it can be applied to a handpiece having two paddles. In such cases, since the two paddles of the handpiece would move symmetrically, pincer angle detection for only one of the paddles may be sufficient to control the movement of the surgical instrument.
(88) 1. Magnetic Angular Detector for Detecting Wiper Movement
(89) This method detects an angular movement of a magnetic portion or target that moves, when a pincher laterally moves with respect to a side surface of the handpiece body. In some cases, the magnetic target can be attached to and move along with the wiper, when the pincher laterally moves with respect to the side surface of the body. In some cases, at least a portion of the wiper can be a magnetic target. For example, a part or the entirety of the wiper can be formed of a magnetic material. In such cases, no separate magnet is required. Magnetic angle detection may provide several advantages over magnetic strength detection, primarily because angle does not drift with time or temperature (unlike strength).
(90) FIG. 11A illustrates a close-up plan view of the pincher 328 showing magnetic angular detection according to some embodiments. FIG. 11B illustrates a close-up plan view of the wiper 370 and a magnetic angular detector according to some embodiments. The pincher 328 includes a paddle 329 disposed outside the body 325 and a wiper 370 disposed inside the body 325. Referring to FIG. 11A, the paddle 329 laterally moves between a closed position 329a and an open position 329b so that the paddle 329 forms a pincer angle (?) with respect to a surface of the handpiece body facing the paddle 329. As the paddle 329 laterally moves between the closed position 329a and the open position 329b, the wiper 370 moves in an opposite direction between a substantially parallel position 370a and an angled position 370b as shown in FIG. 11A. When the paddle 329 and the wiper 370 move in opposite directions, the two pincher elements 329 and 370 maintain a substantially parallel and spaced-apart relationship with respect to each other as indicated by two parallel dotted lines 371 in FIG. 11A. In some cases, the paddle 329 and the wiper 370 may not be substantially parallel but would maintain a spaced-apart relationship. The paddle 329 and the wiper 370 may elastically move between the open position and the closed position via the compression spring 348 disposed inside the handpiece body or by other appropriate means, for example as described above.
(91) In the closed position, the pincer angle (?) may be generally zero, as the paddle 329 would contact the side surface of the handpiece body 325. In the completely open position, the pincer angle (?) may be about 12.5° to about 15°. Thus, the paddle 329 may move between the pincer angles in the range of 0° to 15°. However, the maximum pincer angle can be less than or greater than about 15° depending on the embodiment. The wiper 370 may generally form the same angle between the two positions 370a and 370b as the pincer angle, as the wiper 370 and the paddle 329 are fixed relative to each other.
(92) In some embodiments, the magnet or magnetic target 352 may be attached to the wiper 370. In such cases, the wiper 370 may or may not be formed of a metallic material, as long as the magnet 352 can be attached to the wiper 370, for example, via adhesive. In some cases, the wiper 370 may be formed at least partially of a magnetic material. For example, a portion of the wiper 370 may be a magnet or the entirety of the wiper 370 can be a magnet. In such cases, no separate magnetic target needs to be attached to the wiper 370.
(93) The first PCB 350 may include a magnetic angular detector configured to detect an angular movement of the magnetic target 352 that rotates or laterally moves along with the wiper 370 about the pivot joint 372 (ergonomic features of the pivot joint and paddle design to be described at the “Handpiece Ergonomic Features” section later). In some cases, the magnetic angular detector can be implemented with, for example, integrated circuits (ICs) available from Monolithic Power Systems Inc. (MPS). The MPS ICs generally detect the absolute angular position of a permanent magnet, typically a diametrically magnetized cylinder on a rotating shaft. The MPS ICs can be tunable and can provide a robust solution. For example, the MPS ICs may achieve greater than about 9 bits of resolution over the 12.5° range of the pincer angle.
(94) In some cases, the magnetic angular detector can be implemented with, for example, ICs available from Analog Devices Inc. (ADI). The ADI ICs can be an anisotropic magnetoresistive (AMR) sensor with integrated signal conditioning amplifiers and ADC drivers that can produce two analog outputs indicating the angular position of the surrounding magnetic field.
(95) MPS ICs and ADI ICs are merely example magnetic angular detectors that realize the magnetic angular detection, and other magnetic angular detecting circuits can also be used as long as they can detect an angular movement of a magnet attached to or integrally formed with the wiper 370. In some cases, the magnet 352 may include rare earth magnets. Rare earth magnets generally decay at a rate of less than 1% per decade. In some cases, any magnet could be used for the magnet 352.
(96) 2. Inductive/Eddy Current Detector
(97) This method uses the concept of inductive or eddy current that is induced at an inductive coil when a metallic target moves over the coil. In some cases, the metallic target may be disposed in or integrally formed with the wiper, and move in an arced or curved path over the inductive coil disposed inside or outside the wiper. In some cases, the metallic target may be attached to or integrally formed with the paddle, and move in an angled path with respect to the inductive coil. For the purpose of convenience, the description will be made for the metallic target which is attached to either the wiper or the paddle (instead of being integrally formed with the wiper or the paddle). The inductive/eddy current detector is different from the magnetic angular detector in that the former does not require the use of a magnet. This method is also inherently resilient to outside electro-magnetic interference, as no magnet is required.
(98) A. Inductive/Eddy Current Sensor for Detecting Target in Wiper
(99) FIG. 12A illustrates a conceptual diagram showing an angular magnetic detection method for a metallic portion or target 369 disposed in the wiper 370 according to some embodiments. The first PCB 350 shown in FIG. 11B may include an inductive detector that can detect a metallic target (or metallic portion) moving in an arced path with respect to an inductive coil disposed in the first PCB 350. In some cases, the first PCB 350 may include both the magnetic angular detector and the inductive detector. In some cases, a separate PCB may be used to accommodate the inductive sensor.
(100) The operation of an inductive detector for detecting a metallic target 369 at the wiper 370 is described with respect to FIG. 12A. The inductive detector may detect a curved or arced movement of the metallic target 369, when the paddle 329 moves laterally from side portion of the body 325. Referring to FIGS. 11A and 12A, the wiper 370 and the metallic target 369 move in a curved path between the two positions 370b and 370a over a curved PCB coil layout 382 of the inductive detector, as the paddle 329 moves in a curved direction opposite to the curved path of the wiper 370. The curved PCB coil layout 382 may be manufactured by bending a linear PCB coil layout into an arc track during PCB layout. The linear PCB track can be shaped to suit whatever path a metallic target takes.
(101) The metallic target 369 disposed in the wiper 379 may move on substantially the same plane (or substantially parallel planes) as the plane on which the curved PCB coil layout 382 is positioned (for example, substantially coplanar). In some cases, to allow for different shapes of hand pieces, the metallic target 369 disposed in the wiper 379 may move on a different plan as the plan on which the curved PCB coil layout 382 is positioned. Therefore, the metallic target 369 can track the curved PCB coil layout 382, as the wiper 370 moves in the curved path. As the metallic target 369 moves over the curved PCB coil layout 382, electrical current is induced at the curved PCB coil layout 382. The metallic target 369 may have a trapezoidal shape as shown in FIG. 12A to more closely track the curved path over the curved PCB coil layout 382.
(102) In some cases, the PCB coil layout 382 may include one transmitter coil and two receiver coils in different paths. The inductive sensor may demodulate and process secondary voltages received at the receiver coils, and obtain a signal representing the metallic target's position. The inductive sensor can be implemented with, for example, ICs available from Integrated Device Technology, Inc. (IDT). The IDT ICs can compare voltage values received at two receiver coils, combine this comparison with the knowledge of their different paths, and may cancel out certain mechanical tolerances (for example, even if the metal target were a bit off angle and it would not severely impact the result).
(103) B. Inductive/Eddy Current Sensor for Detecting Target in Paddle
(104) The pincer angle may be detected by inductively sensing a movement of a metallic target disposed in the paddle. In some cases, the movement of the metallic target in the paddle may be sensed by a linear coil inductive sensor. In some cases, the movement of the metallic target in the paddle may be sensed by a spiral-shaped coil inductive sensor.
(105) a. Linear Coil Inductive Detector
(106) FIG. 12B illustrates a perspective view of a handpiece including a linear coil inductive detector 383 for sensing the movement of a metallic target 387 disposed in the paddle 329 according to some embodiments. FIG. 12C illustrates a plan view of the handpiece including the linear coil inductive detector 383 of FIG. 12B. FIG. 12D illustrates a modified PCB coil layout 385a for the linear inductive detector 383 shown in FIGS. 12B and 12C according to some embodiments. FIG. 12E illustrates a standard PCB coil layout 385b for a linear coil inductive detector.
(107) Referring to FIG. 12B, the linear coil inductive detector 383 may include a linear coil sensor 384 and a PCB coil layout 385. Referring to FIGS. 12B and 12C, the inductive detector 383 is disposed inside the handpiece so that the PCB coil layout 385 faces the metallic target 387 disposed in the paddle 329. In some cases, the inductive detector 383 or at least the PCB coil layout 385 of the detector 383 may be disposed inside the paddle 329. In such cases, the metallic target may be disposed inside the handpiece body to face the PCB coil in the paddle 329. Furthermore, when the PCB coil layout 385 is disposed inside the paddle 329, the linear coil sensor 384 may be disposed inside the body.
(108) When the paddle 329 moves between the closed position 329a and the open position 329b (see, for example, FIG. 11A), it does not directly approach nor directly move away from the PCB coil layout 385. Instead, the paddle 329 moves with respect to the PCB coil layout 385 at an angle. Thus, the plane of the PCB coil layout facing the metallic target 387 would not be parallel to the plane of the metallic target 387. Thus, unlike the metallic target 369 disposed in the wiper 370 that moves in parallel with respect to the PCB coil 382, the PCB coil layout 385 and the metallic target 387 are not coplanar except that in the closed position of the paddle 329, the target 387 and the coil layout 385 would be coplanar.
(109) The operation of the linear coil inductive detector 383 is described with respect to FIG. 12C. In FIG. 12C, the paddle and wiper in the dotted lines represent that the paddle 329 and the wiper 370 are in a closed position. The metallic target 387 forms a pincer angle (?) in an open position. As the paddle 329 laterally moves from the open position (?) to the closed position (generally 0°), the metallic target 387 (for example, a middle portion thereof) moves with respect to the PCB coil layout 385 from a position A to a position B on the PCB coil layout 385. Furthermore, as the paddle 329 laterally moves from the closed position to the open position (?), the metallic target 387 moves with respect to the PCB coil layout 385 from the position B to the position A on the PCB coil layout 385. In some cases, the inductive sensor 384 may process secondary voltages received at the receiver coils on the PCB coil layout 385, and obtain a signal representing the position of the metallic target 387. In some cases, the inductive sensor 384 can be implemented with, for example, ICs available from IDT.
(110) In some cases, the PCB coil layout may have a modified linear coil layout 385a shown in FIG. 12D. The non-coplanar nature of the metallic target 387 with respect to the PCB coil layout 385 may become more substantial as the pincer angle becomes greater, and may become less substantial or insignificant as the pincer angle approaches zero. The modified PCB coil layout 385a may adjust the change in output of the sensor 384 due at least to the change in proximity to the metallic target 387 so that the output may become substantially the same as the standard linear layout 385b shown in FIG. 12E. In some cases, an additional adjustment may be made by a further modification to the modified PCB coil layout 385a and/or by a processor in order to further compensate the non-coplanar nature of the movement of the metallic target 387. This additional adjustment by the processor may be made to the modified coil layout 385a or the standard coil layout 385b.
(111) In some cases, the metallic target 387 may also have a modified shape in order to at least partially compensate the non-coplanar nature of the movement of the metallic target 387 with respect to the PCB coil layout 385. For example, the metallic target 387 may have a generally trapezoidal shape (not shown) that is generally inverse with respect to the modified PCB coil layout 385a shown in FIG. 12D. For example, the trapezoidal shape of the metallic target 387 may have the height of the left side smaller than the height of the right side, unlike the trapezoidal shape of the modified PCB coil layout 385a where the height of the right side is smaller than the height of the left side. In some cases, paddle 329 may be modified such that a curvature of paddle or at least the inside face of paddle (the side of the paddle facing the body of the handpiece) may be slightly curved as opposed to being linear (as shown in the drawings, see for example FIG. 4A). The metallic target 387 would also follow this curvature. In some cases, only the metallic target 387 would be modified to be curved. This curvature of the paddle, paddle face and/or the metallic target 387 would provide a different amount of area of the metallic target that would be substantially coplanar with the PCB coil layout 385 as the pincher is depressed (moved laterally). The curvature could compensate the non-coplanar nature of the movement of the metallic target 392 with respect to the PCB coil layout 385. The described modifications are merely examples, and other modifications to the PCB coil layout 385, the metallic target 387, positioning of the PCB coil layout, curvature of the PCB coil layout and/or the modification by a processor may also be made so that the metallic target may follow a substantially coplanar moving path with respect to a sensor coil or at least the output from the inductive sensor follows a more standardized output.
(112) b. Spiral Coil Inductive Detector
(113) FIG. 13A illustrates a perspective view of a handpiece including a spiral coil inductive detector 394 (sensor circuitry not shown; hereinafter to be interchangeably used with “spiral coil layout”) for sensing the movement of a metallic portion or target 392 disposed in the paddle 329 according to some embodiments. FIG. 13B illustrates a plan view of the handpiece including the spiral coil inductive detector 394 of FIG. 13A. FIG. 13C illustrates a modified coil layout 394a for the spiral inductive detector 394 shown in FIGS. 13A and 13B according to some embodiments. FIG. 13D illustrates a standard coil layout 394b for a spiral coil inductive detector.
(114) Referring to FIGS. 13A and 13B, the inductive detector 394 is disposed inside the handpiece body so as to face the metallic target 392 disposed in the paddle 329. In some cases, the spiral coil layout 394 may be disposed inside the paddle 329. In such cases, the metallic target may be disposed inside the handpiece body to face the coil layout in the paddle 329.
(115) The operation of the linear coil inductive detector 383 is described with respect to FIG. 13B. Referring to FIG. 13B, as the paddle 329 laterally moves from the open position (?) to the closed position (the paddle in the dotted lines shows that the paddle is positioned in the pincer angle being generally 0°), the metallic target 392 (for example, a middle portion thereof) moves with respect to the coil layout 394 from a position A to a position B on the coil layout 394. Furthermore, as the paddle 329 laterally moves from the closed position to the open position (?), the metallic target 392 moves with respect to the coil layout 394 from the position B to the position A on the coil layout 394. The inductive sensor circuitry may process secondary voltages received at the receiver coils on the spiral coil layout 394, and obtain a signal representing the position of the metallic target 392.
(116) As described herein with respect to FIGS. 12B-12E, the non-coplanar nature of the metallic target 392 with respect to the coil layout 394 may become more substantial as the pincer angle becomes greater, and may become less substantial or insignificant as the angle approaches zero. In some cases, the spiral coil layout may have a modified coil layout 394a shown in FIG. 13C. The modified coil layout 394a may have an elliptical shape. The modified coil layout 394a may adjust the change in output of the sensor due at least to the change in proximity to the metallic target 392 so that the output may become substantially the same as the standard linear layout 394b shown in FIG. 13D. In other cases, at least some portion on the right half of the spiral coil (for example, the right end portion of the coil) may be bent toward or away from the paddle 329 in order to additionally compensate the non-coplanar nature of the movement of the metallic target 392 with respect to the PCB coil layout 394. In some cases, the paddle 329 and/or the metallic target 392 may be curved similarly as described above with respect to the “Linear Coil Inductive Detector”.
(117) In some cases, an additional adjustment may be made by a further modification to the modified PCB coil layout 385a and/or by a processor in order to further compensate the non-coplanar nature of the movement of the metallic target 392. This additional adjustment by the processor may be made to the modified coil layout 394a or the standard coil layout 394b. In some cases, the spiral coil inductive sensor can be implemented with, for example, ICs available from Texas Instruments Inc. (TI).
(118) In some cases, the metallic target 392 may also have a modified shape in order to at least partially compensate the non-coplanar nature of the movement of the metallic target 392 with respect to the PCB coil layout 394. For example, the metallic target 392 may have a generally elliptical shape (as opposed to a circular shape) similar to the spiral coil 394a. Furthermore, at least a portion of the metallic target 392 (for example, a right half) may be bent toward the coil 394 to compensate the non-coplanar nature of the movement of the metallic target 392 with respect to the PCB coil layout 394. The described modifications are merely examples, and other modifications to the PCB coil layout 394 and/or the metallic target 392 (including modification by a processor) may also be made so that the metallic target may follow a substantially coplanar moving path with respect to a sensor coil.
(119) In some cases, the coil layout may instead be included on or inside the paddle 329 (not shown). In place of PCB traces to produce the coils used for inductive sensing, metal shapes on the inside walls of the paddle 329 or inside the paddle may be used. Laser direct structuring (LDS) may be utilized to produce the metals shapes as LDS is appropriate for extremely small and space constrained applications. The LDS metal may directly replace the PCB coil, but all of the described restrictions may apply (coplanar vs proximity, minimum inductance, etc.).
(120) 3. Proximity Sensor
(121) The pincer angle can also be detected by a proximity sensor. The proximity sensor can
(122) measure the distance between a sensor coil and a metallic target, as opposed to measuring a coplanar (or substantially coplanar) travel of the metallic target. For example, the proximity sensor can directly detect the position of the paddle 329 with respect to the surface of the handpiece body facing the paddle 329. This method is inherently resilient to outside electro-magnetic interference and simplifies the mechanical design, by not requiring an external effector (magnet) and by detecting the paddle's movement directly. In some cases, the proximity sensor can be implemented with, for example, ICs available from Texas Instrument (TI).
(123) In some cases, the proximity sensor may be disposed inside the handpiece body to face the paddle 329. In some cases, as shown in FIG. 14, the proximity sensor can be formed by layering coils across multiple PCB layers. This design may be advantageous, since the sensor geometry is generally more flexible, and thus is useful when there is not much space like in a handpiece. Accordingly, the greater distance of the paddle makes the TI chip a better candidate. In some cases, the proximity sensor may be disposed inside the paddle 329 to face a side surface of the handpiece body.
(124) In some cases, the proximity sensor can be implemented with, ICs available from IDT. In such cases, the IDT ICs may be positioned inside the handpiece body, and a metallic target would be in or on the paddle 329. As the paddle 329 is compressed, the metallic target would move toward the IDT ICs and the detected signal may generally become stronger as the paddle 329 approaches the handpiece body. This is a variation of the traditional use of the IDT ICs that usually just detect a linear travel (not proximity). It could detect proximity as the detected signal would change (become stronger) but the detected signal would not follow a linear path but rather a non-linear or log path. However, with the variables known, the signal could be determined. The TI sensor may be a better proximity sensor than the IDT sensor, as the TI chip may be configured to increase the effective coil length (for example, adding more PCB layers). Both of the TI and IDT sensors may require some minimum inductance. The inductance is generally proportional to the amount of a PCB coil on the sensor that is laid out.
(125) In some cases, the coils used for inductive sensing can be implemented as PCB traces. In some cases, as shown in FIG. 14, the coils can be implemented as metal shapes 380 on the inside walls of the handpiece itself. This technique is referred to as laser direct structuring (LDS), and may be utilized for an extremely small and space constrained RF antenna. The choice of a TI or IDT sensor may depend on whether the tail or the paddle is used as a target. The TI product may need less internal processing. These more ‘raw’ values would make this implementation easier to iron out. The LDS metal may directly replace the PCB coil, but all of the described restrictions may apply (coplanar vs proximity, minimum inductance, etc.).
(126) 4. Compressing Spring
(127) The pincer angle may be obtained by directly detecting the compression of the spring 348 that provides resistance to the paddle 329 (see, for example, FIG. 11B). In this case, an inductor may be a charged coil of wire, and a spring may be a stiff coil of wire. If the spring were charged with an alternating current, it would behave like an inductor. Compression of the spring would lead to a linear change in inductance. Post processing may be used to linearize the output of an inductance sensor. In some case, the spring can have an explicit inductor to meet the minimum inductance. The spring method can be advantageous, as it is inherently linear. Referring to FIG. 33, the inductance of a coil (or spring) 345 is given by the equation below. When the spring 345 is compressed, its length changes (small1) so that it has a linear effect on the inductance. This can be described by the equation below.
(128)
L
=
?
2
?
?
?
?
?
?
?
=
?
?
?
?
?
(129) Where, custom character=Inductance of coil in Henrys N=Number of turns in wire coil (straight wire=1) µ=Permeability of core material (absolute, not relative) µ.sub.r=Relative permeability, dimensionless (µ.sub.o=1 for air) µ.sub.o=1.26×10.sup.-6 T.Math.m/At (permeability of free space) A=Area of coil in square meters=pr.sup.2 l=Average length of coil in meters
Presence Detection
(130) As described herein, a handpiece controls the movement of a surgical instrument. Thus, it is desirable for a safety purpose to activate the handpiece when it is safe, for example, when it is grasped by or adjacent to an operator's hand. The presence detector can detect whether a user's hand is present on or within a certain distance of the handpiece. In some cases, such distance may be a few millimeters, a few centimeters, or a few inches. In some cases, the presence detector may detect an operator's hand contacting the handpiece.
(131) In some cases, the presence detector can be a capacitive proximity sensor and can be disposed on a PCB on the center mount 342 (see, for example, FIG. 10). The presence detector can be implemented with two redundant sensors for additional safety purposes. The redundant sensors may charge the lower and upper housings 324 and 322 (formed of metal) and use them as their antenna or sense-element. In some cases, the presence detector can be a metallic coating or a metal shell underneath the hard plastic shell of the handpiece to effectively create a large capacitive proximity sensor. The presence detector can be implemented with, for example, ICs available from Microchip Technology Inc.
(132) In some cases, instead of using a metal shell or coating, a wire, as shown in FIG. 14, may be formed throughout the length of the inside of the handpiece to effectively create an antenna. In such cases, coverage may be less uniform than on a primary path, but there may be potential manufacturing advantages. The presence detector may also detect a gloved hand and a double-gloved hand. The presence detector can calibrate the sensor to detect proximity even when a user is lightly touching the handpiece or not touching it all, for example, a few millimeters away. The presence detector may also be able to detect and differentiate between various materials, for example, whether a hand is within a desired proximity (directly coupled or within a tolerated distance), a gloved hand is within the desired proximity or whether a different unwanted object is within the desired proximity. This may be important to avoid unintended contact of the handpiece and to only allow presence to be detected when a hand (or gloved hand) of the operator is within the desired proximity. The advantage of this mode is that the handpiece does not clutch out or disengage from controlling the surgical system when a user moves the fingers or hand on the handgrip.
(133) Input Control Interfaces
(134) User or operator inputs may be provided to the robotic surgery system 100 in a number of different ways. For example, movement of the handpieces 122 and 124 can be used to provide a user input for controlling a tool such as a surgical instrument or a camera. As another example, the foot pedal 126 disposed at a lower portion of the workstation 102 may provide a user input used to perform a certain function such as instrument clutching.
(135) Another user input (hereinafter to be interchangeably used with “additional user input” or “second user input”) may be provided via the input control interface 326a disposed on an upper surface of the handpiece body. The input control interface 326a (see, for example, FIG. 3B) may be configured to control a number of functions for the robotic surgery system 100. The input control interface 326a may receive an input used to control a surgical instrument. The input control interface 326a may also receive another input used to zoom in or zoom out a camera. The input control interface 326a may further receive another input used to turn on and off an illuminator. The input control interface 326a may also be used to provide a user input that can be provided by other input mechanism such as the foot pedal 126. In this case, since the input control interface 326a is positioned in the handpiece grasped by an operator during operation, a user input may be more conveniently and/or more accurately provided than the foot pedal 126. The input control interface may be implemented by a mechanical switch, a button, a lever, a wheel, a trackpad or a capacitive touch surface. For the purpose of convenience, shared input control, gesture control and handpiece feedback control below will be described using a trackpad or a touch capacitive surface.
(136) 1. Trackpad
(137) In some cases, the second PCB 326 (see, for example, FIG. 10) can include a trackpad 326a as an input control interface. The trackpad 326a may be disposed on the upper surface of the handpiece 122. The trackpad 326a can be used to receive an additional user input such as camera control or instrument clutch where instrument control is disengaged. The trackpad 326a can also be used for direct gesture recognition with a variety of gestures (hereinafter to be interchangeably used with “tool functions”). For example, the trackpad 326a can detect swipe of an operator's finger thereon in either direction, swipe and hold in either direction, tap, tap and hold, multiple taps, or multiple taps and hold. In some cases, the trackpad 326a may be sized to receive an input by a fingertip of an average operator's finger (for example, index finger or thumb).
(138) The trackpad 326a (including a trackpad driver) can be implemented with, for example, ICs available from Azoteq of South Africa. The Azoteq ICs may be configured to provide data over Inter-Integrated Circuit (I2C), which can allow the workstation to interpret the gestures. In some cases, as shown in FIG. 15, the trackpad 326a can use PCB traces placed in a grid pattern 326b as sensing elements.
(139) 2. Capacitive Touch Surface
(140) In some cases, the second PCB 326 can include a capacitive touch surface 326a instead of or in addition to the trackpad (for example, one trackpad and one capacitive touch surface in different locations). FIG. 17A shows an example capacitive touch surface. Referring to FIG. 17A, the capacitive touch surface 326a may be smooth and glossy. The capacitive touch surface 326a may be made by, for example, pad printing. The capacitive touch surface 326a can be a capacitive touch IC to directly create a capacitive slide element. In some cases, as shown in FIGS. 16A and 16B, three or four capacitive touch elements 386 and 388 (for example, as individual capacitive buttons) can be provided. Although FIGS. 16A and 16B show chevron (or ‘V’ shapes) and rectangular shapes, the capacitive touch elements 386 and 388 may have other shapes such as line, square, circle, oval or other polygonal shapes. Furthermore, the number of capacitive touch elements may be less than three or more than four depending on the requirement of the touch input surface 326a. In some cases, the capacitive touch surface 326a may be sized to receive an input by a fingertip of an average operator's finger (for example, index finger or thumb).
(141) The capacitive touch surface (including a capacitive touch surface driver) can be implemented with, for example, ICs available from Microchip. In this Microchip device, multiple capacitive touch elements can be read by a series of digital logic implemented as a complex programmable logic device (CPLD) (conceptually similar to a field-programmable gate array (FPGA)) that is programmed only once to recognize the desired gestures. The Microchip device can be configured to provide data over I2C, which can allow the workstation to interpret the gestures.
(142) In some cases, as shown in FIGS. 17B and 17C, the capacitive touch driver circuitry can be placed directly underneath the gesture area. FIG. 17C shows a cross-sectional view of the second PCB 326 that includes a capacitive touch surface 326a and its drive circuitry. The second PCB 326 may include a capacitive touch IC 359 and an adhesive 357 on which the capacitive touch surface 326a is attached. Other circuit components 361 may also be disposed below the capacitive touch IC 359.
(143) In some cases, the second PCB 326 can include a capacitive button (not shown) that can toggle between two states, for example, between instrument and camera modes. The capacitive button can use in single or double-click (or multiple-click) mode. For the input button/switch, a capacitive slider may be used for clutch control from a handpiece, although a single cap button could be acceptable with pressure sensitive input (flex). The capacitive slider may be controlled by a microprocessor. The use of a microprocessor may be beneficial as being inherently more tunable or customizable. The same microprocessor can be used to control presence detection. The microprocessor may also be able to drive the haptic engines.
(144) 3. Force Sensitive Resistor
(145) The touch input interface 326a may be implemented by a force sensitive resistor. The force sensitive resistor may be incorporated underneath the touch area, and can be made more robust and user friendly. If a click gesture is required, a capacitive element in addition to the pressing element can be triggered. This button can make a capacitive touch button feel like a real button.
(146) Shared Input Control
(147) In some cases, in order to minimize the number of input controls required to cause movement of various aspects of a robotic surgical system, certain input controls may be shared. This may reduce overall system clutter, such as inadvertent control and/or cognitive overload.
(148) In some cases, the same trackpad 326a can be used to perform functions of two or more input controls. When an input control is used to control a first feature/function (for example, instrument clutch), a second feature/function (for example, camera control) may be disabled. In some cases, the second feature/function and first feature/function may be operated mutually exclusively and separately at all times. That is, the same input control interface can be used to control two or more different devices such as a camera and a clutch at different times.
(149) FIG. 18 illustrates a flowchart for a shared input control process 500 according to some embodiments. Referring to FIG. 18, the shared input control process 500 for a handpiece will be described.
(150) Although the process 500 is described herein with reference to a particular order, in various implementations, states herein may be performed in a different order, or omitted, and additional states may be added. The process 500 may be performed by a processor (not shown). This also applies to the processes 600-900 shown in FIGS. 19, 21, 22 and 26.
(151) In state 410, it is determined whether an operator input has been received at a first state or mode. The operator input can be received through the input control interface 326a (see, for example, FIG. 3B). The first state or mode may be a first device operation state or mode, for example, a camera control operation mode or an instrument clutch mode.
(152) The input control interface 326a may be a trackpad or a capacitive touch surface as described herein. The trackpad may recognize at least one of the following types of operator inputs: swipe from a first side of the trackpad to a second side of the trackpad different from the first side, tap, swipe and hold, tap and hold, multiple taps, or multiple taps and hold, or a combination thereof. The processor may perform different functions based on the swipe, the swipe and hold, the tap, the tap and hold, the multiple taps, and the multiple taps and hold. The capacitive touch surface may include at least one capacitive button that can sense a single-click or a double-click (or multiple-click), and the processor may perform different functions based on the single-click or multiple-click. The description of this paragraph applies to a camera control process 600 shown in FIG. 20 and an instrument clutch process 700 shown in FIG. 22.
(153) If it is determined in state 410 that the operator input has not been received at the first state, the state 410 may repeat. If it is determined in state 410 that an operator input has been received at the first state or mode, the processor may control a first function at the first state while the second function is disabled at a second state (state 420). For example, the processor may control enabling and disabling a camera control function in a camera control mode while an instrument control by the handpieces 122/124 is disabled so that the surgical instrument(s) would not move even if the handpieces 122/124 are moved.
(154) In state 430, it is determined whether the first state has been changed to the second state or another different state. The first state can be changed to the second state or another different state by actuating the input control interface 326. For example, a camera control operation mode can be changed to an instrument clutch operation mode. If it is determined in state 430 that the first state has not been changed to the second state, the states 420 and 430 may repeat.
(155) If it is determined in state 430 that the first state has been changed to the second state, the processor may control the second function at the second state while the first function is disabled. For example, the processor may control enabling and disabling an instrument clutch control function in the instrument clutch mode while the camera operation is disabled (state 440) so that the camera would not move even if the handpieces 122/124 are moved.
(156) 1. Camera Control
(157) FIGS. 19A and 19B illustrate conceptual diagrams showing a camera control operation according to some embodiments. FIG. 20 illustrates a flowchart for a camera control process 600 shown in FIGS. 19A and 19B according to some embodiments.
(158) Referring to FIG. 20, it is determined whether an operator's finger has been swiped forward and held on the input control interface 326a of the handpiece 122 (state 450). In some cases, as shown in FIG. 19A, swiping of the operator's finger 390 from a point A to a point B on the input control interface 326a can be determined by: i) detecting a contact of the operator's finger 390 on the point A; ii) detecting that the finger 390 has remained in contact with the input control interface 326a and moved to the point B; and iii) detecting that the finger 390 remains at the point B. If it is determined in state 450 that the operator's finger has not been swiped and held, the state 450 may repeat.
(159) If it is determined in state 450 that the operator's finger 390 has been swiped forward and held on the input control interface 326a, an association of the input devices 132/112 with the surgical instruments becomes disabled, the instruments become disabled, and at least one of the input devices 132/112 becomes associated with a camera (state 460). That is, the camera control operation is turned on as shown in FIG. 19A.
(160) In state 470, the camera is controlled by repositioning and/or reorienting at least one of the input devices 132/112. Since the instruments have been disassociated from the input devices 132/112, repositioning and/or reorienting the input devices 132/112 would have no impact on the surgical instruments (disabled). In some cases, there may be only one camera at the surgery site, and only one of the input devices 132/112 may control the camera. In these cases, movement of the other input device may have no impact on the camera. In some cases, both of the input devices 132/112 may be used to move the camera by either locking the relative movement of each of the input device 132/112 to each other or averaging the movement of the input devices.
(161) In state 480, it is determined whether the operator's finger has been released from the point B of the input control interface 326a, as shown in FIG. 19B. If it is determined in state 480 that the operator's finger has not been released, the states 470 and 480 may repeat.
(162) If it is determined in state 480 that the operator's finger 390 has been released from the point B, an association of the input devices 132/112 with the camera becomes disabled, the camera becomes disabled, and at least one of the input devices 132/112 becomes associated with the surgical instruments (state 490). That is, the camera control operation is turned off as shown in FIG. 19B. In some cases, control of the instruments may occur automatically upon the camera turning-off or upon another subsequent intervening event such as tapping the foot pedal 126.
(163) The described operator inputs (swiping forward and held/release) and corresponding controls (turning on and off the camera control) are merely examples, and many other combinations of input types by the input control interface and corresponding controls are possible. For example, operator inputs such as tap, tap and hold, multiple taps, multiple taps and hold, swiping backward, swiping backward and hold, multiple swiping (forward or backward), multiple swiping (forward or backward) and hold, or combinations thereof can be used to turn on or turn off the camera control operation. Furthermore, operator inputs may be received via other input interfaces such as a mechanical switch or button, a lever, self-centering wheel, or other non-trackpad or non-touch capacitive surface, as long as the same input control interface can share input controls for multiple functions associated with one or more surgical devices. The description of this paragraphs applies to the instrument clutch operation procedure below.
(164) 2. Instrument Clutch
(165) FIGS. 21A and 21B illustrate conceptual diagrams showing an instrument clutch operation according to some embodiments. FIG. 22 illustrates a flowchart for an instrument clutch process 700 shown in FIGS. 21A and 21B according to some embodiments.
(166) During operation of an input device, an operator frequently will reach the physical limits of repositioning the input device based on the mechanical limits of the device itself or the operator's arms. Thus, instrument clutching is advantageous when repositioning the input devices to enable a greater workspace. To allow the operator to “reset” or “re-center” their workspace, the operator would clutch to release association of the input device with a controlled slave instrument. Upon clutching, the input device may be repositioned while the instruments remain fixed. Upon unclutching, the association would be reestablished. Any errors introduced upon re-association such as orientation misalignment between the input device orientation and that of the instrument end-effector may be corrected by methods described in U.S. Patent Publication No. 2018/0271607 and U.S. Patent Publication No. 2018/0367777, which are assigned to the assignee of the present application and the disclosures of which are incorporated by reference in their entirety.
(167) Referring to FIG. 22, it is determined whether an operator's finger 390 has been swiped backward on the input control interface 326a and released therefrom (state 510). In some cases, as shown in FIG. 21A, swiping of the operator's finger 390 from a point B to a point A on the input control interface 326a can be determined by: i) detecting a contact of the operator's finger 390 on the point B; ii) detecting that the finger 390 has remained in contact with the input control interface 326a and moved to the point A; and iii) detecting that the finger 390 has been released from the point A. If it is determined in state 510 that the operator's finger has been swiped backward and released, the state 510 may repeat.
(168) If it is determined in state 510 that the operator's finger 390 has been swiped backward and released from the point A on the input control interface 326a, an association of the input devices 132/112 with the surgical instruments becomes disabled and the instruments become disabled (state 520).
(169) In state 530, the input devices 132/112 are repositioned without moving the instruments. Since the surgical instruments have been disassociated from the input devices 132/112 in state 520, the movement of the input devices 132/112 would have no impact on the instruments.
(170) In state 540, it is determined whether an operator's finger 390 has been swiped backward again on the input control interface 326 of the handpiece 122 and released therefrom (state 510). This can be determined in the same way as described with respect to state 510. If it is determined in state 540 that the operator's finger has not been swiped backward and released, the states 530 and 540 may repeat.
(171) If it is determined in state 540 that the operator's finger 390 has been swiped backward and released again from the point A on the input control interface 326, an association of the input devices 132/112 with the surgical instruments is re-enabled (state 550). See also FIG. 20B. Since the surgical instruments have been associated with the input devices 132/112, the movement of the input devices 132/112 will move the instruments.
(172) In some cases, control of the instrument may occur automatically upon de-clutching or upon another subsequent intervening event such as tapping the foot pedal 126.
(173) Gesture Controls (Tool Function Controls)
(174) Gesture controls (hereinafter to be interchangeably used with “tool function controls”) using a trackpad 326a (see, for example, FIG. 10) or another secondary control interface can be used to cause the system to function in various ways including causing the system to perform pre-set routines and functions. For example, swiping of the finger from one side to the other on the trackpad 326a may cause the surgical instrument to become locked in the state it is presently in (for example, one or more jaws of the instrument fixed in that position). This may be useful for situations where the user desires the surgical instrument to continue to grasp whatever it is grasping while the user repositions the input device. In other examples, certain gestures may cause the system to perform a pre-set routine such as certain surgery routines. Such gestures and resultant “auto” features may help reduce user fatigue.
(175) FIG. 23 illustrates a flowchart for the gesture control process 800 according to some embodiments. The gesture control process 800 may be performed by a processor (not shown). Referring to FIG. 23, the gesture control process 800 will be described.
(176) In state 610, it is determined whether an operator input has been received. The operator input can be received via the input control interface 306a or 326a (see, for example, FIGS. 3A and 3B). If it is determined in state 610 that the operator input has not been received, the state 610 may repeat.
(177) If it is determined in state 610 that an operator input has been received, it is determined whether the received operator input relates to one or more of a plurality of gestures or tool functions (state 620). The predetermined gestures or tool functions may include a predetermined surgery routine such as suturing (partial or complete suturing), cutting, grasping or moving in a predetermined direction. The suturing may include complete suturing and partial suturing. The predetermined surgery routine may also include moving the surgical tool in a predetermined direction. The predetermined direction may include a linear direction, a curved direction, a clockwise direction, a counterclockwise direction, semi-circular direction, or a circular direction. In some cases, the predetermined direction may be based on the pattern of the swipe/gesture itself (for example, a curved gesture may result in a movement in a curved direction). The tool functions may also include causing a lens of a camera to be washed, causing the camera to zoom in and out, causing the camera to pan, or causing the camera to tilt.
(178) When the input control interface 326a is a trackpad, the trackpad may sense swiping of an operator's finger from a first point on the trackpad to a second point on the trackpad different from the first point, and the processor may control the surgical tool to remain adjacent to a current surgery position. For example, the processor may control the surgical tool to become locked in the current surgery position. The predetermined tool functions corresponding with the operator inputs may be stored in a memory being in data communication with the processor.
(179) If it is determined in state 620 that the operator input relates to the predetermined tool functions, the processor may perform the predetermined tool functions (state 630). If it is determined in state 620 that the operator input does not relate to the predetermined tool functions, the processor may perform normal input control functions that are not associated with the predetermined tool functions (state 640).
(180) Handpiece Feedback Control
(181) When an operator operates the input devices, the handpiece may provide a feedback to the operator. In some cases, the feedback may be provided when the operator switches a function from a first mode to a second mode different from the first mode. The feedback may include a haptic feedback, a visual feedback, an audio feedback, a tactile feedback or a force feedback, or a combination thereof. This feedback function may be useful to an operator or user since they can be notified when a function is switched between different modes. This may enhance safety, as the operator can be assured by the feedback that their input has been properly received by the system, and thus he or she is in a certain operation mode that is intended. The feedback device may be located in a portion of the handpiece that would contact the palm of the user to facilitate a better or more significant feel of the feedback. Types of actuation provided by the feedback device may be different for each function, for example, to allow the user to determine which function they have enabled based on feedback alone. Types of feedback may be configurable by the user. Users may want to enable the change based on personal preference especially in view of signals/patterns they are familiar with in a non-surgery environment, for example, car, phone or tablet, etc. In some cases, a driver or controller of the feedback device may be located outside the handpiece, for example, somewhere in the workstation 102, whereas an actuator of the feedback device may be located in the handpiece, as long as an operator may be provided a feedback by the handpiece upon a function change. In some cases, multiple feedback devices may be included in the handpiece at different locations to make it easier for the user to better recognize the feedback and/or distinguish the various types of feedback. For example, a first feedback device may be included in the portion of the handpiece that would contact the palm while a second feedback device may be included in a portion of the handpiece near a location contacted by the user's thumb or proximate the distal portion of the handpiece (as shown in FIG. 25A near 344).
(182) FIG. 24 illustrates a flowchart for a handpiece feedback control process 900 according to some embodiments. The process 900 may be performed by a processor or controller. Referring to FIG. 24, the handpiece feedback control process 900 will be described.
(183) In state 810, it is determined whether a function has been switched from a first mode to a second mode. During operation, an operator may switch a function between modes. In some cases, the function switching may be sensed by the input control interface 326a. The function may include controlling a camera that images a surgery site, instrument clutching to reposition the hand grip apparatus, pre-set surgery routines, or other operation to control the surgical tool. In some cases, when the function is controlling the camera, the first mode may be enabling the camera control and the second mode may be disabling the camera control. In some cases, when the function is instrument clutching, the first mode may be enabling instrument clutching and the second mode may be disabling the instrument clutching. The function switching may originate in the hand grip apparatus 122/124 or the foot pedal 126 of the robotic surgery system 100. A function switch can originate in the handpiece and/or the foot pedal 126. If it is determined in state 810 that the function switching has not occurred, the state 810 may repeat.
(184) If it is determined in state 810 that the function has been switched from the first mode to the second mode, the processor may provide a feedback to an operator (state 820). The feedback may include haptic, visual, audio, tactile, force or any other feedback, or a combination thereof, that can notify the operator about the mode change. After the feedback is provided, the handpiece may operate at the second (different) mode (state 830). For example, when an association of the camera with handpieces is re-enabled, the operator may continue to control the camera with the use of at least one of the handpieces.
(185) In state 840, it is determined again whether a function has been switched from the second mode to another mode (such as the first mode or third mode). If it is determined in state 840 that the function has not been switched from the second mode to another mode, the states 830 and 840 may repeat. If it is determined in state 840 that the function has been switched from the first mode to the other mode, the processor may provide a feedback to the operator (state 850). The processor may perform the states 840 and 850 substantially the same way as with states 810 and 820.
(186) 1. Haptic Feedback
(187) The handpiece feedback device can include a haptic feedback device. In some cases, the haptic feedback device may include a haptic actuator and a haptic driver. The haptic actuator may include a motor or actuator available from Texas Instruments. The haptic actuator may provide a haptic feedback in the form of vibration. The haptic driver (processor or controller) may drive the haptic actuator to provide a vibrational feedback when a robotic surgery function is switched from a first mode to a second mode.
(188) The vibrational feedback may have a variety of different vibration patterns. For example, the vibration can have different strength levels, different durations, directions or intervals (if multiple vibrations involved). Furthermore, different types or patterns of vibration may be used for different mode switching and may be user configurable. Alternatively, the same vibration can be used for all mode switching.
(189) In some cases, the haptic driver may be implemented with, for example, ICs available from Texas Instruments. The TI ICs may be I2C controlled and can be triggered by the workstation.
(190) In some cases, as shown in FIG. 25A, the haptic feedback device 344 can be mounted directly in front of the gesture area, for example, on the center mount 342 of the handpiece. In some cases, as shown in FIG. 25B, the haptic feedback device 344 can be mounted in the lower handle/grip element (for example, inside the lower region of the upper and lower housings 324 and 322). However, the haptic feedback device 344 can be mounted in any other region in the handpiece, as long as it can provide a haptic feedback, when the user switches from one mode to another. In some cases, the haptic actuator may be provided inside the handpiece, and the haptic driver may be positioned outside the handpiece, for example, somewhere in the workstation 102 where the haptic driver can remotely control the haptic actuator. In some cases, multiple haptic actuators may be provided inside the handpiece, for example as shown in both FIGS. 25A and 25B at 344.
(191) 2. Visual Feedback
(192) The handpiece feedback device can include a visual feedback device. The visual feedback device may include a light source and a controller (not shown). The controller may sense whether a function is switched between different modes and control the light source to emit light based on the sensed function switching. The light source may be any light emitter or generator such as an LED. The light source may be disposed around the input control interface 326a. However, the light source can be disposed in any other location in the handpiece as long as light emitted by the light source can be recognized by an operator. The light source can emit light in a single color or multiple colors. The light source can emit light having a particular shape. The different shapes and/or colors of light may be emitted according to different modes of the function to be switched and may be user configurable.
(193) 3. Audio Feedback
(194) The handpiece feedback device can include an audio feedback device. The audio feedback device may include a speaker and a controller (not shown). The controller may sense whether a function is switched between different modes and control the speaker to make sound based on the sensed function switching. The speaker may be disposed around the input control interface 326a. However, the speaker can be disposed in any other location inside or outside the handpiece as long as sound can be heard by an operator. The sound can have a variety of patterns, in terms of types of sound, volume levels, sound duration or interval (if multiple types of sound involved). The different types of sound may be output according to different modes of the function to be switched and may be user configurable.
(195) 4. Tactile Feedback
(196) The handpiece feedback device can include a tactile feedback device configured to provide a tactile feedback in response to the function switching. The tactile feedback may include a variety of types of feeling that an operator may have on a portion of the handpiece. The portion of the handpiece may be the input control interface 326a or any other location in the handpiece where an operator can recognize a tactile feedback. The tactile feedback may include one or more of: a bump, a beak, a grove, a lip, or a texture difference (for example, course finish to smooth finish in the input control interface 326a). The different types of tactile feedback may be provided according to different modes of the function to be switched and may be user configurable.
(197) 5. Force Feedback
(198) The handpiece feedback device can include a force feedback device configured to provide a tactile feedback in response to the function switching. The force feedback may include a variety of types of force that an operator may sense on a portion of the handpiece. The portion of the handpiece may be the input control interface 326a or any other location in the handpiece where an operator can recognize a force feedback. The force feedback may include a self-centering wheel.
(199) Handpiece System Block Diagram
(200) FIG. 26 illustrates a block diagram of a handpiece 1000 according to some embodiments. Referring to FIG. 26, the handpiece 1000 includes a proximity detector 910, a slider board 920, a haptic feedback device 930, a pincher encoder 940 including a magnetic angular encoder 940a and/or an inductive sensor 940b, and a communication board 950. Although a number of separate components are illustrated in FIG. 26, those of skill in the art will recognize that one or more of the components may be combined or commonly implemented. For example, the proximity detector 910, the magnetic angular encoder 940 and/or the inductive sensor 950 may be implemented in a single PCB, for example, the first PCB 350 or the second PCB 326 described with respect to FIG. 10. Further, at least one of the components illustrated in FIG. 26 may be implemented using a plurality of separate elements or may be omitted. As another example, all of the components 910-950 may be implemented in a single PCB. Another processor or controller, disposed either inside or outside the handpiece 1000, may also be used to control one or more of the components 910-950.
(201) In some cases, all of the components 910-950 may be disposed inside the handpiece 900. In some cases, at least one of the components 910-950 may be disposed outside the handpiece 900, for example, somewhere in the robotic surgery system 100 such as in the workstation 102 (see, for example, FIG. 1). Although FIG. 26 shows that all of the components 910-950 communicate data with each other via a wired network, at least one of the components 910-950 may wirelessly communicate data with one or more of the remaining components.
(202) The proximity detector or presence detector 910 may detect whether a user's hand is present within a certain distance of the handpiece 900. The proximity detector 910 may provide a detected result to the communication board 950 so that a corresponding control (for example, activating or deactivating the handpiece) may be subsequently performed based on the detected result. The presence detector 910 may provide a general purpose output such as simple digital high's and low's to the communication board 950. The proximity detector 910 can be implemented with, for example, a capacitive proximity detector available from Microchip as described herein.
(203) The slider board 920 may be used to drive the input control interface 326a such as a trackpad or capacitive touch surface described herein. The slider board 920 may provide a sensed result to the communication board 950 so that a corresponding control (for example, gesture control, shared input control, additional input control) may be subsequently performed based on the sensed result. The slider board 920 may be implemented with, for example, the ICs available from Microchip as described herein.
(204) The haptic feedback device 930 may provide a haptic feedback to an operator, when the operator switches a function from a first mode to a second mode different from the first mode as described herein. Although not shown in FIG. 26, at least one of other feedback devices (visual feedback device, audio feedback device, tactile feedback device or force feedback device) may also be included in the handpiece 1000. The haptic feedback device 930 may provide a haptic feedback to an operator via the communication board 950. The haptic feedback device 930 can be implemented with, for example, the ICs available from Texas Instruments as described herein.
(205) The pincher encoder (or pincher angle detector) 940 may magnetically or inductively detect a pincer angle and provide the detected result to the communication board 950 so that a corresponding control (for example, control of jaw movement of a surgical instrument) may be subsequently performed based on the detected result. The pincher encoder 940 may include the magnetic angular detector 940a and/or the inductive sensor 940b.
(206) The magnetic angular detector 940a may detect an angular movement of a magnetic target attached to or integrally formed with the wiper 370 shown in FIGS. 10-11B. The magnetic angular detector 940a may be implemented with, for example, the MPS ICs or ADI ICs as discussed herein.
(207) The inductive sensor 940b may detect a pincer angle by inductively sensing a movement of a metallic target formed in the wiper 370 or the paddle 329. The inductive sensor 940b may be implemented with, for example, the TI ICs or IDT ICs as discussed herein.
(208) The communication board 950 may be used to communicate data with the components 910-940, or devices external to the handpiece 1000. The communication board 950 may be implemented with, for example, ICs available from NXP Semiconductors. The NXP ICs may convert all data to a differential I2C format. The slider board 920 and the pincher encoder 940 may use a shared I2C bus for communication with the communication board 950. However, the present disclosure is not limited to the I2C protocol, and other communication protocols such as serial peripheral interface (SPI) or System Management Bus (SMBus) could also be used. Furthermore, simple quadrature encoding could be used for the pincher encoder 940.
(209) Handpiece Ergonomic Features
(210) As discussed herein, during operation, an operator grasps a handpiece with his/her hand and moves the handpiece such that the instrument mimics the movement of the handpiece. For example, the operator may push toward and pull the handpiece from input devices, move upward, downwards, leftwards, rightwards or diagonal wise, or rotate the handpiece about a longitudinal axis thereof. Furthermore, the operator opens and closes the paddle 329 to control an open and close movement of the instrument. Moreover, during operation, an operator generally spends a substantial amount of time (for example, half an hour to few hours) in operating the handpiece. Thus, it is desirable that the handpiece is designed or structured to be user friendly, safe, ergonomic, reduce user fatigue and/or improve operation efficiency. In some cases, the handpiece may have multiple ergonomic features. For example, several components of the handpiece (for example, palm grip, neck portion, paddle, slanted top, ridge, pivot joint, cutout, etc.) may be ergonomically shaped and/or sized.
(211) 1. Palm Grip
(212) FIG. 27 illustrates a perspective view of a right side handpiece 122 showing palm grip ergonomic features according to some embodiments. FIG. 28 illustrates a perspective view of the right side handpiece 122 of FIG. 27 grasped by a user's right hand according to some embodiments. Referring to FIG. 27, the handpiece 122 includes a palm grip 303. The palm grip (hereinafter to be interchangeably used with a “handle”) 303 is a region of the handpiece 122 that is grasped and/or supported by the operator's palm 750 (see, for example, FIG. 28). In some cases, the palm grip 303 may be sufficiently long to permit a substantial portion of an average operator's palm to be rested on. This design may be advantageous over a linear handle or a curved but relative shorter handle, in that an operator may be able to more securely and comfortably grasp the handpiece 122 using the longer and ergonomically shaped palm grip 303. Furthermore, due to a longer/larger dimension and ergonomic design, the palm grip 303 may have a larger contact surface area where an operator's palm can rest.
(213) The palm grip 303 may include an upper grip (or upper portion) 303a, a middle grip (or middle portion) 303b and a lower grip (or lower portion) 303c. The upper grip 303a may extend from the neck portion 317 toward the proximal end. The middle grip 303b may downwardly extend at a first angle from the upper grip 303a. The lower grip 303c may downwardly extend at a second angle from the middle grip 303b. The first and second angles may be the same as or different from each other depending on the embodiment. The upper and lower grips 303a and 303c may have a narrower diameter or width than that of the middle grip 303b so that the palm grip 303 as a whole has a substantially ‘egg’ shape. The width or diameter of the upper grip 303a may be larger than that of the neck portion 317. The upper grip 303a may be shaped and sized to permit at least a portion of an average operator's finger (for example, thumb or index finger) to be comfortably rested or supported. The middle grip 303b may have an external surface that is curved to correspond to a curvature of at least part of an average operator's palm.
(214) In some cases, as shown in FIG. 28, the palm grip 303 may form an obtuse angle 760 with the neck portion 317. The obtuse angle 760 may correspond to the anatomy of an average operator's hand. The obtuse angle 760 may be substantially similar to an angle of a natural curvature of an average operator's hand when gripping the handpiece 122 as shown in FIG. 28. In these cases, an operator's thumb 730 and index finger 740 may be positioned on a region of the handpiece 122 (for example, the index finger 740 on or near the paddle 329 and the thumb 730 on opposite side of the index finger 740) substantially parallel to a longitudinal axis of the handpiece 122. Furthermore, the palm 750 may be positioned on the palm grip 303 such that the angle between the thumb 730/index finger 740 and the palm 750 may be substantially similar to the obtuse angle defined between the neck portion 317 and the palm grip 303. The slanted angle of the palm grip 303 may provide a maximum contact with the palm 750 while providing comfort to the operator. The operator's middle finger 736 may be positioned on a downward extension 764 of the paddle 329 (see, for example, FIG. 29), and the other two fingers 732 and 734 may be rested on a portion of the palm grip 303.
(215) Thus, the ergonomically shaped palm grip design may provide comfort and convenience while reducing user fatigue and improving operation efficiency.
(216) 2. Neck Portion
(217) In some cases, as shown in FIG. 27, the handpiece 122 may also include a neck portion 317 positioned between the upper grip 303a and the pivot joint 372 (see also FIG. 11A). The neck portion 317 may have a reduced cross sectional extent with respect to the upper grip 303a. The neck portion 317 may permit an operator's fingers (for example, thumb 730 or index finger 740) to be comfortably rested thereon.
(218) Since the neck portion 317 is positioned between the upper grip 303a and the pivot joint 372, the neck portion 317 may not horizontally overlap the paddle 329. This may be advantageous, as it can permit an operator's finger to be rested thereon without the finger touching the paddle 329. The palm grip 303 and the neck portion 317 together may allow an operator to comfortably grasp the handpiece 122 while resting one or more of his/her fingers without interfering with the paddle operation.
(219) In some cases, as shown in FIG. 27, the neck portion 317 may include a protruding side surface 317a that outwardly protrudes from a side thereof. Although FIG. 27 shows only one protruding side surface 317a, the neck portion 317 may include another protruding surface on the opposite side. The protruding surface 317a alone or in combination with a convexed tail end 331 (to be described with respect to FIG. 29 below) of the paddle 329 may enable operators to more easily roll (rotate) the handpiece 122 about a longitudinal axis of the handpiece 122, by turning the protruding side surface 317a and/or the convexed tail end 331 with their fingertip(s), without the need of rotating their wrists. In another case, during this handgrip rotating procedure, the operators may merely loosely grasp the palm grip 303.
(220) In some cases, the protruding surface 317a of the neck portion 317 may be adjacent to or contact the convexed tail end 331. The protruding surface 317a may have a curvature substantially the same as or similar to that of the curvature of the convexed tail end 331. The combination of the protruding surface 317a and the convexed tail end 331 having the same or similar curvature may allow operators to more easily roll (rotate) the handpiece 122 by turning the combined elements 317a and 331, as the operator would have a larger convexed area to turn.
(221) Thus, the ergonomic features of the neck portion may provide comfort and convenience while reducing user fatigue and improving operation efficiency.
(222) 3. Paddle
(223) FIG. 29 illustrates a perspective view of a right side handpiece 122 showing paddle ergonomic features according to some embodiments. FIG. 30 illustrates a closed-up perspective view of a paddle 329 of the right side handpiece 122 of FIG. 29 according to some embodiments (with irrelevant elements removed). FIG. 31 illustrates a close-up left side view of the paddle 329 of FIG. 30 according to some embodiments.
(224) Referring to FIG. 29, the paddle 329 includes a tail end 331 and a paddle end 333. The paddle 329 may also include an upper portion 770 and a downward extension 764. The upper portion 770 includes a tail region 762 and a paddle region 766. The tail region 762 may include the tail end 331 and a non-tail end region adjacent to the tail end 331. The downward extension 764 downwardly extends from the paddle region 766. In some cases, as shown in FIG. 29, left and right ends of the downward extension 764 may be sized such that the upper side of the downward extension 764 has a width slightly greater than that of the lower side thereof. The tail region 762 may be sized to receive distal phalanges of an average operator's finger (for example, index finger) when grasped by the hand of the operator. The downward extension 764 may have a height greater than that of the tail region 762 where the height is measured in a direction substantially perpendicular to a longitudinal axis of the handpiece body. The downward extension 764 may be sized to accommodate at least two fingers of the operator such as index and middle fingers.
(225) In some cases, an outer surface of the tail region 762 may be at least partially outwardly curved. For example, the outer surface may be at least partially convexed, crowned, arced or semi-circular. For example, an outer surface of the tail end 331 may be at least partially convexed. The convexed tail region 762 alone or in combination with the protruding side surface 317a of the neck portion 317 may enable operators to more easily roll (rotate) the handpiece 122 about a longitudinal axis of the handpiece 122, by turning at least one of the two protruding elements 762 and 317a with their fingertip(s), without the need of rotating their wrists, or by merely loosely grasping the palm grip 303.
(226) In some cases, as shown in FIG. 31, the tail end 331 may be fully convexed. For example, an outer surface of the tail end 331 may have a substantially convexed lens shape. In some cases, as shown in FIG. 31, the tail end 331 may be partially convexed. In these cases, the tail end 331 may include an upper convexed portion 331a and a lower substantially flat portion 331b. In some cases, the lower portion 331b may be convexed and the upper portion 331a may be substantially flat. The remaining portion of the tail region 762 may be substantially flat, convexed or less convexed than the tail end 331.
(227) In some cases, instead of or in addition to the outwardly curved surface, the tail end 331 may include one or more individual protrusions spaced apart (not shown). In some cases, the entire tail region 762 may be convexed. The paddle region 766 may be substantially flat or less convexed (in terms of curvature) than the tail region 762. In some cases, the tail region 762 may include other shape or structure as long as it can permit operators to more easily rotate the handpiece 122 with an operator's fingertip(s).
(228) The downward extension 764 may be at least partially concaved or inwardly curved (opposite curve of the curvature described herein for the tail end 331). The concaved portion 764 may allow an operator to grab the paddle 329 or rest his or her fingers thereon. In some cases, as shown in FIGS. 29 and 30, the entirety of the downward extension 764 may be concaved. In some cases, the downward extension 764 may be partially concaved.
(229) Thus, the ergonomic features (convexed tail region and concaved downward extension) of the paddle 329 may provide comfort and convenience while reducing user fatigue and improving operation efficiency.
(230) 4. Slanted Top
(231) FIG. 32 illustrates a rear view of a right side handpiece 122 showing additional handpiece ergonomic features according to some embodiments. In some cases, as shown in FIG. 32, the handpiece 122 may include a slanted top surface 780 that is slanted toward a side surface of the body where an operator's index finger is configured to be positioned when the handpiece is grasped by the hand of the operator. For example, for a right side handpiece having a paddle disposed on the right side of the body (see, for example, FIG. 32), the slanted top surface 780 may be slanted toward the paddle 329 or the cutout 336. As another example, for a right side handpiece having a paddle disposed on the left side of the body (not shown), the slanted top surface may be slanted toward a side of the body on the opposite side of the paddle. As another example, for a left side handpiece having a paddle disposed on the left side of the body (see, for example, FIG. 3A), the slanted top surface may be slanted toward the paddle or the cutout. As another example, for a left side handpiece having a paddle disposed on the right side of the body (see, for example, FIG. 6A), the slanted top surface may be slanted toward a side of the body on the opposite side of the paddle. As another example, for a handpiece having paddles disposed on both the left and right sides of the body (see, for example, FIG. 9), the top surface may be relative flat or have side (or edge portions) that curve toward each of the left and right sides of the body. The curvature of the top surface may be a convex curvature.
(232) The slanted top surface 780 may be advantageous in that an operator can easily move his or her index finger between the input control interface 326a and the paddle 329, as the input control interface 326a is closer to the paddle 329, compared to a non-slanted handpiece top. Thus, the slanted top 780 may provide convenience while improving operation efficiency.
(233) 5. Ridge Around Input Control Interface
(234) In some cases, as shown in FIG. 27, the handpiece 122 may include a ridge 326b around the input control interface 326a. The ridge 326b surrounds the input control interface 326a and is upwardly protruded or raised from an edge of the input control interface 326a. The ridge 326b may help an operator recognize the location of the input touch interface 326a during operation without necessarily having to look at the handpiece 122. Although FIG. 27 shows that the ridge 326b fully surrounds the input control interface 326a, the ridge 326b may be formed to only partially surround the input control interface 326a. In some cases, the ridge 326b may include a plurality of individual protrusions spaced apart along the edge of the input control interface 326a. In some cases, the ridge 326b may have other shapes that can provide a tactile feedback to an operator regarding the position of the input touch interface 326a. Thus, the ridge 326b may also provide convenience while improving operation efficiency and accuracy.
(235) 6. Sloped Region
(236) In some cases, as shown in FIG. 27, the handpiece 122 may include a sloped region 319 between the neck portion 317 and the ridge 326b of the input control interface 326a. Since there is a height difference between the neck portion 317 and the ridge 326b, the two elements 317 and 326a are connected via the sloped region 319. The sloped region 319 may be downwardly curved or linear. In some cases, the sloped region 319 alone may be used for an operator to rest his or her finger thereon. In some cases, the sloped portion 319 and the neck portion 317 together may be used to accommodate an operator's finger (for example, thumb or index finger) for resting. Thus, the sloped region 319 may provide more comfort, thereby reducing user fatigue.
(237) 7. Pivot Joint and Paddle Movement Mechanism
(238) Referring to FIG. 11A and FIG. 27, the pivot joint 327 is disposed inside the handpiece body (see also FIG. 11A). Since there is no pivot joint disposed outside the handpiece body, an operator may be prevented from being finger-pinched by a pivot joint and/or a portion of the outside of the handpiece body. In addition to enhancing user safety, the handpiece 122 may appear aesthetically better and neater by not placing the pivot joint outside or near the side of the handpiece body. Furthermore, in combination with the wiper 370 (see, for example, FIG. 11A), the pivot joint 372 may more securely fix the paddle 329 to the handpiece body.
(239) Referring back to FIG. 11A, the paddle 329 and the wiper 370 are connected to and arranged in a substantially spaced apart and parallel relationship with each other (see arrows 371 in FIG. 11A). Having the paddle 329 and the wiper 370 on opposite sides of the pivot joint 372 but spaced apart allows for compactness of the handpieces. Otherwise, if they were inline, the wiper 370 would need to extend farther towards the proximal end in order to have enough spacing to detect a change in angle (using the angular detection sensor or curved coil layout if using an inductive detector described herein). This may also allow the paddle 329 to extend out and away from the body to provide a comfortable grip for the user.
(240) In some cases, as shown in FIG. 11A, the paddle 329 may have a central longitudinal axis 371 that does not intersect the pivot joint 372. Furthermore, the pivot joint 372 may be disposed inside the body to be closer to a longitudinal axis 373 of the body than the longitudinal axis 371 of the paddle 329. This structure allows substantially the entirety of the paddle 329 to be disposed outside the body. Furthermore, the longitudinal axis 371 of the paddle 329 can be substantially parallel to the longitudinal axis 373 of the body in its closed position. The full closure and parallel arrangement of the paddle 329 may be beneficial in that the instrument can be fully closed based on the movement of the paddle 329. Moreover, the described structure also allows an inner surface of the paddle 329 to gently land on a side surface of the body that faces the paddle 329. This can prevent the paddle from colliding or otherwise having an undesirable physical impact on the paddle 329 when it is closed.
(241) In some cases, as shown in FIG. 11A, the tail end of the paddle 329 may include a region 375 that is angled, slanted or curved toward the pivot joint 372. The angled region 375 may be used to conveniently open and close the paddle 329. The angled region 375 may be convexed to conveniently roll the handpiece without using the palm grip 303 as described herein.
(242) With the ergonomic structure of the pivot joint 372 and the paddle 329 along with the wiper 370, no mechanical paddle movement detection mechanism, such as a rod that converts a rotational paddle movement into a linear movement, is required. Thus, the handpiece can be more efficiently manufactured and/or the pincer angle detection can be more accurately or efficiently made. Furthermore, the handpiece may be more safely operated by a user.
(243) 8. Cutout
(244) In some cases, as shown in FIG. 27, the handpiece 122 may also include a cutout 336 formed in the side surface of the body that faces the paddle 329. The cutout 336 may be shaped to accommodate the paddle 329. For example, as shown in FIG. 30, the inner surface 329c of the paddle 329 may be inwardly curved, and the cutout 336 may be correspondingly shaped to accommodate the curved inner surface 329c of the paddle 329. As described herein, the longitudinal axis 371 of the paddle 329 can be substantially parallel to the longitudinal axis 373 of the body in its closed position. The cutout 336 may more easily enable the parallel arrangement between the axes 371 and 373 of the paddle 329 and the body by accommodating the paddle 329 therein.
(245) Other Variations
(246) Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors. As yet another example, in addition to or instead of controlling tilt and/or pan of a camera, roll (or spin) can be controlled. For example, one or more actuators can be provided for controlling the spin.
(247) The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.
(248) It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.
(249) With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity.
(250) Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.
(251) It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).
(252) The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.
(253) Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.
(254) Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount.
(255) It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.
(256) Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.
(257) The various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. The described functionality may be implemented in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the invention.
(258) The various illustrative blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
(259) The steps of a method or algorithm and functions described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a tangible, non-transitory computer-readable medium. A software module may reside in Random Access Memory (RAM), flash memory, Read Only Memory (ROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD ROM, or any other form of storage medium known in the art. A storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and blu ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer readable media. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
(260) The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.
Claims
1. A hand controller apparatus for controlling one or more tools in a robotic surgery system, the apparatus comprising: a body including a proximal portion and a distal portion extending to a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool, the proximal portion configured to support at least a portion of a palm of a user's hand thereon; a lever having a tail end pivotally coupled to a side of the body and extending distally to a paddle end of the lever; an input control interface on an upper surface of the body and configured to receive an input from one or more fingers of the user's hand; and a lateral movement detector configured to magnetically or inductively detect a lateral movement of the lever, wherein detection of the lateral movement causes the input apparatus to control movement of the surgical tool based on the detected lateral movement of the lever, wherein the lateral movement detector comprises a magnetic angular sensor configured to detect an angle formed between the lever and the side of the body or an inductive sensor configured to detect a non-linear movement of a metallic portion disposed in or integrally formed with the lever.
2. The apparatus of claim 1, wherein the input control interface having a greater length than width.
3. The apparatus of claim 2, wherein the input control interface is generally rectangular.
4. The apparatus of claim 1, wherein the proximal portion has a contoured surface configured to support at least a portion of the palm of the user's hand.
5. The apparatus of claim 4, wherein the contoured surface is a convex surface.
6. The apparatus of claim 1, further comprising a feedback device supported by the body and configured to provide feedback to a user in response to a change in a function of the hand controller apparatus from a first mode to a second mode, the first mode being different from the first mode, wherein the function comprises at least one: controlling a camera that images a surgical site, instrument clutching to reposition the hand controller apparatus, a pre-set surgery routine, or an operation to control the surgical tool, and wherein the change from the first mode to the second mode is configured to occur within a same function.
7. The apparatus of claim 6, wherein the feedback device is configured to provide a haptic feedback, a tactile feedback, a force feedback, a visual feedback or an audio feedback in response to the change in the function.
8. The apparatus of claim 1, wherein the input control interface is formed on a surface of the body and configured to sense the input from the one or more fingers of the user's hand, a processor configured to control a function of the one or more tools in response to the sensed input.
9. The apparatus of claim 8, wherein the input control interface comprises a trackpad or a capacitive touch surface configured to sense at least one of: swiping from a first side of the trackpad to a second side of the trackpad different from the first side, tapping, swiping and holding, tapping and holding, multiple tapping, or multiple tapping and holding.
BOOM!
Method And Apparatus For Illuminating An Object Field Imaged By An Image Sensor
DOCUMENT ID
US 11633091 B2
DATE PUBLISHED
2023-04-25
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Chinnock; Randal B.
Ashford
CT
N/A
US
Weber; William L.
Olivebridge
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
17/366483
DATE FILED
2021-07-02
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 17028025 20200922 US 11051686 child-doc US 17366483
continuation parent-doc US 16512682 20190716 US 10820791 20201103 child-doc US 17028025
continuation parent-doc US 15754566 US 10357147 20190723 WO PCT/CA2016/000215 20160823 child-doc US 16512682
us-provisional-application US 62209157 20150824
US CLASS CURRENT:
362/572
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 1/00096
2013-01-01
CPCI
A 61 B 1/0638
2013-01-01
CPCI
A 61 B 1/0017
2013-01-01
CPCI
A 61 B 1/0669
2013-01-01
CPCI
A 61 B 1/00186
2013-01-01
CPCI
H 04 N 23/56
2023-01-01
CPCI
A 61 B 1/045
2013-01-01
CPCI
A 61 B 1/07
2013-01-01
CPCI
A 61 B 1/00188
2013-01-01
CPCI
G 03 B 15/14
2013-01-01
CPCI
A 61 B 1/3132
2013-01-01
CPCI
A 61 B 1/051
2013-01-01
CPCI
G 03 B 15/02
2013-01-01
CPCI
G 03 B 11/00
2013-01-01
CPCI
H 04 N 23/50
2023-01-01
Abstract
An illuminator apparatus and method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio is disclosed. The apparatus includes an optical fiber having a proximal end disposed to receive a plurality of input light beams, each light beam having differing spectral properties, the optical fiber being operable to transmit the light beams along the fiber to a distal end of the optical fiber. The apparatus also includes an integrating element disposed to receive the light beams from the distal end of the fiber and combine the light beams to produce a generally homogenous illumination beam at a rectangular output face of the integrating element. The apparatus further includes an illumination projector operable to project an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
(1) This application is a continuation of U.S. patent application Ser. No. 17/028,025, filed on Sep. 22, 2020 and issued as U.S. Pat. No. 11,051,686 on Jul. 6, 2021, which is a continuation of U.S. patent application Ser. No. 16/512,682, filed on Jul. 16, 2019 and issued as U.S. Pat. No. 10,820,791 on Nov. 3, 2020, which is a continuation of U.S. patent application Ser. No. 15/754,566, filed on Feb. 22, 2018 and issued as U.S. Pat. No. 10,357,147 on Jul. 23, 2019, which is a U.S. National Phase Application under 35 U.S.C. 371 of International Application No. PCT/CA2016/000215, filed on Aug. 23, 2016 and published as WO 2017/031568 A1 on Mar. 2, 2017, which claims priority to U.S. Provisional Application No. 62/209,157, filed on Aug. 24, 2015. The entire disclosures of all of the above applications are incorporated herein by reference.
BACKGROUND
1. Field
(1) This disclosure relates generally to imaging and more particularly to illuminating an object field imaged by a rectangular image sensor.
2. Description of Related Art
(2) Imaging using CMOS or CCD image sensors relies on the object field being illuminated to enable the imaging system to capture sufficient light for the image sensor to generate an image signal. If insufficient light is captured by the imaging system, the generated image signal may be too noisy to produce a useable image representation. When imaging in enclosed spaces there is usually a lack of ambient light and object field illumination must be provided. In some applications, such as imaging for laparoscopic surgery, there are limitations on the amount of heat that can be generated within the enclosed space. Accordingly there remains a need for improved illumination methods and apparatus for such applications.
SUMMARY
(3) In accordance with one disclosed aspect there is provided an illuminator apparatus for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio. The apparatus includes an optical fiber having a proximal end disposed to receive a plurality of input light beams, each light beam having differing spectral properties, the optical fiber being operable to transmit the light beams along the fiber to a distal end of the optical fiber. The apparatus also includes an integrating element disposed to receive the light beams from the distal end of the fiber and combine the light beams to produce a generally homogenous illumination beam at a rectangular output face of the integrating element. The apparatus further includes an illumination projector operable to project an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.
(4) The illuminated region of the object field may have a second aspect ratio and the first aspect ratio and the second aspect ratio may be substantially equivalent.
(5) The illuminated region may be sized to cause the rectangular image sensor to be at least partly overfilled in at least one direction.
(6) The apparatus may include a plurality of light sources, each light source being operable to generate one of the plurality of light beams.
(7) The plurality of light sources may include two or more of a red laser source, a green laser source, a blue laser source, and a tunable laser source.
(8) The apparatus may include a controller operably configured to sequentially activate each light source to cause the object field to be sequentially illuminated by each light beam, synchronize the image sensor to capture separate image frames while the object field is being illuminated by each light beam, and combine the captured image frames to produce a combined image of the object field.
(9) The image sensor may include a plurality of sensor elements each element being responsive to light having spectral properties associated encompassing the spectral properties of the plurality of light beams and the separate image frames may be captured using all sensor elements in the plurality of sensor elements.
(10) The apparatus may include a controller operably configured to control respective power levels of each of the plurality of light sources to produce a desired spectral illumination characteristic for the illuminated region.
(11) The desired spectral characteristic may be selected to enhance certain features within the object field.
(12) The image sensor may have reduced sensitivity to some spectral components and the desired spectral characteristic may be selected to increase a power level associated with spectral components having reduced sensitivity.
(13) The illumination projector may include a first polarizer to cause the illuminated region to be illuminated by polarized light having a first polarization direction and images captured by the image sensor may be captured through a second polarizer having a second polarization direction operable to reduce specular reflections from objects within the object field.
(14) In accordance with another disclosed aspect there is provided a method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio. The method involves receiving a plurality of input light beams having differing spectral properties at a proximal end of an optical fiber, transmitting the light beams along the fiber to a distal end of the fiber, and coupling the light beams from the distal end of the fiber into an integrating element operable to combine the light beams to produce a generally homogeneous illumination beam at a rectangular output face of the integrating element. The method also involves projecting an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.
(15) Producing the generally rectangular illuminated region may involve producing a generally rectangular illuminated region having a second aspect ratio and the first aspect ratio and the second aspect ratio may be substantially equivalent.
(16) Producing the generally rectangular illuminated region may involve producing a generally rectangular illuminated region sized to cause the rectangular image sensor to be at least partly overfilled in at least one direction.
(17) Receiving the plurality of light beams may involve activating each of a plurality of light sources, each light source being operable to produce one of the plurality of light beams.
(18) Activating may involve activating two or more of a red laser source, a green laser source, a blue laser source, and a tunable laser source, to produce respective light beams in the plurality of light beams.
(19) The method may involve sequentially activating each light source to cause the object field to be sequentially illuminated by each light beam, synchronizing the image sensor to capture separate image frames while the object field is being illuminated by each light beam, and combining the captured image frames to produce a combined image of the object field.
(20) The image sensor may involve a plurality of sensor elements each element being responsive to light having spectral properties encompassing each of the plurality of light beams and the separate image frames may be captured using all sensor elements in the plurality of sensor elements.
(21) Actuating each of a plurality of light sources to produce one of the plurality of light beams may involve controlling respective power levels of each of the plurality of light sources to produce a desired spectral illumination characteristic for the illuminated region.
(22) The desired spectral characteristic may be selected to enhance certain features within the object field.
(23) The image sensor has reduced sensitivity to some spectral components and the desired spectral characteristic may be selected to increase a power level associated with spectral components having reduced sensitivity.
(24) Projecting the image of the output face of the integrating element may involve projecting the image through a first polarizer such that the object field may be illuminated by polarized light having a first polarization direction and images captured by the image sensor may be captured through a second polarizer having a second polarization direction operable to reduce specular reflections from objects within the object field.
(25) 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 an illuminator apparatus in conjunction with a camera according to a first disclosed embodiment;
(3) FIG. 2 is a further perspective view of the illuminator apparatus shown in FIG. 1;
(4) FIG. 3 is a perspective view of optical components of the illuminator apparatus shown in FIG. 1 and FIG. 2;
(5) FIG. 4 is a plan view of the optical components of the illuminator apparatus shown in FIG. 3; and
(6) FIG. 5 is a plan view of an alternative embodiment an illuminator apparatus.
DETAILED DESCRIPTION
(7) Referring to FIG. 1, an illuminator apparatus according to a first disclosed embodiment is shown generally at 100. The illuminator apparatus 100 is shown in conjunction with a camera 140. The illuminator apparatus 100 and camera 140 are located within an enclosure 142, which is shown partially cut away in FIG. 1. The illuminator apparatus 100 includes a housing 102 that extends through the enclosure 142 and terminates at a front face 146 of the camera 140.
(8) In this embodiment the camera 140 includes a first imager 148 and second imager 150, which are spaced apart and configured to generate stereoscopic views of 3 dimensional objects located within an object field 180. The first and second imagers 148 and 150 are symmetrically configured. The first imager 148 includes an image sensor 152 and a lens assembly 154. The second imager 150 also includes an image sensor and a lens assembly 156. In FIG. 1 the image sensor of the second imager 150 is obscured by a mounting bezel 144, which holds and aligns the lens assembly 156 with respect to the image sensor. The first imager 148 has a corresponding mounting bezel, which has been removed in FIG. 1 to reveal the image sensor 152. The lens assemblies 154 and 156 each house a plurality of optical elements (not shown) for capturing light from the object field 180 and producing images of the object at the respective image sensors of the imagers 148 and 150.
(9) The image sensors may be CMOS active pixel image sensors or a charge coupled device (CCD) image sensors having a plurality of picture elements (pixels) disposed in a rectangular matrix. The pixels make up an active area of the image sensors and the ratio of the width to height of the active area defines an aspect ratio for the image sensor. In one embodiment the image sensors may each be implemented using a 0.2 inch 1920×1080 pixel image sensor having a 16:9 aspect ratio and may also include spectral band filters for each individual pixel, such as RGB filters arranged in a Bayer pattern.
(10) The first imager 148 receives light from the object field 180 through an input end 158 of the lens assembly 154 and images the light onto the image sensor 152 to capture an image of the object field from a first perspective viewpoint. The image sensor 152 generates first data signals representing the light energy received at each pixel, which are coupled through an electrical connector 160 to an output of the camera 140. Similarly, the lens assembly 156 of the second imager 150 captures an image of the object field from a second perspective viewpoint and the corresponding image sensor (not shown in FIG. 1) generates second data signals representing the image. The data signals from the imagers 148 and 150 are transmitted back to an image processor (not shown) where they are combined and displayed to provide a composite image that conveys three-dimensional (3D) spatial information to the viewer.
(11) In other embodiments, the camera 140 may be implemented as a conventional camera having a single imager and lens assembly for producing two-dimensional (2D) image views.
(12) The illuminator apparatus 100 is shown in FIG. 2 in combination with a light generator 110. Referring to FIG. 2, the illuminator apparatus 100 includes an optical fiber 104 having a proximal end 106, which is disposed to receive a composite light beam 108 from the light generator 110. The composite light beam 108 includes a plurality of input light beams each having differing spectral properties. In one embodiment the plurality of light beams each has a limited wavelength range and a differing center wavelength.
(13) In the embodiment shown the light generator 110 includes a plurality of light sources 112, 114, and 116, each of which generates a respective light beam 118, 120, and 122. The light generator 110 further includes first and second beam combining mirrors 124 and 126. The first mirror 124 is configured to transmit the light beam 118 from the light source 112 through the mirror while reflecting the beam 120 from the light source 114 to produce a light beam 128. Similarly, the second mirror 126 is configured to transmit the light beam 128 through the mirror while reflecting the beam 122 from the light source 116 to produce the composite light beam 108. In one embodiment the first and second mirrors may include dichroic coatings for configuring the transmission and reflectance properties. The composite light beam 108 thus includes spectral contributions from each of the sources 112, 114, and 116. In one embodiment the sources 112, 114, and 116 are each implemented using a laser source such as a laser diode. In one embodiment the sources 112, 114, and 116 are respectively red, green, and blue laser diodes (RGB lasers) and the composite light beam 108 has a combined spectral content generally approximating white light. The composite light beam 108 thus includes three separate substantially coaxial beams 118, 120, and 122.
(14) While the embodiment shown in FIG. 2 combines beams from three sources to produce the composite light beam 108, more than three sources may be combined to provide a desired spectrum of the composite light beam. In one embodiment one or more of the sources may also be selectively activated to provide specific wavelength content in the composite light beam 108. For example, in imaging situations where a specific wavelength of illumination facilitates discernment of certain features having a unique spectral reflectance, the wavelength may be provide by selectively activating a source that produces light including the specific wavelength. Alternatively or additionally, the sources may include one or more tunable laser sources to facilitate a wide selection of specialized wavelengths, which may also be used in combination or in sequence with fixed wavelength sources such as RGB lasers.
(15) The optical fiber 104 is operable to transmit the composite light beam 108 along the fiber to a distal end 130 of the optical fiber located within the housing 102. In one embodiment the optical fiber 104 is sufficiently long to permit the housing 102 of the illuminator apparatus 100 to be located within an enclosed space while the light generator 110 is located outside the enclosed space. In this embodiment, heat generated by operation of the light generator 110 is thus not directly conducted into the enclosed space.
(16) The illuminator apparatus 100 is shown in FIG. 3 with the housing 102 removed to reveal optical components within. The layout of the optical components is further shown in plan view in FIG. 4. Referring to FIG. 3, the optical fiber 104 includes a core 200, a cladding 202, and a jacket 204. The refractive indices of the core 200 and the cladding 202 are selected to cause the composite light beam 108 received at the proximal end 106 to be substantially confined within the core, internally reflecting all rays within a design numerical aperture (NA) of the fiber. The jacket 204 is stripped away within the housing 102 to expose a portion of the core 200 and the cladding 202 and the stripped end is cleaved at a distal end 300. The core 200 may comprise polymethyl methacrylate (PMMA) and may have a diameter of about 720 µm for use with the RGB laser sources described above.
(17) The illuminator apparatus 100 further includes an integrating element 206 having an input face 208 and an output face 210. In the embodiment shown, the light beams are coupled from the distal end 300 of the optical fiber 104 via a lens 212 into the input face 208 of the integrating element 206. In this embodiment the lens 212 has a plano-concave shape and an index-matching gel or optical cement may be introduced between the fiber and the lens and/or the lens and the input face to enhance coupling of the composite light beam 108 into the integrating element 206. In other embodiments the lens 212 may be omitted and the light beams may be coupled directly from the distal end 300 of the optical fiber 104 into the integrating element 206.
(18) The integrating element 206 mixes and combines the individual light beams making up the composite light beam 108 to produce a uniform generally homogenous illuminated area at the output face 210. The illuminated area at the output face 210 has generally uniform radiance. In the embodiment shown the integrating element 206 is implemented using a rectangular optical element having polished planar outer surfaces 214, 216, 218, and 220, rectangular input and output faces 208 and 210. Substantially all rays in the composite light beam 108 coupled into the integrating element 206 from the optical fiber 104 undergo a plurality of total internal reflections within the element causing the constituent beams 118, 120, and 122 from the sources 112, 114, and 116 to be mixed and combined into light beam with generally homogenous irradiance at the output face 210. A plurality of representative light rays 238 are shown in FIG. 4 undergoing internal reflections at the surfaces 216 and 220. Similar internal reflections occur at the surfaces 214 and 218. The spectral and spatial content in the beams 118, 120, and 122 is thus mixed by the integrating element 206, which also has the effect of reducing laser speckle due to rays having differing angles at the output face 210. In contrast the composite light beam 108 may include some regions that have differing spectral or spatial content to other regions due to misalignment and other effects and further may exhibit more pronounced laser speckle. The degree of mixing of the beams 238 within the integrating element 206 is dependent in part on the length L of the element, with a longer element generally providing more homogenous illumination at the output face 210. In one embodiment where the sources 112, 114 and 116 are implemented using RGB lasers the length L of the integrating element 206 may be about 10 mm and the input face 208 and output face 210 may each have rectangular dimensions of about 1.5 mm by about 1.0 mm with an index of refraction near 1.52. Other embodiments may have differing dimensions depending on the application and illumination sources used.
(19) In an alternative embodiment, a tapered rectangular integrating element having a gradually changing width and/or aspect along its length may be used to transform the numerical aperture (NA) and the area of the mixed and homogenized beams. In this embodiment, the side faces of the integrating element need not be planar. In yet another embodiment, the integrator may be implemented as a “fly's eye” integrator, which employs lenslet arrays to yield a uniform distribution of light.
(20) The illuminator apparatus 100 also includes an illumination projector 230 that is operable to project an image of the output face 210 of the integrating element 206 into the object field 180 to produce a generally rectangular illuminated region 240. Since the light at the output face 210 is generally uniform the illumination of the region 240 will also be generally uniform. In this embodiment the illumination projector 230 includes a plano-convex lens 232 and a biconvex lens 234. A portion of front surface 236 of the biconvex lens 234 or its outer diameter may be sealed to the housing 102 to provide an optical interface between the illuminator apparatus 100 and the object field. In one embodiment, the plano-convex lens 232 may be optically coupled to the output face 210 of the integrating element 206 using an index matching gel or optical cement. In another embodiment the plano-convex lens 232 may be spaced away from the output face 210 of the integrating element 206. In some embodiments the plano surface of lens 232 may be replaced with a non-plano surface.
(21) Referring back to FIG. 2, the illuminated region 240 produced by the illuminator apparatus 100 substantially corresponds to the object field 180 that is imaged by the first and second imagers 148 and 150 of the camera 140 onto the respective image sensors. In the embodiment shown the illuminated region 240 is slightly larger than the object field 180, while having an aspect ratio that is substantially equivalent to the aspect ratio of the image sensors of the first and second imagers 148 and 150. The slightly larger illuminated region 240 compensates for any reduction in illumination intensity proximate the edges of the illuminated region and the illuminated area thus overfills the respective image sensors when the object field is imaged onto the image sensors. The larger illuminated region 240 may also be useful in accounting for manufacturing and alignment variations, or parallax between the illumination and axes of the first and second imagers 148 and 150.
(22) In one embodiment where the light sources 112, 114, and 116 comprise RGB lasers, the image sensors may be implemented using a full color image sensor that has different pluralities of pixels responsive to the different wavelength ranges produced by the sources. Full color image sensors usually include a color filter array such as a Bayer filter that has filter elements aligned with each pixel that cause the underlying pixel to be responsive only to a reduced range of wavelengths, such as red, green or blue wavelength bands. A Bayer filter uses cells of 4 pixels i.e. a red pixel, a blue pixel, and two green pixels to represent RGB color. Illumination of the object field 180 with light having red, green and blue wavelengths produces corresponding reflections that are captured by the camera 140 and impinge on the color filter of the image sensor. Pixels of the image sensor that underlie red filter elements produce an output signal in response to red light, while the green and blue responsive pixels produce signals in response to the respective green and blue spectral components of the reflected light. A single image sensor thus has a spatial resolution per color that is less than the overall spatial resolution of the image sensor. This reduction may potentially be avoided by using, a video prism, for example, to split each of the colors to a separate image sensors for red, green and blue spectral components, however the resulting size of the camera may be unacceptable for use in enclosed space applications such as laparoscopic surgery.
(23) In an alternative embodiment, the illuminator apparatus 100 may be configured to illuminate the object field 180 sequentially in time using red, green, and blue light. Referring back to FIG. 2, in the embodiment shown the illuminator apparatus 100 includes a controller 132 having outputs 134, 136, and 138 for controlling the respective sources 112, 114, and 116. In one embodiment, the controller 132 is configured to sequentially activate each light source 112, 114, and 116 to cause the object field 180 to be sequentially illuminated by each wavelength band at different times. The camera 140 may be configured to synchronize the image sensor 152 to capture separate image frames while each of the respective light sources 112, 114, and 116 is activated. In this embodiment the image sensor 152 would not require a Bayer mask or any other color filter. The pixels of the image sensor 152 would thus be responsive to a wide range of wavelengths produced by the sources 112, 114, and 116. Each frame in sequence is thus associated with a particular illumination wavelength band or color and may be captured at the full spatial resolution of the image sensor. The frame capture rate may be increased to account for the additional time required to capture successive red, green, and blue frames. For example, a conventional frame rate for CCD and CMOS image sensors is about 30 frames per second (fps) and the frame rate may be increased to 90 fps or higher on some available sensors to substantially reduce color/time artifacts associated with the sequential frame capture.
(24) In another embodiment the controller 132 may be alternatively or additionally configured to control the relative energy produced by the light sources 112, 114, and 116. Typical CMOS or CCD image sensors are more responsive to green light wavelengths and less responsive to blue and red wavelengths and the controller 132 may be configured to increase the power level of the light sources that generate red and blue wavelengths or to reduce the power level of the light source that generates the green wavelength, thus compensating for the non-uniform wavelength response of the image sensor. Control of individual power levels of the plurality of sources is useful for optimizing the sensor dynamic range and signal-to-noise characteristics.
(25) Additionally or alternatively, the power level of the respective light sources may also be controlled to produce a desired spectral illumination characteristic for the illuminated region 240. In some cases features of objects within the object field 180 may be enhanced when illuminated by light having a specific spectral characteristic. For example, in laparoscopic surgery, illumination having an increased intensity of the blue spectral content may help to reveal cancerous lesions that are less visible under uniform RGB or white light illumination conditions. Vascular features may also be enhanced by a more intense near infrared (NIR) spectral component. The controller 132 and the use of separate sources 112, 114, and 116 facilitate such a configuration.
(26) An embodiment of an illuminator and camera for reducing the effect of specular reflections is shown in FIG. 5. Referring to FIG. 5, an illuminator apparatus 320 is shown having an integrating element 322 (shown in part) and an illumination projector 324. The illumination projector 324 includes a first polarizer 326 that passes light having a specific linear polarization direction and absorbs or reflects light having other polarization directions. The projected illumination thus has a single linear polarization direction. A specular reflection 328 of an illumination beam 330 from an object 332 within the object field 180 may be captured by a camera 340 and will have a polarization direction that is maintained during the reflection while diffuse reflections from other objects within the object field 180 will give rise to reflections having pseudo-random polarization directions. In this embodiment the camera 340 includes a second polarizer 342 in front of the image sensor 152 that is oriented to absorb or reflect light having the same polarization direction as the specularly reflected illumination beam 330 while passing a useful portion light having various polarization directions caused by diffuse reflections. Specular reflections at the image sensor 152 are thus largely attenuated by the second polarizer 342 reducing their intensity. The embodiment shown in FIG. 5 thus has the effect of reducing glare from smooth or wet surfaces within the object field 180, for example tools or wet tissues within a body cavity of a patient undergoing laparoscopic surgery.
(27) The disclosed embodiments may be implemented to provide an illuminator apparatus for an imaging system that has the illuminated region tailored to correspond to the object field associated with the camera. The illuminated region has a shape, size, and aspect ratio that generally correspond to the shape, size, and aspect ratio to the imaged object field. The illuminator apparatus thus more efficiently illuminates the object field thereby reducing possible temperature increases due to heat generated during operation of the camera 140 and illuminator apparatus 100, which may be problematic in applications such as laparoscopic surgery. Reduced heat generation may also improve reliability and reduce manufacturing costs of the camera 140 and illuminator apparatus 100. Efficient projection of the illumination into the object field 180 enables the sources to be run at a lower power, which permits the system to be reduced in size for ease of use and portability.
(28) While specific embodiments have been described and illustrated, such embodiments should be considered illustrative only and not as limiting the invention as construed in accordance with the accompanying claims.
Claims
1. An imaging system comprising: at least one input light source; an integrating element comprising an input end and an output face, the integrating element being configured to receive the at least one input light source at the input end and to produce a generally homogenous illumination beam at the output face; an illumination projector being configured to project an image of the output face of the integrating element onto an object field to produce an illuminated region of the object field; and an imaging apparatus comprising an image sensor, the image sensor being configured to image a portion of the object field corresponding to the illuminated region of the object field, wherein images captured by the image sensor are captured through a polarizer having a polarization direction operable to reduce specular reflections from objects within the object field.
2. The system of claim 1, wherein the image sensor comprises a first aspect ratio, wherein the illuminated region of the object field comprises a second aspect ratio, and wherein the first aspect ratio and the second aspect ratio are substantially equivalent.
3. The system of claim 1, wherein the illuminated region is sized such that the image sensor is configured to be at least partly overfilled in at least one direction.
4. The system of claim 1, wherein the at least one input light source comprises a plurality of light sources, and wherein each of the plurality of light sources is configured to generate a respective input light beam.
5. The system of claim 4, wherein the plurality of light sources comprises at least two of: a red light source; a green light source; a blue light source; or a tunable light source.
6. The system of claim 4 further comprising a controller being configured to: sequentially activate each of the plurality of light sources to cause the object field to be sequentially illuminated by each of the respective input light beam; synchronize the image sensor to capture separate image frames while the object field is being illuminated by each of the respective input light beam; and combine the captured separate image frames to produce a combined image of the object field.
7. The system of claim 6, wherein the image sensor comprises a plurality of sensor elements, wherein each of the plurality of sensor elements is responsive to light having spectral properties encompassing spectral properties of each of the respective input light beam, and wherein the separate image frames are captured using all of the plurality of sensor elements.
8. The system of claim 4 further comprising a controller being configured to control respective power levels of each of the plurality of light sources to produce a desired spectral illumination characteristic for the illuminated region.
9. The system of claim 8, wherein the desired spectral illumination characteristic is selected to enhance certain features within the object field.
10. A method for illuminating an object field comprising: coupling at least one input light source into an input end of an integrating element, the integrating element being configured to produce a generally homogeneous illumination beam at an output face of the integrating element; and projecting an image of the output face of the integrating element onto the object field to produce an illuminated region of the object field, wherein images captured by an image sensor are captured through a polarizer having a polarization direction operable to reduce specular reflections from objects within the object field.
11. The method of claim 10 further comprising using the image sensor to image a portion of the object field, wherein the illuminated region of the object field corresponds to the illuminated region of the object field.
12. The method of claim 11, wherein the image sensor comprises a first aspect ratio, wherein projecting the image further comprises producing the illuminated region such that the illuminated region comprises a second aspect ratio, and wherein the first aspect ratio and the second aspect ratio are substantially equivalent.
13. The method of claim 11, wherein projecting the image further comprises sizing the illuminated region such that the image sensor is configured to be at least partly overfilled in at least one direction.
14. The method of claim 11, wherein the at least one input light source comprises a plurality of input light source, and wherein the method further comprises: receiving at least one input light beam; and activating the plurality of input light sources, each of the plurality of input light sources being operable to produce a respective input light beam.
15. The method of claim 14 further comprising: sequentially activating each of the plurality of input light sources to cause the object field to be sequentially illuminated by each of the respective input light beams; synchronizing the image sensor to capture separate image frames while the object field is being illuminated by each of the respective input light beams; and combining the captured separate image frames to produce a combined image of the object field.
16. The method of claim 15, wherein the image sensor comprises a plurality of sensor elements, wherein each of the plurality of sensor elements is responsive to light having spectral properties encompassing each of the respective input light beams, and wherein the separate image frames are captured using all of the plurality of sensor elements.
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Annual General Meeting May 16, 2023
May 16, 2023
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CUSIP Number
88830X819
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Boom!
SERVICE LIFE MANAGEMENT FOR AN INSTRUMENT OF A ROBOTIC SURGERY SYSTEM
DOCUMENT ID
US 20230120627 A1
DATE PUBLISHED
2023-04-20
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Pflaumer; Hans Christian
Raleigh
NC
N/A
US
Laakso; Aki Hannu Einari
Raleigh
NC
N/A
US
Genova; Perry A.
Chapel Hill
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
18/066971
DATE FILED
2022-12-15
DOMESTIC PRIORITY (CONTINUITY DATA)
parent US continuation 17152033 20210119 parent-grant-document US 11529207 child US 18066971
US CLASS CURRENT:
606/130
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 34/76
2016-02-01
CPCI
A 61 B 34/74
2016-02-01
Abstract
A robotic surgery system is disclosed that can include an instrument including an operational tool coupled to a positioner and an input device configured to generate input signals in response to manipulation by an operator representing a desired spatial positioning of the tool within a tool workspace including extents corresponding to physical movement limitations for the positioner. A processor can be configured to receive the input signals and process the signals to determine the desired spatial positioning. The processor can be configured to initiate a movement management function in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument. The processor can be configured to generate drive signals for movement of the positioner in response to a determination that the desired spatial positioning is not associated with a potential reduction in service life.
Background/Summary
BACKGROUND
1. Field
[0001] This disclosure relates generally to a surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient.
2. Description of Related Art
[0002] Surgical instruments used in laparoscopic and/or robotic surgery generally have a service life that is pre-determined based on testing or estimated based on material and structural properties of the instrument. The service life may be expressed as a total number of uses or a total usage time. Alternatively, the service life may be based on actual usage parameters such as the number of movements or discrete operations, for example. Use of the instrument beyond the pre-determined service life is considered to be associated with decreased performance and/or increased risk of failure of the instrument.
SUMMARY
[0003] In accordance with one disclosed aspect there is provided a robotic surgery system. The system may include an input device configured to generate input signals in response to manipulation by an operator, the input signals representing a desired spatial positioning of a tool of an instrument within a tool workspace, the tool workspace including extents corresponding to physical movement limitations associated with a positioner of the instrument to which the tool is coupled. The system may include a processor configured to receive the input signals from the input device and process the input signals to determine the desired spatial positioning of the tool within the tool workspace. The processor may be configured to, in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument, initiate a movement management function. The processor may be configured to, in response to a determination that the desired spatial positioning would not result in the movement of the positioner associated with the potential service life reduction for the instrument, generate drive signals for movement of the positioner to cause the tool to be positioned at a position corresponding to the desired spatial positioning in the tool workspace.
[0004] The processor may be configured to make the determination that the desired spatial positioning would result in the movement of the positioner associated with the potential service life reduction by determining that the desired spatial positioning associated with the input signals lies outside a pre-determined safe region of the tool workspace.
[0005] The processor may be configured to initiate the movement management function by temporarily permitting the operator to extend the pre-determined safe region to permit the tool to move outside the pre-determined safe region.
[0006] The input device may be configured to deliver a haptic feedback to an operator of the input device and the processor may be configured to generate the alert by causing the input device to deliver the haptic feedback.
[0007] The processor may be configured to initiate the movement management function by causing an alert to be generated to indicate to the operator that the desired movement is associated with the potential service life reduction, and generating drive signals to inhibit movement of the positioner to cause the tool to remain positioned at a current position in tool workspace.
[0008] The processor may be configured to initiate the movement management function by causing an alert to be generated to indicate to the operator that the desired spatial positioning is associated with the potential service life reduction, and in response to receiving an override input from the operator, generate drive signals for movement of the positioner to cause the tool to be positioned at the position in the tool workspace, and update a service life parameter associated with the instrument based on an expected reduction in service life caused by the movement.
[0009] The service life parameter may include a pre-determined number of uses for the instrument, the number of uses being decremented each time the instrument is used in a surgical procedure, and the processor may be configured to decrement the number of uses based on the expected reduction in service life caused by the movement.
[0010] The service life parameter may include a pre-determined usage time and the processor may be configured to decrement the usage time based on the expected reduction in service life caused by the movement.
[0011] The service life parameter may include a pre-determined number of movements of the positioner that are associated with the potential service life reduction, and the processor may be configured to decrement the number of movements each time the override input is received from the operator.
[0012] The processor may be configured to discontinue generating drive signals for movements of the positioner that are associated with the potential service life reduction responsive to expiry of an override period.
[0013] The system may include a display configured to display an image of the tool workspace to the operator and the processor may be configured to cause the alert to be generated by causing displaying of an alert icon on the display.
[0014] The processor may be configured to cause displaying an interactive alert icon on the display, the interactive alert icon being configured to generate the override input when activated by the operator.
[0015] The input device may be configured to deliver a haptic feedback to an operator of the input device and the processor may be configured to causing the input device to deliver the haptic feedback.
[0016] The service life parameter may be stored in a memory associated with the instrument, and the processor may be configured to update the service life parameter by writing a new service life parameter to the memory.
[0017] The memory may include a memory located on the instrument, and the system may include an instrument interface configured to place the processor in data communication with the memory responsive to the instrument being loaded into the system.
[0018] Access for reading and writing to the memory may be protected by a security function to prevent unauthorized changes to the service life parameter.
[0019] The memory may include a memory of the processor and the service life parameter may include an identifier that associates the service life parameter with the instrument.
[0020] The positioner may include a plurality of articulated linkages, and a plurality of control wires that are pushed or pulled to cause movement of the articulated linkages to position the tool within the tool workspace, and the determination that the desired spatial positioning would result in the movement of the positioner associated with the potential service life reduction may be based on an estimated strain in the control wires associated with the movement.
[0021] The tool may include an end effector positioned at a distal end of the tool and the end effector may include a pair of opposing elements, the opposing elements being actuated to close by an end effector actuation signal received from the input device, and the processor may be configured to determine an end effector drive signal for causing the opposing elements to close with a desired force in proportion to the end effector actuation signal, and in response to a determination that the desired force would result in the potential service life reduction for the instrument, initiate an actuation management function, and in response to a determination that the desired force would not result in the potential service life reduction for the instrument, generate the end effector drive signal to cause the end effector to close with the desired force.
[0022] There is provided a method of operating a robotic surgery system of any of the preceding paragraphs and/or disclosed below.
[0023] In accordance with another disclosed aspect there is provided a method for operating a robotic surgery system, the robotic surgery system including a processor and an input device. The method may be implemented by the processor. The method may involve receiving input signals in response to manipulation of the input device by an operator, the input signals representing a desired spatial positioning of a tool of an instrument within a tool workspace, the tool workspace including extents corresponding to physical movement limitations associated with a positioner of the instrument to which the tool is coupled. The method may involve processing the input signals to determine the desired spatial positioning of the tool within the tool workspace. The method may involve, in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument, initiating a movement management function. The method may involve, in response to a determination that the desired spatial positioning would not result in a movement of the positioner associated with the potential service life reduction, generating drive signals for movement of the positioner to cause the tool to be positioned at a position corresponding to the desired spatial positioning in the tool workspace.
[0024] Initiating the movement management function may involve generating an alert to indicate to the operator that the desired spatial positioning is associated with the potential service life reduction, and in response to receiving an override input from the operator, generating drive signals for movement of the positioner to cause the tool to be positioned at the position in the tool workspace, and updating a service life parameter associated with the instrument based on an expected reduction in service life caused by the movement.
[0025] 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
[0026] In drawings which illustrate disclosed embodiments,
[0027] FIG. 1 is a perspective view of a robotic surgery system in accordance with one disclosed embodiment;
[0028] FIG. 2A is a front perspective view of a drive unit of the system shown in FIG. 1;
[0029] FIG. 2B is a rear perspective view of the drive unit of the system shown in FIG. 1;
[0030] FIG. 3A is a perspective view of a portion of an insertion tube associated with the drive unit shown in FIGS. 2A and 2B;
[0031] FIG. 3B is a perspective view of the insertion tube with a pair of instruments inserted;
[0032] FIG. 3C is a perspective view of a portion of the insertion tube with the instruments shown in a deployed state;
[0033] FIG. 4 is a block diagram of processor circuit elements of the system shown in FIG. 1;
[0034] FIG. 5 is a right hand controller portion of an input device of the system shown in FIG. 1;
[0035] FIG. 6 is a detailed perspective view of the right side instrument shown in FIG. 3B;
[0036] FIG. 7 is a flowchart of a movement process implemented by the workstation processor circuit shown in FIG. 4;
[0037] FIG. 8 is a perspective view of the right side instrument of FIG. 3B shown in a bent pose;
[0038] FIG. 9 is a rear perspective view of the right side instrument of FIG. 3B shown in a bent pose along with the left side instrument in a straight pose;
[0039] FIG. 10 is a flowchart of a process implemented by the workstation processor circuit of FIG. 4 for making a determination as to whether a desired spatial positioning of the end effector is associated with a service life reduction;
[0040] FIG. 11A is a flowchart of a movement management process implemented by the workstation processor circuit shown in FIG. 4;
[0041] FIG. 11B is a screenshot of an example alert displayed during the process of FIG. 11A; and
[0042] FIG. 12 is a perspective view of an instrument including an alternative positioner.
DETAILED DESCRIPTION
[0043] Referring to FIG. 1, a robotic surgery system in accordance with one disclosed embodiment is shown generally at 100. The system 100 includes a workstation 102 and an instrument cart 104. The instrument cart 104 includes a drive unit 106 to which an insertion tube 108 and an instrument 110 are mounted. The workstation 102 includes an input device 112 that receives operator input and produces input signals. The input device 112 may also be capable of generating haptic feedback to the operator. The input device 112 may be implemented using a haptic interface available from Force Dimension, of Switzerland, for example.
[0044] In the embodiment shown, the workstation 102 further includes a workstation processor circuit 114 in communication with the input device 112 for receiving the input signals and generating drive signals for controlling the robotic surgery system, which are transmitted to the instrument cart 104 via an interface cable 116. The input device 112 includes right and left hand controllers 122 and 124, which are grasped by the operator's hands and moved to cause the input device 112 to produce the input signals. The workstation 102 also includes a footswitch 126 for generating an enablement signal. The workstation 102 may also include other footswitches 128 that provide an additional input to the system as described below. The workstation 102 also includes a display 120 in communication with the workstation processor circuit 114.
[0045] The display 120 may be configured for displaying images of the surgical workspace and portions of the instruments 110 that are within the surgical workspace. In the embodiment shown, the workstation 102 further includes a secondary display 132 for displaying status information related to the system 100. The instrument cart 104 includes an instrument processor circuit 118 that receives and the input signals from the workstation processor circuit 114 and produces drive signals operable to drive the instrument 110 during a surgical procedure.
[0046] The drive unit 106 is shown in isolation in FIGS. 2A and 2B. Referring to FIG. 2A, the insertion tube 108 includes a drive interface 200 that detachably mounts to a corresponding drive interface 202 on the drive unit 106. The insertion tube 108 includes a camera 204 at a distal end of the insertion tube, which is inserted into a body cavity of a patient to capture body cavity image data representing an interior view of the body cavity for display on the display 120 of the workstation 102. Referring to FIG. 2B, in this embodiment the insertion tube 108 includes a pair of adjacent bores extending through the insertion tube for receiving a right hand side instrument 110a and a left hand side instrument 110b. The instruments 110a and 110b each include a respective operational tool 210 and 212 at a distal end. The operational tools 210 and 210 may be one of a variety of different operational tools, such as a probe, dissector, hook, or cauterizing tool. As an example, the operational tools 210 and 210 may be configured as an end effector having opposing jaws that provide an actuated function such as a scissor for cutting tissue or forceps for gripping tissue. In other embodiments one of the instruments 110a or 110b may include an operational tool 210 or 212 in the form of a distally located camera that provides imaging functions in addition to or in place of the camera 204. One of the instruments 110a or 110b may include an operational tool in the form of an illuminator configured to provide illumination for generation of images by the camera 204.
[0047] A portion of the insertion tube 108 is shown in FIG. 3A and includes two adjacently located bores 300 and 302 extending through the insertion tube 108 for receiving the respective surgical instruments 110a and 110b. The insertion tube 108 also includes a third bore 304 for receiving the camera 204. In alternative embodiments, the camera 204 may be fixedly mounted to a distal portion of the insertion tube 108. The camera 204 is configured as a stereoscopic camera having a pair of spaced apart imagers 306 and 308 for producing stereoscopic views representing an interior view of the body cavity. The camera 204 also includes an integrated illuminator 310 for illuminating the body cavity for capturing images. The integrated illuminator 310 may be implemented using an illumination source such as a light emitting diode or an illumination source may be remotely located and may deliver the illumination through an optical fiber running through the insertion tube 108.
[0048] Referring to FIG. 3B, the instruments 110a and 110b are shown inserted through the respective bores 300 and 302 of the insertion tube 108 (in FIG. 3B the bore 302 is not visible and the drive unit 106 has been omitted for sake of illustration). The right hand side instrument 110a includes a rigid shaft portion 312 and a positioner portion 314 that extends outwardly from the bore 300. In this embodiment the instrument 110a includes an end effector 316 that acts as the operational tool 210. The positioner 314 may include an articulated tool positioner as described in detail in commonly owned PCT patent publication WO2014/201538 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME” filed on Dec. 20, 2013 and incorporated herein by reference in its entirety. The described positioner in PCT patent publication WO2014/201538 provides for dexterous movement of the end effector 316 through a plurality of articulated segments.
[0049] In this embodiment, the instrument 110a includes an actuator 318 including a plurality of actuator slides 320 disposed in a housing 322. The housing 322 is located at a proximal end of the instrument 110a that couples to a corresponding interface (not shown) on the drive unit 106 for moving the positioner 314 and actuating the end effector 316. The actuator 318 of the instrument 110a may be generally configured as disclosed in commonly owned PCT patent publication WO2016/090459 entitled “ACTUATOR AND DRIVE FOR MANIPULATING A TOOL” filed on Feb. 18, 2015 and incorporated herein by reference in its entirety. The interface of the drive unit 106 may have a track system (not shown) coupled to the actuator 318 for longitudinally advancing and retracting the instrument 110a to cause the rigid shaft portion 312 to move within the bore 300. The longitudinal positioning of the instrument 110a places the end effector 316 at a desired longitudinal offset with respect to the insertion tube 108 for accessing a surgical workspace within the body cavity of the patient.
[0050] The instrument 110a also includes a plurality of electrical contact pins 324 disposed on a forward facing portion 326 of the actuator housing 322. The pins 324 are in communication with an instrument usage monitor board 328, which is shown in cut away view located within the actuator housing 322. The pins 324 are disposed to engage and electrically connect to similar pins (not shown) disposed on the drive unit 106 for placing the monitor board 328 into communication with the instrument processor circuit 118. As an example, the pins 324 may be implemented using sprung pogo connector pins. The instrument 110b is shown in FIG. 3B in side-by side relation and identically configured to the instrument 110a. In some embodiments, the instrument 110b may have a different operational tool 212 than the instrument 110a.
[0051] The camera 204 is mounted on an articulated arm 330 moveable in response to drive forces delivered by the drive interface 202 of the drive unit 106 to the drive interface 200 of the insertion tube 108. Drive forces delivered by the drive unit 106 cause the camera 204 to move from the longitudinally extended insertion state shown in FIG. 3A and 3B to a deployed state as shown in FIG. 3C.
[0052] Drive forces are imparted on the plurality of actuator slides 320 of the actuator 318 by the drive unit 106, which causes the positioner 314 of the instrument 110 to perform dexterous movement to position the end effector 316 for performing various surgical tasks. As shown in FIG. 3C, the left instrument 110b is also shown along with an associated positioner 332 and an end effector 334. In the deployed position shown in FIG. 3C, the camera 204 is able to generate images of the body cavity without obstructing movements of the positioners 314 and 332.
[0053] A block diagram of the processor circuit elements of the system 100 is shown in FIG. 4. Referring to FIG. 4 the workstation processor circuit 114 includes a microprocessor 400. The workstation processor circuit 114 also includes a workstation memory 402, a USB interface 404, an input/output 406 and a motion control interface 408, all of which are in communication with the microprocessor 400. The input/output 406 includes an input for receiving the enablement signal from the footswitches 126 and 128 and an output for producing display signals for driving the display 120. In this embodiment the input device 112 communicates using a USB protocol and the USB interface 404 receives input signals produced by the input device in response to movements of the hand controllers 122 and 124. The workstation memory 402 includes a current buffer 420 and a previous buffer 440 including a plurality of stores for storing values associated with the control signals, as described later herein.
[0054] The instrument processor circuit 118 includes a microprocessor 450, a memory 452, a communications interface 454, and a drive control interface 456, all of which are in communication with the microprocessor.
[0055] The microprocessor 450 receives the control signals at the communications interface 454 based on the input signals received at the workstation processor circuit 114. The microprocessor 450 processes the control signals and causes the drive control interface 456 to produce drive signals for moving the instruments 110a and 110b.
[0056] The workstation processor circuit 114 thus acts as a controller subsystem for receiving user input, while the instrument processor circuit 118 acts as a responder subsystem in responding to the user input and driving the instruments 110a and 110b. While the embodiment shown includes the workstation processor circuit 114 and the instrument processor circuit 118, in other embodiments a single processor circuit may be used to perform both controller and responder functions.
[0057] In the embodiment shown, the instrument processor circuit 118 further includes an instrument data interface 458 having signal lines 460 that connect via the pins 324 on the instrument actuator 318 to the monitor board 328. In one embodiment the instrument data interface 458 may be implemented as a universal asynchronous receiver-transmitter (UART) or an PC (Inter-Integrated Circuit) interface. Alternatively the interface 458 may be implemented using an interface such as Synchronous Serial Interface (SSI), Serial Peripheral Interface Bus (SPI), EtherCAT (Ethernet for Control Automation Technology), or a Controller Area Network (CAN bus), for example. The monitor board 328 includes an interface 462 and a memory 464. The memory 464 may be a persistent memory such as a NOR or NAND flash memory or other type of persistent memory. The interface 462 on the monitor board 328 facilitates writing data received via instrument interface 458 to the memory 464 or reading out data from the memory 464. In some embodiments the interface 462 may implement security protocols to prevent unauthorized access to the memory 464.
[0058] A portion of the input device 112 that includes the right hand controller 122 is shown in greater detail in FIG. 5. For simplicity, only the right hand controller 122 of the input device 112 will be further described, it being understood that the left hand controller 124 operates in the same way. The input device 112 is supported on a base 500 and includes arms 502, 504, and 506 that provide a mounting for the hand controller 122, which may be grasped by the operator and moved within an input device workspace. The arms 502-506 permit positioning and rotation about orthogonal axes x.sub.1, y.sub.1, and z.sub.1 of a Cartesian reference frame defining the input workspace. The Cartesian reference frame has an origin at a point on a body of the hand controller 122 and the location of the origin defines the hand controller position 508 (i.e. at the origin). In this embodiment, the hand controller 122 is mounted on a gimbal mount 510. The arms 502-506 confine movements of the hand controller 122 and hence the hand controller position 508 to within a generally hemispherical input device workspace. In one embodiment the input device 112 may also be configured to generate haptic forces for providing haptic feedback to the hand controller 122 through the arms 502-506 and gimbal mount 510. The hand controller 122 also includes an end effector actuator 520 that may be opened and closed to actuate movement of an end effector as described in more detail later herein.
[0059] The input device 112 includes sensors (not shown) that sense the position of each of the arms 502-506 and rotation of the hand controller 122 about each of the x.sub.1, y.sub.1, and z.sub.1 axes and produces signals representing the position of the hand controller in the input device workspace and the rotational orientation of hand controller relative to an input device Cartesian reference frame x.sub.r, y.sub.r, z.sub.r. In this embodiment, the position and orientation signals are transmitted as input signals via the USB connection 518 to the USB interface 404 of the workstation processor circuit 114.
[0060] In this embodiment, the gimbal mount 510 has a pin 512 extending downwardly from the mount and the base 500 includes a calibration opening 514 for receiving the pin. When the pin 512 is received in the opening 514 the hand controller 122 is located in a calibration position that is defined relative to the input device Cartesian reference frame x.sub.r, y.sub.r, z.sub.r. The input device reference frame has an x.sub.r-z.sub.r plane parallel to the base 500 and a y.sub.r axis perpendicular to the base. The z.sub.r axis is parallel to the base 500 and is coincident with an axis 516 passing centrally through the hand controller 122.
[0061] The input device 112 produces current hand controller signals and current hand controller orientation signals that represent the current position and orientation of the hand controller 122. The signals may be represented by a current hand controller position vector and a current hand controller rotation matrix. The current hand controller position vector is given by:
[00001]
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{
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[0062] where x.sub.1, y.sub.1, and z.sub.1 represent coordinates of the hand controller position 508 (i.e. the origin of the coordinate system x.sub.1, y.sub.1, z.sub.1) relative to the input device reference frame x.sub.r, y.sub.r, z.sub.r. The current hand controller rotation matrix is given by:
[00002]
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[0063] where the columns of the matrix represent the axes of the hand controller reference frame x.sub.1, y.sub.1, z.sub.1 relative to the input device reference frame x.sub.r, y.sub.r, z.sub.r. The matrix R.sub.MCURR thus defines the current rotational orientation of the hand controller 122 relative to the x.sub.r, y.sub.r, and z.sub.r fixed controller reference frame. The current hand controller position vector {right arrow over (P)}.sub.MCURR and current handle rotation matrix R.sub.MCURR are transmitted as current hand controller position and current hand controller orientation signals via the USB connection 518 to the USB interface 404 of the workstation processor circuit 114. The workstation processor circuit 114 stores the three values representing the current handle position vector {right arrow over (P)}.sub.MCURR in a store 422 and the nine values representing the current hand controller rotation matrix R.sub.MCURR in a store 424 of the current buffer 420 of workstation memory 402.
[0064] The right side instrument 110a is shown in greater detail in FIG. 6. Referring to FIG. 6, the positioner 314 of the instrument 110a operates within a surgical workspace 600. The positioner 314 of the instrument 110a is configured to position the end effector 316 within a tool workspace 602 indicated by the broken lines in FIG. 6. The surgical workspace 600 will generally be larger than the tool workspace 602 since the tool may be longitudinally advanced or retracted to access different portions of the surgical workspace. The instrument cart 104 may also be repositioned to facilitate access to different portions of the surgical workspace 600. The microprocessor 400 of the workstation processor circuit 114 processes the input signals based on a current mapping between the input device workspace for the input device 112 and the surgical workspace 600 and causes the motion control interface 408 to transmit control signals, which are conveyed to the instrument processor circuit 118 via the interface cable 116. The mapping may include a scale factor that scales movements in input device workspace to produce scaled movements in surgical workspace 600. For example, a 100 mm translation in input device workspace may be scaled by a scale factor of 0.5 to produce a 50 mm movement in surgical workspace 600 for fine movement.
[0065] The positioner 314 positions the end effector 316 within the tool workspace 602 by activating various drivers in the drive unit 106 in response to the drive signals produced by the drive control interface 456 of the instrument processor circuit 118. The drivers in the drive unit 106 are coupled to deliver actuation forces to the plurality of actuator slides 320 of the actuator 318. The drive signals are produced by the drive control interface 456 in response to the control signals received at the communications interface 454 from the workstation processor circuit 114 and are based on the current hand controller position vector {right arrow over (P)}.sub.MCURR and current hand controller rotation matrix R.sub.MCURR stored in the stores 422 and 424 of the current buffer 420 in the workstation memory 402.
[0066] In this embodiment the positioner 314 of the instrument 110a includes a plurality of the identical “vertebra” 604 as described in commonly owned PCT patent application PCT/CA2013/001076 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME” filed on Dec. 20, 2013, which is incorporated herein by reference in its entirety. The vertebra 604 are operable to move with respect to each other when control wires passing through the vertebra are extended or retracted to cause movements of the positioner 314. The control wires are coupled to the actuator slides 320, which when moved by the drive unit 106 position the end effector 316 within the surgical workspace 600. The position and orientation of the end effector 316 is defined relative to a fixed responder reference frame having axes x.sub.v, y.sub.v, and z.sub.v, which intersect at a point referred to as the fixed responder reference position 608. The fixed responder reference position 608 lies on a longitudinal axis 610 of the instrument 110a and is contained in a plane perpendicular to the longitudinal axis and containing a distal edge of the insertion tube 606. In one embodiment the fixed responder reference frame acts as a body cavity frame of reference.
[0067] In the embodiment shown, the end effector 316 includes opposing gripper jaws 614 that are positioned and oriented within an end effector workspace. A tip of the gripper jaws 614 may be designated as an end effector position 612 defined as the origin of an end effector Cartesian reference frame x.sub.2, y.sub.2, z.sub.2. The end effector position 612 is defined relative to the responder reference position 608 and the end effector may be positioned and orientated relative to the fixed responder reference frame x.sub.v, y.sub.v, z.sub.v for causing movement of the positioner 314 and/or the end effector 316.
[0068] The current hand controller position signal {right arrow over (P)}.sub.MCURR and current hand controller orientation signal R.sub.MCURR cause movement of the end effector 316 of the instrument 110a to new end effector positions and desired new end effector orientations represented by a new end effector position vector {right arrow over (P)}.sub.EENEW:
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[0069] where x.sub.2, y.sub.2, and z.sub.2 represent coordinates of the end effector position 612 within the end effector workspace relative to the x.sub.v, y.sub.v, z.sub.v fixed responder reference frame. The new end effector orientation is represented by a 3×3 end effector rotation matrix R.sub.EENEW:
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[0070] where the columns of the R.sub.EENEW matrix represent the axes of the end effector reference frame x.sub.2, y.sub.2, and z.sub.2 written in the fixed responder reference frame x.sub.v, y.sub.v, and z.sub.v. The rotation matrix R.sub.EENEW thus defines a new orientation of the end effector 316 in the end effector workspace, relative to the x.sub.v, y.sub.v, and z.sub.v fixed responder reference frame. Values for the vector {right arrow over (P)}.sub.EENEW and rotation matrix R.sub.EENEW are calculated as described later herein and stored in stores 430 and 432 of the current buffer 420 of the workstation memory 402 respectively.
[0071] When the system 100 initially starts up, the workstation processor circuit 114 sets a controller base position vector {right arrow over (P)}.sub.MBASE equal to the current hand controller vector {right arrow over (P)}.sub.MCURR and causes a definable controller base rotation matrix R.sub.MBASE to define an orientation that is the same as the current orientation defined by the hand controller rotation matrix R.sub.MCURR associated with the current hand controller rotation. At startup, the following operations are therefore performed:
{right arrow over (P)}.sub.MBASE={right arrow over (P)}.sub.MCURR, and
R.sub.MBASE=R.sub.MCURR.
[0072] For the example of the instrument 110a, the hand controller 122 reference frame represented by the axes x.sub.1, y.sub.1, and z.sub.1 shown in FIG. 5 and the definable controller base reference frame represented by the axes m.sub.ob, y.sub.mb, and z.sub.mb (also shown in FIG. 5) thus coincide at startup of the system 100. Referring back to FIG. 4, the workstation processor circuit 114 stores the values representing the definable controller base position vector {right arrow over (P)}.sub.MBASE and the definable controller base rotation matrix R.sub.MBASE in the stores 426 and 428 of the current buffer 420 of the workstation memory 402.
[0073] At startup of the system 100 there would be no previously stored values for the new end effector position vector {right arrow over (P)}.sub.EENEW and the new end effector rotation matrix R.sub.EENEW and in one embodiment these values are set to home configuration values. A home configuration may be defined that produces a generally straight positioner 314 for the instrument 110a as shown in FIG. 6 and the values of {right arrow over (P)}.sub.EENEW and R.sub.EENEW for the home configuration may be preconfigured at initialization. On startup of the system 100 the workstation processor circuit 114 also causes a definable end effector base position vector {right arrow over (P)}.sub.EEBASE and a definable end effector base rotation matrix R.sub.EEBASE to be set to the home configuration values of {right arrow over (P)}.sub.EENEW and R.sub.EENEW. Additionally, values for {right arrow over (P)}.sub.EEPREV and R.sub.EEPREV stored in the stores 446 and 448 of the previous buffer 440 (shown in FIG. 4) of the workstation processor circuit 114 are also set to the home configuration values of {right arrow over (P)}.sub.EENEW and R.sub.EENEW. In other embodiments, the home configuration may define configuration variables to produce different bent or both straight and bent positioning device poses for the home configuration. At startup, the following operations are therefore performed:
{right arrow over (P)}.sub.EEBASE={right arrow over (P)}.sub.EENEW={right arrow over (P)}.sub.EEPREV, and
R.sub.EEBASE=R.sub.EENEW=R.sub.EEPREV.
[0074] The end effector reference frame represented by the axes x.sub.2, y.sub.2, and z.sub.2 shown in FIG. 6 and the definable responder base reference frame represented by the axes x.sub.sb, y.sub.sb, and z.sub.sb thus coincide at startup of the system 100. Referring back to FIG. 4, the workstation processor circuit 114 stores the values x.sub.sb, y.sub.sb, and z.sub.sb representing the definable responder base position vector {right arrow over (P)}.sub.EEBASE in store 434 and stores the values representing the definable responder base rotation matrix R.sub.MBASE in a store 436 of the current buffer 420 of the workstation memory 402.
[0075] The tool workspace 602 lies within the surgical workspace 600, and in this embodiment is represented by an elliptic paraboloid surface in the reference frame x.sub.v, y.sub.v, z.sub.v, which is given by:
[00005]
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.
[0076] For the instrument 110a, since the positioner 314 is capable of symmetrical movements in any direction, the parameters a and b are equal. In other embodiments the instrument 110 may be configured to provide non-symmetrical movements in different directions and thus the parameters a and b may differ. The parameter c offsets the paraboloid with respect to the fixed responder reference position 608 to a position 618 defined by the axes x.sub.s, y.sub.s, z.sub.s, since physical limitations due to the vertebra 604 would prohibit movement close to the reference position 608. In other embodiments the tool workspace 602 may be defined by a surface other than the elliptic paraboloid shown in FIG. 6 or by a look up table of coordinates that may be interpolated to define a continuous 602.
[0077] In FIG. 6, a second elliptic paraboloid surface 616 is shown lying within the tool workspace 602 and represents a pre-determined safe region within the tool workspace 602. In one embodiment, movements within the safe region 616 are considered to not cause a potential service life reduction for the instrument 110a. Movements beyond the safe region, but still within the tool workspace 602, are associated with an increased mechanical stress being placed on the components of the instrument 110a. In this embodiment a safe region 616 is defined having the same shape as the tool workspace 602. However, in other embodiments, the safe region 616 may have a different surface shape.
[0078] Referring to FIG. 7, a flowchart depicting blocks of code for directing the workstation processor circuit 114 to execute a process for moving the instrument 110a is shown generally at 700. The blocks generally represent codes that direct the microprocessor 400 to perform various functions. The actual code to implement each block may be written in any suitable program language, such as C, C++, C#, Java, OpenGL, and/or assembly code, for example.
[0079] The movement process 700 begins at block 702, which directs the microprocessor 400 to determine whether the enablement signal generated by the footswitch 126 is in an active state. If at block 702, it is determined that the footswitch 126 is currently released, the enablement signal will be in the active state and the microprocessor is directed to block 704, which directs the microprocessor 400 to read new values for {right arrow over (P)}.sub.MCURR and R.sub.MCURR from the current buffer 420 of the workstation memory 402, which represent the current hand controller position vector {right arrow over (P)}.sub.MCURR and current hand controller matrix R.sub.MCURR. Block 706 then directs the microprocessor 400 to calculate new end effector position signals {right arrow over (P)}.sub.EENEW and new end effector orientation signals R.sub.EENEW representing a desired end effector position 612 and desired end effector orientation, relative to the fixed responder reference position 608 and the responder base orientation (shown in FIG. 6). Block 706 also directs the microprocessor 400 to store values representing the new end effector position vector {right arrow over (P)}.sub.EENEW in the store 430 and to store values representing the desired end effector orientation matrix R.sub.EENEW in the store 432 of the current buffer 420 of the workstation memory 402.
[0080] The new end effector position signals {right arrow over (P)}.sub.EENEW and new end effector orientation signals R.sub.EENEW are calculated according to the following relations:
{right arrow over (P)}.sub.EENEW=A({right arrow over (P)}.sub.MCURR-{right arrow over (P)}.sub.MBASE)+{right arrow over (P)}.sub.EEBASE Eqn 1a
R.sub.EENEW=R.sub.EEBASER.sub.MBASE.sup.-1R.sub.MCURR Eqn 1b
[0081] where: [0082] {right arrow over (P)}.sub.EENEW is the new end effector position vector that represents the new desired position of the end effector 316 in the end effector workspace, and is defined relative to the responder base reference position; [0083] A is a scalar value representing a scaling factor in translational motion between the hand controller 122 (controller) and the instrument 110a (responder); [0084] {right arrow over (P)}.sub.MCURR is the current representation of the hand controller position vector stored in the store 422 of the current buffer 420, the hand controller position vector being defined relative to the fixed controller reference frame x.sub.r, y.sub.r, and z.sub.r; [0085] {right arrow over (P)}.sub.MBASE is the last-saved position vector {right arrow over (P)}.sub.MCURR for the hand controller 122 that was shifted at the last transition of the enablement signal from the inactive state to the active state or on system initialization or by operation of a control interface by an operator; [0086] {right arrow over (P)}.sub.EEBASE is the last saved position vector {right arrow over (P)}.sub.EENEW for the end effector 316 that was shifted at the last transition of the enablement signal from the inactive state to the active state or on system initialization; [0087] R.sub.EENEW is the new end effector orientation matrix representing the current orientation of the end effector 316, and is defined relative to the fixed responder reference position 608; [0088] R.sub.EEBASE is the last-saved rotation matrix R.sub.EENEW of the end effector 316 shifted at the last transition of the enablement signal from the inactive state to the active state; [0089] R.sub.MBASE.sup.-1 is the inverse of rotation matrix R.sub.MBASE, which is the last-saved rotation matrix R.sub.MCURR of the hand controller 122 saved at the last transition of the enablement signal from the inactive state to the active state; and [0090] R.sub.MCURR is the currently acquired rotation matrix representing the orientation of hand controller 122 relative to the fixed controller reference frame x.sub.r, y.sub.r, and z.sub.r.
[0091] Block 708 then directs the microprocessor 400 to determine whether the enablement signal has transitioned to the inactive state. If the enablement signal has transitioned to the inactive state, the microprocessor 400 is directed to block 710. Block 710 directs the microprocessor 400 to cause the motion control interface 408 to transmit control signals based on the previously calculated values of {right arrow over (P)}.sub.EEPREV and R.sub.EEPREV in the respective stores 446 and 448 of the previous butter 440 of the workstation memory 402. The control signals transmitted by the motion control interface 408 are thus derived from the last saved values of {right arrow over (P)}.sub.EENEW and R.sub.EENEW. The instrument processor circuit 118 receives the control signals and produces drive signals at the drive control interface 456 that inhibit further movement of the positioner 314 of the instrument 110a.
[0092] If the enablement signal has not transitioned to the inactive state at block 708, the microprocessor 400 is directed to block 712. Block 712 directs the microprocessor 400 to determine whether the desired spatial positioning of the positioner 314 of the instrument 110a would result in a movement of the positioner associated with a potential service life reduction for the instrument 110a. If at block 712, the spatial positioning of the positioner 314 is determined not to be associated with a potential service life reduction, then the microprocessor 400 is directed to block 714. Block 714 directs the microprocessor 400 to cause the motion control interface 408 to transmit control signals based on the newly calculated values for {right arrow over (P)}.sub.EENEW and R.sub.EENEW. When the control signals are received at the communications interface 454 of the instrument processor circuit 118, the microprocessor 450 causes drive signals to be produced to cause the end effector 316 to assume a position and orientation in tool workspace determined by the current position and current orientation of the hand controller 122.
[0093] The process then continues at block 716, which directs the microprocessor 400 to copy the current position vector {right arrow over (P)}.sub.MCURR and the current rotation matrix R.sub.MCURR stored in stores 422 and 424 of the current buffer 420 into stores 442 ({right arrow over (P)}.sub.MPREV) and 444 (R.sub.MPREV) of the previous buffer 440 of the workstation memory 402. Block 716 also directs the microprocessor 400 to copy the newly calculated end effector position vector {right arrow over (P)}.sub.EENEW and the newly calculated end effector rotation matrix R.sub.EENEW into stores 446 and 448 of the previous buffer 440. By storing the newly calculated end effector position vector {right arrow over (P)}.sub.EENEW and newly calculated end effector rotation matrix R.sub.EENEW, as previously calculated end effector position vector {right arrow over (P)}.sub.EEPREV and previously calculated end effector rotation matrix R.sub.EEPREV, a subsequently acquired new end effector position vector {right arrow over (P)}.sub.EENEW and subsequently acquired new end effector rotation matrix R.sub.EENEW can be calculated from the next received hand controller position vector {right arrow over (P)}.sub.MCURR and next received hand controller rotation matrix R.sub.MCURR provided by the hand controller 122. Block 716 then directs the microprocessor 400 back to block 702, and the process is repeated.
[0094] If at block 712, the microprocessor 400 determines that the desired spatial positioning of the positioner 314 of the instrument 110a would result in a movement of the positioner associated with a potential service life reduction for the instrument 110a, the microprocessor is directed to block 718. Block 718 directs the microprocessor 400 to initiate a movement management function. The movement management function may include various steps, such as the generation of an alert and/or receiving an operator override and generating a corresponding override signal. Various process embodiments of the movement management function are described in more detail below.
[0095] When the movement management function block 718 has been initiated, the microprocessor 400 is directed to block 720, which directs the microprocessor 400 to determine whether an override signal has been enabled or asserted at block 718. If the microprocessor 400 determines that an operator override was received at block 720, the microprocessor 400 is directed to block 714, and the motion control signals based {right arrow over (P)}.sub.EENEW and rotation matrix R.sub.EENEW are transmitted as described above and the movements of the positioner 314 are permitted to proceed outside the safe region 616 of the tool workspace 602. If the microprocessor 400 determines that an override is not in effect at block 720, the microprocessor 400 is directed to block 710, and the motion control signals based {right arrow over (P)}.sub.EEPREV and rotation matrix R.sub.EEPREV are transmitted as described above and the end effector 316 is constrained within the safe region 616 of the tool workspace 602. In this case, the drive signals inhibit movement of the positioner 314 beyond the safe region 616 and cause the end effector 316 to remain positioned at a current position in the tool workspace 602. Further movements that would result in the end effector 316 remaining within the safe region 616 would however be permitted.
[0096] If at block 702, it is determined that the footswitch 126 is currently depressed, the enablement signal will be in the inactive state and the microprocessor is directed to block 720 initiating a base setting process. The base setting process is associated with blocks 720 and 722 and is executed asynchronously whenever the enablement signal produced by the footswitch 126 transitions from the active state to the inactive state. During the base setting process, the drive signals are maintained at the values that were in effect at the time the enablement signal transitioned to inactive at block 708. At block 720 the microprocessor 400 is directed to determine whether the enablement signal has transitioned back to being in the active state. While enablement signal remains inactive (i.e. while the footswitch 126 is depressed) the control signals transmitted by the motion control interface 408 are based only on the previously calculated end effector position and previously calculated orientation signals {right arrow over (P)}.sub.EEPREV and R.sub.EEPREV that were in effect before the enablement signal transitioned to inactive. If at block 720 the enablement signal remains in the inactive state, the microprocessor 400 is directed to repeat block 720 and the process is thus effectively suspended while the enablement signal remains in the inactive state. While the footswitch 126 is depressed, the surgeon may thus move the hand controller 122 to a new location to relocate the input device workspace relative to the surgical workspace 600.
[0097] When at block 720 the enablement signal transitions from the inactive state to the active state, the microprocessor 400 is directed to block 722. Block 722 directs the microprocessor 400 to set new base positions and orientations for the hand controller 122 and end effector 316 respectively. Block 722 directs the microprocessor 400 to cause current values of current hand controller position vector {right arrow over (P)}.sub.MCURR and the hand controller rotation matrix R.sub.MCURR to be written to stores 426 and 428 of the current buffer 420 workstation memory 402 as new values for the controller base position vector {right arrow over (P)}.sub.MBASE and controller base rotation matrix R.sub.MBASE Block 722 also directs the microprocessor 400 to cause current values for the end effector position signal {right arrow over (P)}.sub.EENEW and the end effector orientation signal R.sub.EENEW to be stored in stores 434 and 436 of the current buffer 420 as the definable end effector base position vector {right arrow over (P)}.sub.EEBASE and definable responder base rotation matrix R.sub.MBASE. Following execution of block 722, the microprocessor 400 is directed back to block 704 of the process 700, which directs the microprocessor to permit further movement of the positioner 314 of the instrument 110a. The control signals transmitted by the motion control interface 408 thus cause the instrument processor circuit 118 to produce drive signals at the drive control interface 456 that cause further movement of the instrument 110a.
[0098] The base setting process implemented at blocks 720 and 722 thus allows the positioner 314 of the instrument 110a to be immobilized by depressing the footswitch 126 while the hand controller 122 of the input device 112 is moved to a new location. When the footswitch 126 is released, control of the positioner 314 of the instrument 110a resumes at the new position of the hand controller 122. The hand controller 122 may thus be repositioned as desired while the positioner 314 remains immobile, allowing a greater workspace to be accessed by the operator and preventing unintended movements that may inflict injury to the patient.
[0099] The end effector position vector {right arrow over (P)}.sub.EENEW or {right arrow over (P)}.sub.EEPREV and end effector orientation matrix R.sub.EENEW or R.sub.EEPREV produced at block 706 provides a desired location end effector tip 612 (shown in FIG. 6) with respect to the fixed reference position 608. In the processor embodiment shown in FIG. 4, the microprocessor 400 of the workstation processor circuit 114 causes the motion control interface 408 to transmit motion control signals that define a pose required by the positioner 314 to position and orient the end effector 316 in the desired end effector position and orientation. The motion control signals are thus generated based on a kinematic configuration of the positioner 314 and end effector 316 to place the end effector position 612 at a desired position and orientation.
[0100] Generation of motion control signals (block 408, FIG. 4) by the instrument processor circuit 118 is described with further reference to FIG. 8 and FIG. 9. The right side instrument 110a is shown in FIG. 8 in a bent pose from a side perspective and from a rear perspective in FIG. 9. The left side instrument 110b is shown in FIG. 9 in a straight pose corresponding to the home configuration described above. Referring to FIG. 8 and FIG. 9, the positioner 314 of the instrument 110a has a first articulated segment referred to as an s-segment 800 and a second articulated segment referred to as a distal segment 802. The segments each include the plurality of vertebra 604. The s-segment 800 begins at a distance from the insertion tube 606, referred to as the insertion distance q.sub.ins, which is a distance between the fixed responder reference position 608 defined at the origin of the responder fixed base reference frame x.sub.v, y.sub.v, and z.sub.v and a first position 804 at an origin of a first position reference frame x.sub.3, y.sub.3, and z.sub.3. The insertion distance q.sub.ins, represents an unbendable portion of the positioner 314 that extends out of the end of the insertion tube 606. In the embodiment shown, the insertion distance q.sub.ins may be about 10-20 mm, while in other embodiments the insertion distance may be longer or shorter, varying from 0-100 mm, for example.
[0101] The s-segment 800 extends from the first position 804 to a third position 806 defined as an origin of a third reference frame having axes x.sub.5, y.sub.5, and z.sub.5 and is capable of assuming a smooth s-shape when control wires (not shown) inside the s-segment 800 are pushed and pulled by actuating the plurality of actuator slides 320 of the actuator 318 (FIG. 3B). The s-segment 800 has a mid-point at a second position 808, defined as the origin of a second position reference frame having axes x.sub.4, y.sub.4, and z.sub.4. The s-segment 800 has a length L.sub.1, best shown in FIG. 9 for the left side tool positioner 332 of the instrument 110b. In the embodiment shown, the length L.sub.1 may be about 65 mm. The distal segment 802 extends from the third position 806 to a fourth position 810 defined as an origin of a fourth reference frame having axes x.sub.6, y.sub.6, and z.sub.6. The distal segment 802 has a length L.sub.2, best shown in FIG. 9 for the left side tool positioner 332. In the embodiment shown, the length L.sub.2 may be about 30 mm.
[0102] Each end effector 316 and 334 also has an end effector length, which in the embodiment shown is a gripper length L.sub.3 extending from the fourth position 810 to the end effector tip position 612 defined as the origin of the axes x.sub.2, y.sub.2, and z.sub.2. The gripper length L.sub.3 is best shown in FIG. 9 again for the left side tool positioner 332 and in one embodiment may be about 40 mm. The responder reference position 608, first position 804, second position 808, third position 806, fourth position 810, and the end effector position 612 may collectively be referred to as tool reference positions.
[0103] As described in PCT/CA2013/001076, by pushing and pulling on control wires inside the positioners 314 and 332, the s-segments 800 of the positioners may be bent into various degrees of an s-shape, from the straight condition shown in FIG. 6 to a partial or full s-shape for the right side instrument 110a shown in FIG. 8 and FIG. 9. The s-segment 800 is sectional in that it has a first section 812 and a second section 814 on opposite sides of the second position 808. Referring to FIG. 8, the first and second sections 812 and 814 lie in a first bend plane containing the first position 804, second position 808, and third position 806. The first bend plane is at an angle d.sub.prox to the x.sub.v-z.sub.v plane of the fixed responder reference frame x.sub.v, y.sub.v, and z.sub.v. The first section 812 and second section 814 are bent in the first bend plane through opposite but equal angles ?.sub.prox such that no matter the angle ?.sub.prox or the bend plane angle d.sub.prox, the z.sub.5 axis of the third position 806 is always parallel to and aligned in the same direction as the z.sub.v axis of the fixed responder reference position 608. Thus, by pushing and pulling on the control wires within the positioner 314, the third position 806 can be placed at any of a number of discrete positions in space within a cylindrical volume about the first position 804. This cylindrical volume may be referred to as the s-segment workspace.
[0104] In addition, the distal segment 802 lies in a second bend plane containing the third position 806 and the fourth position 810. The second bend plane is at an angle d.sub.dist to the x.sub.v-z.sub.v plane of the fixed responder reference frame x.sub.v, y.sub.v, and z.sub.v. The distal segment 802 is bent in the second bend plane at an angle ?.sub.dist. Thus, by pushing and pulling the control wires within the positioner 314, the fourth position 810 can be placed within another volume in space about the fourth position 810. This volume may be referred to as the distal workspace. The combination of the s-segment workspace and the distal workspace define the tool workspace 602 and represents the total possible movement of the positioner 314 of the instrument 110a as effected by the positioner 314. The left side instrument 110b may be similarly positioned by the positioner 332.
[0105] The distance between the fourth position 810 and the end effector position 612 is the distance between the movable portion of the distal segment 802 and the tip of the gripper 614 of the end effector 316 in the embodiment shown, i.e. the length the gripper length L.sub.3 shown in FIG. 9. Generally, a portion of the gripper between the fourth position 810 and the end effector position 612 will be unbendable.
[0106] In the embodiment shown, the end effector 316 include moveable gripper jaws 614 that are rotatable about the z.sub.2 axis in the x.sub.2-y.sub.2 plane of the end effector reference frame, the angle of rotation being represented by an angle ? relative to the positive x.sub.2 axis. Finally, the gripper jaws 614 may be at any of varying degrees of openness from fully closed to fully open (as limited by a hinge joint of the jaws). The varying degrees of openness may be defined as “G”. In summary therefore, the motion control signals are generated based on a kinematic configuration of the positioner 314 and end effector 316 as defined by the following configuration variables: [0107] q.sub.ins represents a distance from the responder reference position 608 defined by axes x.sub.v, y.sub.v, and z.sub.v to the first position 804 defined by axes x.sub.3, y.sub.3 and z.sub.3 where the s-segment 800 of the positioner 314 begins; [0108] d.sub.prox represents a first bend plane in which the s-segment 800 is bent relative to the x.sub.v-y.sub.v plane of the fixed responder reference frame; [0109] ?.sub.prox represents an angle at which the first and second sections 812 and 814 of the s-segment 800 are bent in the first bend plane; [0110] d.sub.dist represents a second bend plane in which the distal segment 802 is bent relative to the x.sub.v-y.sub.v plane of the fixed responder reference frame; [0111] ?.sub.dist represents an angle through which the distal segment 802 is bent in the second bend; ? represents a rotation of the end effector 316 about axis z.sub.2; and
[0112] G: represents a degree of openness of the gripper jaws 614 of the end effector 316 (this is a value which is calculated in direct proportion to a signal produced by an actuator (not shown) on the hand controller 122 indicative of an amount of pressure the operator exerts by squeezing the actuator to actuate the gripper jaws 614 to close).
[0113] To calculate the configuration variables, it will first be recalled that the end effector rotation matrix R.sub.EENEW is a 3×3 matrix:
[00006]
?
?
?
?
?
?
?
?
?
?
=
[
?
2
?
?
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]
,
[0114] where the last column of R.sub.EENEW is the z-axis of the end effector reference frame written relative to the fixed responder reference frame x.sub.v, y.sub.v, and z.sub.v. The values ?.sub.dist, d.sub.dist, and ? associated with the distal segment 802 may be calculated according to the relations:
[00007]
?
dist
=
?
2
-
atan
?
2
?
(
?
2
?
?
2
+
?
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Eqn
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Eqn
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[0115] The third position 806 may then be written in terms of a vector p.sub.3/v, from the fixed responder reference position 608 to the third position. Similarly, a vector p.sub.4/3 may be defined from the third position 806 to the fourth position 810 and a vector p.sub.5/4 may be defined from the fourth position 810 to the end effector position 612. These values can then be used to compute the location of third position 806 relative to the fixed responder reference position 608 by subtracting the vectors p.sub.4/3 and p.sub.5/4 from the end effector position vector {right arrow over (P)}.sub.EENEW:
[00008]
?
¯
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/
?
=
?
.fwdarw.
EENEW
-
?
¯
4
/
3
-
?
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4
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Eqn
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5
where
:
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dist
)
,
Eqn
?
7
?
?
[0116] where i is a unit vector in the x direction, j is a unit vector in the y direction, and k is a unit vector in the z direction.
[0117] The vector p.sub.3/v from the fixed responder reference position 608 to the third position 806 may then be used to find the configuration variables d.sub.prox and ?.sub.prox for the s-segment 800. The angle d.sub.prox is calculated by solving the following two equations for d.sub.prox:
[00009]
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¯
3
/
?
.Math.
?
¯
=
-
?
1
?
cos
?
?
prox
(
sin
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2
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Eqn
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8
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=
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prox
.
Eqn
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8
?
?
[0118] Taking a ratio of Eqn 8b and Eqn 8a yields:
d.sub.prox=a tan 2(-p.sub.3/v.Math.j,p.sub.3/v.Math.i) Eqn 9
[0119] where i and j are unit vectors in the x and y directions respectively. A closed form solution cannot be found for ?.sub.prox, and accordingly ?.sub.prox must be found using a numerical equation solution to either of equations Eqn 8a or Eqn 8b. For example, a Newton-Raphson method may be employed, which iteratively approximates successively better roots of a real-valued function. The Newton-Raphson method can be implemented using the following equations:
[00010]
?
?
(
?
?
?
?
?
?
?
?
)
=
?
1
?
2
-
?
prox
?
cos
?
?
?
?
?
?
?
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?
(
1
-
sin
?
?
?
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?
?
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)
-
?
¯
3
/
?
.Math.
.Math.
¯
=
0
,
Eqn10
[0120] where i is the unit vector in the x direction. The equation Eqn 10 is Eqn 8a rewritten in the form f(?.sub.prox)=0. The Newton-Raphson method tends to converge very quickly because in the range 0<?.sub.prox<p, the function has a large radius of curvature and has no local stationary points. Following the Newton-Raphson method, successive improved estimates of ?.sub.prox can be made iteratively to satisfy equation Eqn 10 using the following relationship:
[00011]
?
?
+
1
=
?
?
-
?
?
(
?
?
)
?
'
(
?
?
)
Eqn
?
11
[0121] Finally, upon determination of ?.sub.prox, the following equation can be used to find q.sub.ins:
[00012]
?
?
?
?
?
?
=
-
?
¯
3
/
?
.Math.
?
¯
-
?
1
?
cos
?
?
prox
?
2
-
?
prox
,
Eqn
?
12
[0122] where k is the unit vector in the z direction and p.sub.3/v. k is the dot product of the vector p.sub.3/v and the unit vector k.
[0123] The above configuration variables are calculated for the end effector position and orientation signals {right arrow over (P)}.sub.EENEW and R.sub.EENEW at block 706 or {right arrow over (P)}.sub.EEPREV and R.sub.EEPREV at block 714 of the processes 700. The configuration variables generally define a pose of the positioner 314 required to position the end effector 316 at the desired location and orientation in end effector workspace. Configuration variables are produced for each end effector 316 and 334 of the respective right and left side instruments 110a and 110b. Two sets of configuration variables referred to as right and left configuration variables respectively are thus produced and transmitted by the motion control interface 408 to the instrument processor circuit 118 and used by the microprocessor 280 to generate drive control signals for spatially positioning the positioner 314 and end effector 316 of the instrument 110a in the surgical workspace 600.
[0124] The values of the vector {right arrow over (P)}.sub.EENEW and rotation matrix R.sub.EENEW calculated as described above and stored in stores 430 and 432 of the current buffer 420 of the workstation memory 402 thus define the location (x, y, z) of the end effector 316 of the instrument 110a within the surgical workspace 600 relative to the fixed responder reference frame x.sub.v, y.sub.v, z.sub.v (shown in FIG. 6).
[0125] Referring to FIG. 10, a process for implementing block 712 of the movement process 700 (FIG. 7) is shown generally at 1000. The process 1000 causes the microprocessor 400 to make the determination as to whether the desired spatial positioning of the end effector 316 by the tool positioner 314 is associated with a service life reduction. Block 1002 directs the microprocessor 400 to read the values of the vector {right arrow over (P)}.sub.MCURR and rotation matrix R.sub.MCURR from the stores 422 and 424 of the current buffer 420. Block 1004 then directs the microprocessor 400 to generate a notional line extending from the reference position 618 x.sub.s, y.sub.s, z.sub.s (in FIG. 6) to the position defined by the values of {right arrow over (P)}.sub.MCURR and R.sub.MCURR. Block 1006 then directs the microprocessor 400 to determine whether the generated line intersects the save region surface 616. If at block 1006, the line intersects the surface 616, then the end effector position 612 corresponding to {right arrow over (P)}.sub.MCURR and R.sub.MCURR would be outside the safe region 616 and would thus potentially result in a reduction in service life for the tool positioner 314 of the instrument 110. Block 1006 then directs the microprocessor 400 to block 718 of the process 700 for initiation of the movement management function.
[0126] If at block 1006, the notional line does not intersect the surface 616, then the end effector position 612 corresponding to {right arrow over (P)}.sub.MCURR and R.sub.MCURR would be within the safe region 616 and would thus not result in a reduction in service life for the tool positioner 314 of the instrument 110. Block 1006 then directs the microprocessor 400 to block 714 of the process 700 and motion control signals are transmitted to the instrument processor circuit 118 to facilitate movement of the end effector 316.
[0127] In the process 1000 the vector {right arrow over (P)}.sub.MCURR and rotational matrix R.sub.MCURR represent desired positions for the end effector 316 of the instrument 110a. However physical movement of the tool positioner 314 only occurs after the workstation processor circuit 114 writes these values to the values the vector {right arrow over (P)}.sub.EENEW and rotation matrix R.sub.EENEW stored in stores 430 and 432 of the current buffer 420 and then transmits these values via the interface cable 116 to the instrument processor circuit 118.
[0128] Referring to FIG. 11A, an embodiment of a movement management process for implementing block 718 of the movement process 700 is shown generally at 1100. The movement management process 1100 runs in parallel with the movement process 700 and begins at block 1102. Block 1102 directs the microprocessor 400 to generate an alert that the movement to the desired spatial position is associated with a potential service reduction. An example of a displayed alert is shown in FIG. 11B at 1130. The alert 1130 includes a message indicating that the requested movement is associated with a potential service life reduction and provides a “Cancel” button 1132, an “Override” button 1134, and an “Information” button 1136, for receiving an operator selection. The alert 1130 may be displayed on the display 120 and/or on the secondary display 132. Block 1102 then directs the microprocessor 400 to block 1104, which directs the microprocessor 400 to determine whether the “Information” button 1136 has been activated by the operator. If the information button 1136 has been selected the process continues at block 1106, which directs the microprocessor 400 to display additional information. For example, a pop-up box (not shown) may be displayed on the display 120 or secondary display 132 that includes information such as the current remaining service life for the instrument, background information on the reasons for the movement causing a service life reduction, and information on the override process. The Information display may include a cancel button for returning to the displayed alert 1130 once the operator has reviewed the information presented. Block 1106 then directs the microprocessor 400 back to block 1104.
[0129] If at block 1104, the “Information” button 1136 was not activated, the microprocessor 400 is directed to block 1108. Block 1108 directs the microprocessor 400 to determine whether the “Cancel” button 1132 has been activated by the operator. If the “Cancel” button 1132 was activated, the microprocessor 400 is directed to block 1110, which directs the microprocessor 400 to discontinue display of the alert 1130. The movement process 700 continues to run as before and if the operator still provides input via the input device 112 that represent a desired end effector position outsider the safe region 616, block 712 will again direct the microprocessor 400 to block 718 and the process 1100 will be re-initiated and the alert 1130 will be displayed again.
[0130] If at block 1108, the “Cancel” button 1132 was not activated, the microprocessor 400 is directed to block 1112, which directs the microprocessor 400 to determine whether the “Override” button 1134 has been activated by the operator. If the “Override” button 1134 has not been activated, the microprocessor 400 is directed back to block 1104, which causes blocks 1104, 1108, and 1112 to be repeated until the operator makes a selection of one of the buttons 1132, 1134, or 1136. If at block 1112, the “Override” button 1134 has been activated, the microprocessor 400 is directed to block 1114. Block 1114 directs the microprocessor 400 to update a service life parameter for the instrument 110a. In the embodiment shown in FIG. 4, the service life parameter of the instrument 110a is stored in the memory 464 on the monitor board 328. The memory 464 of the monitor board 328 may be accessed by the instrument processor circuit 118 via the instrument interface 458 and interface 462 on the monitor board. In one embodiment the microprocessor 400 may send an update command via the interface cable 116 that causes the microprocessor 450 of the instrument processor circuit 118 to initiate the necessary update to the service life parameter.
[0131] In some embodiments, the instrument 110a when newly manufactured may have a pre-determined number of uses loaded into the memory 464 on the monitor board 328. As an example, an instrument may be designed to be reused a number of times (for example 20 times). During each use, the mechanical structures of the instrument 110a will be subjected to some stresses and eventually components of the instrument may become strained or worn. Additionally, following each use the instrument 110a must be cleaned and sterilized, which may involve autoclaving or other processes that cause additional stress and/or deterioration of the materials and components of the instrument. The determination that a desired spatial positioning would result in a movement of the positioner 314 associated with a potential service life reduction may be based on an estimated strain in the control wires associated with the movement. Positions within the tool workspace 602 that are associated with increased strain in the control wires may be mapped to generate the safe region 616 as shown in FIG. 6.
[0132] In this embodiment, the service life parameters are stored in the memory 464 rather than the workstation processor circuit 114 or instrument processor circuit 118. This avoids circumvention of the service life restrictions by simply using the instrument with another system 100. The interface 462 may also implement security functions for controlling access for reading and writing to the memory 464. The security functions may be implemented to prevent unauthorized access to the memory 464 for changing the remaining service life of the instrument 110a. As an example, the interface 462 may implement a cryptography system that uses pairs of cryptographic keys to prevent access to the memory 464 by a host not having a corresponding cryptographic key. In other embodiments, although less desirable, the service life parameter may be stored in the workstation memory 402 or the memory 452 of the instrument processor circuit 118.
[0133] Use of the instrument 110a outside the safe region 616 shown in FIG. 6 results in additional strain in the control wires and may cause additional wear of the vertebra 604. The updating of the service life parameter accounts for this additional strain by reducing the number of service lives remaining for the instrument. For example, a single override may be associated with a reduction of one or more of the 20 uses, as set out in the example above.
[0134] Once the service life parameter has been updated at block 1114, the microprocessor 400 is directed to block 1116. Block 1116 directs the microprocessor 400 to enable or assert the override signal for use at block 720 of the movement process 700, as described above. Block 1116 also directs the microprocessor 400 to start a countdown timer T.sub.o. The countdown timer provides a pre-determined override period during which the operator is able to provide inputs to the input device 112 that cause the end effector to be positioned outside of the safe region 616. For example, the timer T.sub.o may be set for 30 or 60 seconds. The microprocessor 400 is then directed to block 1118, which directs the microprocessor to determine whether the countdown timer To has expired. If the timer has not yet expired, block 1118 is repeated. If at block 1118, the timer T.sub.o has expired, the microprocessor 400 is directed to block 1120. Block 1120 directs the microprocessor 400 to disable the override signal. As such, the microprocessor 400 will discontinue transmitting drive signals at block 714 of the movement process 700 for movements of the positioner 314 that are associated with the potential service life reduction on expiry of an override period. Block 1120 then directs the to block 1122, where the movement management process 1100 ends. A further determination at block 712 as to whether the desired spatial positioning of the end effector 316 is outside the safe region 616 may again trigger the movement management process 1100.
[0135] In an alternative embodiment, the service life parameter may correspond to a pre-determined usage time for the instrument 110a. In this case the microprocessor 400 may be configured to decrement a usage time parameter stored in the memory 464 of the monitor board 328 based on an expected reduction in service life-time caused by the movement. Various other alternatives for implementing the service life parameter may include a parameter that includes a pre-determined number of movements of the positioner 314 of the instrument 110a associated with a potential service life reduction. For example, it may be pre-determined that the instrument 110a can safely move outside the safe region 616 a certain number of times and the microprocessor 400 may be configured to decrement a remaining number of these movements stored in the memory 464 of the monitor board 328 each time the override input is received from the operator.
[0136] Referring back to FIG. 1, in the embodiment shown an image of the surgical workspace including anatomical features and the instruments 110 is displayed on the display 120. In one embodiment the movement management block 718, when initiated causes an alert icon 130 to be displayed overlaying a portion of an image of the left hand side tool. In other embodiments the alert may take the form of causing a portion of the screen such as the screen border to be colored red or by causing the screen to flash.
[0137] Alternatively, the workstation 102 may include an audible warning device that is capable of generating an alert tone. The alert tone may be combined with a display of the alert 1130 in FIG. 11B on the secondary display 132.
[0138] As disclosed above, the input device 112 may be configured to generate haptic forces for providing feedback to the operator via to the hand controllers 122 and 124. In one embodiment the alert may involve the movement management block 718 directing the microprocessor 400 to generate a haptic feedback signal that is communicated to the input device 112 via the USB connection 518 to cause generation of haptic forces. As an example, when the left hand instrument 110 generates input signals that would result in the end effector of the right hand instrument 110a moving outside of the safe region 616, then the right hand controller 122 may generate a perceptible force on the hand controller 122 that provides the alert to the operator while grasping the hand controller.
[0139] The instrument 110a in the embodiment described above includes articulated linkages in the form of vertebra 604 that provide smoothly bendable articulated segments sections 800 and 802 shown in FIG. 9. Referring to FIG. 12, in another embodiment an instrument 1200 includes linkages 1202 and 1204 and a wrist 1206 that are articulated at discrete joints 1208 and 1210. The articulated linkages 1202 and 1204 include control wires (not shown) that run through the linkages and activate the instrument 1200 to cause bending at the discrete joints 1208 and 1210. In this embodiment the wrist 1206 includes articulated segments as generally described above that provide a smoothly bendable linkage for positioning an end effector 1212 in a surgical workspace. A second instrument 1214 is similarly configured. The above described embodiments may be implemented for the instruments 1200 and 1214.
[0140] While the above embodiments have been described in terms of a positioning function, the process may be implemented for mechanical functions other than positioning. For example, referring back to FIG. 8, the gripper jaws 614 pf the end effector 316 may be actuated to open and close by one of the actuator slides 320. The applicable actuator slide 320 thus provides an actuation force by tensioning control wires extending along the positioner 314 and coupled to one or both of the gripper jaws 614 of the end effector 316 at the distal end of the positioner. The microprocessor 400 of the workstation processor circuit 114 may be configured to generate end effector drive signals for causing the opposing gripper jaw elements to close with a desired force in proportion to an end effector actuation signal. The actuation signal is generated by the input device 112 in response to a force imparted by the operator on the end effector actuator 520 of the input device 112 shown in FIG. 5. The end effector actuator 520 may provide a force sensitive input that generates end effector input signals in response to a force exerted by the operator on the actuator. The microprocessor 400 may be configured to make a determination that the desired force would result in a potential service life reduction for the actuation of the gripper jaws 614. As described above, the microprocessor 400 may initiate an actuation management function. Similarly, if the microprocessor 400 determines that the desired force would not result in a potential service life reduction for the instrument, end effector drive signals may be generated to cause the end effector to close with the desired force.
[0141] There is provided a non-transitory computer readable medium storing instructions, which when executed by at least one processor, cause the at least one processor to perform any of the methods as generally shown or described herein and equivalents thereof.
[0142] 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 robotic surgery system comprising: an input device configured to generate an input signal in response to manipulation by an operator; and a processor configured to: receive the input signal from the input device; process the input signal to determine a desired spatial positioning of an instrument within an instrument workspace; provide an indication in response to a determination that the desired spatial positioning would result in a movement associated with a potential service life reduction of the instrument; and in response to a determination that the desired spatial positioning would not result in the movement associated with the potential service life reduction of the instrument, cause the instrument to be positioned at the desired spatial positioning in the instrument workspace.
2. The system of claim 1 wherein the processor is configured to make the determination that the desired spatial positioning would result in the movement associated with the potential service life reduction by determining that the desired spatial positioning associated with the input signal lies outside a pre-determined safe region of the instrument workspace.
3. The system of claim 2, wherein the processor is configured to initiate a movement management function by temporarily permitting the operator to extend the pre-determined safe region to permit the instrument to move outside the pre-determined safe region.
4. The system of claim 1 wherein the processor is configured to initiate a movement management function by: causing an alert to be generated to indicate to the operator that the movement is associated with the potential service life reduction; and causing the instrument to remain positioned at a current position in the instrument workspace.
5. The system of claim 4 wherein the input device is configured to deliver a haptic feedback to an operator of the input device, and wherein the processor is configured to generate the alert by causing the input device to deliver the haptic feedback.
6. The system of claim 1 wherein the processor is configured to initiate a movement management function by: causing an alert to be generated to indicate to the operator that the desired spatial positioning is associated with the potential service life reduction; and in response to receiving an override input from the operator: causing the instrument to be positioned at the position in the instrument workspace; and update a service life parameter associated with the instrument based on an expected reduction in service life caused by the movement.
7. The system of claim 6 wherein the service life parameter comprises a pre-determined number of uses for the instrument, the number of uses being decremented each time the instrument is used in a surgical procedure, and wherein the processor is configured to decrement the number of uses based on the expected reduction in service life caused by the movement.
8. The system of claim 6 wherein the service life parameter comprises a pre-determined usage time, and wherein the processor is configured to decrement the usage time based on the expected reduction in service life caused by the movement.
9. The system of claim 6 wherein the service life parameter comprises a pre-determined number of movements associated with the potential service life reduction, and wherein the processor is configured to decrement the number of movements each time the override input is received from the operator.
10. The system of claim 6 wherein the processor is configured to discontinue causing the instrument to be positioned at the position associated with the potential service life reduction responsive to expiry of an override period.
11. The system of claim 6 further comprising a display configured to display an image of the instrument workspace to the operator, and wherein the processor is configured to cause the alert to be generated by causing displaying of an alert icon on the display.
12. The system of claim 11 wherein the processor is configured to cause displaying an interactive alert icon on the display, the interactive alert icon being configured to generate the override input when activated by the operator.
13. The system of claim 6 wherein the input device is configured to deliver a haptic feedback to an operator of the input device, and wherein the processor is configured to generate the alert by causing the input device to deliver the haptic feedback.
14. The system of claim 1 wherein a service life parameter is configured to be stored in a memory associated with the instrument, and wherein the processor is configured to update the service life parameter by writing a new service life parameter to the memory.
15. The system of claim 14 wherein the memory comprises a memory located on the instrument, and wherein the system comprises an instrument interface configured to place the processor in data communication with the memory responsive to the instrument being loaded into the system.
16. The system of claim 15 wherein access for reading and writing to the memory is protected by a security function to prevent unauthorized changes to the service life parameter.
17. The system of claim 14 wherein the memory comprises a memory of the processor, and wherein the service life parameter includes an identifier that associates the service life parameter with the instrument.
18. The system of claim 1 wherein a positioner of the instrument comprises: a plurality of articulated linkages; and a plurality of control wires that are pushed or pulled to cause movement of the articulated linkages to position the instrument within the instrument workspace; wherein the determination that the desired spatial positioning would result in the movement associated with the potential service life reduction is based on an estimated strain in the control wires associated with the movement.
19. The system of claim 1 wherein the instrument comprises an end effector positioned at a distal end of the instrument, and wherein the end effector comprises a pair of opposing elements, the opposing elements being actuated to close by an end effector actuation signal received from the input device, and wherein the processor is configured to: determine an end effector drive signal for causing the opposing elements to close with a desired force in proportion to the end effector actuation signal; provide an indication in response to a determination that the desired force would result in the potential service life reduction of the instrument; and in response to a determination that the desired force would not result in the potential service life reduction of the instrument, cause the end effector to close with the desired force.
20. A method for operating a robotic surgery system, the robotic surgery system including a processor and an input device, the method comprising by the processor: receiving an input signal in response to manipulation of the input device by an operator; processing the input signal to determine a desired spatial positioning of an instrument within an instrument workspace; providing an indication in response to a determination that the desired spatial positioning would result in a movement associated with a potential service life reduction of the instrument; and in response to a determination that the desired spatial positioning would not result in a movement associated with the potential service life reduction of the instrument, causing the instrument to be positioned at the desired spatial positioning in the instrument workspace.
21. The method of claim 20 further comprising initiating an movement management function comprises: generating an alert to indicate to the operator that the desired spatial positioning is associated with the potential service life reduction; and in response to receiving an override input from the operator: causing the instrument to be positioned at the position in the instrument workspace; and updating a service life parameter associated with the instrument based on an expected reduction in service life.
https://ir.titanmedicalinc.com/sec-filings/all-sec-filings/content/0001213900-23-027453/0001213900-23-027453.pdf
https://ir.titanmedicalinc.com/sec-filings/all-sec-filings/content/0001213900-23-027452/0001213900-23-027452.pdf
https://ir.titanmedicalinc.com/sec-filings/all-sec-filings/content/0001213900-23-027449/0001213900-23-027449.pdf
https://ir.titanmedicalinc.com/sec-filings/all-sec-filings/content/0001213900-23-027446/0001213900-23-027446.pdf
what does it mean?
https://www.ldmicro.com/profile/tmd.to/insiders
Nope
"it seems between the time we started our communication till now, the CUSIP has become chilled for all transfers: It is currently chilled due to a liquidation of the company.
We will not be able to transfer this out to the agent to be re-registered into the lient’s name until the reorganization is complete and the security is no longer chilled
Who knows if I will at least be able to register?
The Company continues to evaluate options for the business including the sale and/or licensing of all or a portion of the Company's assets, including its intellectual property. The Company retains 14 employees who are focused on
i) supporting a potential strategic transaction, including a sale and/or licensing of the Company’s assets;
ii) maintaining its intellectual property portfolio;
iii) continuing to complete deliverables pursuant to certain contractual development and supply obligations;
iv) preparing and filings its Annual Filing Documents; and
v) continuing corporate administrative and compliance obligations.
The Company confirms that it is not subject to any insolvency proceedings at this time and that there is no other material information concerning its affairs that have not been generally disclosed
Why make it clear that the games aren't over yet? Mmmm
maybe for this:
Until the Company files the Annual Filings, it will comply with the alternative information guidelines set out in NP 12-203, including issuing bi-weekly default status reports by way of news releases, which will be filed on SEDAR.
https://www.axios.com/2021/07/13/hospitals-are-taking-on-a-surgical-robot-monopoly
the money goes there, here the kingdom of shorts
Only thanks to the sale (begging) of the patents to MDT, which made it look like something more... but it is the only possibility granted to pick up something!
I love that they baked Enos, I'm sorry we only saw 1 minute and a little more of video... it's probably an empty box!
I just wish it was sold to someone other than MDT
Is it possible that it's worth nothing? why be proud and impressed by nothing? and they are engineers
The dozen patents could be for Anos the multiport brother of Enos!
I hope Cary doesn't do Gary
ISRG's monopoly is not good for the market
Too expensive to participate, even J&J trudges along and there's no shortage of money
1. Apple
It's hard to believe that one of the world's largest companies by market capitalization was once in dire straits. While never actually filing for bankruptcy, Apple (AAPL) was on the verge of going bust in 1997. At the last minute, arch-rival Microsoft (MSFT) swooped in with a $150 million investment and saved the company.
People have speculated that Microsoft only did this because it was worried that regulators would regard it as a monopoly without the competition from Apple in the marketplace.
it's over when it's over!
BOOM!
APPARATUS AND METHOD FOR SUPPORTING A ROBOTIC ARM
DOCUMENT ID
US 20230090057 A1
DATE PUBLISHED
2023-03-23
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Shvartsberg; Alexander
Oakville
N/A
N/A
CA
Charles; Robert A.
New Boston
NH
N/A
US
McCaffrey; Robert J.
Hillsborough
NH
N/A
US
Kennedy, III; James J.
Deerfield
NH
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
APPLICATION NO
18/059963
DATE FILED
2022-11-29
DOMESTIC PRIORITY (CONTINUITY DATA)
parent US continuation 16800941 20200225 PENDING child US 18059963
parent US continuation 14279828 20140516 ABANDONED child US 16800941
parent US continuation PCT/CA2011/001386 20111221 PENDING child US 14279828
us-provisional-application US 61565498 20111130
us-provisional-application US 61570560 20111214
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 90/50
2016-02-01
CPCI
B 25 J 9/0084
2013-01-01
CPCI
B 25 J 5/02
2013-01-01
CPCI
B 25 J 18/005
2013-01-01
CPCI
A 61 B 34/30
2016-02-01
CPCA
A 61 B 2090/506
2016-02-01
Abstract
An apparatus and method for medical procedures are provided. The apparatus includes a base, a member having first and second ends, and a support configured to support a plurality of robotic arms. Each robotic arm configured to support and position a robotic instrument according to multiple surgical degrees of freedom.
Background/Summary
INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS
[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.
FIELD
[0002] The present specification here relates in general to a field of robotic instruments, and more particularly, to a robotic system for use in surgery.
BACKGROUND
[0003] With the gradual transition of medical surgery from the conventional process of making a long incision in the patient's body for performing a surgery to the next generation of surgery, i.e. minimal invasive surgery (MIS), continuous research is going on to develop and integrate robotic instruments in a system which can be used for MIS purposes. Such integration can help a surgeon perform a surgery in an error-free manner, and at the same time work in a realistic environment that gives the surgeon a feel of conventional surgery.
SUMMARY OF THE INVENTION
[0004] In accordance with an aspect of the invention, there is provided an apparatus for medical procedures. The apparatus includes a base. The apparatus further includes a member having first and second ends. The first end connected to the base. The apparatus also includes a curved support configured to support a robotic arm. The curved support connected to the second end of the member.
[0005] The member may be configured to position the curved support relative to a surface of a surgical table.
[0006] The member may be articulable.
[0007] The curved support may be further configured to support the robotic arm at a plurality of locations.
[0008] The curved support may be configured to be positionable such that each location of the plurality of locations substantially equidistant from a target area.
[0009] The curved support is further configured to support a plurality of robotic arms.
[0010] The apparatus may further include a first robotic arm of the plurality of robotic arms interchangeable with a second robotic arm of the plurality of robotic arms.
[0011] The curved support may include a support rail disposed on the curved support.
[0012] The support rail may be connected to the second end of the member such that the curved support is configured to slide relative to the member.
[0013] The curved support may include a robotic arm rail disposed on the curved support.
[0014] The robotic arm rail may be configured to slid ably support the robotic arm.
[0015] The first end of the member may be pivotally connected to the base.
[0016] The member may include a first portion and a second portion. The first portion pivotally is connected to the second portion.
[0017] The curved support may be pivotally connected to the second end of the member.
[0018] The first end of the member may be rotatably connected to the base.
[0019] The curved support may be rotatably connected to the second end of the member.
[0020] In accordance with an aspect of the invention, there is provided a method for positioning a robotic instrument for performing robotic surgery. The method involves adjusting a member to position a curved support configured to support a robotic arm. Furthermore, the method involves positioning the robotic arm at a location on the curved support. In addition, the method involves adjusting the robotic arm in accordance with a non-surgical adjustment such that the robotic instrument is within range of a target area.
[0021] Positioning the robotic arm may involve sliding the robotic arm along a robotic arm rail.
[0022] The method may further involve positioning the curved support relative to the member.
[0023] Positioning the curved support relative to the member may involve sliding a support rail slidably connected to the member, the support rail disposed on the curved support.
[0024] The method may further involve positioning the robotic arm relative to the curved support.
[0025] Positioning the robotic arm may involve sliding the robotic arm along the robotic arm rail.
[0026] Adjusting the robotic arm may involve controlling a motor. The motor may be for at least facilitating motion in accordance with the non-surgical adjustment.
[0027] The method may further involve storing a predetermined position of the robotic arm. The predetermined position may be for positioning the robotic instrument within range of the target area.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Reference will now be made, by way of example only, to the accompanying drawings in which:
[0029] FIG. 1 is a perspective view of an operating theater according to an embodiment;
[0030] FIG. 2 is a perspective view of an operating theater according to another embodiment;
[0031] FIG. 3 is a view of a curved support positioned above a patient in accordance with the embodiment of FIG. 2;
[0032] FIG. 4 is a perspective view of a curved support in accordance with another embodiment;
[0033] FIG. 5 is a cross sectional view of the curved support in accordance with the embodiment of FIG. 4;
[0034] FIG. 6 is a perspective view of a curved support in accordance with another embodiment;
[0035] FIG. 7 is a cross sectional view of the curved support in accordance with the embodiment of FIG. 6;
[0036] FIG. 8 is a perspective view of an operating theater according to another embodiment;
[0037] FIG. 9 is a perspective view of a curved support in accordance with another embodiment;
[0038] FIG. 10 is a cross sectional view of the curved support in accordance with the embodiment of FIG. 9;
[0039] FIG. 11 is a view of a curved support and a plurality of robotic arms in accordance with another embodiment;
[0040] FIG. 12 is a view of a surgical apparatus in accordance with another embodiment; and
[0041] FIG. 13 is a flow chart of a method in accordance with an embodiment.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0042] Referring to FIG. 1, a schematic representation of an operating theater in a sterile environment for medical procedures such as Minimal Invasive Surgery (MIS) is shown at 100. It is to be understood that the operating theater 100 is purely exemplary and it will be apparent to those skilled in the art that a variety of operating theaters are contemplated. The operating theater 100 includes a surgical table 104 and a surgical apparatus 108. The surgical table 104 includes a surface 112 supported by a base 116. It is to be understood that the surgical table 104 is not particularly limited to any particular structural configuration. A patient P rests on the surface 112. The surgical apparatus 108 is for supporting a robotic arm 128, which in turn supports a robotic instrument 132. In the embodiment shown in FIG. 1, the surgical apparatus 108 includes a base unit 120, a member 124, and a curved support 126.
[0043] In a present embodiment, the base unit 120 is generally configured to support other components of the surgical apparatus 108 which include the member 124, and the curved support 126. In addition, the base 120 also is configured to indirectly support the robotic arm 128 and the movements associated with the surgical apparatus 108 and connected components such as the robotic arm 128. In terms of providing physical support, the base unit 120 is mechanically structured to support the weight and movement of the member 124, and the curved support 126 in this embodiment. For example, the base unit 120 can be bolted to a fixed structure such as a wall, floor, or ceiling. Alternatively, the base unit 120 can have a mass and a geometry such that when the base unit 120 is free-standing, it will support the member 124, the curved support 126 and the robotic arm 128. In some embodiments, the base unit 120 can further include a moveable cart to provide easy movement of the surgical apparatus 108 around the operating theater 100.
[0044] In addition to providing structural support, the base unit 120 can also house various other components. For example, the base unit 120 can include mechanical controls (not shown), or electrical controls (not shown), or both. The mechanical controls can control gears, cables or other motion transfer mechanisms (not shown) connected to a motor, or other mechanical driver such as a hydraulic system, for moving various components of the surgical apparatus 108 and/or the robotic arm 128. In some embodiments, a control panel is disposed on the base 120 and configured to receive input associated with a movement of a component of the surgical apparatus 108, such as the member 124 or the robotic arm 128. In other embodiments, electrical signals or electromagnetic signals can be received from an external input device (not shown) to control the movements of other components of the surgical apparatus 108.
[0045] Referring again to FIG. 1, the member 124 is generally configured to support the curved support 126, the robotic arm 128, and their associated movements. Therefore, in the present embodiment the member 124 acts as a support connected to the base 120 at a first end and to the curved support 126 at a second end. In terms of providing physical support, the member 124 is constructed of materials that are mechanically structured to support the weight of the curved support 126, the robotic arm 128, and their associated movements. For example, the member 124 can be constructed from materials such that it is rigid enough to be suspended above the patient P. Some examples of suitable materials from which the member 124 can be constructed include steel, titanium, aluminum, plastics, composites and other materials commonly used to provide structural support. In the present embodiment, the member 124 is configured such that it is positionable relative to the base unit 120. The member 124 includes a moveable joint at the base for providing a pivotal degree of freedom about an axis 136. It will now be understood that in embodiments where the member 124 is movable relative to the base, the movement of the member 124 can be controlled by the base unit 120 through various controls described above. In other embodiments, the member 124 can be rigidly fixed to the base 120 such that the member 124 can only be positioned by moving the base 120.
[0046] The curved support 126 is generally configured to support the robotic arm 128 and its associated movements. In the present embodiment, the curved support 126 is substantially “C-shaped” and is connected to the member 124 approximately at the center. It is to be understood that the connection point of the curved support 126 is not particularly limited. For example, the curved support 126 can be connected to the member 124 at one end of the curved support in certain applications. In terms of providing physical support, the curved support 126 can be constructed of materials that are mechanically structured to support the weight of the robotic arm 128 and its associated movements. Some examples of suitable materials from which the curved support 126 is constructed include steel, titanium, aluminum, plastics, composites and other materials commonly used to provide structural support. For example, the curved support 126 can be constructed from materials such that it is rigid enough to maintain its shape while being suspended above the patient P and connected to the member 124. In some embodiments, the curved support 126 can be configured such that it is positionable relative to the member 124. For example, the curved support 126 can include a plurality of mounts (not shown) disposed on the curved support 126 at which the curved support 126 can be connected to the member 124. It is to be appreciated that the plurality of mounts would provide a curved support 126 that is positionable relative to the member 124.
[0047] Referring again to FIG. 1, in the present embodiment, the robotic arm 128 is generally configured to support the robotic instrument 132 and can include many configurations. As discussed above, the robotic arm 128 is mechanically structured to support and position the robotic instrument 132 both prior to and during surgery. Some examples of suitable materials from which the robotic arm 128 is constructed include steel, titanium, aluminum, plastics, composites and other materials commonly used to provide structural support. The robotic arm 128 is further configured such that the robotic instrument 132 is positionable relative to the base unit 120 and the surface 112. It is to be appreciated that the robotic arm 128 can move the robotic instrument away from the patient P prior to surgery such that the patient P can be properly positioned for the surgical procedure without interference from the robotic instrument 132. In addition, it is also to be appreciated that the robotic arm 128 can move the robotic instrument 132 during the surgical procedure to allow for the robotic instrument 132 to be positioned during surgery.
[0048] The degrees of freedom of the robotic arm 128 are not particularly limited and the robotic arm 128 can have any number of degrees of freedom as well as different types of degrees of freedom. A degree of freedom refers to an ability to move according to a specific motion. For example, a degree of freedom can include a rotation of the robotic arm 128 or a component thereof about a single axis. Therefore, for each axis of rotation, the robotic arm 128 is said to have a unique degree of freedom. Another example of a degree of freedom can include a translational movement along a path. For example, the robotic arm 128 can include an actuator for extending and contracting a portion of the robotic arm 128 linearly. It will now be apparent that each additional degree of freedom increases the versatility of the robotic arm 128. By providing more degrees of freedom, it will be possible to position the robotic arm 128 and the robotic instrument 132 in a wider variety of positions or locations to reach around obstacles. Furthermore, it is to be understood that in some embodiments, the member 124 can also include various degrees of freedom. It will now be apparent that each additional degree of freedom increases the versatility of the surgical apparatus 108.
[0049] The degrees of freedom of the robotic arm 128 fall generally into two different categories. One category includes non-surgical degrees of freedom. Non-surgical degrees of freedom refer to degrees of freedom which are adjusted prior to the surgical procedure. Once the surgical procedure has begun, the non-surgical degrees of freedom are generally not adjusted. Therefore, the purpose of the non-surgical degrees of freedom is to allow for the robotic instrument 132 to be positioned near a target area of patient P prior to surgery. The target area is the area where the surgical procedure is performed on the patient P. The other category of degrees of freedom includes surgical degrees of freedom. In contrast with non-surgical degrees of freedom, the surgical degrees of freedom are generally not adjusted prior to surgery and are intended to be adjusted during the surgical procedure to allow for the robotic instrument 132 to be moved accordingly as part of the surgical procedure. In general, surgical degrees of freedom are adjusted during surgery based on inputs received from an input device (not shown) under the control of a trained medical professional. For example, the base 120 can include a receiver for the inputs for controlling the surgical degrees of freedom. In some instances, it may be necessary to adjust the non-surgical degrees of freedom prior to surgery in order to configure the non-surgical degrees of freedom to a starting point prior to surgery.
[0050] In the present embodiment, the robotic instrument 132 is generally configured for performing MIS and is responsive to inputs received from an input device. In general, the input device is under the control of a trained medical professional performing the MIS. The configuration of the robotic instrument 132 is not particularly limited. For example, the robotic instrument 132 generally can move in accordance with at least one degree of freedom based on the received input. In addition, the robotic instrument can include working members which are also not particularly limited. It is to be appreciated that the number of degrees of freedom as well as the type and number of working members of the robotic instrument can be modified to meet the needs of the type of surgical procedure to be performed. For example, the robotic instrument 132 can include two working members wherein each working member corresponds to a jaw of a pair of forceps. In another example, the working members can be part of other surgical instruments such as scissors, blades, graspers, clip appliers, staplers, retractors, clamps or bi-polar cauterizers or combinations thereof. The robotic instrument 132 can also only include a single working member such as imaging equipment, for example a camera or light source, or surgical instruments such as scalpels, hooks, needles, catheters, spatulas or mono-polar cauterizers.
[0051] In general terms, the surgical apparatus 108 is configured to support the robotic arm 128 and robotic instrument 132 for performing MIS responsive to inputs from the input device (not shown). However, it is to be re-emphasized that the structure shown in FIG. 1 is a schematic, non-limiting representation only. For example, although the surgical apparatus 108 shown in FIG. 1 only supports one robotic arm 128, it is to be understood that the surgical apparatus 108 can be modified to support a plurality of robotic arms 128, each robotic arm of the plurality of robotic arms 128 having its own separate robotic instrument 132. Furthermore, it is also to be understood that where the surgical apparatus 108 supports a plurality of robotic arms 128, each of the robotic instruments 132 can have different structures. For example, the plurality of robotic instruments 132 can include a scalpel for cutting tissue and a pair of forceps for holding tissue. It is also to be understood that the surgical apparatus 108 may be part of a surgical system. In some embodiments, the surgical system may only include the surgical apparatus 108. Indeed, different configurations are contemplated herein.
[0052] In use, the robotic instrument 132 is positioned relative to the surface 112 on which the patient P rests by positioning the base 120 and then adjusting the member 124 and the robotic arm 128. In embodiments where the curved support 126 can also be positioned, the robotic arm 128 can be further positioned by positioning the curved support 126 relative to the member 124. It is to be understood that the mechanisms used to position the robotic instrument 132 are not particularly limited and that the structure shown in FIG. 1 is merely a schematic, non-limiting representation. In the present embodiment, the member 124 can rotate about the axis 136. Therefore, the member 124 is rotatably connected to the base 120 such that the member 124 can be rotated about the axis 136 to position the curved support 126 above the patient P. In addition, the robotic arm 128 can be adjusted using the various non-surgical degrees of freedom to further position the robotic instrument 132 prior to surgery.
[0053] It is also to be appreciated that the ability to position the robotic instrument 132 by adjusting the robotic arm 128 and the member 124 is advantageous because it can facilitate positioning the patient P on the surgical table 104 prior to surgery without interference from the surgical apparatus 108. After the patient P is positioned, the surgical apparatus 108 is adjusted to allow the robotic instrument 132 to reach the target area. In particular, the target area refers to the general area where incisions are made and the robotic instruments are inserted into the patient P.
[0054] Referring to FIG. 2, another embodiment of a surgical apparatus 108a is generally shown. Like components of the surgical apparatus 108a bear like reference to their counterparts in the surgical apparatus 108, except followed by the suffix “a”. The surgical apparatus 108a includes abase unit 120a, a member 124a, and a curved support 126a for supporting a robotic arm 128a, which in turn supports a robotic instrument 132a.
[0055] In a present embodiment, the base unit 120a is generally configured to support other components of the surgical apparatus 108a which includes a member 124a, and a curved support 126a. In addition, the base 120a is also configured to support a robotic arm 128a connected to the curved support 126a. In terms of providing physical support, the base unit 120a is mechanically structured to support the weight and movement of the member 124a, the curved support 126a and the robotic arm 128a. In the present embodiment, the base unit 120a has a mass such that the base unit 120a can support the member 124a, the curved support 126a and the robotic arm 128a. Furthermore, in the embodiment shown in FIG. 2, the base unit 120a includes a plurality of wheels 140a to provide easy movement of the entire surgical apparatus 108a around the operating theater 100a. In the present embodiment, each wheel 140a of the plurality of wheels preferably includes a locking mechanism (not shown) to hold the base stationary during the surgical procedure. In other embodiments, the based 120a can be modified such that a locking mechanism can only be included in only at least one wheel of the plurality of wheels 140a. In further embodiments, a separate locking mechanism such as a foot extending from the base can engage the floor to prevent movement of the base. Furthermore, it is also to be appreciated that in some embodiments, no locking mechanism may be required if the inertia of the base and relative frictional force associated with moving the surgical apparatus 108a is sufficient to prevent movement during a surgical procedure.
[0056] Referring again to FIG. 2, the member 124a is generally configured to support the curved support 126a, the robotic arm 128a and their associated movements. In the present embodiment the member 124a is connected to the base 120a at a first end and to the curved support 126a at a second end. The member 124a of the present embodiment differs from the member 124 of the previous embodiment by including additional degrees of freedom. In the embodiment shown in FIG. 2, the member 124a includes five degrees of freedom. The five degrees of freedom include two rotational degrees of freedom about a first rotation axis 136a and a second rotation axis 144a. In addition, the member 124a also includes three pivotal degrees of freedom where the member is articulated and pivotable about a first pivot axis 148a, second pivot axis 152a and third pivot axis 156a. It is to be understood that the five degrees of freedom provide a wide range of positions and orientations for the curved support 126a. For example, the curved support 126a can be raised and lowered by adjusting the member 124a about the pivot axes 148a, 152a, and 156a. In addition, the member 124a can also be independently pivoted about each pivot axis 148a, 152a, and 156a. Therefore, the first pivot axis 148a can provide a pivotal connection between the member 124a and the base 120a. Similarly, the second pivot axis 152a can provide a pivotal connection between two portions of the member 124a. In addition, the third pivot axis 156a can provide a pivotal connection between the member 124a and the curved support 126a.
[0057] Furthermore, the orientation of the curved support 126a can be rotatably connected to the member 124a such that the curved support 126a can be adjusted using rotation about the rotation axis 144a. It is to be appreciated that rotation about the rotation axis 144a is advantageous for surgical procedures where the patient P is positioned on an inclined surface or where it is desired to configure the robotic arm 128a and the instrument 132a at a specific angle at the target area for a specific surgical procedure. It is to be understood that a wide range of further motions and positions of the curved support 126a can be obtained using various combinations of adjustments of the five degrees of freedom. Furthermore, the member 124a is capable of positioning the curved support away from the surgical table 104a to facilitate positioning the patient P. After the patient P is positioned on the surface 112a of the surgical table 104a, the member 124a can move the curved support 126a above the patient P and into position for the surgical procedure using the various independent degrees of freedom discussed above.
[0058] In terms of providing physical support, the member 124a is constructed of materials that are mechanically structured to support the weight of the curved support 126a, the robotic arm 128a and their associated movements. For example, the member 124a can be constructed from materials similar to those used for the member 124 of the previous embodiment. The five degrees of freedom associated with the member 124a in the present embodiment can be categorized as non-surgical degrees of freedom. As mentioned above, non-surgical degrees of freedom include degrees of freedom which are to be adjusted prior to the actual surgical procedure and fixed such that they are generally not adjusted during the surgical procedure. Therefore, since the member 124a includes various pivot and rotational degrees of freedom, locking mechanisms for each degree of freedom can be provided to prevent the member from moving during a surgical operation. The locking mechanisms are not particularly limited and can include a pin lock, a clamp, or a bolt. In other embodiments, the locking mechanism may be electromagnetically controlled. In some embodiments, the force of friction can be sufficient to hold the member in a given position.
[0059] Referring to FIG. 3, a schematic representation of the curved support 126a positioned above a patient P is generally shown in isolation from the remainder of theater 100a. The curved support 126a is generally configured to support the robotic arm 128a and its associated movements. In the present embodiment, the curved support 126a is connected to the member 124a approximately at one end (as shown in FIG. 2). It is to be understood that that connection point of the curved support 126a to the member 124a is not particularly limited. Furthermore, the curved support 126a is generally configured to support the robotic arm 128a at a plurality of robotic arm mounts 164a along the curved support 126a. It is to be appreciated that the means for supporting the robotic arm 128a is not particularly limited and can include bolting the robotic arm to various positions, magnetically (or electromagnetically) attaching the robotic arm, or attaching the robotic arm using a pin locking mechanism. In other embodiments, the curved support 126a can be modified to be a curved robotic arm holder that uses a clamping system to hold the robotic arm 128a. As shown in FIG. 3, in the present embodiment, the curved support 126a is generally positioned for a surgical procedure such that each robotic arm mount of the plurality of robotic arm mounts 164a is substantially equidistant from a target area 160a where incisions are made for the robotic instruments 132a to be inserted.
[0060] Referring again to FIG. 2, in the present embodiment, the robotic arm 128a is generally configured to support the robotic instrument 132a. Both the robotic arm 128a and the robotic instrument 132a are substantially similar to the robotic arm 128 and the robotic instrument 132 of the previous embodiment. The degrees of freedom of the robotic arm 128a are not particularly limited and the robotic arm 128a can have any number of degrees of freedom as well as different types of degrees of freedom as discussed above in connection with the previous embodiment.
[0061] Referring to FIGS. 4 and 5, another embodiment of a curved structure 126b is shown. Like components of the curved structure 126b bear like reference to their counterparts in the curved structure 126a, except followed by the suffix “b”. The curved support 126b is generally configured to support a robotic arm (not shown in FIG. 4) and its associated movements.
[0062] In the present embodiment the curved support 126b includes a support rail 168b which is configured to be slidably connected to a member 124b. It is to be understood that the support rail 168b is configured to allow the curved support 126b to slide relative to the member 124b. Therefore, an additional non-surgical degree of freedom will be provided to allow for the robotic instrument (not shown) to be positioned near a target area. Since the support rail 168b provides anon-surgical degree of freedom which should not be permitted to move during a surgical procedure, a locking mechanism is also generally included to prevent movement. It is to be appreciated that the configuration of the support rail 168b is not particularly limited. In the present embodiment shown in FIGS. 4 and 5, the support rail 168b extends substantially along the entire length of the curved support 126b. In other embodiments, the support rail 168b can only extend for a portion of the length of the curved support 126b. Alternatively, the support rail 168b can also extend beyond the length of the curved support 126b in some embodiments to provide a larger range of motion. In other embodiments still, the curved support 126b can be modified to use another mechanism to provide a slidable motion. For example, other mechanisms can include the use of slots or tracks which allow for a sliding motion.
[0063] Referring to FIGS. 6 and 7, another embodiment of a curved structure 126c is shown. Like components of the curved structure 126c bear like reference to their counterparts in the curved structure 126a, except followed by the suffix “c”. The curved support 126c is generally configured to support a robotic arm and its associated movements.
[0064] In the present embodiment the curved support 126c includes a robotic arm rail 172c which is configured to support a robotic arm 128c slidably connected to the curved support 126c. It is to be understood that the robotic arm rail 172c is configured to allow the robotic arm 128c to slide relative to the curved support 126c. Therefore, an additional non-surgical degree of freedom will be provided to allow for a robotic instrument 132c to be positioned near a target area. Since the robotic arm rail 172c provides a non-surgical degree of freedom, a locking mechanism is also generally included to prevent movement during the surgical procedure. It is to be appreciated that the configuration of the robotic arm rail 172c is not particularly limited. In the present embodiment shown in FIGS. 6 and 7, the robotic arm rail 172c extends substantially along the entire length of the curved support 126c. In other embodiments, the robotic arm rail 172c can only extend for a portion of the length of the curved support 126c. Alternatively, the robotic arm rail 172c can also extend beyond the length of the curved support 126c in some embodiments to provide a larger range of motion. In other embodiments still, the curved support 126c can be modified to use another mechanism to provide a slidable motion. For example, other mechanisms can include the use of slots or tracks which allow for a sliding motion.
[0065] Referring to FIG. 8, another embodiment of a surgical apparatus 108d is generally shown. Like components of the surgical apparatus 108d bear like reference to their counterparts in the surgical apparatus 108a, except followed by the suffix “d”. The surgical apparatus 108d includes abase unit 120d, a member 124d, and a curved support 126d for supporting a plurality of robotic arms 128d, 129d, 130d and 131d. The robotic arms 128d, 129d, 130d and 131d further support a plurality of robotic instruments 132d, 133d, 134d, and 135d, respectively. It is to be understood the robotic instruments 132d, 133d, 134d, and 135d generally have different structures which include different types of surgical instruments. Therefore, it is to be appreciated that the plurality of arms allows for different tools to be used in a surgical procedure.
[0066] In the present embodiment, it is to be understood that the robotic arms 128d, 129d, 130d and 131d can be interchanged with each other. Therefore, for surgical procedures which contemplate placement of the robotic arms 128d, 129d, 130d and 131d in different positions, the change can be made prior to the surgical procedure. Furthermore, it is to be appreciated that when the curved support 126d is designed such that each robotic arm mount of the curved support 126d is substantially equidistant from a target area, the interchanging of robotic arms 128d, 129d, 130d and 131d is facilitated since the length of each of the robotic arms 128d, 129d, 130d and 131d would be similar.
[0067] It is also to be appreciated that the design of the curved support 126d allows for the lengths of the robotic arms 128d, 129d, 130d and 131d to be decreased when compared with using a straight robotic arm support. Therefore, the physical footprint and volume of space occupied by the surgical apparatus will be decreased since the robotic arms would have to extend further to reach the target area. It is to be understood that this is particularly advantageous in an operating theater where space is often limited due to the large amount of equipment used in a surgical procedure.
[0068] Referring to FIGS. 9 and 10, another embodiment of a curved structure 126e is shown. Like components of the curved structure 126e bear like reference to their counterparts in the curved structure 126c, except followed by the suffix “e”. The curved support 126e is generally configured to support a plurality of robotic arms 128e, 129e, 130e and 131e and their associated movements.
[0069] In the present embodiment the curved support 126e includes a plurality of robotic arm rails 172e, 173e, 174e, and 175e which are slidably connected to the robotic arms 128e, 129e, 130e and 131e, respectively. It is to be understood that the robotic arm rails 172e, 173e, 174e, and 175e are configured to allow the robotic arms 128e, 129e, 130e and 131e, respectively, to slide independently relative to the curved support 126e. Therefore, an additional non-surgical degree of freedom will be provided for each robotic arm. Therefore, since the robotic arm arms 128e, 129e, 130e and 131e provide a non-surgical degree of freedom, locking mechanisms are also generally included to prevent movement during the surgical procedure. Furthermore, it is to be appreciated that since each of the robotic arms 128e, 129e, 130e and 131e is connected to a separate track, the robotic arms 128e, 129e, 130e and 131e interchange positions by simply sliding past each other if space permits.
[0070] Referring to FIG. 11, another embodiment of a plurality of robotic arms 128f, 129f, 130f and 131f is shown. Like components bear like reference to their counterparts, except followed by the suffix “f”. The plurality of robotic arms 128f, 129f, 130f and 131f are generally configured allow for an addition non-surgical degree of freedom using off-axis apparatus 180f, 181f, 182f, and 183f.
[0071] In the present embodiment, the off-axis apparatus 180f, 181f, 182f, and 183f provides extension members 188f, 189f, 190f, and 191f, respectively, which rotate about axes 196f, 197f, 198f, and 199f. It is to be understood that the rotation about the axes 196f, 197f, 198f, and 199f allows the robotic arms 128f, 129f, 130f and 131f to be staggered relative to the curved support 126f. Therefore, it is to be appreciated that the robotic arms 128f, 129f, 130f and 131f can be positioned closer to each other for applications which require robotic instruments (not shown) to be in closer proximity such as oral surgery applications thus providing for additional non-surgical degrees of freedom.
[0072] Referring to FIG. 12, yet another embodiment of a surgical apparatus 108g is generally shown. The surgical apparatus 108g includes abase unit 120g, a member 124g, and a curved support 126g for supporting a robotic arm 128g.
[0073] In the present embodiment, the member 124g is generally configured to support the curved support 126g, the robotic arm 128g and their associated movements. The member 124g is connected to the base 120g at a first end and to the curved support 126g at a second end. The member 124g of the present embodiment differs from the member 124a of a previous embodiment by including four-bar linkages. In the present embodiment, a first bar 250g and a second bar 254g are pivotally connected to a first connector 264g and a second connector 268g of the member 124g to form a first four-bar linkage. In addition, a third bar 258g and a fourth bar 262g are pivotally connected to the second connector 268g and a third connector 272g of the member 124g to form a second four-bar linkage as shown in FIG. 12. It is to be understood that the four-bar linkage system shown in FIG. 12 allows for the orientation of the curved support 126g to remain substantially constant as the position of the curved support 126g is adjusted.
[0074] It is to be understood that combinations and subsets of the embodiments and teachings herein are contemplated. As a non-limiting example, the curved support 126d of the surgical apparatus 108d can be modified with teachings of the curved support 126c having a single robotic arm rail 172c. It is to be appreciated that in this embodiment, the robotic arms 128d, 129d, 130d and 131d would no longer be able to interchange positions by sliding past each other since the robotic arms 128d, 129d, 130d and 131d would then share the same track.
[0075] In another variation of the surgical apparatus 108d, all non-surgical degrees of freedom can be adjusted using a plurality of motors (not shown). For example, each motor can adjust a non-surgical degree of freedom based on input from an input device. Alternatively, each motor can also be used to provide assistance for adjusting anon-surgical degree of freedom based on input from a force feedback system. It is to be understood that a combination of the two types of motor assistance is also contemplated. Furthermore, in some embodiments, a control console (not shown) can store various pre-configured positions for a specific patient or a specific procedure. The pre-configured positions can involve specific positions of the non-surgical degrees of freedom specific to either a patient or a particular type of surgery. Therefore, the non-surgical positioning of the robotic arms 128d, 129d, 130d and 131d as well as the member 124d and curved support 126d can be calculated and stored using a simulation program prior to a surgical procedure. For example, the simulation program can use patient specific data such as Magnetic Resonance Imaging (MRI), CT Scan and/or X-ray results to calculate a pre-configured position. It is to be appreciated that by using pre-configured positions determined outside of an operating theater, valuable time spent in the operating theater can be saved. Referring now to FIG. 13, a method for positioning a robotic instrument for performing robotic surgery is shown generally at 500. Method 500 can perform on one of the surgical apparatus described above as well as any variations contemplated. For the purposes of this discussion, the method 500 will be discussed primarily in connection with the surgical apparatus 108 shown in FIG. 1. It is to be emphasized that the reference to the surgical apparatus 108 does not limit the application of the method 500 discussed below to only the surgical apparatus 108. Furthermore, the method 500 can be carried out using a processor programmed to control motors for adjusting non-surgical degrees of freedom.
[0076] Block 510 comprises adjusting the member 124 to position the curved support 126 above the patient P. The manner in which the adjustment is carried out is not particularly limited. In the present example, the member can only be rotated about the axis 136. It is to be understood that in other embodiments, the member can have more degrees of freedom to allow for further adjustments. In other embodiments still, a motor can be used to facilitate the adjustment.
[0077] Block 520 comprises positioning the robotic arm 128 at a location on the curved support 126. As discussed above, the robotic arm 128 can be positioned either by connecting the robotic arm to the desired location. For example, discrete robotic arm mounts can be provided as in the curved support 126a. In other embodiments such as the one including the curved support 126c, positioning the robotic arm 128c can involve sliding the robotic arm 128c along a robotic arm rail 172c. It is to be understood that in another variation, the robotic arm 128c can be modified to interact with a leadscrew driven by a motor to provide motion along the robotic arm rail 172c.
[0078] Block 530 comprises adjusting the robotic arm 128 in accordance with non-surgical adjustments such that the robotic instrument 132 is within range of a target area. The manner in which the adjustment is carried out is not important. In the present example, the robotic arm 128 includes joints which can be adjusted according to a non-surgical degree of freedom and locked in place. In other examples, motors can drive a gear, lead screw or harmonic drive to carry out the adjustment.
[0079] It is to be understood that variations of the method 500 are contemplated. As a non-limiting example, the method can additionally involve adjusting the curved support 126c relative to the member. In one embodiment, the curved support 126c can include a support rail configured to slidably connect to the member 124. As another non-limiting example, the method can also involve storing pre-determined position to reduce the amount of time needed in the operating theater.
[0080] While specific embodiments have been described and illustrated, such embodiments should be considered illustrative only and should not serve to limit the accompanying claims.
Claims
1. A robotic surgery apparatus for performing a surgical procedure, the apparatus comprising: a base unit comprising a plurality of wheels to facilitate movement of the robotic surgery apparatus, one or more of the plurality of wheels being selectively lockable to lock a position of the base unit; a member assembly having a proximal end coupled to the base unit and extending to a distal end, the member assembly comprising a first portion and a second portion, the first portion pivotally connected to the second portion; a non-linear support arm extending between from a first end to a second end, the non-linear support arm coupled to the distal end of the member assembly; four robotic arms operatively coupled to the non-linear support arm between the first end and the second end via four robotic arm mounts, wherein two of the robotic arm mounts proximate the first end and the second end of the non-linear support arm are vertically lower than two of the robotic arm mounts closer to a center of the non-linear support arm, each of the four robotic arms configured to removably couple to a robotic instrument configured to move relative to its associated robotic arm, the associated robotic arm being configured to support and position the robotic instrument according to multiple surgical degrees of freedom.
2. The apparatus of claim 1, wherein each of the plurality of wheels is selectively lockable to lock the position of the base unit.
3. The apparatus of claim 1, wherein the member assembly is pivotally connected to the base.
4. The apparatus of claim 1, wherein the member assembly is rotatably connected to the base.
5. The apparatus of claim 1, wherein the non-linear support arm is coupled to the distal end of the member assembly at the first end of the non-linear support arm.
6. The apparatus of claim 1, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different heights relative to the base unit.
7. The apparatus of claim 1, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different angles relative to the base unit.
8. A robotic surgery apparatus for performing a surgical procedure, the apparatus comprising: a base unit comprising a plurality of wheels to facilitate movement of the robotic surgery apparatus, one or more of the plurality of wheels being selectively lockable to lock a position of the base unit; a member assembly having a proximal end coupled to the base unit and extending to a distal end, the member assembly comprising a first portion and a second portion, the first portion pivotally connected to the second portion; a non-linear support arm extending between from a first end to a second end, the non-linear support arm coupled to the distal end of the member assembly; a plurality of robotic arms operatively coupled to the non-linear support arm between the first end and the second end via a plurality of robotic arm mounts, wherein the robotic arm mounts proximate the first end and the second end of the non-linear support arm are vertically lower than the robotic arm mounts closer to a center of the non-linear support arm, each of the plurality of robotic arms configured to removably couple to a robotic instrument configured to move relative to its associated robotic arm, the associated robotic arm being configured to support and position the robotic instrument according to multiple surgical degrees of freedom.
9. The apparatus of claim 8, wherein the member assembly is pivotally or rotatably connected to the base.
10. The apparatus of claim 8, wherein the non-linear support arm is coupled to the distal end of the member assembly at the first end of the non-linear support arm.
11. The apparatus of claim 8, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different heights relative to the base unit.
12. The apparatus of claim 8, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different angles relative to the base unit.
13. A robotic surgery apparatus for performing a surgical procedure, the apparatus comprising: a base unit comprising a plurality of wheels to facilitate movement of the robotic surgery apparatus, one or more of the plurality of wheels being selectively lockable to lock a position of the base unit; a member assembly having a proximal end coupled to the base unit and extending to a distal end; a non-linear support arm extending between from a first end to a second end, the non-linear support arm coupled to the distal end of the member assembly; a plurality of robotic arms operatively coupled to the non-linear support arm between the first end and the second end via a plurality of robotic arm mounts, wherein the robotic arm mounts proximate the first end and the second end of the non-linear support arm are vertically lower than the robotic arm mounts closer to a center of the non-linear support arm, each of the plurality of robotic arms configured to removably couple to a robotic instrument configured to move relative to its associated robotic arm, the associated robotic arm being configured to support and position the robotic instrument according to multiple surgical degrees of freedom.
14. The apparatus of claim 13, wherein the member assembly is pivotally or rotatably connected to the base.
15. The apparatus of claim 13, wherein the member assembly comprises a first portion and a second portion, the first portion pivotally connected to the second portion.
16. The apparatus of claim 13, wherein the non-linear support arm is coupled to the distal end of the member assembly at the first end of the non-linear support arm.
17. The apparatus of claim 13, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different heights relative to the base unit.
18. The apparatus of claim 13, wherein one or both of the member assembly and non-linear support arm are configured to support the robotic arm at different angles relative to the base unit.
19. The apparatus of claim 13, further comprising a locking mechanism configured to lock a degree of freedom of the member assembly relative to the base unit.
BOOM!
SYSTEMS, METHODS, AND APPARATUSES FOR CLEANING A CAMERA DURING A MEDICAL PROCEDURE
DOCUMENT ID
US 20230087044 A1
DATE PUBLISHED
2023-03-23
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Genova; Perry A.
Chapel Hill
NC
N/A
US
Simons; Dustin Christopher
Chapel Hill
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
17/933982
DATE FILED
2022-09-21
DOMESTIC PRIORITY (CONTINUITY DATA)
us-provisional-application US 63247186 20210922
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 90/39
2016-02-01
CPCI
H 04 N 23/51
2023-01-01
CPCI
A 61 B 90/30
2016-02-01
CPCI
A 61 B 34/37
2016-02-01
CPCI
A 61 B 90/70
2016-02-01
CPCI
A 61 B 90/36
2016-02-01
CPCI
A 61 B 34/20
2016-02-01
CPCI
A 61 B 34/35
2016-02-01
CPCA
A 61 B 2034/2057
2016-02-01
CPCA
A 61 B 2090/363
2016-02-01
Abstract
One or more camera lenses used for robotic surgery can be cleaned without the need to remove and reinsert one or more cameras. The approaches described herein facilitate cleaning the one or more lenses or one or more protective windows on demand and without the need to remove and reinsert the one or more cameras. Cleaning can include one or more of washing or wiping the one or more lenses or one or more protective windows.
Background/Summary
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to U.S. Provisional Patent Application No. 63/247,186, filed on Sep. 22, 2021, which is incorporated by reference in its entirety.
TECHNICAL FIELD
[0002] This disclosure relates generally to positioning a camera for imaging and more particularly to positioning a camera inside a body cavity of a patient for capturing images during a medical procedure and cleaning the camera.
DESCRIPTION OF RELATED ART
[0003] Miniaturized cameras are used during investigative medical procedures and surgical procedures, such as laparoscopic surgery and computer assisted robotic surgery, to produce images of a site of the procedure within a body cavity of the patient. A camera generally includes an illumination source for illuminating the site of the procedure and a lens for capturing images of the site. Known camera systems suffer from a variety of shortcomings, including large size, poor resolution, obstacles with being sterilized, lack of reliability, difficulties with being cleaned or replaced during medical procedure, and the like. The present disclosure overcomes these and other problems associated with known camera systems, methods, and apparatuses.
SUMMARY
[0004] A visualization device for a robotic surgery apparatus can include a housing configured to be removably attached to a mounting interface of the robotic surgery apparatus. The housing can include first and second openings positioned on an exterior of the housing. The visualization device can include a camera shaft including a distal end comprising at least one camera that includes at least one lens covered by at least one window. The distal end can be configured to be inserted through the first opening in the housing, pass through an interior of the housing, and exit the housing through the second opening in the housing. The distal end can be configured to extend away from the housing toward a region of interest outside the housing and retract back toward the housing. The visualization device can include a chamber positioned in the interior of the housing and configured to receive at least a portion of the distal end. The chamber can be configured heat up and clean the at least one window of the at least one camera.
[0005] The visualization device of the preceding paragraph and/or any of the visualization devices disclosed herein can include one or more of the following features. The visualization device can include an electronic circuitry positioned in the interior of the housing and proximal to the chamber. The electronic circuitry can be configured generate heat that regulates temperature of the chamber to at least one of prevent fogging of the at least one lens or the at least one window or clean the at least one window of the at least one camera. The electronic circuitry can include an illumination source configured to produce illumination for the region of interest. The chamber can be positioned in a conduit comprising the first and second openings. The visualization device can include first and second seals configured to seal off a portion of the conduit to form the chamber. The chamber can be configured to retain a fluid for cleaning the at least one window of the at least one camera. The housing can include first and second openings positioned at least partially on the exterior of the housing. The first opening can be configured to permit introduction of the fluid into the chamber. The second opening can be configured to permit removal of the fluid from the chamber.
[0006] The visualization device of any of the preceding paragraphs and/or any of the visualization devices disclosed herein can include one or more of the following features. The camera shaft can include a proximal end attached to the housing. The camera shaft can include a fiducial marker. The visualization device can include a sensor configured to detect the fiducial marker. The visualization device can include an electronic processing circuitry. The electronic processing circuitry can be configured to cause the camera shaft to be retracted responsive to receiving a user input, wherein the distal end is positioned at a first position prior to retracting the flexible camera shaft. The electronic processing circuitry can be configured to cause stopping of the retraction of the camera shaft responsive to receiving a signal from the sensor indicating detection of the fiducial maker by the sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber. The electronic processing circuitry can be configured to cause extension of the camera shaft to return the distal end to the first position.
[0007] The visualization device of any of the preceding paragraphs and/or any of the visualization devices disclosed herein can include one or more of the following features. The visualization device can include a position sensor configured to monitor position of the distal end. The visualization device can include an electronic processing circuitry. The electronic processing circuitry can be configured to cause the camera shaft to be retracted responsive to receiving a user input and further responsive to an output of the position sensor, wherein the distal end is positioned at a first position prior to retracting the camera shaft. The electronic processing circuitry can be configured to cause stopping of the retraction of the camera shaft responsive to the output of the position sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber. The electronic processing circuitry can be configured to, responsive to the output of the position sensor, cause the camera shaft to be extended to position the distal end at the first position.
[0008] The visualization device of any of the preceding paragraphs and/or any of the visualization devices disclosed herein can include one or more of the following features. The housing can be configured to receive a cleaning strip that includes at least one cleaning portion configured to wipe the at least one window. The cleaning strip can include alternating wiping portions and lumen portions. A wiping portion can be configured to wipe the at least one window and a lumen portion configured to allow the camera shaft to pass through and enter the first opening. Disclosed is a kit including the visualization device of any of the preceding paragraphs and/or any of the visualization devices disclosed herein and the cleaning strip. The cleaning strip can be arranged on a reel configured to be positioned above or below the device.
[0009] An insertion device for a robotic surgery apparatus can include a housing. The housing can include a first portion including a camera channel positioned in an interior of the first portion and extending along at least a portion of the first portion. The camera channel can be configured to permit insertion and removal of a primary camera shaft. The primary camera shaft can include a primary camera with at least one lens covered by at least one window. The housing can include a second portion including a passage configured to permit the primary camera shaft to pass through. The passage can be aligned with the camera channel to permit at least a portion the primary camera shaft to enter the camera channel, pass through the camera channel, and exit the camera channel. The passage can include an opening positioned on an exterior of the housing. The housing can include a chamber positioned in the passage and configured to heat up and clean the at least one window of the primary camera.
[0010] The insertion device of the preceding paragraph and/or any of the insertion devices disclosed herein can include one or more of the following features. The insertion device can include an electronic circuitry positioned in the interior of the second portion and proximal to the chamber. The electronic circuitry can be configured generate heat that regulates temperature of the chamber to at least one of: prevent fogging of the at least one lens or the at least one window or clean the at least one window of the at least one camera. The first portion can include a second camera channel configured to receive a secondary camera. The electronic circuitry can include an illumination source configured to produce illumination for one or more of the primary camera or the secondary camera. The secondary camera can be non-removable. The insertion device can include first and second seals configured to seal off a portion of the passage to form the chamber. The chamber can be configured to retain a fluid for cleaning the at least one window of the at least one camera. The housing can include first and second openings positioned at least partially on the exterior of the first portion. The first opening can be configured to permit introduction of the fluid into the chamber. The second opening can be configured to permit removal of the fluid from the chamber.
[0011] The insertion device of any of the preceding paragraphs and/or any of the insertion devices disclosed herein can include one or more of the following features. The primary camera can include a fiducial marker. The insertion device can include a sensor configured to detect the fiducial marker. The insertion device can include an electronic processing circuitry. The electronic processing circuitry can be configured to cause the primary camera shaft to be retracted responsive to receiving a user input, wherein the distal end is positioned at a first position prior to retracting the primary camera shaft. The electronic processing circuitry can be configured to cause stopping of the retraction of the primary camera shaft responsive to receiving a signal from the sensor indicating detection of the fiducial maker by the sensor, wherein causing the retraction of the primary camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber. The electronic processing circuitry can be configured to cause extension of the primary camera shaft to return the distal end to the first position.
[0012] The insertion device of any of the preceding paragraphs and/or any of the insertion devices disclosed herein can include one or more of the following features. The insertion device can include a position sensor configured to monitor position of the distal end. The insertion device can include an electronic processing circuitry. The electronic processing circuitry can be configured to cause the primary camera shaft to be retracted responsive to receiving a user input and further responsive to an output of the position sensor, wherein the distal end is positioned at a first position prior to retracting the primary camera shaft. The electronic processing circuitry can be configured to cause stopping of the retraction of the primary camera shaft responsive to the output of the position sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber. The electronic processing circuitry can be configured to, responsive to the output of the position sensor, cause the camera shaft to be extended to position the distal end at the first position.
[0013] The insertion device of any of the preceding paragraphs and/or any of the insertion devices disclosed herein can include one or more of the following features. The housing can be configured to receive a cleaning strip that includes at least one cleaning portion configured to wipe the at least one window. The cleaning strip can include alternating wiping portions and lumen portions. A wiping portion can be configured to wipe the at least one window and a lumen portion configured to allow the primary camera shaft to pass through and enter the passage through the opening. Disclosed is a kit including the insertion device of any of the preceding paragraphs and/or any of the insertion devices disclosed herein and the cleaning strip. The cleaning strip can be arranged on a reel configured to be positioned above or below the device.
[0014] Any of the insertion devices of any of preceding paragraphs and/or described below can be used with any of visualization devices and/or robotic surgery systems described herein.
[0015] In some cases, a robotic surgery apparatus as described and/or illustrated is provided. In some cases, a visualization device as described and/or illustrated is provided. In some cases, an insertion device as described and/or illustrated is provided.
[0016] In some cases, a method of using and/or operating a robotic surgery apparatus or any of its components as described and/or illustrated is provided. In some cases, a method of using and/or operating a visualization device as described and/or illustrated is provided. In some cases, a method of using and/or operating an insertion device as described and/or illustrated is provided.
[0017] Any of the methods of any of preceding paragraphs and/or described below can be used with any of insertion devices, visualization devices, and/or robotic surgery systems and/or any of the methods of operating and/or using such devices and/or systems described herein.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Embodiments of the present disclosure will now be described hereinafter, by way of example only, with reference to the accompanying drawings in which:
[0019] FIG. 1 illustrates a robotic surgery system in accordance with some embodiments;
[0020] FIG. 2 illustrates an insertion and visualization device according to some embodiments;
[0021] FIGS. 3A-3B illustrate an insertion device according to some embodiments;
[0022] FIGS. 4A-4C illustrate a visualization device according to some embodiments;
[0023] FIGS. 5A-5C and 6 illustrate camera lens cleaning arrangements according to some embodiments.
DETAILED DESCRIPTION
Overview
[0024] When performing medical procedures (for example, with assistance of surgery using a robotic surgical system) one or more instruments can be inserted into a body cavity of a patient. The insertion process has some risk since instruments may inadvertently damage organs or tissue while being inserted. Incorrect positioning of the one or more instruments in the body cavity may also result in a limited range of motion within the body cavity.
[0025] As an example, when performing abdominal surgery, at least one incision would be made in a body wall of the patient's abdomen. A trocar or other access port, may then be inserted through the incision. A camera can be first inserted through the access port and used by a surgeon to capture and relay stereoscopic images of a surgical site. One or more instruments can be inserted following the camera insertion. Views provided by the camera facilitate insertion of the one or more instruments and their manipulation of the surgical site.
[0026] Referring to FIG. 1, a robotic surgery system is shown generally at 100. In some implementations, the robotic surgery system 100 can be configured to facilitate a medical procedure performed via a single incision. A single access port can be inserted into the incision to provide access for one or more instruments and cameras. In some cases, the robotic surgery system 100 can be configured to facilitate a medical procedure performed via multiple incisions and/or multiple access ports.
[0027] The system 100 can include a workstation 102 and a patient cart 104. The patient cart 104 can include a central unit or drive unit 106 to which instrument insertion and visualization devices 108 can be attached or mounted. The workstation 102 can include an input device 112 that receives operator input and produces input signals and may also be configured to generate feedback to the operator. The feedback can be visual, auditory, haptic, or the like. The input device 112 can be implemented using a haptic interface available from Force Dimension, of Switzerland, for example.
[0028] The workstation 102 can further include electronic circuitry 114 in communication with the input device 112 for receiving the input signals and generating control signals for controlling the robotic surgery system, which can be transmitted to the patient cart 104 via an interface cable 116. In some cases, transmission can be wireless and interface cable 116 may not be present. The electronic circuitry 114 can include one or more processors or controllers. The electronic circuitry 114 can function as a master for controlling movement of one or more surgical instruments or cameras mounted to the patient cart 104. The patient cart can include electronic circuitry 118, which can include one or more processors or controllers. The electronic circuitry 118 can function as a slave and be controlled by the electronic circuitry 114. Communication between the electronic circuitry 114 of the workstation 102 and the electronic circuitry 118 of the patient cart 104 may wired (such as, via the cable 116) or wireless. The workstation 102 may be located remotely from the patient cart 104, such as outside the operating room or in a non-sterile area of the operating room.
[0029] The input device 112 can include right and left hand controllers 122 and 124, which are configured to be grasped by the operator's hands and moved to produce input signals at the input device 112. The patient cart 104 can include electronic circuitry 118, which can include one or more processors or controllers. The electronic circuitry 118 can receive control signals from the electronic circuitry 114 and produces slave control signals operable to control the instrument insertion and visualization devices 108 and one or more instruments (and their respective end effectors) during a surgical procedure. The one or more instruments can include dexterous tools, such as grippers, needle drivers, staplers, dissectors, cutters, hooks, graspers, scissors, coagulators, irrigators, suction devices, which are used for performing a surgical procedure. While both master and slave processor circuits are illustrated, in other embodiments a single processor circuit may be used to perform both master and slave functions. The workstation 102 can also include a user interface, such as a display 120 (which can be referred to as a primary display) in communication with the electronic circuitry 114 for displaying information (such as, body cavity images) for a region or site of interest (for example, a surgical site, a body cavity, or the like) and other information to an operator. The workstation 102 can include an auxiliary display 123 (which can be referred to as a secondary display) for displaying auxiliary surgical information, for example, patient medical charts, pre-operation images, images acquired during operation, or the like. In some cases, the secondary display 123 may be a touch display and may also be configured to display graphics representing additional inputs for controlling the workstation 102 or the patient cart 104. The workstation 102 can also include one or more controllers, such as one or more pedals 126, for controlling the robotic surgery system. For example, one or more pedals 126 can include a clutch pedal that allows repositioning one or more controllers 122 or 124 without corresponding movement of the associated instrument.
[0030] The workstation 102 can include electronic circuitry (of which the electronic circuitry 114 can be part of), configured to, among other things, control one or more of the display 120 or the secondary display 123. The electronic circuitry can receive image data from one or more cameras described herein and operate one or more of the display 120 or the secondary display 123 to display the image data. The electronic circuitry can process the image data, such as filter, decode, encode, recode, compress, decompress, combine, or the like.
[0031] Referring to FIG. 2, insertion and visualization devices 108 can include an insertion device 210 and a visualization device 220. The insertion device 210 can include a housing 212 and a plurality of passages, lumens, tubes, conduits, or channels 214 for inserting and guiding one or more instruments. The plurality of channels 214 can be enclosed in another housing. The two housings can be connected. As is illustrated, the plurality of channels, such as radial channels, can be formed within a housing, which can be radially shaped. The plurality of channels 214 can also permit insertion of a camera lumen, cable, elongate shaft, or tube 224. As is illustrated, a distal end 224B of the camera tube can extend beyond the housing including the plurality of channels 214. At least a portion of the distal end 224B can be positioned near or in the site of interest. One or more cameras can be positioned at the distal end 224B. The camera tube 224 can also include a proximal end (illustrated as 224A in FIG. 4A) and a distal end (illustrated as 224B in FIG. 2). In some implementations, a channel of the plurality of channels 214 can house or support a camera in addition to or instead of the one or more cameras of the camera tube 224.
[0032] The visualization device can include a housing 222 to which the proximal end 224A of the camera tube can be removably (or non-removably) attached. The housing 222 can include an opening in which a one or more drivers, such as at least one of 232A or 232B, can be positioned. The one or more drivers can move the camera tube 224 through the opening in the housing 222 and a channel of the plurality of channels 214 so that the distal end 224B extends away from one or more of the housings 212 or 222 or retracts back toward or into one or more of the housings 212 or 222. The camera tube 224 can form a loop around at least a portion of the housing 222 as illustrated in FIG. 2. The diameter of the loop can be increased when the distal end 224B is retracted toward or into one or more of the housings 212 or 222 and be decreased when the distal end 224B is extended away from one or more of the housings 212 or 222.
[0033] One or more cables 240 can be used to transmit control signals and data, such as analog or digital image data provided by the one or more cameras positioned at the distal end 224B or in the insertion device 210, to the patient cart 104. Control signals and data can be communicated to and from the electronic circuitry (for example, via the electronic circuitry 118 as described herein). One or more cables 240 can transmit power to the one or more cameras. One or more cables 240 can be plugged into a port positioned on the patient cart 104. In some cases, transmission can be wireless and one or more cables 240 may not be present.
[0034] The camera tube 224 can be rigid or flexible (such as, bendable). At least a portion of the camera tube 224 can be flexible or substantially flexible in order to form a loop and/or be guided through the one or more openings and/or channels are described herein. In some cases, looping the camera tube 224 upward around at least the portion of the housing 222 as described can permit the camera tube to have sufficient length for reaching near and/or into the site of interest, while eliminating or reducing the risk of the camera tube 224 coming into contact with non-sterile object, such as the floor.
Insertion Device
[0035] FIG. 3A illustrates a front perspective view of the insertion device 210. The housing 212 of the insertion device can include an opening 330 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the housing 212. The opening 330 can include a seal, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids into the insertion device 210 and/or prevent backflow of fluid, gas, or solids from the insertion device. Any of the seals described herein can include one or more valves, such as a duckbill valve. As illustrated in FIG. 6 showing a cross-section view of the insertion device 210, the housing 212 can include an interior passage 322 connecting the opening 330 to a channel 320 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through the channel. The interior passage 322 can be a channel positioned in an interior of the housing. The interior passage 322 can be bent or curved to facilitate various positional configurations of the visualization device 220 with respect to the insertion device 210 and in particular the housing 222 with respect to housing 212. The interior passage 322 can include an opening that aligns with or includes the opening 330 and another opening that aligns with or includes opening of the channel 320. In some cases, sealing material can be used on or around the interior passage 322 in addition to or instead of the seal in the opening 330. As illustrated in FIG. 2, the distal end 224B of the camera tube 224 can exit the channel 320 and extend away from the insertion device 210 toward a site of interest, such as a surgical site, body cavity, wound, or the like. Also, the distal end 224B of the camera tube 224 can retract toward or into the channel 320 toward the insertion device 210 and away from the site of interest.
[0036] The plurality of channels 214 can include one or more instrument channels 340 configured (for example, sized and/or shaped) to permit one or more instruments to pass through and extend away from the insertion device 210 toward the site of interest. As is illustrated, there can be two channels for left and right instruments.
[0037] In some cases, the interior passage 322 includes at least a portion with a central axis parallel to a central axis of the one or more instrument channels 340. The interior passage 322 can include at least a portion (for example, the curved portion illustrated in FIG. 6) with a central axis not parallel to a central axis of the one or more instrument channels 340.
[0038] The plurality of channels 214 can include a channel 310 for one or more cameras of the insertion device 210. In some implementations, a camera can be positioned at a distal end of the insertion device 210. Such one or more cameras (which can be referred to as a secondary camera) can facilitate positioning adjacent to or insertion into the site of interest of at least one of one or more instruments or at least one of the one or more cameras of the visualization device 220 (such cameras can be referred to as a primary camera, which can be endoscope or endoscopic cameras). The secondary camera can include a substantially flexible or substantially rigid lumen, cable, or elongate shaft that is inserted into the channel 310. The secondary camera can be integrated with the insertion device 210 or be removable. An opening of the channel 310 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around the opening of the channel 310 in addition to or instead of the seal(s) in the opening.
[0039] One or more illumination sources can be provided, for instance, at the distal end of the insertion device 210. For instance, an illumination source 372 can be positioned as shown. The illumination source 372 can include one or more fibers (which can have a high numerical aperture). The illumination source 372 can provide white (or other visible or invisible) light. As another example, an illumination source 374 can be positioned as shown. The illumination source 374 can provide indocyanine green (ICG) illumination. In use, the illumination sources 372 and 374 can be switched as needed.
[0040] In some cases, the primary camera can be a stereo or stereoscopic camera, which can produce three-dimensional representation of at least a portion of the site of interest, and the secondary camera can be a two-dimensional camera. The secondary camera can have lower resolution than the primary camera. For example, the secondary camera can have 1920×1080 pixels (or 1080p) resolution. The primary camera can have resolution of 1080p, 4K, 8K, or the like. The channel 310 for the secondary camera can be smaller in size (such as, narrower or having smaller diameter) than the channel 320 for the primary camera. The secondary camera may also include an illumination source or device for illuminating the site of interest. The illumination device can be incorporated as part of the secondary camera such that the illumination device and a lens system of the secondary camera all fit within the diameter of the channel 310. In some cases, the illumination device can include optical fiber(s). For example, the illumination device can be an annular system with strands of fiber wrapping around a lens system so that illumination is provided to the site of interest, for instance, using known means of fiber illumination.
[0041] In some cases, close proximity of the instrument channels 340 to one or more camera channels 310 or 320 can facilitate single port surgery (although, multiple port surgery is also contemplated).
[0042] The housing 212 can include one or more attachment mechanisms 360. For example, the one or more attachment mechanisms 360 can be buttons positioned on opposite sides of the housing 212. Although a single button is illustrated in FIGS. 3A and 3B, two buttons positioned on the opposite sides of the housing 212 can be utilized. The buttons can be configured to removably attach the insertion device 210 to a mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 222 of the visualization device 220). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 222 of the visualization device 220). The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from supporting pins of the mounting interface (and/or the housing 222).
[0043] FIG. 3B illustrates a rear perspective view of the insertion device 210. Openings of the one or more instrument channels 340 can include one or more seals, which may be covered by a closure (such as a latch), to prevent ingress of fluid, gas, or solids. In some cases, sealing material can be used on or around at least one of the one or more openings of the one or more instrument channels 340 in addition to or instead of the seal(s) in the one or more openings. The housing 212 can include one or more openings 350 for receiving one or more supporting rods of pins, which can be positioned on the mounting interface. The one or more attachment mechanisms 360 can permit attachment to and release of the insertion device 210 from the supporting pins (and/or from the visualization device 220). For example, the one or more attachment mechanisms 360 can activate or release a latch or lock, such as a cam lock, cam lock with a spring, or the like.
Visualization Device
[0044] FIG. 4A illustrates a front perspective view of the visualization device 220. The housing 222 of the visualization device can include openings 410 and 412 configured (for example, sized and/or shaped) to permit the camera tube 224 to pass through. As illustrated, the proximal end 224A of the camera tube 224 (illustrated for convenience without a middle portion) can be attached to the housing. The camera tube 224 can loop around at least the portion of the housing 222 when the distal end 224B is inserted through one or more of the openings 410 and 412 (see FIG. 2). The openings 410 and 412 can be aligned to permit the camera tube 224 to pass through. A bottom opening (illustrated as 502 in FIG. 4B) aligned with the opening 412 can be positioned on the bottom of the housing 222 to permit the camera tube 224 to exit the housing 222 after passing through an interior portion of the housing (such as, the interior portion illustrated in FIGS. 4B and 4C). This bottom opening 502 can be positioned adjacent to (such as over or on top of) the opening 330 in the housing of the insertion device 210 when the visualization device 220 is positioned adjacent to and/or attached to the insertion device. One or more of the openings 410, 412, or the bottom opening can include a seal, which may be covered by a closure (such as a latch) as described herein.
[0045] With reference to FIGS. 4B and 4C, which illustrate a rear cross-sectional view of the visualization device 220, a conduit 510 can connect the openings 410 and 412 to the opening 502. The conduit 510 can be configured (for example, sized and/or shaped) to enclose the camera tube 224 and permit at least the distal end 224B of the camera tube to pass through. For reasons described herein, the conduit 510 can be made of heat-conducting material.
[0046] The housing 222 can include a drive opening 414. The drive opening can be positioned on a side of the housing 222 (for example, the back of the housing) that attaches to the mounting interface of the drive unit 106 as described herein. The drive opening 414 can be configured (for example, sized and/or shaped) to receive one or more drivers (at least one of 232A or 232B), such as a plurality of drive rollers as described herein (see, for example, FIG. 2). With reference to FIG. 2, the plurality of drive rollers can include right drive roller 232A and left drive roller 232B (collectively, referred to as 232). When inserted through the opening 410, the camera tube 224 is positioned between the right and left drive rollers 232A and 232B and contacts the drive rollers. The drive rollers 232 can contact, grip, or abut the camera tube 224. The drive rollers can advance the camera tube 224 down or retract it up through the drive opening 414. Movement of the drive rollers 232 in a first direction can advance the camera tube 224 forward or down through the drive opening 414 in order to advance the distal end 224B toward the site of interest. For example, the right driver roller 232A can spin counterclockwise and the left drive roller 232B can spin clockwise in order to advance the camera tube 224 forward. Such combination of the counterclockwise and clockwise movement of the drive rollers can constitute the first direction. Movement of the drive rollers 232 in a second direction can retract the camera tube 224 backward or up through the drive opening 414 in order to retract the distal end 224B away from the site of interest. For example, the right drive roller 232A can spin clockwise and the left drive roller 232B can spin counterclockwise in order to retract the camera tube 224 backward. Such combination of the clockwise and counterclockwise movement of the drive rollers can constitute the first direction. For each of the right and left drive rollers, movement in the second direction can be opposite to movement in the first direction even in cases where drive rollers spin in opposite directions during movement in the first and/or section direction.
[0047] Drive rollers 232 can have an external surface that is made out of and/or is covered by soft material, such as rubber, foam, or the like, that grips an external surface of the camera tube 224 in order to one or more of advance or retract the camera tube. In some implementations, a portion of the camera tube 224 positioned between the drive rollers 232 can slip along the drive rollers, and as a result the camera tube would not be advanced or retracted. For example, slipping can be advantageous when a user's limb becomes caught in the loop formed by the camera tube 224 or in case of malfunction to prevent or lessen the risk of injury to the user or damage to one or more of the camera tube 224, the visualization device 220, the insertion device 210, or any other part of the system 100. At least one of one or more of the material on the external surface of the drive rollers 232 or on an external surface of the camera tube 224 or a surface pattern on the surface of one or more of the external surface of the drive rollers 232 or the external surface of the camera tube 224 can be selected to have a friction coefficient that results in slippage in case force on the camera tube exceeds a maximum force, such as, a maximum frictional force. The maximum frictional force can depend on one or more of the friction coefficient between the drive rollers 232 and camera tube 224 or a clamping force between the drive rollers 232 and camera tube 224. In some cases, the maximum frictional force can be 5N or less or more, 7N or less or more, 10N or less or more, or the like. Surface pattern on the external surface of the drive rollers 232 (and/or the external surface of the camera tube 224) can affect the friction coefficient. For example, ribbed surface pattern, toothed surface pattern, or the like can increase the friction coefficient compared to a smooth or substantially smooth surface pattern.
[0048] At least a portion of the distal end 224B of the camera tube 224 can articulate to permit viewing of at least a portion of the site of interest. The housing 222 can include one or more actuators 420 configured to control movement of the distal end 224B of the camera tube 224, which can include one or more cameras. In some cases, a first actuator can control pitch or tilt (up/down movement) of the distal end 224B, and a second actuator can control yaw or pan (left/right movement) of the distal end 224B. The first and second actuators can control movement of the distal end 224B by manipulating links positioned in the interior of the camera tube 224.
[0049] The housing 222 can include one or more attachment mechanisms 428. For example, the one or more attachment mechanisms 428 can be buttons positioned on opposite sides of the housing 222. The buttons can be configured to removably attach the visualization device 220 to the mounting interface of the drive unit 106 (or, in some cases, additionally or alternatively to the housing 212 of the insertion device 210). Pushing the buttons can release the insertion device 210 from the mounting interface (and/or the housing 212). The one or more attachment mechanisms 428 can permit attachment to and release of the visualization device 220 from one or more supporting rods or pins (and/or the housing 212). As described herein, the one or more attachment mechanisms 428 can activate or release a lock, such as a cam lock, cam lock with spring, or the like. The housing 222 can include one or more openings 424 for receiving one or more the supporting pins that can be positioned on the mounting interface.
[0050] Additional details of the insertion and visualization devices are disclosed in U.S. Pat. Nos. 10,624,532 and 10,398,287 and U.S. Patent Publication Nos. 2020/0113645 and 2020/0113414, the disclosure of each of which is incorporated by reference in its entirety. Additional details of controlling one or more of the tilt or pan of the distal end 224B of the camera tube are similar to those described in U.S. Patent Publication No. 2016/0143633 and U.S. Pat. No. 9,629,688, which are assigned to the assignee of the present application and the disclosure of each of which is incorporated by reference in its entirety.
Camera Lens Cleaning
[0051] One or more of the primary camera or the secondary camera can include one or more lenses. For example, the distal end 224B of the camera tube 224 can include one or more lenses. One or more lenses of the primary or secondary camera can focus light from and/or reflected by at least the portion of the site of interest on one or more image sensors, which capture the visual representation of the site of interest. One or more lenses can include concave and/or convex lenses. In some cases, one or more lenses can be moved to adjust the zoom (such as, an optical zoom). One or more lenses can be covered with one or more protective windows (sometimes referred to as one or more windows). One or more protective windows can be transparent. When in use in or proximal to a body cavity, one or more lenses or one or more protective windows may become covered with fluids (such as, blood) or tissue, which can impair visibility, hinder the surgeon's ability to perform a surgical procedure, or endanger the patient. The one or more lenses or one or more protective windows can be cleaned by removing the camera tube 224 of the primary camera or the secondary camera from at least one of (or from both) the insertion and visualization devices. However, removing the camera can be undesirable because it can be time consuming and cumbersome. The approaches described herein facilitate cleaning the one or more lenses or one or more protective windows on demand and without the need to remove and reinsert the camera. Cleaning can include one or more of washing or wiping the one or more lenses or one or more protective windows.
[0052] FIG. 5A illustrates a visualization device 620, which can be similar to the visualization device 220. The visualization device can include a housing 622 that, while schematically being illustrated as having a rectangular shape, can be similar to the housing 222. As descried herein, the camera tube 224 can be attached to the housing 622, and the distal end 224B of the camera tube 224 can be inserted into the housing 622 through the opening 410. The conduit 610 (which can be similar to the conduit 510) can be position in the housing 622 and connected to the opening 410. As described herein, at least the distal end 224B of the camera tube 224 can pass through the conduit 610.
[0053] One or more lenses or one or more protective windows of the camera tube 224 (which can be positioned in the distal end 224B) can be cleaned inside the conduit 610. For example, fluid (such as, saline or another washing solution) can be introduced through a fitting, port, or opening 642, which can include one or more seals. One or more lenses or one or more protective windows can be positioned and washed in a region 650, which can extend or otherwise be adjacent to the port 642 and a fitting, port, or opening 644 for removing dirty fluid or other waste. Washing can include exposing the one or more lenses or one or more protective windows to the fluid, such as, allowing the fluid to flow across the one or more lenses or one or more protective windows. Washing can include moving the distal end 224B up or down and/or rotating the distal end 224B. One or more scrubbers can be positioned in the conduit 410 for washing the one or more lenses or one or more protective windows. The region 650 can be a chamber (and may be referred to as a cleaning chamber or reservoir). The port 644 can include one or more seals. As described herein in connection with FIG. 5C, one or more wipes can be moved across the one or more lenses or one or more protective windows to one or more of clean, dry, or wipe. The one or more wipes can be replaceable. Wiping of the one or more lenses or one or more protective windows can be performed automatically (for instance, as described below) or manually.
[0054] When the camera tube 224 (such as, the distal end 224B) is positioned in a body cavity, the temperature of the camera (including one or more lenses or one or more protective windows) can be increased. Upon removal of the camera from the body cavity for cleaning, there is a risk that the one or more lenses or one or more protective windows may become covered with condensation (or fog up) due to the temperature change between the interior of the body cavity and a typically cold operating room. To prevent such undesirable occurrence, the one or more lenses or one or more protective windows can be cleaned in an environment with an increased temperature (relative to the ambient temperature of the room where the surgical procedure is being performed and where the system 100 is at least partially positioned). The increased temperature can be similar to that inside the body cavity.
[0055] In some cases, fluid can be removed using a vertical passage or channel, such as 702 in FIG. 6. In some variations, the fluid may not be removed or may be partially removed. Small amount of fluid (such as, saline) may be introduced into the patient.
[0056] Region 630 can include one or more heat generators (or devices) for warming up the one or more lenses or one or more protective windows (for instance, directly or indirectly through warming up the fluid in the chamber 650). One or more heat generators can be external to the one or more of primary camera or secondary camera. One or more heat generators can include one or more illumination sources (such as, one or more light emitting diodes (LEDs), one or more halide light source, etc.) for the one or more of a primary camera or secondary camera. It can be advantageous to direct or redirect heat produced by the one or more illumination sources for preventing one or more lenses or one or more protective windows from fogging up. In some cases, one or more heat generators can include electronic components, such as an integrated circuit component (for instance, a processor), capacitor, inductor, or the like. In some implementations, one or more dedicated heat generators can be used (such as, one or more heating elements). One or more heatsinks for transferring heat to warm up the one or more lenses or one or more protective windows can be positioned in the region 630. The camera tube 224 may not include illumination sources or other types of heat generators.
[0057] Utilizing one or more external heat generators can be advantageous for promoting patient safety. Positioning one or more heat generators within a primary or secondary camera can be risky since the one or more heat generators may malfunction inside the body cavity, which can cause discomfort or injury to the patient. With one or more external heat generators, even if a failure were to occur upon insertion of the primary or secondary camera into the body cavity, patient safety would not be comprised since there no active heating would be provided to the primary or secondary camera inserted into the body cavity.
[0058] In some cases, one or more heat generators may not be positioned in the housing 222 (or in the housing 212). For instance, a separate adapter, port, or the like with one or more heat generators can be provided to warm up the one or more lenses or one or more protective windows. A separate adapter can be connected to one or more of the housings 222 or 212 for warming up the one or more lenses or one or more protective windows.
[0059] FIG. 5B illustrates a visualization device 620', which can be similar to the visualization device 620, connected to an insertion device (which can be similar to the insertion device 210) having a housing 612. The visualization device 620' can have a housing 622' (which can be similar to the housing 622). As descried herein, the camera tube 224 can be attached to the housing 622', and the distal end 224B of the camera tube 224 can be inserted through a top opening (such as, the opening 410). At least the distal end 224B of the camera tube 224 can pass through a passage (such as, the conduit 610 connected to the opening 410).
[0060] The housing 622' can include a cleaning chamber 650' (sometimes referred to as a washing chamber), which can be similar to the cleaning chamber 650. The cleaning chamber 650' can be sealed with seals 676, which are illustrated as dashed lines. The seals can be radial seals. Ports 642' and 644' can communicate with the chamber for the introduction and removal of fluid. A channel connected to the cleaning chamber 650' can be formed between ports 642' and 644'. Ports 642' and 644' can be similar to the ports 642 and 644. The cleaning chamber 650' can be positioned proximate to an illumination circuit board 680, which can include one or more illumination sources and/or one or more electronic components. As described herein, heat generated by the illumination circuit board 680 can maintain the fluid in the chamber at an elevated temperature in order to prevent fogging up of the one or more lenses or one or more protective windows. One or more heat sinks or thermal transfer components (or medium) can be positioned between the illumination circuit board 680 and the cleaning chamber 650' to facilitate the transfer of heat to the cleaning chamber 650'.
[0061] In some cases, the camera can be cleaned automatically. The camera tube 224 can include one or more fiducial points or markers 662, which can be metal objects (such as, pads), indents or other surface features, patterns or images (such as, an asterisk as shown in FIG. 5B) printed or positioned on the surface, or the like. One or more sensors 664 can be positioned inside the housing 622' proximate to the conduit 610. The one or more sensors 664 can be optical sensors, magnetic sensors, or the like and can be configured to detect the one or more fiducial markers 662. In use, the distal end 224B of the camera tube can be positioned at a first position, which can be inside a body cavity (or another location, such as proximal to the body cavity). In the first position, the distal end 224 can be extended away from the insertion device. The camera tube 224 can be automatically retracted from the body cavity (or from another location outside the insertion device) responsive to receiving a user input, such as a press of a button (which can be positioned on the drive unit 106).
[0062] The one or more fiducial markers 662 can be positioned on the camera tube 224 at one or more locations selected such when the one or more fiducial markers 662 are positioned proximal to the one or more sensors 664, the camera (including one or more lenses or one or more protective windows) is positioned in the cleaning chamber 650'. For example, the distance between the one or more fiducial markers 662 and the tip of the camera tube 224 can be equal to (or substantially equal to) the distance between the one or more sensors 664 and the middle of the cleaning chamber 650' (or another location in the cleaning chamber 650'). In some cases, the one or more fiducial markers 662 can be positioned in the distal end 224B of the camera tube 224, and the one or more sensors 664 can be positioned in or proximal to the cleaning chamber 650'.
[0063] The camera tube 224 can continue to be retracted until the one or more fiducial markers 662 are positioned proximal to the one or more sensors 664. Responsive to the one or more fiducial markers 662 being detected by the one or more sensors 664, retraction of the camera tube 224 can be halted. At this time, one or more camera lenses or one or more protective windows would be positioned within the cleaning chamber 650'. The chamber 650' can be pre-filled with fluid. The one or more lenses or one or more protective windows of the camera can be cleaned and/or wiped, as described herein.
[0064] Subsequently, the camera tube 224 can be extended so that the distal end 224B is returned to the first position. For example, the number of rotations of the drive rollers 232A and 232B can be counted when the camera tube 224 is being retracted. When the camera tube is being extended, the drive rollers can be rotated for the same number of rotations to return the distal end 224B to the first position. As another example, a position sensor (such as, a position encoder) can be used to determine the position of the distal end 224B. Automatic cleaning can include wiping and/or cleaning the one or more lenses or one or more protective windows as described herein in connection with FIG. 5C. Automatic cleaning can be performed under control of an electronic processing circuitry, such as one or more processors of the electronic circuitry 118.
[0065] In some cases, the positon of the distal end 224B can be tracked or monitored. For example, a position sensor can be utilized. The position sensor can be one or more of a position encoder (such as, a rotary encoder or linear encoder), capacitive displacement sensor, eddy-current sensor, Hall effect sensor, inductive sensor, optical sensor, electrical transformer, piezo-electric sensor, potentiometer, or ultrasonic sensor. When the position of the distal end is known, one or more fiducial markers 662 and the one or more sensors 664 may be omitted. Positioning one or more camera lenses or one or more protective windows within the cleaning chamber 650' and returning the distal end 224B to the first position can be performed using output of the position sensor. Tracking position of the distal end 224B can be used in case of a rigid camera tube 224.
[0066] The cleaning chamber 650' is illustrated as being positioned in the visualization device. With reference to FIG. 6, which illustrates a cross-sectional view of the insertion device 210, any of the cleaning chambers described herein can be positioned in the insertion device. For example, a cleaning chamber can be positioned in the passage 322, such as in the region 702 or another region in the straight or curved part of the passage 322 or in the channel 320. In some cases, a cleaning chamber can be positioned between the visualization and insertion devices, such as in the region 688 illustrated in FIG. 5B. In some implementations, a cleaning chamber can be incorporated into a separate housing that can be, for example, positioned between the visualization and insertion devices. Such separate housing can include any of the ports, seals, conduits, or the like described and/or illustrated in connection with the camera cleaning arrangements described herein. For instance, an adapter 684 that includes the cleaning chamber 650', ports 642' and 644', and seals 676 can be positioned or included in a separate housing. The adapter 684 can be disposable.
[0067] FIG. 5C illustrates a strip 690, which can be arranged on a reel or spool positioned above or below the visualization device or insertion device. The strip 690 can be made of paper or another flexible material. The strip 690 can be replaced as needed. The strip 690 can be used for cleaning and/or wiping one or more lenses or one or more protective windows of the primary camera (and/or the secondary camera). For instance, the strip 690 can include one or more cleaning portions 694 for cleaning and/or wiping the one or more lenses or one or more protective windows and one or more lumens or openings 692 for allowing the camera tube 224 of the primary camera to pass through (for instance, into the opening 330 and/or the passage 322). The openings 692 and cleaning portions 694 can alternate, as shown in FIG. 5C. One or more cleaning portions 694 (or other areas of the strip 690) can include fluid for cleaning the one or more lenses or one or more protective windows.
[0068] In use, a strip 690 can pass between the visualization device housing 222 and insertion device housing 212. The camera tube 224 can be retracted to be level (or substantially level) with the strip 690. An opening 692 can allow the camera tube 224 to be retracted without damaging the strip 690. The strip 690 can be moved (to the left or right) so that a cleaning portion 694 passes across the one or more lenses or one or more protective windows to wipe and/or clean the one or more lenses or one or more protective windows. The strip can be moved again to align the distal end 224B of the camera tube 224 with another opening 692. The camera tube 224 can be extended through such another opening 692 so that the distal end 224B is returned to the first position.
[0069] In some cases, the strip 690 can be inserted (for instance, through an opening or slot that provides access to at least a portion of the cleaning chamber) into the housing 222 of the visualization device and/or housing 212 of the insertion device. For instance, the strip 690 can be inserted into the adapter 684.
[0070] Access to any of the cleaning chambers described herein can be provided (such as, via one or more openings or ports) to clean a chamber. For instance, the chamber may be cleaned between surgeries or during a particular surgery.
[0071] Any of the cleaning chambers described herein can be positioned anywhere in the housing 212 or 222. In some cases, any of the cleaning chambers described herein can be positioned external to the housing 212 and/or 222. For instance, an adapter (such as, the adapter 684) can be attached to any of the housing 212 or 222.
Other Variations
[0072] Those skilled in the art will appreciate that, in some embodiments, additional components and/or steps can be utilized, and disclosed components and/or steps can be combined or omitted. For example, although some embodiments are described in connection with a robotic surgery system, the disclosure is not so limited. Systems, devices, and methods described herein can be applicable to medical procedures in general, among other uses. As another example, certain components can be illustrated and/or described as being circular or cylindrical. In some implementations, the components can be additionally or alternatively include non-circular portions, such as portions having straight lines. As yet another example, any of the actuators described herein can include one or more motors, such as electrical motors.
[0073] The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. The use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being redefined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.
[0074] It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the figures can be combined, interchanged, or excluded from other embodiments.
[0075] With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations can be expressly set forth herein for sake of clarity.
[0076] Directional terms used herein (for example, top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation or perspective shown in the figures and are not intended to be limiting. For example, positioning “above” described herein can refer to positioning below or on one of sides. Thus, features described as being “above” may be included below, on one of sides, or the like.
[0077] While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of protection. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made. Those skilled in the art will appreciate that in some embodiments, the actual steps taken in the processes illustrated and/or disclosed may differ from those shown in the figures. Depending on the embodiment, certain of the steps described above may be removed, others may be added. For example, the actual steps and/or order of steps taken in the disclosed processes may differ from those shown in the figure. Depending on the embodiment, certain of the steps described above may be removed, others may be added. For instance, the various components illustrated in the figures or described herein may be implemented as software and/or firmware on a processor, controller, ASIC, FPGA, and/or dedicated hardware. The software or firmware can include instructions stored in a non-transitory computer-readable memory. The instructions can be executed by a processor, controller, ASIC, FPGA, or dedicated hardware. Hardware components, such as controllers, processors, ASICs, FPGAs, and the like, can include logic circuitry. Furthermore, the features and attributes of the specific embodiments disclosed above may be combined in different ways to form additional embodiments, all of which fall within the scope of the present disclosure.
[0078] It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (for example, the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (for example, “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (for example, the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations).
[0079] The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.
[0080] Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.
[0081] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function and/or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and/or within less than 0.01% of the stated amount.
[0082] It will be further understood by those within the art that any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, can be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” Further, the term “each,” as used herein, in addition to having its ordinary meaning, can mean any subset of a set of elements to which the term “each” is applied.
[0083] Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.
[0084] The above description discloses embodiments of systems, apparatuses, devices, methods, and materials of the present disclosure. This disclosure is susceptible to modifications in the components, parts, elements, steps, and materials, as well as alterations in the fabrication methods and equipment. Such modifications will become apparent to those skilled in the art from a consideration of this disclosure or practice of the disclosure. Consequently, it is not intended that the disclosure be limited to the specific embodiments disclosed herein, but that it cover all modifications and alternatives coming within the scope and spirit of the subject matter embodied in the following claims.
Claims
1. A visualization device for a robotic surgery apparatus, the visualization device comprising: a housing configured to be removably attached to a mounting interface of the robotic surgery apparatus, the housing comprising first and second openings positioned on an exterior of the housing; a camera shaft including a distal end comprising at least one camera that includes at least one lens covered by at least one window, the distal end configured to be inserted through the first opening in the housing, pass through an interior of the housing, and exit the housing through the second opening in the housing, the distal end configured to extend away from the housing toward a region of interest outside the housing and retract back toward the housing; and a chamber positioned in the interior of the housing and configured to receive at least a portion of the distal end, the chamber further configured heat up and clean the at least one window of the at least one camera.
2. The device of claim 1, further comprising an electronic circuitry positioned in the interior of the housing and proximal to the chamber, the electronic circuitry configured generate heat that regulates temperature of the chamber to at least one of: prevent fogging of the at least one lens or the at least one window or clean the at least one window of the at least one camera.
3. The device of claim 2, wherein the electronic circuitry comprises an illumination source configured to produce illumination for the region of interest.
4. The device of claim 1, wherein the chamber is positioned in a conduit comprising the first and second openings.
5. The device of claim 4, further comprising first and second seals configured to seal off a portion of the conduit to form the chamber, wherein the chamber is configured to retain a fluid for cleaning the at least one window of the at least one camera.
6. The device of claim 5, wherein the housing further comprises first and second openings positioned at least partially on the exterior of the housing, the first opening configured to permit introduction of the fluid into the chamber and the second opening configured to permit removal of the fluid from the chamber.
7. The device of claim 1, wherein the camera shaft includes a proximal end attached to the housing.
8. The device of claim 1, wherein the camera shaft comprises a fiducial marker, and wherein the device further comprises: a sensor configured to detect the fiducial marker; and an electronic processing circuitry configured to: cause the camera shaft to be retracted responsive to receiving a user input, wherein the distal end is positioned at a first position prior to retracting the camera shaft; and cause stopping of the retraction of the camera shaft responsive to receiving a signal from the sensor indicating detection of the fiducial marker by the sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber.
9. The device of claim 8, wherein the electronic processing circuitry is further configured to cause extension of the camera shaft to return the distal end to the first position.
10. The device of claim 1, further comprising a position sensor configured to monitor position of the distal end and an electronic processing circuitry configured to: cause the camera shaft to be retracted responsive to receiving a user input and further responsive to an output of the position sensor, wherein the distal end is positioned at a first position prior to retracting the camera shaft; and cause stopping of the retraction of the camera shaft responsive to the output of the position sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber.
11. The device of claim 10, wherein the electronic processing circuitry is further configured to, responsive to the output of the position sensor, cause the camera shaft to be extended to position the distal end at the first position.
12. The device of claim 1, wherein the housing is configured to receive a cleaning strip that includes at least one cleaning portion configured to wipe the at least one window, and wherein the cleaning strip comprises alternating wiping portions and lumen portions, a wiping portion configured to wipe the at least one window and a lumen portion configured to allow the camera shaft to pass through and enter the first opening.
13. An insertion device for a robotic surgery apparatus, the insertion device comprising a housing including: a first portion comprising a camera channel positioned in an interior of the first portion and extending along at least a portion of the first portion, the camera channel configured to permit insertion and removal of a primary camera shaft, the primary camera shaft including a primary camera with at least one lens covered by at least one window; a second portion comprising a passage configured to permit the primary camera shaft to pass through, the passage aligned with the camera channel to permit at least a portion the primary camera shaft to enter the camera channel, pass through the camera channel, and exit the camera channel, the passage including an opening positioned on an exterior of the housing; and a chamber positioned in the passage and configured to heat up and clean the at least one window of the primary camera.
14. The device of claim 13, further comprising an electronic circuitry positioned in the interior of the second portion and proximal to the chamber, the electronic circuitry configured generate heat that regulates temperature of the chamber to at least one of: prevent fogging of the at least one lens or the at least one window or clean the at least one window.
15. The device of claim 14, wherein the first portion further comprises a second camera channel configured to receive a secondary camera, and wherein the electronic circuitry comprises an illumination source configured to produce illumination for one or more of the primary camera or the secondary camera.
16. The device of claim 15, wherein the secondary camera is non-removable.
17. The device of claim 13, further comprising first and second seals configured to seal off a portion of the passage to form the chamber, wherein the chamber is configured to retain a fluid for cleaning the at least one window.
18. The device of claim 17, wherein the housing further comprises first and second openings positioned at least partially on the exterior of the first portion, the first opening configured to permit introduction of the fluid into the chamber and the second opening configured to permit removal of the fluid from the chamber.
19. The device of claim 13, wherein the primary camera comprises a fiducial marker, and wherein the device further comprises: a sensor configured to detect the fiducial marker; and an electronic processing circuitry configured to: cause the primary camera shaft to be retracted responsive to receiving a user input, wherein a distal end of the primary camera shaft is positioned at a first position prior to retracting the primary camera shaft; and cause stopping of the retraction of the primary camera shaft responsive to receiving a signal from the sensor indicating detection of the fiducial marker by the sensor, wherein causing the retraction of the primary camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber.
20. The device of claim 19, wherein the electronic processing circuitry is further configured to cause extension of the primary camera shaft to return the distal end to the first position.
21. The device of claim 13, further comprising a position sensor configured to monitor position of a distal end of the primary camera shaft and an electronic processing circuitry configured to: cause the primary camera shaft to be retracted responsive to receiving a user input and further responsive to an output of the position sensor, wherein the distal end is positioned at a first position prior to retracting the primary camera shaft; and cause stopping of the retraction of the primary camera shaft responsive to the output of the position sensor, wherein causing the retraction of the camera shaft to be stopped causes the distal end to be positioned at a second position within the chamber.
22. The device of claim 21, wherein the electronic processing circuitry is further configured to, responsive to the output of the position sensor, cause the primary camera shaft to be extended to position the distal end at the first position.
23. The device of claim 13, wherein the housing is configured to receive a cleaning strip that includes at least one cleaning portion configured to wipe the at least one window, and wherein the cleaning strip comprises alternating wiping portions and lumen portions, a wiping portion configured to wipe the at least one window and a lumen portion configured to allow the primary camera shaft to pass through and enter the passage through the opening.
This satisfies magnetics
BOOM!
Articulated Tool Positioner And System Employing Same
DOCUMENT ID
US 11607206 B2
DATE PUBLISHED
2023-03-21
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
ASSIGNEE INFORMATION
NAME
TITAN MEDICAL INC.
CITY
Ontario
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
TYPE CODE
03
APPLICATION NO
17/887714
DATE FILED
2022-08-15
DOMESTIC PRIORITY (CONTINUITY DATA)
continuation parent-doc US 17842889 20220617 PENDING child-doc US 17887714
continuation parent-doc US 17242371 20210428 US 11369353 20220628 child-doc US 17842889
continuation parent-doc US 16991423 20200812 PENDING child-doc US 17242371
continuation parent-doc US 16185788 20181109 US 11026666 20210608 child-doc US 16991423
continuation parent-doc US 14899768 US 10278683 20190507 WO PCT/CA2013/001076 20131220 child-doc US 16185788
us-provisional-application US 61837112 20130619
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 17/29
2013-01-01
CPCI
A 61 B 17/00234
2013-01-01
CPCI
A 61 M 25/0147
2013-01-01
CPCI
A 61 B 46/10
2016-02-01
CPCI
A 61 B 50/13
2016-02-01
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 1/0055
2013-01-01
CPCI
A 61 B 1/0057
2013-01-01
CPCA
A 61 B 2017/00323
2013-01-01
CPCA
A 61 B 2017/2906
2013-01-01
CPCA
A 61 B 1/00193
2013-01-01
CPCA
A 61 B 2017/00314
2013-01-01
CPCA
A 61 B 2034/301
2016-02-01
CPCA
A 61 B 2017/2903
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
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
(1) This application is a Continuation Application of U.S. patent application Ser. No. 17/842,889, filed on Jun. 17, 2022, which is a Continuation Application of U.S. patent application Ser. No. 17/242,371, filed on Apr. 28, 2021 (now U.S. Pat. No. 11,369,353), which is a Continuation Application of U.S. patent application Ser. No. 16/991,423, filed on Aug. 12, 2020, which is a Continuation Application of U.S. patent application Ser. No. 16/185,788, filed on Nov. 9, 2018 (now U.S. Pat. No. 11,026,666), which is a Continuation Application of U.S. patent application Ser. No. 14/899,768, filed on Dec. 18, 2015 (now U.S. Pat. No. 10,278,683), which is a U.S. National Stage Application filed under 35 U.S.C. § 371(a) of International Patent Application No. PCT/CA2013/001076, filed Dec. 20, 2013, which claims the benefit to U.S. Provisional Patent Application No. 61/837,112, filed Jun. 19, 2013, the entire disclosure of each of which is incorporated by reference herein.
BACKGROUND OF THE INVENTION
1. Field of Invention
(1) 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
(2) Articulating surgical systems for laparoscopic surgery are gaining acceptance.
(3) Various systems exist including a system described in US Publication No. 2012/0253131 A1 published Oct. 4, 2012 to Malkowski et al.
(4) 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.
(5) 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
(6) 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.
(7) 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.
(8) 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.
(9) 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.
(10) 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.
(11) 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.
(12) 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.
(13) The wires may be comprised of a metal alloy of nickel and titanium having shape memory and superelasticity.
(14) The second plurality of control links may include wires having a common stiffness.
(15) 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.
(16) 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.
(17) 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.
(18) 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.
(19) 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.
(20) 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.
(21) The second acute angle may be greater than the first acute angle.
(22) 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.
(23) 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.
(24) 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.
(25) 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.
(26) 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.
(27) 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.
(28) Each driver may include a gear segment.
(29) 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.
(30) 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.
(31) 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.
(32) 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.
(33) 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.
(34) 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.
(35) 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.
(36) 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.
(37) 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
(1) In drawings which illustrate embodiments of the invention,
(2) FIG. 1 is a perspective view of an articulated tool positioning apparatus according to a first embodiment of the invention;
(3) FIG. 2 is a perspective view of a distal end of a base member of the apparatus shown in FIG. 1;
(4) FIG. 3 is a distal end view of the base member shown in FIG. 2;
(5) FIG. 4 is a perspective view of a proximal side of a coupled guide of the apparatus shown in FIG. 1;
(6) FIG. 5 is a top view of the coupled guide shown in FIG. 1;
(7) 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;
(8) FIG. 7 is a side view of the coupled guides of FIG. 6 shown engaged;
(9) 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;
(10) FIG. 9 is a perspective view of a proximal face of an intermediate member of the apparatus shown in FIG. 1;
(11) FIG. 10 is a perspective view of a distal face of the intermediate member shown in FIG. 9;
(12) FIG. 11 is a perspective view of a proximal side of an end member of the apparatus shown in FIG. 1;
(13) FIG. 12 is a perspective view of a distal side of the side member shown in FIG. 11;
(14) FIG. 13 is a perspective view of a proximal side of a tool holder of the apparatus shown in FIG. 1;
(15) FIG. 14 is a perspective view of a distal side of the tool holder shown in FIG. 13;
(16) FIG. 15 is a side view of a tool apparatus for use with the tool positioner shown in FIG. 1;
(17) 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;
(18) FIG. 17 is a perspective view of a tool controller shown connected to the tool assembly shown in FIG. 16;
(19) FIG. 18 is a perspective view of a laparoscopic surgical apparatus employing the device shown in FIG. 17;
(20) 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;
(21) FIG. 20 is a side view of the head and coupler of FIG. 19 with the coupler connected to the head;
(22) 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;
(23) 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;
(24) FIG. 23 is a detailed view of the camera/delivery tube assembly shown in FIG. 22;
(25) 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;
(26) 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;
(27) 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;
(28) 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;
(29) 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;
(30) FIG. 29 is a side view of a laparoscopic surgical apparatus employing the apparatuses described in FIGS. 1-28; and
(31) FIG. 30 is a perspective view of a surgeon's work-station for controlling the apparatus shown in FIG. 29.
(32) 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;
(33) 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
(34) 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.
(35) 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.
(36) 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.
(37) 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.
(38) 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.
(39) 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.
(40) 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.
(41) 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.
(42) 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.
(43) 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.
(44) 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.
(45) 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.
(46) 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.
(47) 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.
(48) 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.
(49) 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.
(50) 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.
(51) 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.
(52) 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.
(53) 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.
(54) 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.
(55) 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.
(56) 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.
(57) 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.
(58) 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.
(59) 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.
(60) 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.
(61) 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).
(62) 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.
(63) 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.
(64) 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.
(65) 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.
(66) 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.
(67) 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.
(68) 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.
(69) 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.
(70) 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.
(71) 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.
(72) 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.
(73) This permits the immediately adjacent coupled guide 46 to pivot about the projection 207 in a pitch direction.
(74) 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.
(75) 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.
(76) 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.
(77) 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.
(78) 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.
(79) 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.
(80) 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.
(81) 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.
(82) 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.
(83) 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.
(84) 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.
(85) 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.
(86) 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.
(87) 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.
(88) 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.
(89) 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.
(90) 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.
(91) 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.
(92) 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.
(93) 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.
(94) 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.
(95) 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.
(96) 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.
(97) 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.
(98) Referring back to FIG. 23, the delivery tube 738 has a proximal end portion 782 that extends rearward of the base 732.
(99) 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.
(100) 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.
(101) 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.
(102) 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.
(103) 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.
(104) 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.
(105) 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 6th 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.
(106) 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.
(107) 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.
(108) 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.
(109) 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. 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.
2. The apparatus according to claim 1, 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.
3. The apparatus according to claim 1, wherein each of the plurality of coupled guides defines a respective articulating section.
4. The apparatus according to claim 1, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
5. The apparatus according to claim 1, 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.
6. The apparatus according to claim 1, 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.
7. The apparatus according to claim 6, 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.
8. The apparatus according to claim 1, 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.
9. 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.
10. The apparatus according to claim 9, 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.
11. The apparatus according to claim 9, 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.
12. The apparatus according to claim 9, wherein each of the plurality of coupled guides defines a respective articulating section.
13. The apparatus according to claim 12, 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.
14. The apparatus according to claim 9, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
15. The apparatus according to claim 9, 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.
16. The apparatus according to claim 9, 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.
17. The apparatus according to claim 16, 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.
18. The apparatus according to claim 9, 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.
19. 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.
20. The apparatus according to claim 19, 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.
21. The apparatus according to claim 19, 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.
22. The apparatus according to claim 19, wherein each of the plurality of coupled guides defines a respective articulating section.
23. The apparatus according to claim 22, 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.
24. The apparatus according to claim 23, wherein the end effector is supported at a distal end of a respective one of the third articulating sections.
25. The apparatus according to claim 19, 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.
26. The apparatus according to claim 19, 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.
27. The apparatus according to claim 19, 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.
28. The apparatus according to claim 19, 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.
Who knows what happens if everyone wants to join the shareholder register?
https://www.ldmicro.com/profile/tmd.to/insiders
below 0.45 they don't convert much
Let's see if we know anything new on Wednesday
https://ca.finance.yahoo.com/news/canadian-cpi-u-home-sales-194900813.html
Only 10 cents away from 0!
90 to get to $1
I'm not saying it will get anywhere!
Come on Gary!!!!
Visible recognized and therefore chosen!
How do they miss the opportunity?
More and more billions will be needed to develop a robot capable of operating in the human body!
You can't give up!
https://www.fiercebiotech.com/medtech/fallen-titan-surgical-robot-maker-delisted-nasdaq-amid-mass-layoffs-failed-sell
BOOM!
let's see if in the otc it has a different effect
HAND GRIP APPARATUS FOR RECEIVING OPERATOR INPUT IN A ROBOTIC SURGERY SYSTEM
DOCUMENT ID
US 20230085222 A1
DATE PUBLISHED
2023-03-16
INVENTOR INFORMATION
NAME
CITY
STATE
ZIP CODE
COUNTRY
Lutzow; Thomas Andrew
Providence
RI
N/A
US
Smith; Daniel P.
Portsmouth
RI
N/A
US
Cameron; Peter John Kenneth
Menlo Park
CA
N/A
US
APPLICANT INFORMATION
NAME
Titan Medical Inc.
CITY
Toronto
STATE
N/A
ZIP CODE
N/A
COUNTRY
CA
AUTHORITY
N/A
TYPE
assignee
APPLICATION NO
18/050429
DATE FILED
2022-10-27
DOMESTIC PRIORITY (CONTINUITY DATA)
parent US continuation 15737245 20171215 parent-grant-document US 11484378 WO continuation PCT/CA2016/000112 20160413 child US 18050429
us-provisional-application US 62180312 20150616
US CLASS CURRENT:
1/1
CPC CURRENT
TYPE
CPC
DATE
CPCI
A 61 B 34/30
2016-02-01
CPCI
A 61 B 34/74
2016-02-01
CPCI
A 61 B 18/1445
2013-01-01
CPCI
A 61 B 34/37
2016-02-01
CPCA
A 61 B 90/361
2016-02-01
CPCA
A 61 B 2017/0042
2013-01-01
CPCA
A 61 B 2018/00595
2013-01-01
Abstract
A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.
Background/Summary
INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS
[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.
BACKGROUND
Field
[0002] This disclosure relates generally to robotic surgery systems and more particularly to a hand grip apparatus for receiving operator input for controlling the robotic surgery system to perform surgical procedures.
Description of Related Art
[0003] Robotic surgery systems generally include an operator interface that receives operator input from a surgeon and causes corresponding movements of surgical tools within a body cavity of a patient to perform a surgical procedure. For example, the operator may grasp and move a hand grip while the operator interface senses movements of the hand grip. The operator interface and hand grip may operate to sense inputs responsive to movement of the operator's hand in several different degrees of freedom, thus providing inputs for causing the surgical tool to mimic movements of the operator's hand. Additional movements such as opening and closing of jaws of an end effector associated with the surgical tool may also be initiated in response to additional operator inputs received at the operator interface.
SUMMARY
[0004] In accordance with one disclosed aspect there is provided a hand grip apparatus for receiving operator input for controlling a surgical tool in a robotic surgery system. The apparatus includes a generally tubular body having a proximal end shaped to be grasped by a hand of the operator and a distally located interface end operably configured to be coupled to an input apparatus for controlling the surgical tool. The apparatus also includes a first control lever attached to the body at a first pivot joint and extending along the body away from the proximal end, the first control lever terminating in a finger grip end configured to receive one of the operator's fingers, the first control lever being laterally moveable away from the body about the first pivot joint. The apparatus further includes a second control lever attached to the body at a second pivot joint on a generally opposing side of the body to the first pivot joint, the second control lever extending along the body away from the proximal end and terminating in a thumb grip end configured to receive the operator's thumb, the second control lever being laterally moveable away from the body about the second pivot joint. Movement of at least one of the first and second control levers is operable to produce a first control signal representing the movement. The apparatus also includes an input control on an upper surface of the body and generally interposed between the finger and thumb grip ends, the input control having an actuator surface that is angled towards the finger grip end and being operably configured to produce a second control signal in response to actuation of the actuator surface by one of the operator's fingers.
[0005] The first control signal may include an electrical control signal and the apparatus may further include a sensor for producing the electrical control signal in response to lateral movement of at least one of the first and second control levers.
[0006] The first control signal may include a mechanical movement of a linkage coupled to at least one of the first and second control levers.
[0007] The actuator surface of the input control may be oriented such that the operator's knuckles will be generally parallel to the actuator surface when grasped by the hand of the operator in a generally neutral position.
[0008] The control button may be surrounded by a land disposed generally parallel to the actuator surface of the input control.
[0009] The first and second pivot joints may be spaced apart on the body by a distance corresponding to a distance between the metacarpophalangeal joints of the thumb and index finger of an average operator.
[0010] The first and second control levers may be sized such that when grasped by the hand of an average operator, the finger grip end and thumb grip end on the respective levers are positioned to receive distal phalanges of the operator's finger and thumb.
[0011] The finger grip may be configured to receive the operator's index finger, and the actuator surface of the input control may be angled to be actuated by the index finger moving between the finger grip and the input control.
[0012] The finger grip may be configured to receive the operator's middle finger, and the actuator surface of the input control may be angled to be actuated by the index finger.
[0013] The proximal end of the body may be configured to receive one of a plurality of different removable end caps, the removable end cap facilitating configuration of the apparatus in accordance with the operator's preference.
[0014] The proximal end of the body may have a rounded shape operable to receive and support a portion of the operator's palm when the body is grasped in the hand of the operator.
[0015] The proximal end of the body may be angled with respect to the tubular body.
[0016] The tubular body may have a neck portion interposed between the proximal end and the interface end, the neck portion having reduced cross sectional extent with respect to the proximal end.
[0017] The first and second control levers may be mechanically coupled such that movement of one of the control levers causes a corresponding opposing lateral movement of the other of the control levers.
[0018] The first and second control levers may be mounted to constrain the lateral movement of each of the levers to a range corresponding to an ergonomically comfortable lateral movement of the thumb and finger of an average operator.
[0019] At least one of the finger and thumb grip ends may include a retaining loop operably configured to retain the operator's finger or thumb for actuating the respective levers.
[0020] The retaining loop associated with the first control lever may include a loop portion and an open portion, the open portion being disposed to permit lateral movement of the operator's finger between the finger grip and the input control.
[0021] The retaining loop of the at least one of the finger and thumb grip ends may be oriented downwardly at an angle corresponding to a natural orientation of the operator's thumb or finger when the body is grasped such that the operator's palm rests on an upper surface of the body.
[0022] Each of the first and second control levers may be disposed within respective sculpted portions on generally opposing sides of the body, each extending forwardly from the proximal end toward the interface end, the respective sculpted portions being operable to receive the operator's finger and thumb when the body is grasped from behind the proximal end.
[0023] The apparatus may include at least one proximity sensor disposed to sense one of the operator's hand grasping the hand grip apparatus, and a position of the operator's hand with respect to the tubular body.
[0024] In accordance with another disclosed aspect there is provided a method for receiving operator input in a robotic surgery system. The method involves receiving a hand of the operator at a generally tubular body having a proximal end shaped for to be grasped by the operator's hand, the tubular body having a distally located interface end operably configured to be coupled to the input apparatus. The method also involves receiving one of the operator's fingers in a finger grip end of a first control lever attached to the body at a first pivot joint and extending along the body away from the proximal end, the first control lever being laterally moveable away from the body about the first pivot joint. The method further involves receiving the operator's thumb in a thumb grip end of a second control lever attached to the body at a second pivot joint on a generally opposing side of the body to the first pivot joint, the second control lever extending along the body away from the proximal end and being laterally moveable away from the body about the second pivot joint. The method also involves receiving one of the operator's fingers at an input control on an upper surface of the body and generally interposed between the finger and thumb grip ends, the input control having an actuator surface that is angled towards the finger grip end. The method further involves producing a first control signal at the interface in response to lateral opening and closing movements of the operator's finger and thumb causing corresponding lateral movement of the first and second control levers, and producing a second control signal at the interface end in response to actuation of the input control.
[0025] The method may involve receiving the first control signal at an input apparatus for controlling a surgical tool, the first control signal being operable to control opening and closing functions open of a jaw of an end effector associated with the surgical tool.
[0026] The method may involve receiving the second control signal at an input apparatus for controlling a surgical tool, the second control signal being operable to control additional functions associated with the surgical tool.
[0027] The additional functions may include one of supply of an electrical current through the jaws of the surgical tool for electro-cauterization of tissue, and functions associated with a surgical viewing system for generating views of a surgical site.
[0028] The method may involve receiving a signal from at least one proximity sensor disposed to sense one of the operator's hand grasping the hand grip apparatus and a position of the operator's hand with respect to the tubular body.
[0029] Other aspects and features of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying figures.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0030] In drawings which illustrate embodiments of the invention,
[0031] FIG. 1A is a right side perspective view of a hand grip apparatus in accordance with one disclosed embodiment;
[0032] FIG. 1B is a left side perspective view of the hand grip apparatus shown in FIG. 1A;
[0033] FIG. 2 is a perspective view of an input apparatus including the hand grip shown in FIG. 1;
[0034] FIG. 3A is a front view of the hand grip shown in FIG. 1 being grasped by an operator's hand;
[0035] FIG. 3B is a side view of the hand grip shown in FIG. 1 being grasped by the operator's hand;
[0036] FIG. 4A is a top cutaway view of the hand grip apparatus shown in FIG. 1 with first and second levers in a closed state;
[0037] FIG. 4B is a top cutaway view of the hand grip apparatus shown in FIG. 1 with first and second levers in an open state;
[0038] FIG. 5 is a right side perspective view of a hand grip apparatus in accordance with an alternative disclosed embodiment;
[0039] FIG. 6 is a right side perspective view of a hand grip apparatus in accordance with another disclosed embodiment;
[0040] FIG. 7A is a right side perspective view of a hand grip apparatus in accordance with yet another disclosed embodiment;
[0041] FIG. 7B is a left side perspective view of a hand grip apparatus shown in FIG. 7A;
[0042] FIG. 8 is a side view of the hand grip shown in FIGS. 7A and 7B being grasped by an operator's hand; and
[0043] FIG. 9 is a pictorial representation of a robotic surgery system according to one disclosed embodiment.
DETAILED DESCRIPTION
[0044] Referring to FIGS. 1A and 1B, a hand grip apparatus according to a first embodiment of the invention is shown generally at 100. The hand grip 100 is shown in a right side perspective view in FIG. 1A and a left side perspective view in FIG. 1B. The hand grip 100 includes a generally tubular body 102 having a proximal end 104 shaped to be grasped by a hand of an operator. In the embodiment shown the proximal end 104 of the body has a rounded shape operable to receive and support a portion of the operator's palm when the body 102 is grasped in the hand of the operator.
[0045] The hand grip 100 also includes a distally located interface end 106. Referring to FIG. 2, the interface end 106 of the hand grip apparatus 100 is configured for coupling to an input apparatus 200 for controlling a surgical tool associated with a robotic surgery system (not shown). The input apparatus 200 includes an output 202 for producing signals in response to movements of the operator's hand 204. In one embodiment, the surgical tool may include an articulated tool positioner as described in detail in commonly owned patent application PCT/CA2013/001076 entitled “ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME”, which is incorporated herein by reference. The input apparatus 200 may be implemented using one of the Omega series of haptic devices available from Force Dimension, of Switzerland, for example.
[0046] The input apparatus 200 and hand grip apparatus 100 are configured for operation by a right hand of the operator and in practice a left hand input apparatus and hand grip will also be provided. The left hand grip may be configured as a mirror image of the right hand grip 100 shown in FIG. 1, but may also be differently configured depending on the nature of the task the apparatus is to control.
[0047] Referring back to FIG. 1A, the hand grip 100 also includes a first control lever 108 attached to the body 102 at a first pivot joint 110. The first control lever 108 extends along the body 102 away from the proximal end 104. The first control lever 108 terminates in a finger grip end 112 configured to receive one of the operator's fingers. In the embodiment shown the finger grip end 112 is configured as a retaining loop having a loop portion 132 and an open portion 134. The loop portion 132 is configured to retain the operator's finger while the open portion 134 allows the operator's finger to be easily removed from the finger grip end 112 to permit independent lateral movement of the operator's finger. Referring to FIG. 1B, the hand grip 100 also includes a second control lever 114 attached to the body 102 at a second pivot joint 116 on a generally opposing side of the body to the first pivot joint. The second control lever 114 also extends along the body away from the proximal end 104. The second control lever 114 terminates in a thumb grip end 118 configured to receive the operator's thumb.
[0048] The first control lever 108 and the second control lever 114 are shown in an open position in FIG. 1A and in a closed position in FIG. 1B. Referring to FIG. 1A, in the embodiment shown the body 102 includes a cutout portion 120 for receiving the first control lever 108 when the first control lever is in the closed position. Referring to FIG. 1B, the body 102 also includes a cutout portion 119 and the lever 108 is received in the cutout such that a surface the lever is generally contiguous with surfaces of the body when the lever is in the closed position. The first control lever 108 is laterally moveable away from the body 102 about the first pivot joint 110 and the second control lever 114 is laterally moveable away from the body about the second pivot joint 116.
[0049] Referring to FIG. 2, the operator's index finger 206 is shown engaging the finger grip end 112 and the operator's thumb 208 is shown engaging the thumb grip end 118 of the second control lever 114. The operator is able to open and close the first and second control levers 108 and 114 by making pincer movements with the index finger and thumb respectively. The first and second control levers 108 and 114 are sized such that when grasped by the hand 204 of an average operator, the finger grip end 112 and thumb grip end 118 on the respective levers are positioned to receive distal phalanges of the operator's finger 206 and thumb 208. In this embodiment the thumb grip end 118 is also configured as a retaining loop having a loop portion 136 and an open portion 138 and the loop portion is configured to retain the operator's thumb. Alternatively, the thumb grip end 118 may be configured as a closed loop in applications where it is not necessary for the operator to frequently remove the thumb from the grip end.
[0050] The body 102 of the hand grip 100 includes a neck portion 103 portion interposed between the proximal end 104 and the interface end 106, the neck portion having a reduced cross sectional extent with respect to the proximal end 104. The neck portion 103 and the proximal end 104 together provide a bulb shaped grip, which when grasped from behind by the operator's hand is easily and comfortably retained.
[0051] The hand grip 100 also includes an input control 122 on an upper surface of the body 102. The input control 122 is generally interposed between the finger grip end 112 and thumb grip end 118 and has an actuator surface 126 that is angled towards the finger grip end for actuation by one of the operator's fingers. The operator's hand 204 is shown grasping the hand grip 100 in FIGS. 3A and 3B. Referring to FIG. 3A, the angled actuator surface 126 of the input control 122 is comfortably located for actuation by the operator moving the index finger 206 from the finger grip end 112 to the input control 122. Alternatively, the operator may have a preference for operating the first control lever 108 using as middle finger, while the index finger 206 is held on or near the actuator surface 126 of the input control 122. In the embodiment shown the actuator surface 126 of the input control is oriented at an angle a such that the operator's knuckles 220 and 222 are generally parallel to the actuator surface 126 when the hand grip 100 is grasped by the operator's hand 204 in a generally neutral position. In one embodiment the angle a may be between about 20° and 30°. The neutral position of the hand 204 is a position in which there is a minimum of stress placed on the operator's wrist, forearm and shoulder, i.e. a comfortable position that does not induce undue fatigue.
[0052] Referring to FIG. 3B, in this embodiment when the operator's hand grasps the hand grip 100 over the top of the body 102, the palm of the operator's hand 204 rests generally on an upper surface at the proximal end 104 of the body. The thumb grip end 118 is also angled downwardly at an angle ? when the body 102 is held in a horizontal orientation aligned with a horizontal axis 210. The angle ? is selected to correspond to a natural orientation of the thumb 208 when the operator's hand 204 is in a generally unstressed manner and the thumb engages the retaining loop portion of the thumb grip end 118. The finger grip end 112 may be similarly oriented at an angle corresponding to a natural orientation of the operator's finger when engaging the retaining loop portion of the finger grip 112 (not visible in FIG. 3B). In one embodiment the angle ? may be between about 10° and 25° for the operator's thumb 208 and between about 15° and 28° for the operator's index finger 206.
[0053] Referring back to FIG. 1A, in the embodiment shown the input control 122 is surrounded by a land 124, which is disposed generally parallel to the actuator surface 126 of the input control. The input control 122 may be configured to control any of a number of functions any of the surgical tool or robotic surgery system. In the embodiment shown, the input control 122 is configured as a rocker button that is operable to control a first function when a forward area 128 of the input control is pressed by the operator's finger and a second function when a rearward area 130 of the input control is pressed by the operator's finger. In other embodiments the input control 122 may be implemented using an input device or sensor configured to detect various user inputs, for example a trackpad or touchpad, track ball, joystick, optical sensor, or thermal sensor. The input control 122 is configured to produce a control signal in response to for actuation of the actuator surface by one of the operator's fingers. In one embodiment, the input control 122 may be used to control operations of an illuminator and/or camera associated with the robotic surgery system.
[0054] The hand grip 100 is shown in cutaway view in FIGS. 4A and 4B with a portion of an upper cover 250 removed to reveal mounting details associated with the first and second control levers 108 and 114. Referring to FIG. 4A, the first control lever 108 includes a pivot end 252 mounted on the first pivot joint 110 and an actuator arm 254 extending generally laterally into the body 102 of the hand grip 100. Similarly, the second control lever 114 includes a pivot end 256 mounted on the second pivot joint 116 and an actuator arm 258 extending generally laterally into the body 102 of the hand grip 100. The hand grip 100 further includes a linkage 260 including a slot 261. The hand grip 100 also includes a guide post 262, which is received in the slot 261 and permits reciprocating movement of the linkage 260 in the direction of arrow 268. The arms 254 and 258 are each coupled to a distal end 264 of the linkage 260 at a revolute joint 266, such that movement of either of the first or second control levers 108 or 114 causes movement of the respective arm, in turn causing movement of the linkage 260. Additionally movement of either one of the arms 254 and 258 also causes a corresponding movement of the other of the arms. 12. The first and second control levers 108 and 114 are thus mechanically coupled such that movement of one of the control levers causes a corresponding opposing lateral movement of the other of the control levers. An extent of lateral movement of the first and second control levers 108 and 114 is also constrained by the length of the slot 261. In one embodiment, the slot 261 is sized to constrain movement of the levers 108 and 114 to a range corresponding to an ergonomically comfortable lateral movement of the thumb 208 and finger 206 of an average operator.
[0055] Referring to FIG. 4B, outward lateral movement of either or both of the first and second control levers 108 and 114 thus causes the linkage 260 to be advanced forwardly in the direction indicated by the arrow 268. In this embodiment, the hand grip 100 also includes a sensor 280 for producing a first control signal in response to movement of the linkage 260 caused by lateral movement of either of the first and second control levers. The sensor 280 may be implemented using a linear encoder. In other embodiments movement of the linkage 260 may be mechanically coupled through the body 102 and may mechanically interface with the input apparatus 200.
[0056] Still referring to FIG. 4B the first and second pivot joints 110 and 116 are spaced apart on the body by a distance D. In one embodiment, the spacing D between the pivot joints is selected to correspond to a distance (for an average operator) between the metacarpophalangeal joints associated with the thumb and index finger thus reducing strain on the operator's hand when operating the first and second control levers 108 and 114. When the hand grip 100 is grasped in the operator's right hand with the operator's finger 206 engaging the finger grip end 112 and the operator's thumb 208 engaging the thumb grip end 118, the metacarpophalangeal joint of the thumb is located generally above the second pivot joint 116 and the metacarpophalangeal joint (i.e. the operator's knuckle 220) of the finger is located generally above the first pivot joint 110. In a hand grip 100 configured for the operators left hand, the thumb and finger grip ends 112 and 118 would be reversed.
[0057] Referring to FIG. 5, an alternative embodiment of a hand grip apparatus is shown generally at 300. The hand grip 300 has a body 302 generally configured as shown in FIG. 1 but includes a proximal end 304 of the body that is angled with respect to the tubular body. In the embodiment shown the proximal end 304 is angled in a generally lateral direction with respect to the body 302 and is configured to provide a support surface for the operator's palm when grasping the hand grip 300. Referring to FIG. 6, another embodiment of the hand grip apparatus is shown generally at 320. In this embodiment the hand grip 320 includes a removable end cap 324, which has a generally similar shape to the proximal end 104 shown in FIG. 1. The removable end cap 324 may be made easily removable by the operator to permit the operator to select an end cap in accordance with their personal preferences. The removable end cap 324 is separable from the body 322 of the hand grip 320 and may be retained on the body by a snap connection, a fastener, or other securing means. For example, a set of end caps may be provided including different lengths of the removable end cap as shown at 324 and/or different shapes of and cap, such as shape of the proximal end 304 shown in FIG. 5. The set end caps may be fabricated relatively inexpensively and permit configuration for a variety of hand sizes and operator preferences.
[0058] An alternative embodiment of a hand grip apparatus is shown generally at 350 in FIGS. 7A-7B. A right hand side of the body is shown in FIG. 7A and a left hand side of the body is shown in FIG. 7B. Referring to FIG. 7A, the hand grip 350 includes a body 352 having a proximal end 354 and an interface end 356. The hand grip 350 also includes first and second control levers 358 and 360 and an input control 362 as generally described above in connection with the FIG. 1 embodiment. In this embodiment, the body 352 of the hand grip 350 includes a sculpted lateral portion 364 and the first control lever 358 is disposed on the sculpted portion. Referring to FIG. 7B, the body 352 also includes a sculpted lateral portion 366 and the second control lever 360 is disposed on the sculpted portion. The sculpted portions 364 and 366 are oriented generally parallel to a longitudinal axis 370 of the body 352. Referring to FIG. 8, the generally parallel sculpted portions 364 and 366 (only portion 366 is visible in FIG. 8) permit the operator to grasp the hand grip 350 from behind. In this embodiment, the palm of the operator's hand 204 does not rest on top of the body 352 as described in connection with the hand grip 100. Rather the palm of the operator's hand 204 is disposed behind and supported by the proximal end 354 of the hand grip 350. The proximal end 354 may be configured according to the operator's preferences as described above in connection with FIG. 5 and FIG. 6. In the embodiment shown in FIGS. 7A, 7B and 8 the hand grip 350 has a downwardly extending end cap portion while in other embodiments the hand grip may have a rounded end cap such as shown 324 in FIG. 6.
[0059] In the embodiment shown in FIG. 7B, the hand grip 350 includes a plurality of proximity sensors 372, 374, and 376 located on the second control lever 360. When the operator's hand 204 grasps the hand grip 350 the operator's thumb 208 may be positioned forwardly or rearwardly with respect to the body 352 depending on the operator's preference. The proximity sensors 372-376 generate signals for detecting the position of the operator's thumb 208, which may be used to provide an indication that the hand grip 350 is being grasped by the operator's hand 204 and also to provide information regarding the position of the operators hand on body 352 the hand grip. The proximity sensors 372, 374, and 376 may be implemented using any of a variety of proximity sensor types, for example optical and/or capacitive sensors.
[0060] Referring to FIG. 9, a robotic surgery system is shown generally at 400. The robotic surgery system 400 includes an input console 402 and a surgical robot 404. The input console 402 includes the input apparatus 200 and the hand grip apparatus 100 shown in FIG. 2 for operation by the operator's right hand. The input console 402 also includes an input apparatus 406 and a hand grip apparatus 408 for operation by an operator's left hand. The input console 402 also includes an interface 446 for generating control signals in response to movements and actuation of the input apparatus 200 and input apparatus 406 in response to inputs provided by the operator at the respective hand grips 100 and 408.
[0061] The surgical robot 404 includes a robotic actuator 410 carried on a surgical platform 412. The robotic actuator 410 controls surgical tools 414 and 416, which may be inserted through an incision 418 in a body wall 419 of a patient 420 to access to the surgical site (not shown) within a body cavity of the patient. The surgical tools 414 and 416 are shown in greater detail in the insert 422. In the embodiment shown the tools 414 and 416 each include a pair of opposing jaws 424 and 426. The operator, such as a surgeon for example, performs surgery on a patient 420 by manipulating the first input apparatus 200 and the second input apparatus 406 via the respective hand grips 100 and 408 on the input console 402 to control movements and operations of the surgical tools 414 and 416. The robotic actuator 410 is controlled by a processor circuit 440, which receives control signals from the input console 402 via a cable 442 or other interface. The processor circuit 440 interprets the control signals for controlling movements and operations of the viewing system 428 and the tools 414 and 416. For example, movements of the hand grips 100 and 408 are transmitted by the interface 446 to the processor circuit 440 and cause corresponding movements of the tools 414 and 416. Exemplary tool positioning devices and tools for this purpose are described in PCT/CA2013/001076, which is incorporated herein by reference. Similarly, the operator also manipulates the control levers (i.e. 108 and 114 shown in FIG. 1A) to cause the jaws 424 and 426 to open and close for performing surgical tasks such as grasping tissue, cutting, and cauterizing etc.
[0062] In embodiments that include the proximity sensors 372, 374 and 376, the proximity signals may be used to more precisely interpret the operator input based on the hand position of the operator on the hand grip 350. For example, if the user grasps the body 352 of the hand grip 350 further back, the user inputs may be scaled to amplify smaller movements by the operator's hand that are likely in this position.
[0063] In this embodiment, the surgical robot 404 also includes a viewing system 428, which may include an illuminator for illuminating the surgical site within the body cavity of the patient 420 and a camera for generating image signals. Image signals received from the viewing system are transmitted by the processor circuit 440 back to the input console 402. The input console 402 also includes a display 444 for displaying an image of the surgical site for the operator.
[0064] In one embodiment the input console 402 produces a first control signal at the interface 446 in response to lateral opening and closing movements of the operator's finger and thumb causing corresponding lateral movement of the first and second control levers. Signals representing the movements are transmitted via the cable 442 and are received and interpreted by the processor circuit 440, which produces signals for controlling the opening and closing of the respective pair of opposing jaws 424 and 426 of the tools 414 and 416. Actuation of the input control 122 similarly produces a second control signal, which is received by the processor circuit 440 and interpreted to produce signals for controlling the viewing system 428. For example, activation of the forward area 128 of the input control 122 may cause the camera to zoom in on the surgical site while actuation of the rearward area 130 may cause the camera to zoom out.
[0065] The embodiments of the hand grips 100, 300, and 350 described above provide an ergonomic interface between the operator and the input apparatus 200, 406 for receiving operator input. The respective bodies of the hand grips are shaped and configured to permit the operator to grasp the hand grips in a comfortable and strain fee manner, thus reducing operator fatigue.
[0066] While specific embodiments have been described and illustrated, such embodiments should be considered illustrative of the invention only and not as limiting the invention as construed in accordance with the accompanying claims.
Claims
1. A hand grip apparatus for receiving operator input for controlling a surgical tool in a robotic surgery system, the apparatus comprising: a body shaped to be grasped by a hand of an operator and having a distal portion that extends to an interface end configured to be coupled to an input apparatus for controlling the surgical tool, the body having a proximal end that is angled relative to the distal portion in a generally transverse direction, the proximal end configured to support a palm of the operator's hand when grasping the apparatus; a control lever attached to the distal portion of the body at a first pivot joint and extending distally away from the proximal end, the control lever terminating in a finger grip end configured to receive one of the operator's fingers while the palm of the operator's hand is supported by the proximal end of the body, the control lever being moveable relative to the body about the first pivot joint, wherein movement of the control lever is operable to produce a first control signal; and an input control on an upper surface of the distal portion of the body and having an actuator surface, the input control being configured to produce a second control signal in response to actuation of the actuator surface by one of the operator's fingers.
2. The apparatus of claim 1 wherein a movement of the control lever causes a mechanical movement of a linkage coupled to the control lever, the first control signal produced in response to the movement of the linkage.
3. The apparatus of claim 1 wherein the actuator surface of the input control produces the second control signal when the actuator surface is actuated in a first direction and produces a third control signal different than the second control signal when the actuator surface is actuated in a second direction different than the first direction.
4. The apparatus of claim 1 wherein the input control is configured to rock in more than one direction.
5. The apparatus of claim 1 wherein the proximal end of the body is adjacent to and continuous with the distal portion of the body.
6. The apparatus of claim 1 wherein: the finger grip is configured to receive an index finger of the operator's hand; and the actuator surface of the input control is configured to be actuated by the index finger moving between the finger grip and the input control.
7. The apparatus of claim 1 wherein: the finger grip is configured to receive a middle finger of the operator's hand; and the actuator surface of the input control is configured to be actuated by an index finger of the operator's hand.
8. The apparatus of claim 1 wherein the proximal end of the body has a contoured shape operable to receive and support a portion of the operator's palm when the body is grasped in the hand of the operator.
9. The apparatus of claim 1 wherein the finger grip end comprises a retaining loop operably configured to retain the operator's finger for actuating the control lever.
10. The apparatus of claim 9 wherein the retaining loop associated with the control lever comprises a loop portion and an open portion, the open portion being disposed to permit lateral movement of the operator's finger between the finger grip and the input control.
11. The apparatus of claim 1 wherein the control lever is disposed within a respective sculpted portion on a side of the body.
12. The apparatus of claim 1 further comprising at least one proximity sensor disposed to sense one of: the operator's hand grasping the hand grip apparatus; and a position of the operator's hand with respect to the body.
13. A hand grip apparatus for receiving operator input for controlling a surgical tool in a robotic surgery system, the apparatus comprising: a body shaped to be grasped by a hand of an operator and having a distal portion that extends to an interface end configured to be coupled to an input apparatus for controlling the surgical tool, the body having a proximal end that is adjacent and continuous with the distal portion, the proximal end being angled generally transverse relative to the distal portion, the proximal end configured to support a palm of the operator's hand when grasping the apparatus; a control lever attached to a lateral side of the distal portion of the body at a first pivot joint and extending distally away from the proximal end, the control lever terminating in a finger grip end configured to receive one of the operator's fingers while the palm of the operator's hand is supported by the proximal end of the body, the control lever being moveable relative to the lateral side of the body about the first pivot joint, wherein movement of the control lever is operable to produce a first control signal; and an input control on an upper surface of the distal portion of the body and having an actuator surface, the input control being configured to produce a second control signal in response to actuation of the actuator surface by one of the operator's fingers.
14. The apparatus of claim 13 wherein a movement of the control lever causes a mechanical movement of a linkage coupled to the control lever, the first control signal produced in response to the movement of the linkage.
15. The apparatus of claim 13 wherein the actuator surface of the input control produces the second control signal when the actuator surface is actuated in a first direction and produces a third control signal different than the second control signal when the actuator surface is actuated in a second direction different than the first direction.
16. The apparatus of claim 13 wherein the input control is configured to rock in more than one direction.
17. The apparatus of claim 13 wherein: the finger grip is configured to receive an index finger of the operator's hand; and the actuator surface of the input control is configured to be actuated by the index finger moving between the finger grip and the input control.
18. The apparatus of claim 13 wherein: the finger grip is configured to receive a middle finger of the operator's hand; and the actuator surface of the input control is configured to be actuated by an index finger of the operator's hand.
19. The apparatus of claim 13 wherein the proximal end of the body has a contoured shape operable to receive and support a portion of the operator's palm when the body is grasped in the hand of the operator.
20. The apparatus of claim 13 wherein the finger grip end comprises a retaining loop operably configured to retain the operator's finger for actuating the control lever.
21. The apparatus of claim 13 further comprising at least one proximity sensor disposed to sense one of: the operator's hand grasping the hand grip apparatus; and a position of the operator's hand with respect to the body.
they will make me vote!
and I will vote no to the dissolution
I want to see where it goes all the way, not even a year ago it was valued at 2 billion!!!
But now nothing
REASONS FOR THE PROPOSED DISSOLUTION
The Board believes that the Dissolution is in Rubius’s best interests and the best interests of our stockholders. The Board considered and pursued at length potential strategic alternatives available to Rubius such as a merger, asset sale, strategic partnership or other business combination transaction, and, following the results of such review, now believe that pursuing a wind-up of the Company in accordance with the Plan of Dissolution gives our Board the most flexibility in optimizing value for our stockholders.
In making its determination to approve the Dissolution, the Board considered, in addition to other pertinent factors, the fact that Rubius currently has no significant remaining business operations or business prospects; the fact that Rubius will continue to incur substantial accounting, legal and other expenses associated with being a public company despite having no source of revenue or financing alternatives; and the fact that Rubius has conducted an evaluation to identify remaining strategic alternatives involving Rubius’s assets or Rubius as a whole, such as a merger, asset sale, strategic partnership or other business combination transaction, that would have a reasonable likelihood of providing value to our stockholders in excess of the amount the stockholders would receive in a liquidation. As a result of its evaluation, the Board concluded that the Dissolution is the preferred strategy among the alternatives now available to Rubius and is in the best interests of Rubius and its stockholders. Accordingly, the Board approved the Dissolution of Rubius pursuant to the Plan of Dissolution and recommends that our stockholders approve the Dissolution Proposal.
where I come from it's called supercazzola
Baltic Dry 1,424
if they then sold two vessels, I'll add a little
Sale of Our Remaining Assets
We have a broad portfolio of patent applications, know how, trade secrets, and other intellectual property that covers our platform technologies as well as our product discoveries. We believe the breadth and depth of our intellectual property is a strategic asset that has the potential to provide a significant competitive advantage over other cell therapy companies. The Plan of Dissolution contemplates the sale of all of our remaining non-cash assets, including our intellectual property, if and at such time as the Board may approve, without further stockholder approval. The Plan of Dissolution does not specify the manner in which we may sell our assets. Such sales could take the form of sales of individual assets, sales of groups of assets organized by type of asset or otherwise, a single sale of all or substantially all of our assets, or some other form of sale. The assets may be sold to one or more purchasers in one or more transactions over a period of time. It is not anticipated that any further stockholder votes will be solicited with respect to the approval of the specific terms of any particular sales of assets approved by the Board. We do not anticipate amending or supplementing this proxy statement to reflect any such agreement or sale, unless required by applicable law, or selling any additional assets in the future. See the section entitled “Risk Factors?—?Risks Related to the Dissolution” beginning on page 7 of this proxy statement.
Will I owe any U.S. federal income taxes as a result of the Dissolution?
If the Dissolution is approved and implemented, a stockholder that is a U.S. person generally will recognize gain or loss on a share-by-share basis equal to the difference between (1) the sum of the amount of cash and the fair market value of property, if any, distributed to the stockholder with respect to each share, less any known liabilities assumed by the stockholder or to which the distributed property (if any) is subject, and (2) the stockholder’s adjusted tax basis in each share of our common stock. You are urged to read the section entitled “Proposal 1?—?Approval of the Dissolution Pursuant to the Plan of Dissolution — Certain Material U.S. Federal Income Tax Consequences of the Proposed Dissolution” beginning on page 21 of this proxy statement for a summary of certain material U.S. federal income tax consequences of the Dissolution, including the ownership of an interest in a liquidating trust, if any.
What will happen to our common stock if the Certificate of Dissolution is filed with the Secretary of State of Delaware?
If the Certificate of Dissolution is filed with the Secretary of State, our common stock (if not previously delisted and deregistered) will be delisted from the Nasdaq and deregistered under the Exchange Act. From and after the Effective Time, and subject to applicable law, each holder of shares of our common stock shall cease to have any rights in respect of that stock, except the right to receive distributions, if any, pursuant to and in accordance with the Plan of Dissolution and the DGCL. After the Effective Time, our stock transfer records shall be closed, and we will not record or recognize any transfer of our common stock occurring after the Effective Time, except, in our sole discretion, such transfers occurring by will, intestate succession or operation of law as to which we have received adequate written notice. Under the DGCL, no stockholder shall have any appraisal rights in connection with the Dissolution.
We expect to file the Certificate of Dissolution and for the Dissolution to become effective as soon as reasonably practicable after the Dissolution is approved by our stockholders; however, the decision of whether or not to proceed with the Dissolution will be made by the Board in its sole discretion. We intend to provide advance notice to our stockholders prior to the closing of our stock transfer records.
Unclaimed Distributions
If any distribution to a stockholder cannot be made, whether because the stockholder cannot be located, has not surrendered a certificate evidencing ownership of the Company’s common stock or provided other evidence of ownership as required in the Plan of Dissolution or by the Board or for any other reason, the distribution to which the stockholder is otherwise entitled will be transferred, at such time as the final liquidating distribution is made by us, or as soon as practicable after that distribution, to the official of such state or other jurisdiction authorized by applicable law to receive the proceeds of the distribution. The proceeds of such distribution will thereafter be held solely for the benefit of and for ultimate distribution to the stockholder as the sole equitable owner of the distribution and will be treated as abandoned property and escheat to the applicable state or other jurisdiction in accordance with applicable law. The proceeds of any such distribution will not revert to or become the property of us or any other stockholder.
I have 4277 shares at $0.20!
I want to participate in the stew and register as a shareholder!
I don't think they will let me!
I'm on a science mission!
As a foreign retail investor I am faced with a rubber wall regarding ownership of my shares!
Here they have printed a lot of them and I understand those who have them in charge for more than 1 dollar are tempted by the minus ....
But not me!
I want to go to the settlement and get registered
There are 80 million shares (they are registered) in the hands of institutions and funds, who will participate?
5% Stockholders: ? ? ? ? ? ? ? ? ? ? ? ? ?
Entities affiliated with the Flagship Pioneering Funds(1) 38,506,526 ? ? ? ? ? 42.6% ? ?
FMR LLC(2) 12,376,153 ? ? ? ? ? 13.7% ? ?
David R. Epstein(3) 4,900,012 ? ? ? ? ? 5.4% ? ?
Named Executive Officers and Directors: ?
All executive officers and directors as a group (6 persons) 5,092,773 ? ? ? ? ? 5.3% ? ?
?
2022-02-11 13G/A Artal International Management S.A. 3,701,580
VEXMX - Vanguard Extended Market Index Fund Investor Shares 554,320
2023-03-01 NP VITNX - Vanguard Institutional Total Stock Market Index Fund Institutional Shares 33,140
2023-03-01 NP EQ ADVISORS TRUST - 1290 VT Micro Cap Portfolio Class IB 8,400
2023-03-01 NP VBINX - Vanguard Balanced Index Fund Investor Shares 6,247
2023-03-01 NP VTSMX - Vanguard Total Stock Market Index Fund Investor Shares 1,066,867
2023-02-24 NP IWC - iShares Micro-Cap ETF 96,089
2023-02-24 NP ITOT - iShares Core S&P Total U.S. Stock Market ETF 72,817
2023-02-23 NP QVG2Q - Growth Portfolio Investor Class 134,856
2023-02-23 NP FDSVX - Fidelity Growth Discovery Fund 54,080
2023-02-14 13F Millennium Management Llc 169,571
2023-02-14 13F Acadian Asset Management Llc 1,277,196
2023-02-13 13F BlackRock Inc. 1,197,501
2023-02-10 13F Vanguard Group Inc 1,676,669
2023-01-27 13F State Of Michigan Retirement System 640,000
2023-01-26 NP FCFMX - Fidelity Series Total Market Index Fund 44,204
2023-01-26 NP FCGSX - Fidelity Series Growth Company Fund 1,107,317
2023-01-26 NP FDGRX - Fidelity Growth Company Fund 4,389,016
2023-01-26 NP FNCMX - Fidelity Nasdaq Composite Index Fund 49,919
2023-01-26 NP FGKFX - Fidelity Growth Company K6 Fund 1,336,281
2023-01-26 NP FMFMX - Fidelity Advisor Series Equity Growth Fund 28,487
2023-01-26 NP FSMAX - Fidelity Extended Market Index Fund 225,427
Why did they bring it up early in the morning?
seems unusual to me!
FDA approval of VONJO (pacritinib) for the treatment of adults with intermediate or high-risk primary or secondary (post-polycythemia vera or post-essential thrombocythemia) myelofibrosis with a platelet count below 50 × 109/L.
$54 million in net sales in the first nine months following VONJO launch.
Over 1,000 patients commercially treated with VONJO in 2022.
Inclusion in the National Comprehensive Cancer Network® (NCCN®)
Oral presentation at the 64th American Society of Hematology (ASH) Annual Meeting and Exposition highlighted pacritinib as a potent activin A receptor type 1 (ACVR1) inhibitor with significant anemia benefit in patients with myelofibrosis. A receptor type 1 (ACVR1) inhibitor and anemia benefit. We look forward to continuing activities focused on market expansion in 2023, which are intended to drive quarter-over-quarter net sales increases
On February 7, 2023, VONJO was granted seven years of orphan-drug exclusive approval by the FDA for treatment of adults with intermediate or high-risk primary or secondary (post-polycythemia vera or post-essential thrombocythemia) myelofibrosis with a platelet count below 50 x109/L. The seven-year exclusive approval began on February 28, 2022.