Instrument device manipulator for a surgical robotics system

[0035] I. Surgical Robot System

[0036] figure 1 An embodiment of the surgical robot system 100 is shown. The surgical robot system 100 includes a base 101 that is coupled to one or more robotic arms, such as the robotic arm 102. The base 101 is communicatively connected to a command console, which is referred to herein figure 2 Is further described. The base 101 can be positioned so that the robotic arm 102 can be approached to perform a surgical procedure on a patient, and a user such as a doctor can control the surgical robot system 100 from a comfortable command console. In some embodiments, the base 101 may be coupled to a surgical table or bed for supporting the patient. Although for clarity figure 1 Not shown in, but the base 101 may include subsystems such as control electronics, pneumatic devices, power supplies, light sources, and the like. The robot arm 102 includes a plurality of arm sections 110 coupled at a joint 111, and the plurality of arm sections 110 provide the robot arm 102 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to the seven arm sections. The base 101 may include a power supply 112, a pneumatic pressure device 113, and control and sensor electronics 114—including components such as a central processing unit, data bus, control circuit, and memory—and related actuators that move the robotic arm 102 such as motor. The electronic device 114 in the base 101 can also process and transmit the control signal transmitted from the command console.

[0037] In some embodiments, the base 101 includes wheels 115 that are used to transport the surgical robot system 100. The mobility of the surgical robot system 100 helps to adapt to the space constraints in the surgical operating room and facilitates proper positioning and movement of surgical equipment. In addition, mobility allows the robotic arm 102 to be configured such that the robotic arm 102 does not interfere with patients, doctors, anesthesiologists, or any other equipment. During the operation, the user can use a control device such as a command console to control the robotic arm 102.

[0038] In some embodiments, the robotic arm 102 includes a set joint that uses a combination of brakes and balance components to maintain the position of the robotic arm 102. The balance member may include a gas spring or a coil spring. The brake is, for example, a fail-safe brake, which may include mechanical and/or electrical components. In addition, the robot arm 102 may be a gravity assisted passive support type robot arm.

[0039] Each robotic arm 102 can be coupled to an instrument device manipulator (IDM) 117 using a mechanism changer interface (MCI) 116. The IDM 117 can be removed and replaced with a different type of IDM, for example, the first type of IDM manipulates the endoscope and the second type of IDM manipulates the laparoscope. The MCI 116 includes connectors for transmitting pneumatic pressure, electricity, electrical signals, and optical signals from the robot arm 102 to the IDM 117. The MCI 116 may be a set screw or a substrate connector. IDM 117 uses technologies including direct drive, harmonic drive, gear drive, belt and pulley, magnetic drive, etc. to manipulate surgical instruments such as endoscope 118. The MCI 116 is interchangeable based on the type of IDM 117 and can be customized for a certain type of surgery. The robot arm 102 may include a joint level torque sensing device at the distal end and a wrist such as KUKA LBR5 robotic arm.

[0040] The endoscope 118 is a tubular and flexible surgical instrument inserted into the anatomy of a patient to capture an image of the anatomy (for example, body tissue). In particular, the endoscope 118 includes one or more imaging devices (e.g., cameras or sensors) that capture images. The imaging device may include one or more optical components such as optical fibers, optical fiber arrays, or lenses. The optical components move together with the tip end of the endoscope 118 so that the movement of the tip end of the endoscope 118 causes a change in the image captured by the imaging device. Although the endoscope is always used as the main example, it should be understood that the surgical robot system 100 can be used with various surgical instruments.

[0041] In some embodiments, the robotic arm 102 of the surgical robot system 100 manipulates the endoscope 118 using an elongated motion member. The elongated moving member may include a pull wire, which is also called a pull wire or push wire, cable, optical fiber, or flexible shaft. For example, the robotic arm 102 actuates a plurality of pull wires coupled to the endoscope 118 to deflect the tip of the endoscope 118. The pull wire can include two materials, metallic materials and non-metallic materials, such as stainless steel, Kevlar, tungsten, carbon fiber, and so on. The endoscope 118 may exhibit nonlinear behavior in response to the force applied by the elongated moving member. The non-linear behavior may be based on the stiffness and compressibility of the endoscope 118 and the difference in the play or stiffness between different elongated moving members.

[0042] The surgical robot system 100 includes a controller 120 such as a computer processor. The controller 120 includes a calibration module 125, an image registration module 130, and a calibration memory 135. The calibration module 125 may use a model with a piecewise linear response together with parameters such as slope, hysteresis, and dead zone values ​​to characterize nonlinear behavior. The surgical robot system 100 can control the endoscope 118 more accurately by determining the precise value of the parameter. In some embodiments, some or all of the functions of the controller 120 are performed outside the surgical robot system 100, for example, on another computer system or a server that is communicatively coupled to the surgical robot system 100.

[0043] II. Command console

[0044] figure 2 A command console 200 for the surgical robot system 100 according to one embodiment is shown. The command console 200 includes a console base 201, a display module 202 such as a monitor, and a control module such as a keyboard 203 and a joystick 204. In some embodiments, one or more of the functions of the command module 200 may be integrated into the base 101 of the surgical robot system 100 or into another system that is communicatively coupled to the surgical robot system 100. The user 205, such as a doctor, uses the command console 200 to remotely control the surgical robot system 100 according to the ergonomic position.

[0045] The console base 201 may include a central processing unit, a memory unit, a data bus and associated data communication ports, which are responsible for interpreting and processing data from figure 1 The signals of the endoscope 118 shown in, such as camera imaging and tracking sensor data. In some embodiments, both the console base 201 and the base 101 perform signal processing for load balancing. The console base 201 can also process commands and instructions provided by the user 205 through the control module 203 and the control module 204. apart from figure 2 In addition to the keyboard 203 and joystick 204 shown in the control module, the control module may include other devices that capture gestures and finger gestures such as computer mice, track pads, trackballs, control boards, video game controllers, and sensors (for example, motion sensors or camera).

[0046] The user 205 can use the command console 200 to control a surgical instrument such as the endoscope 118 in a speed mode or a position control mode. In the speed mode, the user 205 directly controls the pitch and yaw movement of the distal end of the endoscope 118 based on direct manual control using the control module. For example, the movement on the joystick 204 may be mapped to the yaw and pitch movement in the distal end of the endoscope 118. The joystick 204 can provide tactile feedback to the user 205. For example, the joystick 204 vibrates to indicate that the endoscope 118 cannot translate or rotate further in a certain direction. The command console 200 may also provide visual feedback (e.g., a pop-up message) and/or audio feedback (e.g., a beep) to indicate that the endoscope 118 has reached the maximum translation or rotation.

[0047] In the position control mode, the command console 200 uses a three-dimensional (3D) mapping of the patient and a predetermined computer model of the patient to control surgical instruments such as the endoscope 118. The command console 200 provides control signals to the robotic arm 102 of the surgical robot system 100 to manipulate the endoscope 118 to a target position. Relying on 3D mapping, the position control mode requires accurate mapping of the patient's anatomy.

[0048] In some embodiments, the user 205 can manually manipulate the robotic arm 102 of the surgical robot system 100 without using the command console 200. During the setup in the surgical operating room, the user 205 can move the robotic arm 102, the endoscope 118, and other surgical equipment to enter the patient. The surgical robot system 100 can rely on force feedback and inertial control from the user 205 to determine the appropriate configuration of the robotic arm 102 and equipment.

[0049] The display module 202 may include an electronic monitor, a virtual reality viewing device such as goggles or glasses, and/or other display devices. In some embodiments, the display module 202 and the control module are integrated into, for example, a tablet device with a touch screen. In addition, the user 205 can use the integrated display module 202 and control module to view data and input commands to the surgical robot system 100 at the same time.

[0050] The display module 202 may use a stereoscopic device, such as a sun visor or goggles, to display 3D images. The 3D image provides an "inner view" (ie, an endoscopic view), which is a computer 3D model showing the patient's anatomy. The "internal view" provides the virtual environment inside the patient and the desired position of the endoscope 118 in the patient's body. The user 205 compares the "internal view" model with the actual image captured by the camera to help psychologically locate and confirm that the endoscope 118 is in the correct or approximately correct position in the patient. The "inner view" provides information about the anatomy around the distal end of the endoscope 118, such as the shape of the patient's intestine or colon. The display module 202 can simultaneously display the 3D model of the anatomical structure around the distal end of the endoscope 118 and the computer tomography (CT) scan. In addition, the display module 202 may cover the predetermined optimal navigation path of the endoscope 118 on the 3D model and CT scan.

[0051] In some embodiments, the model of the endoscope 118 is displayed together with the 3D model to help indicate the status of the surgical procedure. For example, CT scans identify lesions in the anatomy that may require biopsy. During operation, the display module 202 may display the reference image captured by the endoscope 118 corresponding to the current position of the endoscope 118. The display module 202 can automatically display different views of the model of the endoscope 118 according to user settings and a specific surgical procedure. For example, when the endoscope 118 approaches the manipulation area of ​​the patient, the display module 202 displays a top perspective view of the endoscope 118 during the navigation step.

[0052] III. Instrument device manipulator

[0053] image 3 Shows a perspective view of an instrument device manipulator (IDM) 300 for the surgical robot system, and Figure 4 It is a side view of IDM 300 according to an embodiment. The IDM 300 is configured to attach the surgical tool to the robotic surgical arm in a manner that allows the surgical tool to continuously rotate or "tilt" around the axis of the surgical tool. The IDM 300 includes a base 302 and a surgical tool holder assembly 304. The surgical tool holder assembly 304 also includes a housing 306, a surgical tool holder 308, an attachment interface 310, a passage 312, and a plurality of torque couplings 314. IDM 300 can be used with various surgical tools ( image 3 Not shown in) used together, the surgical tool may include a housing and an elongated body, and the surgical tool may be used for other types of end effectors such as laparoscopes, endoscopes or surgical instruments.

[0054] The base 302 removably or fixedly mounts the IDM 300 to the surgical robot arm of the surgical robot system. in image 3 In the embodiment, the base 302 is fixedly attached to the housing 306 of the surgical tool holder assembly 304. In an alternative embodiment, the base 302 may be configured to include a platform adapted to receive the surgical tool holder 308 in a rotatable manner on the face opposite the attachment interface 310. The platform may include a passage aligned with the passage 312 for receiving an elongated body of a surgical tool, and in some embodiments, the platform may also include an additional elongated body of a second surgical tool mounted coaxially with the first surgical tool.

[0055] The surgical tool holder assembly 304 is configured to fix the surgical tool to the IDM 300 and rotate the surgical tool relative to the base 302. Mechanical and electrical connections from the surgical arm to the base 302 and then to the surgical tool holder assembly 304 are provided to allow the surgical tool holder 308 to rotate relative to the outer housing 306 and to manipulate and/or transfer the The power and/or signals are transferred to the surgical tool holder 308 and ultimately to the surgical tool. The signals may include signals for pneumatic pressure, electricity, electrical signals, and/or optical signals.

[0056] The housing 306 provides support for the surgical tool holder assembly 304 relative to the base 302. The housing 306 is fixedly attached to the base 302 so that the housing 306 remains stationary relative to the base 302 while allowing the surgical tool holder 308 to freely rotate relative to the housing 306. Such as image 3 As shown, the shape of the housing 306 is cylindrical and completely surrounds the surgical tool holder 308. The housing 306 may be composed of a rigid material (e.g., metal or hard plastic). In alternative embodiments, the shape of the housing may vary.

[0057] The surgical tool holder 308 fixes the surgical tool to the IDM 300 via the attachment interface 310. The surgical tool holder 308 can rotate independently of the housing 306. The surgical tool holder 308 rotates about a rotation axis 316, which is coaxially aligned with the elongate body of the surgical tool, so that the surgical tool and the surgical tool holder 308 rotate together.

[0058] The attachment interface 310 is the face of the surgical tool holder 308 that is attached to the surgical tool. The attachment interface 310 includes a first part of the attachment mechanism, and the first part of the attachment mechanism cooperates with the second part of the attachment mechanism on the surgical tool, which will refer to Figure 8A with Figure 8B Discuss in more detail. The attachment interface 310 includes a plurality of torque couplings 314 that protrude outward from the attachment interface 310 and engage with corresponding instrument inputs on the surgical tool. In some embodiments, a surgical cover coupled to a sterile adapter can be used to form a sterile boundary between the IDM 300 and the surgical tool. In these embodiments, when the surgical tool is fixed to the IDM 300, a sterile adapter can be positioned between the attachment interface 310 and the surgical tool, so that the surgical cover separates the surgical tool and the patient from the IDM 300 and the surgical robot system. separate.

[0059] The passage 312 is configured to receive the elongate body of the surgical tool when the surgical tool is secured to the attachment interface 310. in image 3 In the embodiment, the passage 312 is coaxially aligned with the longitudinal axis of the elongate body of the surgical tool and the rotation axis 316 of the surgical tool holder 308. The passage 312 allows the elongate body of the surgical tool to rotate freely within the passage 312. This configuration allows the surgical tool to continuously rotate or roll about the axis of rotation 316 in either direction with minimal or no limits.

[0060] The plurality of torque couplings 314 are configured to engage and drive components of the surgical tool when the surgical tool is secured to the surgical tool holder 308. Each torque coupling 314 is inserted into a corresponding instrument input on the surgical tool. The plurality of torque couplings 314 may also be used to maintain the rotational alignment between the surgical tool and the surgical tool holder 308. Such as image 3 As shown, each torque coupling 314 is shaped as a cylindrical protrusion protruding outward from the attachment interface 310. The notches 318 may be arranged along the outer surface area of ​​the cylindrical protrusion. In some embodiments, the arrangement of notches 318 forms a spline interface. The instrument input on the surgical tool is configured to have a geometric shape complementary to that of the torque coupling 314. For example, although not shown in Figure 3, the instrument input of the surgical tool may be cylindrical and have multiple ridges that interact with the multiple notches 318 on each torque coupling 314. Fits and thus applies torque to the notch 318. In an alternative embodiment, the top surface of the cylindrical protrusion may include a plurality of notches 318 configured to cooperate with a plurality of ridges in a corresponding instrument input. In this configuration, each torque coupling 314 is fully engaged with its corresponding instrument input.

[0061] Additionally, each torque coupling 314 may be coupled to a spring that allows the torque coupling to translate. in image 3 In the embodiment, the spring causes each torque coupling 314 to be biased to eject outward away from the attachment interface 310. The spring is configured to generate translation in the axial direction, that is, extend away from the attachment interface 310 and retract toward the surgical tool holder 308. In some embodiments, each torque coupling 314 can be partially retracted into the surgical tool holder 308. In other embodiments, each torque coupling 314 can be fully retracted into the surgical tool holder 308 such that the effective height of each torque coupling relative to the attachment interface 310 is zero. in image 3 In the embodiment, the translation of each torque coupling 314 is actuated by an actuation mechanism that will Figure 7 To Figure 8 is described in further detail. In various embodiments, each torque coupling 314 may be coupled to a single spring, multiple springs, or a corresponding spring for each torque coupling.

[0062] In addition, each torque coupling 314 is driven by a corresponding driver to rotate the torque coupling in either direction. Thus, once engaged with the instrument input, each torque coupling 314 can transmit power to tighten or loosen the pull wire within the surgical tool, thereby manipulating the end effector of the surgical tool. in image 3 In the embodiment, the IDM 300 includes five torque couplings 314, but in other embodiments, the number may vary depending on the desired number of degrees of freedom of the end effector of the surgical tool. In some embodiments, a surgical cover coupled to a sterile adapter can be used to form a sterile boundary between the IDM 300 and the surgical tool. In these embodiments, when the surgical tool is fixed to the IDM 300, a sterile adapter can be positioned between the attachment interface 310 and the surgical tool, and the sterile adapter can be configured to connect the The power of 314 is transmitted to the corresponding instrument input.

[0063] can image 3 The embodiment of IDM 300 shown in is used in various configurations with surgical robotic systems. The desired configuration may depend on the type of surgical procedure performed on the patient or the type of surgical tool used during the surgical procedure. For example, for endoscopic procedures, the desired configuration of IDM 300 may be different from laparoscopic procedures.

[0064] In the first configuration, the IDM 300 may be removably or fixedly attached to the surgical arm so that the attachment interface 310 is proximal to the patient during the surgical procedure. In this configuration, referred to below as the "front-mounted configuration", the surgical tool is fixed to the IDM 300 on the side close to the patient. The surgical tool used with the front-mounted configuration is configured such that the elongate body of the surgical tool extends from the side opposite to the attachment interface of the surgical tool. When the surgical tool is removed from the IDM 300 from the front-mounted configuration, the surgical tool will be removed in a proximal direction relative to the patient.

[0065] In the second configuration, the IDM 300 may be removably or fixedly attached to the surgical arm so that the attachment interface 310 is distal to the patient during the surgical procedure. In this configuration, hereinafter referred to as "rear-mounted configuration", the surgical tool is fixed to the IDM 300 on the side away from the patient. The surgical tool used with the rear-mounted configuration is configured such that the elongate body of the surgical tool extends from the attachment interface of the surgical tool. This configuration increases the safety of the patient during the removal of the tool from the IDM 300. When the surgical tool is removed from the IDM 300 in the rear-mounted configuration, the surgical tool will be removed in a distal direction relative to the patient.

[0066] Certain configurations of surgical tools can be configured such that the surgical tool can be used with an IDM in a front-mounted configuration or a rear-mounted configuration. In these configurations, the surgical tool includes attachment interfaces on both ends of the surgical tool. For some surgical procedures, the doctor can decide the configuration of IDM according to the type of surgical procedure being performed. For example, a rear-mounted configuration may be beneficial for laparoscopic procedures, where laparoscopic surgical tools may be particularly long relative to other surgical instruments. When the surgical arm moves during a surgical procedure, such as when the physician guides the distal end of the surgical tool to a remote site of the patient (e.g., lung or blood vessel), the increase in the length of the laparoscopic surgical tool causes the surgical arm to wrap around a larger arc swing. Beneficially, the rear-mounted configuration reduces the effective tool length of the surgical tool by receiving a portion of the elongate body through the passage 312, and thereby reduces the arc of motion required for the surgical arm to position the surgical tool .

[0067] Figure 5 to Figure 6 Shows fixing to image 3 An exploded perspective view of an exemplary surgical tool 500 of the instrument device manipulator 300. The surgical tool 500 includes a housing 502, an elongated body 504, and a plurality of instrument inputs 600. As previously described, the elongated body 504 may be a laparoscope, an endoscope, or other surgical instrument with an end effector. As shown, a plurality of torque couplings 314 protrude outward from the attachment interface 310 to engage with the instrument input 600 of the surgical tool. allowable Image 6 See the structure of the instrument input 600. The instrument input 600 has a geometric shape corresponding to the geometric shape of the torque coupling 314 to ensure reliable surgical tool engagement.

[0068] During the surgical procedure, the surgical cover can be used to maintain a sterile boundary between the IDM 300 and the external environment (ie, operating room). in Figure 5 to Figure 6 In an embodiment, the surgical cover includes a sterile adapter 506, a first protrusion 508, and a second protrusion 510. Even though Figure 5 to Figure 6 Not shown in, but a sterile sheet is connected to the sterile adapter and the second protrusion and arranged around the IDM 300 to form a sterile boundary.

[0069] The sterile adapter 506 is configured to form a sterile interface between the IDM 300 and the surgical tool 500 when secured to the IDM 300. in Figure 5 to Figure 6 In the embodiment of, the sterile adapter 506 has a disk-like geometry that covers the attachment interface 310 of the IDM 300. The sterile adaptor 506 includes a central hole 508 that is configured to receive the elongate body 504 of the surgical tool 500. In this configuration, when the surgical tool 500 is fixed to the IDM 300, the sterile adapter 506 is positioned between the attachment interface 310 and the surgical tool 500, thereby creating a sterile relationship between the surgical tool 500 and the IDM 300 The boundary and allows the elongated body 504 to pass through the passage 312. In certain embodiments, the sterile adapter 506 may be able to rotate together with the surgical tool holder 308, thereby transmitting the rotational torque from the plurality of torque couplings 314 to the surgical tool 500, and thus between the IDM 300 and the surgical tool 500 Transmit electrical signals between time or some combination.

[0070] in Figure 5 to Figure 6 In the embodiment of, the sterile adapter 506 further includes a plurality of couplings 512. The first side of the coupler 512 is configured to engage with the corresponding torque coupler 314 and the second side of the coupler 512 is configured to engage with the corresponding instrument input 600. Similar to the structure of the plurality of torque couplings 314, each coupling 512 is configured as a cylindrical protrusion including a plurality of notches. Each side of the coupling 512 has a complementary geometry to fully engage the corresponding torque coupling 314 and the corresponding instrument input 600. Each coupling 512 is configured to rotate in a clockwise or counterclockwise direction together with the corresponding torque coupling 314. This configuration allows each coupling 512 to transmit the rotational torque from the plurality of torque couplings 314 of the IDM 300 to the plurality of instrument inputs 600 of the surgical tool 500 and thus control the end effector of the surgical tool 500.

[0071] The first protrusion 508 and the second protrusion 510 are configured to pass through the passage 312 of the IDM 300 and fit with each other inside the passage 312. Each protrusion 508, 510 is configured to allow the elongated body 504 to pass through the protrusion and thus the passage 312. The connection of the first protrusion 508 and the second protrusion 510 forms a sterile boundary between the IDM 300 and the external environment (ie, operating room). on Figure 13 to Figure 16 The surgical cover is discussed in further detail.

[0072] IV. Disconnection of surgical tools

[0073] Figure 7 An enlarged perspective view of the actuation mechanism for engaging and disengaging the surgical tool 500 from the sterile adapter 506 of the surgical cover according to one embodiment is shown. As about image 3 In the described configuration of the IDM 300, the axis of the surgical tool inserted into the patient during the surgical procedure is the same as the axis of the surgical tool removed. In order to ensure the safety of the patient during removal of the surgical tool, the surgical tool 500 may be articulated with the sterile adapter 506 and the IDM 300 before the surgical tool 500 is removed. in Figure 7 In the embodiment, the plurality of couplings 512 are configured to translate in the axial direction, that is, extend away from the sterile adapter 506 and retract toward the sterile adapter 506. The translation of the plurality of couplings 512 is actuated by an actuating mechanism, which ensures that the surgical tool 500 is articulated by disconnecting the plurality of couplings 512 from the corresponding instrument input 600. The actuation mechanism includes a wedge 702 and a push plate 704.

[0074] The wedge 702 is a structural component that activates the push plate 704 during the process of disengaging the surgical tool. in Figure 7 In the embodiment, the wedge 702 is located in the housing 502 of the surgical tool 500 along the outer periphery of the housing 502. As shown, the wedge 702 is oriented such that contact of the wedge 702 with the push plate 704 causes the push plate 704 to be pressed into the case 502 of the surgical tool 500 is rotated clockwise relative to the sterile adapter 506 Aseptic adapter 506. In an alternative embodiment, the wedge 702 may be configured to rotate the housing 502 of the surgical tool 500 counterclockwise instead of clockwise. Considering that the structure can press down the push plate when rotating, geometric shapes other than wedges, such as arched ramps, can be used.

[0075] The push plate 704 is an actuator that disengages the plurality of couplings 512 from the surgical tool 500. Similar to the plurality of torque couplings 314, each coupling 512 may be coupled to one or more springs that bias each coupling 512 to eject outward from the sterile adapter 506. The plurality of couplings 512 are further configured to translate in the axial direction, that is, extend away from the sterile adapter 506 and retract toward the sterile adapter 506. The push plate 704 actuates the translational movement of the coupling 512. When the push plate 704 is pressed down by the wedge 702, the push plate 704 compresses the spring or springs coupled with each coupling 512, thereby causing the coupling 512 to retract into the sterile adapter 506. in Figure 7 In the embodiment, the push plate 704 is configured to cause simultaneous retraction of multiple couplings 512. Alternative embodiments may have the coupling 512 retracted in a specific order or a random order. in Figure 7 In the embodiment, the push plate 704 partially retracts the plurality of couplings 512 into the sterile adapter 506. This configuration allows the surgical tool 500 to be articulated from the sterile adapter 506 before the surgical tool 500 is removed. This configuration also allows the user to articulate the surgical tool 500 from the sterile adapter 506 at any desired time without removing the surgical tool 500. An alternative embodiment may fully retract the plurality of couplings 512 into the sterile adapter 506 so that the effective height of each coupling 512 measured is zero. In some embodiments, the push plate 704 can cause the plurality of torque couplings 314 to be retracted synchronously with the plurality of corresponding couplings 512.

[0076] Figure 8A with Figure 8B The process of engaging and disengaging a surgical tool with a sterile adapter according to one embodiment is shown. Figure 8A The sterile adapter 506 and the surgical tool 500 are shown in a fixed position such that the two components are fixed together and the plurality of couplings 512 are fully engaged with the corresponding instrument input 600 of the surgical tool 500. In order to achieve Figure 8A In the fixed position shown, the elongate body 504 (not shown) of the surgical tool 500 passes through the central hole 508 (not shown) of the sterile adapter 506 to the mating surface of the surgical tool 500 and the sterile adapter 506 Until contact, the surgical tool 500 and the sterile adapter 506 are fixed to each other by a latch mechanism. in Figure 8A with Figure 8B In the embodiment, the latch mechanism includes a flange 802 and a latch 804.

[0077] The flange 802 is a structural component that fixes the latch 804 in a fixed position. in Figure 8A In the embodiment of, the flange 802 is positioned in the housing 502 of the surgical tool 500 along the outer periphery of the housing 502. Such as Figure 8A As shown, the flange 802 is oriented such that the flange 802 rests under the protrusion on the latch 804, thereby preventing the latch 804 from being pulled away from the surgical tool 500 due to the spring nature of the plurality of couplings 512 and thereby preventing The sterile adapter 506 pulls away the surgical tool 500, as in Figure 7 Described.

[0078] The latch 804 is a structural component that cooperates with the flange 802 in a fixed position. in Figure 8A In the embodiment, the latch 804 protrudes from the mating surface of the sterile adapter 506. The latch 804 includes a protrusion that is configured to rest on the flange 802 when the surgical tool 500 is secured to the sterile adapter 506. in Figure 8A In the embodiment, the housing 502 of the surgical tool 500 can be rotated independently of the rest of the surgical tool 500. This configuration allows the housing 502 to rotate relative to the sterile adapter 506 so that the flange 802 is secured against the latch 804, thereby securing the surgical tool 500 to the sterile adapter 502. in Figure 8A In the embodiment, the housing 502 rotates counterclockwise to achieve a fixed position, but in other embodiments, the housing 502 may be configured to rotate clockwise. In alternative embodiments, the flange 802 and the latch 804 may have various geometries that lock the sterile adapter 506 and the surgical tool 500 in a fixed position.

[0079] Figure 8B The sterile adapter 506 and the surgical tool 500 are shown in an unfixed position, wherein the surgical tool 500 can be removed from the sterile adapter 506. As previously described, the housing 502 of the surgical tool 500 can be rotated independently of the remaining part of the surgical tool 500. This configuration allows the housing 502 to rotate even when the plurality of couplings 512 are engaged with the instrument input 600 of the surgical tool 500. In order to switch from the fixed position to the unfixed position, the user rotates the housing 502 of the surgical tool 500 clockwise relative to the sterile adapter 506. During this rotation, the wedge 702 contacts the push plate 704 and gradually presses the push plate 704 as the push plate 704 slides against the angled plane of the wedge 702, thereby causing the plurality of couplings 512 to retract into the aseptic rotation. In the connector 506 and disconnected from the multiple instrument inputs 600. Further rotation causes the latch 804 to contact the axial cam 806, which is configured similar to the wedge 702. When the latch 804 contacts the axial cam 806 during rotation, the axial cam 806 causes the latch 804 to bend outward away from the surgical tool 500, causing the latch 804 to be displaced from the flange 802. in Figure 8B In this embodiment, in this unfixed position, the plurality of couplings 512 are retracted and the surgical tool 500 can be removed from the sterile adapter 506. In other embodiments, the axial cam 806 may have various geometries such that rotation causes the latch 804 to bend outward.

[0080] In an alternative embodiment, the direction of rotation of the housing 502 of the surgical tool 500 may be configured to rotate counterclockwise to release the latch 804 from the flange 802. Additionally, alternative embodiments may include similar components, but the position of the components may be switched between the sterile adapter 506 and the surgical tool 500. For example, the flange 802 can be located on the sterile adapter 506 and the latch 804 can be located on the surgical tool 500. In other embodiments, the outer portion of the sterile adapter 506 may be rotatable relative to the plurality of couplings 512 instead of the housing 502 of the surgical tool 500. Alternative embodiments may also include the following feature: when the housing 502 is completely rotated relative to the instrument input 600, the rotation of the housing 502 of the surgical tool 502 is locked. This configuration prevents the surgical tool from rotating when the instrument input 600 has been disconnected from the coupling 512. In some embodiments, the retraction and extension of the coupling 512 may be accompanied by the corresponding retraction and extension of the torque coupling 314 such that the coupling 512 engaged with the torque coupling 314 will translate together.

[0081] Figure 9A with Figure 9B The process of engaging and disengaging the surgical tool and the sterile adapter according to another embodiment is shown. in Figure 9A with Figure 9B In one embodiment, the sterile adapter 900 may include an outer band 902 that secures the surgical tool 904 to the sterile adapter 900. in Figure 9A with Figure 9B In the embodiment, the surgical tool 902 includes a ramp 906 on the outer surface of the housing 908. The ramp 906 includes a notch 910 configured to receive a circular protrusion 912 that is positioned on the inner surface of the outer band 902 of the sterile adapter 900. The outer band 902 can be rotated independently of and relative to the sterile adapter 900 and the surgical tool 904. When the outer band 902 rotates in the first direction, the circular protrusion 912 slides upward along the surface of the ramp 906 until the circular protrusion 912 is nested in the recess 910, thereby fixing the sterile adapter 900 and the surgical tool 904 Together. The rotation of the outer band 902 in the second direction causes the sterile adapter 900 and the surgical tool 904 to be unsecured from each other. In some embodiments, this mechanism can be coupled with disconnected joints of multiple couplings 914 on the sterile adapter 900, such as in relation to Figure 7 To the description in Figure 8.

[0082] Alternative embodiments of surgical tool disengagement may include additional features such as impedance patterns. In the impedance mode, the surgical robot system can control whether the surgical tool can be removed from the sterile adapter by the user. The user can activate the disconnection mechanism by rotating the housing of the surgical tool and unfixing the surgical tool from the sterile adapter, but the surgical robot system may not release the coupling from the instrument input. Only when the surgical robot system has switched to impedance mode will the coupler be released and the user can remove the surgical tool. The advantage of keeping the surgical tool engaged is that the surgical robot system can control the end effector of the surgical tool before the surgical tool is removed and position the end effector for tool removal to minimize damage to the surgical tool. In order to activate the impedance mode, the push plate 704 may have a hard stop so that the push plate can be pressed down a certain distance. In some embodiments, the hard stop of the push plate may be adjustable so that the hard stop is consistent with the maximum rotation amount of the housing of the surgical tool. Therefore, once the full rotation is reached, the push plate will also encounter the hard stop. Multiple sensors can detect these events and trigger the impedance mode.

[0083] Certain situations may require emergency tool removal during the surgical procedure when the impedance mode may be undesirable. In some embodiments, the hard stopper of the push plate may have flexibility so that the hard stopper can yield in an emergency. The hard stop of the push plate may be coupled to the spring, allowing the hard stop to yield in response to the additional force. In other embodiments, the hard stop of the push plate may be rigid, so that emergency tool removal occurs by removing the latch that secures the surgical tool to the sterile adapter.

[0084] V. Roll mechanism

[0085] Figure 10A A perspective view of a mechanism for tilting the surgical tool holder 308 inside the instrument device manipulator 300 according to one embodiment is shown. Such as Figure 10A As shown, the attachment interface 310 is removed to expose the roll mechanism. This mechanism allows the surgical tool holder 308 to continuously rotate or "roll" about the axis of rotation 316 in either direction. The roll mechanism includes a stator gear 1002 and a rotor gear 1004.

[0086] The stator gear 1002 is a fixed gear configured to cooperate with the rotor gear 1004. in Figure 10A In the embodiment, the stator gear 1002 is a ring gear including gear teeth along its inner circumference. The stator gear 1002 is fixedly attached to the outer housing 306 behind the attachment interface 310. The pitch of the stator gear 1002 is the same as the pitch of the rotor gear 1004, so that the gear teeth of the stator gear 1002 are configured to cooperate with the gear teeth of the rotor gear 1004. The stator gear 1002 may be composed of a rigid material, such as metal or hard plastic.

[0087] The rotor gear 1004 is a rotating gear configured to cause rotation of the surgical tool holder 308. Such as Figure 10A As shown, the rotor gear 1004 is a circular gear including gear teeth along its outer circumference. The rotor gear 1004 is positioned behind the attachment interface 310 and within the inner circumference of the stator gear 1002 so that the gear teeth of the rotor gear 1004 are matched with the gear teeth of the stator gear. As previously described, the rotor gear 1004 and the stator gear 1002 have the same pitch. in Figure 10A In the embodiment, the rotor gear 1004 is coupled to a driving mechanism (eg, a motor) that causes the rotor gear 1004 to rotate in a clockwise or counterclockwise direction. The drive mechanism may receive signals from an integrated controller located in the surgical tool holder assembly 304. Since the driving mechanism causes the rotor gear 1004 to rotate, the rotor gear 1004 travels along the gear teeth of the stator gear 1002, thereby causing the surgical tool holder 308 to rotate. In this configuration, the rotor gear 1004 can continuously rotate in either direction and thus allows the surgical tool holder 308 to achieve infinite roll about the rotation axis 316. Alternative embodiments may use similar mechanisms, such as ring gear and pinion configurations, to achieve infinite roll.

[0088] Figure 10B A cross-sectional view of the instrument device manipulator 300 according to one embodiment is shown. Such as Figure 10B As shown, the roll mechanism is coupled with multiple bearings 1006. Bearings are mechanical components that reduce friction between moving parts and help to rotate around a fixed axis. When the surgical tool holder 308 rotates in the housing 306, a single bearing can support a radial load or a torsional load. in Figure 10B In the embodiment of the IDM 300, the IDM 300 includes two bearings 1006a, 1006b fixedly attached to the surgical tool holder 308 so that multiple components (such as balls or cylinders) within the bearing 1006 contact the outer housing 306. The first bearing 1006a is fixed at the first end behind the attachment interface 310, and the second bearing 1006b is fixed at the second end. This configuration improves the rigidity and support between the first end and the second end of the surgical tool holder 308 due to the rotation of the surgical tool holder 308 within the housing 306. Alternative embodiments may include additional bearings that provide additional support along the length of the surgical tool holder.

[0089] Figure 10B Also shown is a sealing member located in the IDM 300 according to one embodiment. The IDM 300 includes a plurality of O-rings 1008 and a plurality of gaskets 1010, and the plurality of O-rings 1008 and the plurality of gaskets 1010 are configured to seal a joint between two surfaces to prevent fluid from entering the joint. in Figure 10B In the embodiment, the IDM includes O-rings 1008a, 1008b, 1008c, 1008d, 1008e between the joints of the housing and gaskets 1010a, 1010b between the joints in the surgical tool holder 308. This configuration helps maintain the sterility of the components within the IDM 300 during the surgical procedure. Washers and O-rings are usually made of strong elastomeric materials (for example, rubber).

[0090] VI. Electrical components

[0091] Figure 11A A partial exploded perspective view of the internal components of the instrument device manipulator and some of its electrical components according to one embodiment is shown. The internal components of the surgical tool holder 308 include a plurality of actuators 1102, a motor, a reducer (not shown), a torque sensor (not shown), a torque sensor amplifier 1110, a slip ring 1112, a plurality of encoder plates 1114, Multiple motor power boards 1116 and integrated controller 1118.

[0092] The plurality of actuators 1102 drive each of the plurality of torque couplings 314 to rotate. in Figure 11A In an embodiment, an actuator such as actuator 1102a or 1102b is coupled to the torque coupling 314 via a motor shaft. The motor shaft may be a keyed shaft such that the motor shaft includes a plurality of grooves to allow the motor shaft to be firmly fitted to the torque coupling 314. The actuator 1102 causes the motor shaft to rotate in a clockwise or counterclockwise direction, thereby causing the corresponding torque coupling 314 to rotate in this direction. In some embodiments, the motor shaft may be rigid in torsion but have spring adaptability, allowing the motor shaft and thus the torque coupling 314 to rotate and translate in the axial direction. This configuration may allow multiple torque couplings 314 to contract and extend within the surgical tool holder 308. Each actuator 1102 can receive an electrical signal from the integrated controller 1118 indicating the direction and amount of rotation of the motor shaft. in Figure 11A In the embodiment, the surgical tool holder 308 includes five torque couplings 314 and thus five actuators 1102.

[0093] The motor drives the surgical tool holder 308 to rotate in the housing 306. Except that the motor is coupled to the rotor gear 1004 and the stator gear 1002 (see figure 2 ) To rotate the surgical tool holder 308 relative to the housing 306, the motor may be structurally equivalent to one of the plurality of actuators. The motor causes the rotor gear 1004 to rotate in a clockwise direction or a counterclockwise direction, so that the rotor gear 1004 travels around the gear teeth of the stator gear 1002. This configuration allows the surgical tool holder 308 to continuously tilt or rotate without being hindered by potential winding of cables or pull wires. The motor may receive an electrical signal from the integrated controller 1118 indicating the direction and amount of rotation of the motor shaft.

[0094] The reducer controls the amount of torque transmitted to the surgical tool 500. For example, the speed reducer may increase the amount of torque transmitted to the instrument input 600 of the surgical tool 500. Alternative embodiments may be configured such that the speed reducer reduces the amount of torque transmitted to the instrument input 600.

[0095] The torque sensor measures the amount of torque generated on the rotating surgical tool holder 308. in Figure 11A In the embodiment, the torque sensor can measure the torque in the clockwise direction and the counterclockwise direction. The torque measurement can be used to maintain a certain amount of tension in the multiple pull wires of the surgical tool. For example, some embodiments of the surgical robot system may have an automatic tensioning feature, wherein when powering the surgical robot system or engaging the surgical tool with the IDM, the tension on the pull wire of the surgical tool will be preloaded. The amount of tension on each cable can reach a threshold amount, so that the cable is tensioned just enough to tighten. The torque sensor amplifier 1110 includes a circuit for amplifying a signal that measures the amount of torque generated on the rotating surgical tool holder 308. In some embodiments, the torque sensor is mounted to the motor.

[0096] The slip ring 1112 can transmit power and signals from the fixed structure to the rotating structure. in Figure 11A In the embodiment, the slip ring 1112 is configured as a ring including a central hole configured to align with the passage 312 of the surgical tool holder 308, as also shown in Figure 11B An additional perspective view of the slip ring 1112 in. The first side of the slip ring 1112 includes a plurality of concentric grooves 1120, and the second side of the slip ring 1112 includes a plurality of electrical components for providing electrical connection from the surgical arm and the base 302, As about image 3 Described. The slip ring 1112 is fixed to the outer casing 306 of the surgical tool holder 308 at a certain distance from the outer casing 306 to allocate space for these electrical connections. The plurality of concentric grooves 1120 are configured to cooperate with the plurality of brushes 1122 attached to the integrated controller. The contact between the groove 1120 and the brush 1122 enables the transmission of power and signals from the surgical arm and base to the surgical tool holder.

[0097] The multiple encoder boards 1114 read and process the signals received from the surgical robot system through the slip ring. The signal received from the surgical robot system may include a signal indicating the amount and direction of rotation of the surgical tool, a signal indicating the amount and direction of rotation of the end effector and/or wrist of the surgical tool, and the operation of the light source on the surgical tool. Signals, signals from operating video or imaging devices on surgical tools, and other signals for operating various functions of surgical tools. The configuration of the encoder board 1114 allows the entire signal processing to be completely performed in the surgical tool holder 308. The plurality of motor power boards 1116 each include a circuit for powering the motor.

[0098] The integrated controller 1118 is a computing device in the surgical tool holder 308. in Figure 11A In the embodiment, the integrated controller 1118 is configured as a ring including a central hole configured to align with the passage 312 of the surgical tool holder 308. The integrated controller 1118 includes a plurality of brushes 1122 located on the first side of the integrated controller 1118. The brush 1122 contacts the slip ring 1112 and receives signals, which are transmitted from the surgical robotic system through the surgical arm, the base 302 and finally through the slip ring 1112 to the integrated controller 1118. Due to the received signals, the integrated controller 1118 is configured to send various signals to corresponding components in the surgical tool holder 308. In some embodiments, the functions of the encoder board 1114 and the functions of the integrated controller 1118 may be distributed in a different manner than described herein, so that the encoder board 1114 and the integrated controller 1118 can perform the same function or function Some combinations.

[0099] Figure 11B A partial exploded perspective view of the internal components of the instrument device manipulator and some of its electrical components according to one embodiment is shown. Figure 11B The embodiment includes two encoder boards 1114a and 1114b, a torque sensor amplifier 1110, and three motor power boards 1116a, 1116b, and 1116c. These components are fixed to the integrated controller 1118 and protrude outward to extend vertically from the integrated controller 1118. This configuration provides space for multiple actuators 1102 and motors to be positioned within the circuit board.

[0100] As about Figure 11A As discussed, the slip ring 1112 is fixed at a certain distance from the housing 306. In order to ensure the correct space allocation between the slip ring 1112 and the housing 306 for the electrical connection from the surgical arm and base 302 to the slip ring 1112, Figure 11B In the embodiment of, the slip ring 1112 is supported by a plurality of positioning pins, a plurality of coil springs and washers. The slip ring 1112 includes a hole 1124 on each side of the central hole of the slip ring 1112, the hole is configured to receive the first side of the alignment pin, and the second side of the alignment pin is inserted into the housing 306 In the corresponding hole. The alignment pin may be composed of a rigid material (for example, metal or hard plastic). A plurality of coil springs are fixed around the center of the slip ring 1112 and are configured to bridge the space and maintain contact between the slip ring 1112 and the housing 306. The coil spring can beneficially absorb any impact on the IDM 300. The gasket is an annular spacer positioned around the central hole of the slip ring 1112 to further increase the support between the slip ring 1112 and the outer shell 306. In addition, these components provide stability to the slip ring 1112 because the multiple brushes 1122 on the integrated controller 1118 contact the multiple concentric grooves 1120 and rotate against the multiple concentric grooves 1120. In alternative embodiments, the number of alignment pins, coil springs, and spacers can be varied until the desired support between the slip ring 1112 and the housing 306 is achieved.

[0101] Picture 12 An enlarged perspective view of the electrical components of the instrument device manipulator 300 for guiding the tilt of the surgical tool holder 308 according to one embodiment is shown. The roll guide monitors the position of the surgical tool holder 308 relative to the housing 306 so that the position and orientation of the surgical tool 500 are continuously learned by the surgical robotic system. Picture 12 The embodiment includes a micro switch 1202 and a boss 1204. The micro switch 1202 and the boss 1204 are fixed in the surgical tool holder 308. The boss 1204 is a structure on the housing 306 and is configured to contact the micro switch 1202 when the surgical tool holder 308 rotates, so that the micro switch is activated every time it comes into contact with the boss 1204. in Picture 12 , There is one boss 1204, and this one boss 1204 serves as a single reference point for the micro switch 1202.

[0102] VII. Surgical covers

[0103] Figure 13 A cross-sectional view of a surgical cover of an instrument device manipulator for a surgical robot system according to an embodiment is shown. The surgical cover 1300 provides a sterile boundary for the IDM, surgical arm, and other parts of the surgical robotic system during the surgical procedure. in Figure 13 In an embodiment of, the surgical cover 1300 is configured for use with an IDM that includes a passageway configured to receive the elongate body of the surgical tool when the surgical tool is attached to the IDM, such as IDM 300. The surgical cover 1300 includes a sterile sheet 1302, a first protrusion 1304, and a second protrusion 1306.

[0104] The sterile sheet 1302 forms and maintains a part of the sterile environment for the surgical robot system during the surgical procedure. in Figure 13 In the embodiment, the sterile sheet 302 is configured to cover parts of the IDM 300, the surgical arm and the surgical robot system. The sterile sheet 1302 may be made of various materials such as, for example, plastic (for example, polypropylene), paper, and other materials that may be resistant to fluids.

[0105] The first protrusion 1304 is a cylindrical tube configured to receive an elongate body of a surgical tool, such as the elongate body 504 of the surgical tool 500. in Figure 13 In the embodiment, the first protrusion 1304 is connected to the first part of the sterile sheet 1302, and the first end of the first protrusion 1304 is configured to be inserted into the first end of the passage 312. The first end of the first protrusion 1304 includes a mating interface 1308, and the mating interface 1308 is configured to mate with the complementary mating interface 1310 on the second protrusion 1306. The first protrusion 1304 may be made of a rigid material (for example, metal or hard plastic).

[0106] The second protrusion 1306 is a cylindrical tube configured to receive an elongate body of a surgical tool, such as the elongate body 504 of the surgical tool 500. in Figure 13 In the embodiment, the second protrusion 1306 is connected to the second part of the sterile sheet 1302, and the first end of the second protrusion 1306 is configured to be inserted into the second end of the passage 312, so that the first protrusion 1304 and the second part Two protrusions 1306 are inserted into two opposite ends of the passage 312. The first end of the second protrusion 1306 includes a complementary mating interface 1310 configured to be removably coupled with the mating interface 1308 on the first protrusion 1304 in the passage 312. When coupled to each other, the mating interface 1308 and the complementary mating interface 1310 form a sterile joint. The second protrusion 1306 may be made of a rigid material (for example, metal or hard plastic). In alternative embodiments, the coupling mechanism may include hook and loop fasteners, friction fit tubes, threaded tubes, and other suitable coupling mechanisms.

[0107] Figure 14 A cross-sectional view of a complementary mating interface for a surgical cover of a surgical tool holder according to an embodiment is shown. As about Figure 13 As described, the first end of the first protrusion 1304 includes the mating interface 1308. The mating interface 1308 is constructed as two concentric tubes with a gap between the two concentric tubes, such as Figure 14 As shown in the cross-sectional view in, where the slit is a ring configured to receive the end of another tube. in Figure 14 In the embodiment, the complementary mating interface 1310 at the first end of the second protrusion 1306 is configured as a tapered tube, so that the diameter at the first end of the tube is smaller than the diameter of the remaining part of the tube. The tapered end facilitates easy insertion of the complementary mating interface 1310 into the mating interface 1308. In addition, the inner surface of the first protrusion 1304 and the inner surface of the second protrusion 1306 can contact the unsterilized surface, while the outer surface can be kept sterile. When fixed to each other, the joint between the mating interface 1308 and the complementary mating interface 1310 forms a winding path by encapsulating the first end of the second protrusion 1306 in the gap. This configuration ensures that any surface of the first protrusion 1304 or the second protrusion 1306 that is in contact with the unsterilized surface is enclosed within the junction. This configuration further ensures that any fluid may not travel across the junction between the inner surface and the outer surface, and ensures that a sterile environment is maintained for the IDM and other parts of the surgical robot system. In some embodiments, the joint between the mating interface 1308 and the complementary mating interface 1310 may further include a gasket that prevents fluid from penetrating the joint.

[0108] In some embodiments of the surgical covering, the surgical covering 1300 may further include a plurality of sterile adapters 1400 that provide sterility between the IDM and the external environment or surgical tools. boundary. In some embodiments, the sterile adapter 1400 is configured to accommodate the rotating interface of an IDM, such as IDM 300. in Figure 14 In the embodiment, the aseptic adapter 1400 includes an outer ring 1402 and an inner disk 1404. The outer ring 1402 is connected to the sterile sheet 1302, and the inner disk 1404 is connected to the first protrusion 1304, such as Figure 14 Shown. The inner disk 1404 is fixed in the outer ring 1402 in a rotatable manner. in Figure 14 In the embodiment, the sterile adapter 1400 covers the attachment interface 310 of the IDM 300, so that the sterile adapter 1400 is positioned between the attachment interface 310 and the surgical tool 500 when the surgical tool 500 is fixed to the IDM 300 . This configuration of the sterile adapter 1400 can allow the inner disk 1404 or the outer ring 1402 to rotate freely as the IDM 300 and the surgical tool 500 rotate. The outer ring 1402 and the inner disk 1404 may be composed of a rigid material (for example, metal or hard plastic). In an alternative embodiment, the part of the inner disc may be a film covering the plurality of torque couplings of the IDM.

[0109] Figure 15 A cross-sectional view of a sterile adapter for a surgical cover of an instrument device manipulator according to one embodiment is shown. As about Figure 14 As described, the surgical cover 1300 may include a plurality of sterile adapters, such as a sterile adapter 1400 and a sterile adapter 1406, which are configured to accommodate the rotating interface of the IDM 300. in Figure 15 In the embodiment, the sterile adapters 1400, 1406 are positioned at each end of the IDM 300. The sterile adapter 1406 configured to cover the end of the IDM 300 that does not have the attachment interface 310 may be structurally different from the sterile adapter 1400 configured to cover the attachment interface 310, and That is, the sterile adapter 1406 may not require a structure for accommodating the multiple torque couplings 314. In an alternative embodiment, the portion of the first protrusion 1304 or the portion of the second protrusion 1306 may include a rotatable component, such as a roller bearing or a similar inner disk and outer ring mechanism as previously described, so that the rotation occurs in the passage 312 Inside rather than at the sterile adapter. Since the diameter of the protrusion is small compared to the diameter of the inner disk 1402, this configuration can improve the stability during the rotation of the surgical tool holder 308. This configuration can also eliminate the need for an additional sterile adapter 1406 at the end of the IDM where the interface 310 is not attached.

[0110] Figure 16 A cross-sectional view of a surgical cover for an instrument device manipulator according to another embodiment is shown. Such as Figure 16 As shown, the surgical cover 1300 provides a sterile boundary for the IDM and surgical arm. Figure 16 The embodiment of shows the inner disk 1404 through which the corresponding torque coupling 314 can protrude.

[0111] VIII. Power and data transmission

[0112] Figure 17 An optical interface for power and data transmission between a surgical tool and an instrument device manipulator according to one embodiment is shown. In certain embodiments, the surgical tool may have capabilities that require power and/or data transmission, such as a camera or light source that operates at the proximal end of the elongate body of the surgical tool. Other features may include tracking sensors or tension sensors. Surgical tools with this feature can use cables connected to the rest of the platform for power and/or data transmission and thus hinder the ability of the surgical tool to roll. In order to realize the infinite tilt of these surgical tools, power (electricity) and/or data transmission can be performed through an inductive power interface and an optical interface.

[0113] in Figure 17 In an embodiment of the IDM 1700 includes a power transmitter, and the surgical tool includes a power receiver. The power transmitter inductively transmits power to the power receiver across the attachment interface 310 without direct connection. in Figure 17 In the embodiment, the multiple coils are fixed in the IDM 1700 perpendicular to the attachment interface 310 and centered along the rotation axis of the IDM 1700. The coil is coupled to the integrated controller and is configured to receive signals to transmit power. The coil may have various diameters centered on the passage 312 of the IDM 1700. A larger diameter can improve power transmission capability. The surgical tool 1704 may include a battery to support the operation of the instrument if the wireless power transmission is interrupted. In some embodiments, the power transmitter may have a shield to prevent heat transfer to nearby metal parts and interference with the motor in the IDM 1700. Possible shielding materials include manganese alloys.

[0114] in Figure 17 In the embodiment, the optical interface is located between the mating surface of the IDM 1700 and the surgical tool 1704. The IDM 1700 and the surgical tool 1704 each include a plurality of optical transmitters such as an optical transmitter 1706a and an optical transmitter 1706b, and a plurality of optical receivers such as an optical receiver 1708a and an optical receiver 1708b. in Figure 17 In the embodiment, there is at least one pair of connectors for the connection between the surgical tool 1704 and the IDM 1700 to transmit data such as imaging data, and there is at least one pair for the connection between the IDM 1700 and the surgical tool 1704 Connecting pieces. In addition, a wireless point-to-point data connection can be used for high-bandwidth communication from the IDM 1700 to the surgical robot system. In some embodiments, the power transmitter may be an LED, which will require a sterile sheet to straddle an attachment interface made of a material that is transparent to the LED. Alternative embodiments may use RFID technology or a physical connection between the IDM 1700 and the surgical tool 1704 for data transmission.

[0115] In some embodiments, the optical transmitter 1706 and the optical receiver 1708 are symmetrically oriented with respect to the plurality of instrument inputs 1710 and the plurality of torque couplings 1712, respectively, so that the surgical tool 1704 can be attached to the surgical tool holder in any orientation 1702. Once the surgical tool 1704 is attached to the surgical tool holder 1702, the optical transmitter 1706 of the surgical tool 1704 may be configured to send a signal to the optical receiver 1708. This signal can be used to determine the rotational orientation of the surgical tool 1704 relative to the surgical holder 1702. Once the rotational orientation of the surgical tool 1704 has been determined, the optical data flow can be fully established and the actuators for the torque coupling 1712 can be precisely controlled.

[0116] IX. Alternative considerations

[0117] After reading the present disclosure, those skilled in the art will understand that there are still other alternative structural and functional designs based on the principles disclosed herein. Thus, although specific embodiments and applications have been illustrated and described, it should be understood that the disclosed embodiments are not limited to the precise configurations and components disclosed herein. Without departing from the spirit and scope defined in the appended claims, various modifications, changes and variations that are obvious to those skilled in the art can be made to the arrangement, operation and details of the methods and devices disclosed herein.

[0118] "One embodiment" or "an embodiment" as referred to herein means that a specific element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in the specification do not necessarily all refer to the same embodiment.

[0119] Some embodiments may be described using the expressions "connected" and "connected" and their derivatives. For example, some embodiments may be described using the term "coupled" to indicate that two or more elements are in direct physical or electrical contact. However, the term "coupled" can also mean that two or more elements do not directly contact each other, but still cooperate or interact with each other. Unless explicitly stated otherwise, the embodiments are not limited herein.

[0120] As used herein, the terms "include", "includes", "includes", "includes", "has", "exists" or any other variations thereof are intended to encompass non-exclusive inclusions. For example, a process, method, article, or device that includes a list of elements is not necessarily limited to those elements, but may include other elements that are not explicitly listed or are inherent in such a process, method, article, or device. In addition, unless there is a clear explanation to the contrary, otherwise "or" means inclusive rather than exclusive. For example, condition A or B can be satisfied by any of the following conditions: A is true (or exists) and B is false (or does not exist), A is false (or does not exist) and B is true (or exists), and A And B are both true (or exist).

[0121] In addition, "a" or "an" is used to describe elements and components of the embodiments herein. This is just for convenience and gives the general meaning of the invention. This description should be understood to include one or at least one, and the singular number also includes the plural number, unless it clearly indicates otherwise.