Hyperdexterous surgical system

Abstract

A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Description

INCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS[0001]This application is a continuation application of U.S. Ser. No. 14 / 388,180 filed Sep. 25, 2014, which is a US National Phase of International Application No. PCT / US2014 / 026115 filed Mar. 13, 2014 designating the US and published in English on Sep. 25, 2014 as WO 2014 / 151621, which claims the priority benefit under 35 U.S.C. §119(e) of U.S. Provisional Application No. 61 / 791,248 filed Mar. 15, 2013, U.S. Provisional Application No. 61 / 906,802 filed Nov. 20, 2013, U.S. Provisional Application No. 61 / 908,888 filed Nov. 26, 2013, U.S. Provisional Application No. 61 / 915,403 filed Dec. 12, 2013, and U.S. Provisional Application No. 61 / 935,966 filed Feb. 5, 2014, all of which are hereby incorporated by reference in their entirety and should be considered a part of this specification.BACKGROUND[0002]1. Field[0003]Surgical robots allow surgeons to operate on patients in a minimally invasive manner. The present application relates t...

AI Technical Summary

Benefits of technology

[0020]There is a need for a surgical system that overcomes the deficiencies discussed above with on-market robotic surgical systems and provides flexibility to surgeons when performing surgical procedures.

[0021]The hyperdexterous surgical system discussed below overcomes many of the deficiencies discussed above and provides advantages over on-market robotic surgical systems. One advantage of the hyperdexterous surgical system is that the hyperdexterous surgical system is small and compact, and therefore can be mounted in a variety of ways to a variety of fixtures. One advantage of the hyperdexterous surgical system is that the hyperdexterous surgical arm can be mounted to follow an orientation of a patient during a surgical procedure, such as when the body of the patient is tilted to facilitate conducting a particular surgical procedure (e.g., to shift internal organs in a way that provides better access to the desired tissue or organ). One advantage of the hyperdexterous surgical system is the ability to use hyperdexterous surgical tools and manual tools simultaneously by a surgeon while operating on a patient. Another advantage of the hyperdexterous surgical system is that it is modular and thus provides flexibility in how the surgical arena is set up prior to or during a procedure, and allows the free space above the patient to be maximized Still another advantage of the system is that it allows the surgeon to be mobile while performing a surgical procedure and to seamlessly move between using only manual tools, using manual and hyperdexterous surgical tools, and using only hyperdexterous surgical tools during the surgical procedure. Another advantage of the system is that it provides the surgeon with additional information that makes the operation of hyperdexterous surgical tools more natural. Still another advantage is that it provides the surgeon with the ability to reposition him or herself during surgery to perform a particular surgical task near the patient. For example, during the course of a surgical procedure, the surgeon may desire to manipulate tools from different positions based on the procedure to be done, or to reposition him or herself due to the manner in which a manual tool needs to be held. Still another advantage of the system is that the end effector of a hyperdexterous surgical tool can reach disparate locations inside the patient from a single entry point, such that the work space inside the patient's body is maximized. For example in abdominal surgery, there may be a need to access all four quadrants of the abdomen from a single entry point. Further advantages of the hyperdexterous surgical system will become apparent in the description provided herein.

Problems solved by technology

The resulting motion of the distal end of the tool relative to the motion of the proximal end of the tool may not be natural, requiring the surgeon to practice the technique.

The robotic tool is configured to do certain surgical tasks well, but is not well-suited for other surgical tasks.

This mode of operation is limiting for large motions or motions where it is more natural to move with respect to a frame of reference outside the body of the patient.

However, the limited frame of reference of the robotic camera makes some other aspects of the surgery less natural.

For example, making large movements from one quadrant of the abdomen to another, especially motions that involve the camera sweeping through an arc that includes the midline of the patient, are very challenging.

The on-market systems have complex mechanisms controlling the tool, for instance controlling the rotation and translation of the tool.

In some current robotic systems, translation of the tool is achieved using a complex and bulky series of nesting linear slides.

In this position, the translation mechanism is subject to interference with other components of the robotic arm or other robotic arms.

The size of the rotation and translation mechanism does not allow close positioning of adjacent robotic arms, so in some cases, robotic tools are placed further apart.

The robotic arms therefore are bulky and occupy the space surrounding the patient.

Further, due to the angle of insertion, the size and design of the robotic arms and tools, and other factors, the robotic arm may be unable to reach certain locations, called dead zones.

This leads to less flexibility and efficiency for surgical procedures.

Additionally, on-market robotic arms are heavy.

There is thus limited flexibility in the setup of the operating room.

In some cases, communication between the surgeon and the supporting staff is constrained or impeded due to the surgeon's position over the console.

Teams that perform robotic surgery need to be highly trained and skilled since the surgeon is remote from the patient and unable to communicate with the staff directly.

This makes it difficult for members of the team to be replaced.

Additionally, from this remote location (at the console), the surgeon cannot simultaneously use manual tools while controlling the robot arm.

Some tasks such as executing large scale motion of the robotic tools from one surgical site to another surgical site in a patient's body become more difficult due to the interference of components of the robotic arms.

Some tasks easily performed with manual tools are more complex or impossible to perform with robotic tools.

For example, in some cases, the robot simply does not have an end effector capable of accomplishing the task.

Some tasks requiring tactile feedback, such as palpation, cannot be done by the surgeon operating the robotic arm.

The cables which articulate the end effector twist during rotation, thus causing friction and binding of the cables.

This twisting also causes a limitation on the range of rotation, typically limited to approximately + / −270° of rotation.

One drawback of the current modes of minimally invasive surgery discussed above is that they are discrete.

In order for the surgeon to use manual tools at the operating table, he or she cannot be controlling the robotic arm at a remote console.

The surgeon cannot simultaneously control both robotic tools and manual tools.

Another drawback of the current modes of minimally invasive surgery is that they provide limited information to the surgeon.

Typically this information is limited to the view of a robotic camera.

Another drawback with on-market robotic surgical systems is that they do not allow the surgeon the ability to reposition him or herself during surgery.

Another drawback of on-market robotic surgical systems is that they are typically anchored to the ground and do not follow the orientation of the patient during the course of surgery.

Another drawback with on-market robotic arms is that accessing the workspace may require the robotic arms to move through a very large range of motion.

The movement may be limited when multiple robotic arms are used for a single surgery.

The chances of collision between the robotic arms or components of a single robotic arm increases.

The challenge is to maximize the work space inside the body while maximizing the free space outside of the patient, while also keeping the robotic system small and compact.

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