System and method for aligning an input on a medical device

Abstract

Certain aspects relate to systems and techniques for aligning inputs on a medical device. In one aspect, the method includes receiving alignment data from the tool at a data reader of an instrument drive mechanism when the tool is positioned within a threshold distance of the data reader. The tool includes one or more inputs and one or more pull wires, which are configured to be actuated by an output shaft of the instrument drive mechanism via the one or more inputs. The method also includes receiving alignment data from the data reader at a processor, and rotating one or more output shafts of the instrument drive mechanism to align with one or more inputs of the tool via the processor based on the alignment data. Each of the output shafts is configured to be mechanically coupled to a corresponding one of the inputs of the tool.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 62 / 822,676, filed on March 22, 2019, which is hereby incorporated by reference in its entirety. Technical Field

[0003] The systems and methods disclosed herein relate to aligning an input of a medical instrument, and more particularly to aligning an input of a medical tool with a corresponding output shaft of an instrument drive mechanism. Background Art

[0004] During a medical procedure, a drive mechanism coupled to the robotic arm can be coupled to a medical device to control movement and / or actuation of the medical device. The drive mechanism includes a plurality of motor-driven output shafts coupled to a corresponding number of inputs of the medical device that are configured to receive the output shafts of the drive mechanism. When coupling the medical device to the drive mechanism, it may be desirable to align the medical device input with the output shaft so that the input on the medical device can be driven by the output shaft of the drive mechanism. Summary of the invention

[0005] The systems, methods and devices of the present disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.

[0006] In one aspect, a robotic medical system is provided, comprising: an instrument drive mechanism, the instrument drive mechanism comprising: one or more output shafts, each of the one or more output shafts being configured to be mechanically connected to a corresponding input portion of a tool, wherein the tool comprises one or more pull wires, the one or more pull wires being configured to be actuated by the output shaft via the one or more input portions; one or more motors, the one or more motors being respectively connected to the one or more output shafts and being configured to rotate the corresponding one or more output shafts; and a data reader, the data reader being configured to receive alignment data from the tool when the tool is positioned within a threshold distance of the data reader; and at least one computer-readable memory, the at least one computer-readable memory communicating with at least one processor, the memory having computer-executable instructions stored thereon, the computer-executable instructions causing the at least one processor to: receive alignment data from the data reader; and rotate the one or more output shafts to align with the corresponding input portion of the tool based on the alignment data.

[0007] On the other hand, a tool is provided, comprising: an end actuator; one or more input parts, each of which is configured to control the actuation of the end actuator, and each of the one or more input parts is configured to be mechanically connected to a corresponding output shaft of a drive mechanism; one or more pull wires, which are configured to be actuated by the one or more input parts to control the actuation of the end actuator; and a data transmitter, which is configured to transmit alignment data to a data reader of the drive mechanism, wherein the data reader that transmits the alignment data to the drive mechanism is configured to facilitate the drive mechanism to align one or more output shafts with the one or more input parts.

[0008] On the other hand, a method for aligning an instrument drive mechanism with a tool is provided, the method comprising: receiving alignment data from the tool at a data reader of the instrument drive mechanism when the tool is positioned within a threshold distance of the data reader, wherein the tool comprises one or more input portions and one or more pull wires, and the one or more pull wires are configured to be actuated by an output shaft of the instrument drive mechanism via the one or more input portions; receiving the alignment data from the data reader at a processor; and rotating one or more output shafts of the instrument drive mechanism to align with one or more input portions of the tool via the processor based on the alignment data, wherein each of the output shafts is configured to be mechanically connected to a corresponding one of the input portions of the tool.

[0009] On the other hand, a method for aligning a drive mechanism with a tool is provided, the method comprising: transmitting alignment data from a data transmitter of the tool to a data reader of the drive mechanism to facilitate the drive mechanism to align one or more output shafts of the drive mechanism with one or more input parts of the tool, wherein the tool includes one or more pull wires, the one or more pull wires are configured to be actuated by one or more input parts to control actuation of an end actuator, and wherein each of the one or more input parts is configured to be mechanically connected to a corresponding one of the output shafts of the drive mechanism.

[0010] In another aspect, a non-transitory computer-readable storage medium having instructions stored thereon is provided, which instructions, when executed, cause at least one computing device to: receive alignment data from the tool at a data reader of an instrument drive mechanism when the tool is positioned within a threshold distance of the data reader, wherein the tool includes one or more inputs and one or more pull wires configured to actuate an output shaft of the instrument drive mechanism via the one or more inputs; receive alignment data from the data reader at the computing device; and rotate one or more output shafts of the instrument drive mechanism into alignment with one or more inputs of the tool based on the alignment data, wherein each of the output shafts is configured to be mechanically coupled to a corresponding one of the inputs of the tool.

[0011] On the other hand, a non-transitory computer-readable storage medium having instructions stored thereon is provided, which instructions, when executed, cause at least one computing device to: transmit alignment data from a data transmitter of the tool to a data reader of the drive mechanism to facilitate the drive mechanism to align one or more output shafts of the drive mechanism with one or more input parts of the tool, wherein the tool includes one or more pull wires, which are configured to be actuated by one or more input parts to control actuation of the end actuator, and wherein each of the one or more input parts is configured to be mechanically connected to a corresponding one of the output shafts of the drive mechanism.

[0012] In yet another aspect, a method is provided for facilitating alignment between one or more outputs of a drive mechanism and one or more inputs of a tool, the method comprising: loading the tool onto the drive mechanism, wherein the loading comprises: moving the tool from a first position to a second position, wherein in the second position, one or more inputs of the tool are closer in distance to one or more outputs of the drive mechanism than in the first position, and during the transition of the tool from the first position to the second position, transmitting alignment information from the tool to the drive mechanism, the alignment information indicating relative alignment between one or more inputs of the tool and one or more outputs of the drive mechanism.

[0013] In another aspect, a method of facilitating alignment between one or more outputs of a drive mechanism and one or more inputs of a tool is provided, the method comprising: loading the tool onto the drive mechanism, wherein the tool includes a radio frequency identification (RFID) chip and the drive mechanism includes an RFID reader, wherein loading the tool includes the RFID reader reading information from the RFID tag to determine whether one or more outputs of the drive mechanism are in working alignment with one or more inputs of the tool.

[0014] In yet another aspect, a method is provided for facilitating alignment between one or more outputs of a drive mechanism and one or more inputs of a tool, the method comprising: loading the tool onto a drive mechanism, wherein the drive mechanism includes a sensor configured to monitor a separation distance between the one or more outputs of the drive mechanism and the one or more inputs of the tool; and reading an RFID tag on the tool using an RFID reader on the drive mechanism when a threshold distance of separation between the one or more outputs and the one or more inputs is reached. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The disclosed aspects will hereinafter be described in conjunction with the accompanying drawings, which are provided to illustrate and not to limit the disclosed aspects, wherein like reference numerals represent like elements.

[0016] Figure 1 An embodiment of a cart-based robotic system arranged for use in diagnostic and / or therapeutic bronchoscopy procedures is shown.

[0017] Figure 2 Depicted Figure 1 Other aspects of the robotic system.

[0018] Figure 3 Shown is a ureteroscopy arrangement. Figure 1 Implementation scheme of a robotic system.

[0019] Figure 4 Shown is a vascular procedure arranged Figure 1 Implementation scheme of a robotic system.

[0020] Figure 5 An embodiment of a table-based robotic system arranged for use in a bronchoscopy procedure is shown.

[0021] Figure 6 Provided Figure 5 Alternative views of the robotic system.

[0022] Figure 7 An exemplary system configured to stow a robotic arm is shown.

[0023] Figure 8 An embodiment of a table-based robotic system configured for use in a ureteroscopy procedure is shown.

[0024] Fig. 9 An embodiment of a table-based robotic system configured for laparoscopic procedures is shown.

[0025] Fig.10 Shows Figures 5 to 9 Embodiment of a stage-based robotic system with pitch and tilt adjustment.

[0026] Fig.11 Provided Figures 5 to 10 Detailed illustration of the interface between the stage and the column of the stage-based robotic system.

[0027] Fig.12 An alternative embodiment of a table-based robotic system is shown.

[0028] Fig.13 Shows Fig.12 End view of a stage-based robotic system.

[0029] Fig.14 An end view of a table-based robotic system with a robotic arm attached thereto is shown.

[0030] Fig.15 An exemplary instrument driver is shown.

[0031] Fig.16 An exemplary medical instrument having a pair of instrument drivers is shown.

[0032] Fig.17 An alternative design of an instrument drive and an instrument is shown, wherein the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument.

[0033] Fig.18 An instrument having an instrument-based insertion architecture is shown.

[0034] Fig.19 An exemplary controller is shown.

[0035] Fig. 20 Depicts a block diagram illustrating an example embodiment of estimating Figures 1 to 10 The position of one or more elements of the robotic system (such as Figures 16 to 18 A positioning system that determines the position of the device.

[0036] Fig.21 Embodiments of systems configured for laparoscopic procedures in accordance with aspects of the present disclosure are shown.

[0037] Fig. 22 Embodiments of medical tools according to aspects of the present disclosure are shown.

[0038] Fig.23A Embodiments of drive mechanisms according to aspects of the present disclosure are shown.

[0039] Fig. 23B is a schematic diagram showing how a drive mechanism according to aspects of the present disclosure may be coupled with an adapter.

[0040] Fig.24 The present invention shows various aspects of the present disclosure. Fig. 22 An embodiment of a medical tool including an illustration of a lower surface of a handle.

[0041] Fig.25 The invention is shown in accordance with various aspects of the present disclosure in a state of being connected to Fig.23A The process of driving the mechanism Fig.24 medical tools.

[0042] Fig.26A Another embodiment of a medical tool according to aspects of the present disclosure is shown.

[0043] Fig.26B Another embodiment of a drive mechanism according to aspects of the present disclosure is shown.

[0044] Fig. 27 According to various aspects of the present disclosure FIG. 26A to FIG. 26B A schematic diagram of another embodiment of a medical tool and drive mechanism is shown.

[0045] Fig.28 is a flow chart illustrating an exemplary method operable by a robotic system or component thereof for aligning a tool input with a drive mechanism output shaft in accordance with aspects of the present disclosure.

[0046] Fig.29 The present invention shows various aspects of the present disclosure. Fig.28 The first stage during the alignment method.

[0047] Fig.30 The present invention shows various aspects of the present disclosure. Fig.28 The second phase during the alignment method.

[0048] Fig.31 The present invention shows various aspects of the present disclosure. Fig.28 The third phase during the alignment method. DETAILED DESCRIPTION

[0049] 1. Overview .

[0050] Aspects of the present disclosure may be integrated into a robotically enabled medical system that is capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy, and non-invasive procedures such as endoscopy. Among endoscopy procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0051] In addition to performing a wide range of procedures, the system may provide additional benefits such as enhanced imaging and guidance to assist the physician. Additionally, the system may provide the physician with the ability to perform procedures from an ergonomic position without the need for awkward arm motions and positions. Additionally, the system may provide the physician with the ability to perform procedures with improved ease of use, such that one or more of the system's instruments may be controlled by a single user.

[0052] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other embodiments of the disclosed concepts are possible, and various advantages can be achieved using the disclosed embodiments. Titles are included herein for reference and to help locate the various sections. These titles are not intended to limit the scope of the concepts described therein. Such concepts may have applicability throughout the specification.

[0053] A. Robotic System – Cart .

[0054] Robot-enabled medical systems can be configured in a variety of ways, depending on the specific procedure. Figure 1 An embodiment of a cart-based, robotically enabled system 10 arranged for use in a diagnostic and / or therapeutic bronchoscopy procedure is shown. During a bronchoscopy procedure, the system 10 may include a cart 11 having one or more robotic arms 12 to deliver a medical instrument such as a steerable endoscope 13 (which may be a bronchoscope specific to a procedure used for bronchoscopy) to a natural orifice entry point (i.e., the mouth of a patient positioned on a table in this example) to deliver the diagnostic and / or therapeutic tool. As shown, the cart 11 may be positioned proximate to the patient's upper torso to provide access to the entry point. Similarly, the robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. The robotic arms 12 may also be utilized when performing gastrointestinal (GI) procedures with a gastroscope (a specialized endoscope used for GI procedures). Figure 1 The arrangement in . Figure 2 An exemplary embodiment of a cart is depicted in greater detail.

[0055] Continue to refer Figure 1 , once the cart 11 is properly positioned, the robotic arm 12 can insert the steerable endoscope 13 into the patient's body robotically, manually, or in combination. As shown, the steerable endoscope 13 may include at least two telescopic parts, such as an inner guide portion and an outer sheath portion, each of which is connected to a separate instrument driver from a set of instrument drivers 28, each of which is connected to the distal end of a separate robotic arm. This linear arrangement of the instrument drivers 28 that facilitates coaxial alignment of the guide portion with the sheath portion produces a "virtual track" 29, which can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or orientations. The virtual tracks described herein are depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. The translation of the instrument driver 28 along the virtual track 29 causes the inner guide portion to telescope relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical applications or physician preferences. For example, in bronchoscopy, the angle and orientation of the virtual track 29 as shown represents a compromise between providing the physician with access to the endoscope 13 while minimizing the friction caused by bending the endoscope 13 into the patient's mouth.

[0056] After insertion, the endoscope 13 can be guided down the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's pulmonary network and / or to reach the desired target, the endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to obtain enhanced articulation and a larger bending radius. The use of a separate instrument driver 28 also allows the guide portion and the sheath portion to be driven independently of each other.

[0057] For example, the endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed downward along a working channel that extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological results, additional tools can be deployed downward along the working channel of the endoscope for additional biopsies. After identifying that the nodule is malignant, the endoscope 13 can deliver tools through the endoscope to remove potential cancerous tissue. In some cases, diagnostic and therapeutic treatments can be delivered in separate procedures. In these cases, the endoscope 13 can also be used to deliver a benchmark to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic treatments can be delivered during the same procedure.

[0058] The system 10 may also include a movable tower 30 that may be connected to the cart 11 via a support cable to provide control, electronic, fluid, optical, sensor and / or power support to the cart 11. Placing such functionality in the tower 30 allows for a smaller form factor cart 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, dividing functionality between the cart / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the cart 11 may be positioned close to the patient, the tower 30 may be stowed in a remote location to be out of the way during the procedure.

[0059] To support the robotic system described above, the tower 30 may include components of a computer-based control system that stores computer program instructions, for example, in a non-transitory computer-readable storage medium such as a permanent magnetic storage drive, a solid-state drive, or the like. Whether the execution occurs in the tower 30 or in the cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by a processor of a computer system, the instructions can cause the components of the robotic system to actuate the associated brackets and arm mounts, actuate the robotic arm, and control the medical device. For example, in response to receiving a control signal, a motor in a joint of the robotic arm can position the arm into a specific posture.

[0060] The tower 30 may also include pumps, flow meters, valve controllers, and / or fluid pathways to provide controlled irrigation and aspiration capabilities to systems that may be deployed through the endoscope 13. These components may also be controlled using the computer system of the tower 30. In some embodiments, irrigation and aspiration capabilities may be delivered directly to the endoscope 13 via separate cables.

[0061] The tower 30 may include voltage and surge protectors designed to provide filtered and protected power to the cart 11, thereby avoiding the need to place power transformers and other auxiliary power components in the cart 11, resulting in a smaller, more mobile cart 11.

[0062] The tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, the tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with the control system, such optoelectronic equipment may be used to generate real-time images for display in any number of consoles deployed throughout the system (including display in the tower 30). Similarly, the tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. The tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on medical devices.

[0063] The tower 30 may also include a console 31 in addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart). The console 31 may include a user interface and display screen, such as a touch screen, for a physician operator. The console in the system 10 is typically designed to provide both preoperative information and real-time information for robotic control and procedures, such as navigation and positioning information for the endoscope 13. When the console 31 is not the only console available to the physician, it may be used by a second operator (such as a nurse) to monitor the health or vital signs of the patient and the operation of the system, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, the console 30 is housed in a body separate from the tower 30.

[0064] The tower 30 may be coupled to the cart 11 and the endoscope 13 via one or more cables or connections (not shown). In some embodiments, support functions from the tower 30 may be provided to the cart 11 via a single cable, thereby simplifying and eliminating clutter in the operating room. In other embodiments, specific functions may be coupled in separate wiring and connections. For example, while power may be provided to the cart via a single cable, support for control, optics, fluidics, and / or navigation may also be provided via separate cables.

[0065] Figure 2 Provided by Figure 1Detailed illustration of an embodiment of a cart for a cart-based robotic-enabled system is shown. The cart 11 generally includes an elongated support structure 14 (commonly referred to as a "column"), a cart base 15, and a console 16 located at the top of the column 14. The column 14 may include one or more brackets, such as for supporting one or more robotic arms 12 ( Figure 2 The bracket 17 (alternatively "arm support") may include a separately configurable arm mount that rotates along a vertical axis to adjust the base of the robotic arm 12 to better position it relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the column 14.

[0066] The bracket interface 19 is connected to the column 14 through slots, such as slot 20, which are positioned on opposite sides of the column 14 to guide the vertical translation of the bracket 17. The slot 20 contains a vertical translation interface to position and maintain the bracket at various vertical heights relative to the cart base 15. The vertical translation of the bracket 17 allows the cart 11 to adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, the separately configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in a variety of configurations.

[0067] In some embodiments, the slot 20 may be supplemented with a slot cover that is flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of the column 14 and the vertical translation interface when the carriage 17 is vertically translated. The slot cover can be deployed by a pair of spring reels positioned near the vertical top and bottom of the slot 20. The cover is coiled within the reel until it is deployed to extend and retract from the coiled state of the cover when the carriage 17 is vertically translated up and down. When the carriage 17 is translated toward the reel, the spring loading of the reel provides a force to retract the cover into the reel while also maintaining a tight seal when the carriage 17 is translated away from the reel. The cover can be connected to the carriage 17 using, for example, a bracket in the carriage interface 19 to ensure proper extension and retraction of the cover when the carriage 17 is translated.

[0068] Column 14 may internally include mechanisms such as gears and motors designed to mechanized translate carriage 17 using a vertically aligned lead screw in response to control signals generated in response to user input (eg, input from console 16 ).

[0069] The robotic arm 12 may generally include a robotic arm base 21 and an end effector 22 separated by a series of links 23, the series of links being connected by a series of joints 24, each joint including an independent actuator, each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 has seven joints and therefore provides seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thereby allowing "redundant" degrees of freedom. The redundant degrees of freedom allow the robotic arm 12 to position its corresponding end effector 22 at a specific position, orientation, and trajectory in space using different link positions and joint angles. This allows the system to position and guide the medical device from a desired point in space, while allowing the physician to move the arm joint to a clinically advantageous position away from the patient to create greater access while avoiding arm collisions.

[0070] The cart base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Thus, the cart base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the cart to be moved and / or secured. For example, the cart base 15 includes rollable wheel-shaped casters 25 that allow the cart to be easily moved around the room prior to a procedure. After reaching the proper orientation, the casters 25 can be secured using wheel locks to maintain the cart 11 in the proper orientation during the procedure.

[0071] The console 16 positioned at the vertical end of the column 14 allows both a user interface and a display screen (or a dual-purpose device, such as, for example, a touch screen 26) for receiving user input to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on the touch screen 26 may include preoperative planning, navigation and mapping data derived from a preoperative computed tomography (CT) scan and / or a record from a preoperative patient interview. The intraoperative data on the display may include optical information provided from tools, sensors and coordinate information from sensors and important patient statistics, such as respiration, heart rate and / or pulse. The console 16 may be positioned and tilted to allow the physician to approach the console from the side of the column 14 opposite to the bracket 17. From this position, the physician can observe the console 16, the robot arm 12 and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 to help manipulate and stabilize the cart 11.

[0072] Figure 3An embodiment of a robotically enabled system 10 arranged for ureteroscopy is shown. In a ureteroscopy procedure, a cart 11 can be positioned to deliver a ureteroscope 32 (a procedure-specific endoscope designed to traverse a patient's urethra and ureters) to the patient's lower abdominal region. In a ureteroscopy, it may be desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and forces on sensitive anatomical structures in this area. As shown, the cart 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra along a virtual track 33 from the foot of the table.

[0073] After insertion into the urethra, the ureteroscope 32 can be navigated into the bladder, ureters, and / or kidneys for diagnostic and / or therapeutic applications using similar control techniques as in bronchoscopy. For example, the ureteroscope 32 can be guided into the ureters and kidneys to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed down the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed down the ureteroscope 32.

[0074] Figure 4 An embodiment of a robotically enabled system similarly arranged for vascular procedures is shown. In a vascular procedure, the system 10 can be configured so that the cart 11 can deliver a medical device 34 (such as a steerable catheter) to an access point in the femoral artery of the patient's leg. The femoral artery presents both a larger diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in a ureteroscopy procedure, the cart 11 can be positioned toward the patient's legs and lower abdomen to allow the robotic arm 12 to provide a virtual track 35 for direct linear access to the femoral artery access point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted by translating the instrument drive 28. Alternatively, the cart can be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and wrist.

[0075] B. Robotic system – unit .

[0076] Embodiments of the robotic-enabled medical system may also incorporate a patient table. Incorporating a table reduces the amount of capital equipment in the operating room by removing a cart, which allows for greater access to the patient. Figure 5An embodiment of such a robotically enabled system is shown arranged for use in a bronchoscopy procedure. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on a floor. Much like a cart-based system, the end effector of a robotic arm 39 of system 36 includes an instrument drive 42 designed to manipulate an elongated medical instrument, such as a slender medical instrument, through or along a virtual track 41 formed by the linear alignment of the instrument drive 42. Figure 5 In practice, a C-arm for providing fluoroscopic imaging can be positioned over the upper abdominal region of the patient by placing the emitter and detector around the table 38.

[0077] Figure 6 An alternative view of the system 36 without the patient and medical device for discussion purposes is provided. As shown, the column 37 may include one or more brackets 43 shown as annular in the system 36, on which one or more robotic arms 39 may be based. The bracket 43 may translate along a vertical column interface 44 extending along the length of the column 37 to provide different vantage points from which the robotic arm 39 may be positioned to reach the patient. The bracket 43 may rotate around the column 37 using a mechanical motor positioned within the column 37 to allow the robotic arm 39 to access multiple sides of the table 38, such as both sides of the patient. In an embodiment with multiple brackets, the brackets may be positioned individually on the column and may translate and / or rotate independently of the other brackets. Although the bracket 43 does not need to be around the column 37 or even circular, the annular shape as shown facilitates the rotation of the bracket 43 around the column 37 while maintaining structural balance. The rotation and translation of the bracket 43 allows the system to align medical devices such as endoscopes and laparoscopes to different entry points on the patient. In other embodiments (not shown), the system 36 may include a patient table or bed with an adjustable arm support in the form of a rod or rail extending alongside the patient table or bed. One or more robotic arms 39 may be attached to the adjustable arm support (e.g., via a shoulder with an elbow joint) that may be vertically adjusted. By providing vertical adjustment, the robotic arms 39 advantageously can be compactly stored beneath the patient table or bed and subsequently raised during a procedure.

[0078] The arm 39 may be mounted on the carriage via a set of arm mounts 45 including a series of joints that may be individually rotated and / or telescopically extended to provide additional configurability to the robotic arm 39. Additionally, the arm mounts 45 may be positioned on the carriage 43 such that when the carriage 43 is appropriately rotated, the arm mounts 45 may be positioned on the same side of the table 38 (e.g., Figure 6 As shown), on the opposite side of the platform 38 (as shown Fig. 9 shown) or on an adjacent side of stage 38 (not shown).

[0079] The column 37 provides structural support for the stage 38 and provides a path for the vertical translation of the carriage. Internally, the column 37 can be equipped with a lead screw for guiding the vertical translation of the carriage, and a motor for mechanizing the translation of the carriage based on the lead screw. The column 37 can also transmit power and control signals to the carriage 43 and the robotic arm 39 mounted thereon.

[0080] The base 46 has Figure 2 The cart base 15 in the illustrated cart 11 functions similarly, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during the procedure. Casters deployed from the bottom of the table base 46 may extend in opposite directions on both sides of the base 46 and retract when the system 36 needs to be moved.

[0081] continue Figure 6 , the system 36 may also include a tower (not shown) that divides the functions of the system 36 between the table and the tower to reduce the form factor and volume of the table. As in the previously disclosed embodiments, the tower can provide various support functions to the table, such as processing, computing and control capabilities, power, fluid and / or optical and sensor processing. The tower can also be movable to be positioned away from the patient, thereby improving the physician's access and eliminating clutter in the operating room. In addition, placing the components in the tower allows more storage space in the table base for potential folding of the robotic arm. The tower may also include a main controller or console that provides a user interface such as a keyboard and / or a pendant for user input, and a display screen (or touch screen) for preoperative and intraoperative information such as real-time imaging, navigation and tracking information. In some embodiments, the tower may also include a holder for a gas tank to be used for insufflation.

[0082] In some embodiments, the table base can fold up and store the robotic arm when not in use. Figure 7 A system 47 for stowing the robotic arm in an embodiment of a table-based system is shown. In the system 47, a carriage 48 can be translated vertically into a base 49 to stow a robotic arm 50, an arm mount 51, and the carriage 48 within the base 49. A base cover 52 can be translated and retracted open to deploy the carriage 48, the arm mount 51, and the arm 50 around a column 53, and closed to stow the carriage 48, the arm mount 51, and the arm 50 to protect them when not in use. The base cover 52 can be sealed along the edges of its opening with a membrane 54 to prevent dust and fluids from entering when closed.

[0083] Figure 8An embodiment of a robotically enabled table-based system configured for a ureteroscopy procedure is shown. During ureteroscopy, the table 38 may include a rotating portion 55 for positioning the patient at an angle to the column 37 and the table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., located below the patient's head) so as to position the bottom portion of the rotating portion 55 away from the column 37. For example, the pivoting of the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below the table 38. By rotating the bracket 35 (not shown) about the column 37, the robotic arm 39 can insert the ureteroscope 56 directly into the patient's groin area along the virtual track 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of the table 38 to support the orientation of the patient's legs during the procedure and allow full access to the patient's groin area.

[0084] In a laparoscopic procedure, minimally invasive instruments can be inserted into the patient's anatomical structure through a small incision in the patient's abdominal wall. In some embodiments, the minimally invasive instrument includes an elongated rigid member, such as a shaft, for entering the patient's anatomical structure. After the patient's abdominal cavity is inflated, the instrument can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instrument can include a scope, such as a laparoscope. Fig. 9 An embodiment of a robotically enabled table-based system configured for laparoscopic procedures is shown. Fig. 9 As shown, the carriage 43 of the system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of the table 38 so that the arm mounts 45 can be used to position instruments 59 through minimal incisions on both sides of the patient to reach his / her abdominal cavity.

[0085] To accommodate laparoscopic procedures, the robotic-enabled table system can also tilt the platform to a desired angle. Fig.10 An embodiment of a robotic-enabled medical system with pitch or tilt adjustment is shown. Fig.10 As shown, system 36 can accommodate the tilt of table 38 to position one portion of the table at a greater distance from the floor than another portion. Additionally, arm mount 45 can be rotated to match the tilt so that arm 39 maintains the same planar relationship with table 38. To accommodate steeper angles, column 37 can also include telescoping portion 60 that allows vertical extension of column 37 to prevent table 38 from contacting the floor or colliding with base 46.

[0086] Fig.11A detailed illustration of the interface between the table 38 and the column 37 is provided. The pitch rotation mechanism 61 can be configured to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch rotation mechanism 61 can be implemented by positioning orthogonal axes 1, 2 at the column-to-table interface, each axis being actuated by a separate motor 3, 4 in response to an electrical pitch angle command. Rotation along one screw 5 will enable tilt adjustment in one axis 1, while rotation along another screw 6 will enable tilt adjustment along another axis 2. In some embodiments, a spherical joint can be used to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom.

[0087] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendelenburg position (i.e., positioning the patient's lower abdomen at a higher orientation than the patient's lower abdomen from the floor) for lower abdominal surgery. The Trendelenburg position causes the patient's internal organs to glide toward his / her upper abdomen by gravity, thereby clearing the abdominal cavity to allow minimally invasive tools to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0088] Fig.12 and Fig.13 An isometric view and an end view of an alternative embodiment of a table-based surgical robotic system 100 are shown. The surgical robotic system 100 includes a table 101 that can be configured to support one or more robotic arms (see, e.g., Fig.14 ) is provided with one or more adjustable arm supports 105 attached to the table 101. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be provided on opposite sides of the table 101. The adjustable arm support 105 may be configured so that it can move relative to the table 101 to adjust and / or change the orientation of the adjustable arm support 105 and / or any robotic arm mounted thereto relative to the table 101. For example, the adjustable arm support 105 may be adjusted in one or more degrees of freedom relative to the table 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily stow one or more adjustable arm supports 105 and any robotic arm attached thereto below the table 101. The adjustable arm support 105 may be raised from a stowed orientation to a position below the upper surface of the table 101. In other embodiments, the adjustable arm support 105 can be raised from the stowed position to a position above the upper surface of the table 101 .

[0089] The adjustable arm support 105 may provide several degrees of freedom, including lift, lateral translation, tilt, etc. Fig.12 and Fig.13 In the exemplary embodiment of the present invention, the arm support 105 is configured to have four degrees of freedom. Fig.12105 are shown by arrows in . A first degree of freedom allows adjustment of the adjustable arm support 105 in the z-direction ("Z lift"). For example, the adjustable arm support 105 may include a bracket 109 that is configured to move upward or downward along or relative to the column 102 of the support table 101. A second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a swivel joint that allows the adjustable arm support 105 to be aligned with the bed in the Trendelenburg position. A third degree of freedom allows the adjustable arm support 105 to "pivot up", which can be used to adjust the distance between one side of the table 101 and the adjustable arm support 105. A fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the table.

[0090] Fig.12 and Fig.13 The surgical robot system 100 in the embodiment of the present invention may include a table supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the table 101 relative to the support surface. The floor axis 131 and the support axis 133 are located at Fig.13 Shown in.

[0091] Adjustable arm support 105 can be mounted to column 102. In other embodiments, arm support 105 can be mounted to table 101 or base 103. Adjustable arm support 105 can include bracket 109, rod or rail connector 111, and rod or rail 107. In some embodiments, one or more robotic arms mounted to rail 107 can translate and move relative to each other.

[0092] The bracket 109 may be attached to the column 102 via a first joint 113 that allows the bracket 109 to move relative to the column 102 (e.g., such as up and down along a first or vertical axis 123). The first joint 113 may provide a first degree of freedom ("Z lift") to the adjustable arm support 105. The adjustable arm support 105 may include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third joint 117 that provides a third degree of freedom ("upward pivot") to the adjustable arm support 105. Additional joints 119 may be provided (in Fig.13 ), the additional joint mechanically constrains the third joint 117 to maintain the orientation of the rail 107 when the rail connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121, which may provide the adjustable arm support 105 with a fourth degree of freedom (translation) along a fourth axis 129.

[0093] Fig.14An end view of a surgical robotic system 140A having two adjustable arm supports 105A, 105B mounted on opposite sides of a table 101 is shown according to one embodiment. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, the second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0094] In some embodiments, one or more of the robotic arms 142A, 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B may include eight degrees of freedom, including an insertion axis (including 1 degree of freedom for insertion), a wrist (including 3 degrees of freedom for wrist pitch, yaw, and roll), an elbow (including 1 degree of freedom for elbow pitch), a shoulder (including 2 degrees of freedom for shoulder pitch and yaw), and a base 144A, 144B (including 1 degree of freedom for translation). In some embodiments, the insertion degrees of freedom may be provided by the robotic arms 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0095] C. Device Drivers and Interfaces .

[0096] The end effector of the system's robotic arm includes (i) an instrument driver (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") that incorporates an electromechanical device for actuating a medical device, and (ii) a removable or detachable medical device that may not contain any electromechanical components, such as a motor. This dichotomy may be driven by the need to sterilize medical instruments used in medical procedures and the inability to adequately sterilize expensive capital equipment due to its complex mechanical assemblies and sensitive electronics. Therefore, the medical device may be designed to be disassembled, removed, and interchanged from the instrument driver (and therefore from the system) for separate sterilization or disposal by a physician or physician's staff. In contrast, the instrument driver does not need to be changed or sterilized and can be covered for protection.

[0097] Fig.15An exemplary instrument driver is shown. The instrument driver 62, positioned at the distal end of the robotic arm, includes one or more drive units 63 arranged in parallel axes to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the instrument, a gear head 65 for converting motor shaft rotation into a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to the control circuit, and a control circuit 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument driver 62 can provide multiple (e.g., Fig.15 In operation, the control circuit 68 will receive the control signal, transmit the motor signal to the motor 66, compare the resulting motor speed measured by the encoder 67 with the desired speed, and modulate the motor signal to generate the desired torque.

[0098] For the procedures requiring a sterile environment, the robotic system can be combined with a drive interface, such as a sterile adapter connected to a sterile cover, which is located between the instrument driver and the medical device. The main purpose of the sterile adapter is to transfer angular motion from the drive shaft of the instrument driver to the drive input of the instrument, while maintaining the physical separation between the drive shaft and the drive input and thus maintaining sterility. Therefore, an exemplary sterile adapter may include a series of rotational inputs and rotational outputs intended to cooperate with the drive shaft of the instrument driver and the drive input on the instrument. The sterile cover composed of a thin flexible material (such as transparent or translucent plastic) connected to the sterile adapter is designed to cover capital equipment, such as instrument drivers, robot arms and carts (in cart-based systems) or tables (in tables-based systems). The use of the cover will allow capital equipment to be positioned near the patient while still being located in an area that does not require sterilization (i.e., non-sterile area). On the other side of the sterile cover, medical devices can dock with patients in areas that require sterilization (i.e., sterile areas).

[0099] D.Medical devices .

[0100] Fig.16An exemplary medical device with a paired instrument driver is shown. Similar to other instruments designed for use with a robotic system, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an "instrument handle" due to its intended design for manual interaction by a physician, can typically include a rotatable drive input 73 (e.g., a socket, pulley, or reel) that is designed to mate with a drive output 74 of a drive interface on an instrument driver 75 extending through a distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share an axis of rotation with the drive output 74 in the instrument driver 75 to allow torque to be transferred from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 can include a spline that is designed to mate with a socket on the drive input 73.

[0101] The elongated shaft 71 is designed to be delivered through an anatomical opening or lumen (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from an articulated wrist formed by a connecting fork having at least one degree of freedom and a surgical tool or medical instrument (e.g., a grasper or scissors) that can be actuated based on the force from the tendon when the drive input rotates in response to a torque received from the drive output 74 of the instrument driver 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable curved segment that articulates and bends based on the torque received from the drive output 74 of the instrument driver 75.

[0102] The torque from the instrument driver 75 is transmitted to the elongated shaft 71 downward along the shaft 71 using a tendon. These individual tendons (e.g., pull wires) can be individually anchored to individual drive inputs 73 within the instrument handle 72. From the handle 72, the tendons are guided downward along one or more pull cavities of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or in the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopic, endoscopic, or hybrid surgery, these tendons can be connected to a distally mounted end effector, such as a wrist, a gripper, or scissors. In such an arrangement, the torque applied to the drive input 73 transmits tension to the tendons, causing the end effector to actuate in some manner. In some embodiments, during surgical procedures, the tendons can cause the joint to rotate around the axis, causing the end effector to move in one direction or another. Alternatively, the tendons can be connected to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein the tension from the tendons causes the gripper to close.

[0103] In endoscopy, the tendon can be coupled to a curved or articulated segment located along the elongated shaft 71 (e.g., at the distal end) via an adhesive, a control ring, or other mechanical fastener. When fixedly attached to the distal end of the curved segment, a torque applied to the drive input 73 will be transmitted downward along the tendon, causing the softer curved segment (sometimes referred to as an articulated segment or region) to bend or articulate. Along the uncurved segment, it may be advantageous to spiral or swirl a separate traction lumen that guides a separate tendon along the wall (or inside) of the endoscope shaft to balance the radial forces caused by the tension in the traction wire. For specific purposes, the angle of the spiral and / or the spacing therebetween may be varied or designed, wherein a tighter spiral presents less axial compression under load force, while a lower spiral amount causes greater axial compression under load force, but also presents limited bending. In another case, the traction lumen may be guided parallel to the longitudinal axis of the elongated shaft 71 to allow controlled articulation in the desired curved or articulated segment.

[0104] In endoscopy, the elongated shaft 71 accommodates multiple components to assist in robotic procedures. The shaft may include a working channel for deploying surgical tools (or medical devices), irrigation pieces, and / or suction pieces to the operating area at the distal end of the shaft 71. The shaft 71 may also accommodate wires and / or optical fibers to transmit signals to / from an optical assembly at the distal end, which may include an optical camera. The shaft 71 may also accommodate an optical fiber to carry light from a proximally located light source (e.g., a light emitting diode) to the distal end of the shaft.

[0105] At the distal end of the instrument 70, the distal tip may also include an opening for a working channel for delivering tools for diagnosis and / or treatment, flushing and suctioning the surgical site. The distal tip may also include a port for a camera (such as a fiberscope or a digital camera) to capture images of the internal anatomical space. Relatedly, the distal tip may also include a port for a light source, which is used to illuminate the anatomical space when the camera is used.

[0106] exist Fig.16 In the example of , the axis of the drive shaft, and therefore the drive input axis, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the ability of the elongated shaft 71 to roll. Rolling the elongated shaft 71 along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendons as they extend out of the drive input 73 and into the traction cavity within the elongated shaft 71. The resulting tangling of such tendons can disrupt any control algorithm designed to predict the motion of the flexible elongated shaft during an endoscopic procedure.

[0107] Fig.17 An alternative design of an instrument driver and an instrument is shown, wherein the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. As shown, a circular instrument driver 80 includes four drive units, and its drive output 81 is aligned in parallel at the end of a robot arm 82. The drive units and their respective drive outputs 81 are contained in a rotating assembly 83 of an instrument driver 80 driven by a drive unit in the drive unit in the assembly 83. In response to the torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing, which connects the rotating assembly 83 to the non-rotating portion 84 of the instrument driver. Electric power and control signals can be transmitted to the rotating assembly 83 from the non-rotating portion 84 of the instrument driver 80 by electrical contact, and the electrical contact can be maintained by the rotation of the brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 can be responsive to a separate drive unit integrated into the non-rotating portion 84, and is therefore not parallel to other drive units. The rotating mechanism 83 allows the instrument driver 80 to allow the drive unit and its corresponding drive output 81 to rotate around the instrument driver axis 85 as a single unit.

[0108] Similar to previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent outer skin for discussion purposes) that includes a plurality of drive inputs 89 (such as sockets, pulleys, and spools) configured to receive drive outputs 81 in the instrument driver 80. Unlike previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87, with the axis of the instrument base being substantially parallel to the axis of the drive inputs 89, rather than being substantially parallel to the axis of the drive inputs 89. Fig.16 as orthogonal in the design.

[0109] When coupled to the rotation assembly 83 of the instrument driver 80, the medical device 86, including the instrument base 87 and the instrument shaft 88, rotates in combination with the rotation assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is located at the center of the instrument base 87, the instrument shaft 88 is coaxial with the instrument driver axis 85 when attached. Therefore, the rotation of the rotation assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. In addition, when the instrument base 87 rotates with the instrument shaft 88, any tendons connected to the drive input 89 in the instrument base 87 do not tangle during rotation. Therefore, the parallelism of the axes of the drive output 81, the drive input 89, and the instrument shaft 88 allows the shaft to rotate without tangling any control tendons.

[0110] Fig.18 An instrument with an instrument-based insertion architecture according to some embodiments is shown. The instrument 150 can be coupled to any of the instrument drivers described above. The instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a handle 170 coupled to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The groove 158 is configured to receive one or more wires or cables 180 passing through the groove. Therefore, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cable 180 may also pass through the elongated shaft 152. The manipulation of the one or more cables 180 (e.g., via the instrument driver) causes the actuation of the end effector 162.

[0111] The instrument handle 170 (also referred to as the instrument base) may generally include an attachment interface 172 having one or more mechanical input members 174, such as a socket, pulley, or spool, which are designed to reciprocate with one or more torque connectors on the attachment surface of the instrument driver.

[0112] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that accommodates instrument insertion, thereby minimizing reliance on a robotic arm to provide insertion of the instrument 150. In other embodiments, a robotic arm may be largely responsible for instrument insertion.

[0113] E. Controller .

[0114] Any of the robotic systems described herein may include an input device or controller for manipulating an instrument attached to the robotic arm. In some embodiments, the controller may be coupled to the instrument (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller causes corresponding manipulation of the instrument, e.g., via master-slave control.

[0115] Fig.19 1 is a perspective view of an embodiment of the controller 182. In this embodiment, the controller 182 comprises a hybrid controller that can have both impedance and admittance control. In other embodiments, the controller 182 can utilize only impedance or passive control. In other embodiments, the controller 182 can utilize only admittance control. By being a hybrid controller, the controller 182 can advantageously have lower perceived inertia when in use.

[0116] In the illustrated embodiment, the controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0117] like Fig.19 As shown, each positioning platform 188 includes a SCARA arm (selective compliance assembly robot arm) 198 coupled to the column 194 via a prismatic joint 196. The prismatic joint 196 is configured to translate along the column 194 (e.g., along the rail 197) to allow each of the handles 184 to translate in the z direction, thereby providing a first degree of freedom. The SCARA arm 198 is configured to allow the handles 184 to move in the xy plane, thereby providing two additional degrees of freedom.

[0118] In some embodiments, one or more load sensors are positioned in the controller. For example, in some embodiments, a load sensor (not shown) is positioned in the body of each gimbal in the gimbal 186. By providing a load sensor, a portion of the controller 182 can be operated under admittance control, thereby advantageously reducing the perceived inertia of the controller when in use. In some embodiments, the positioning platform 188 is constructed for admittance control, and the gimbal 186 is constructed for impedance control. In other embodiments, the gimbal 186 is constructed for admittance control, and the positioning platform 188 is constructed for impedance control. Therefore, for some embodiments, the translational degree of freedom or the azimuth degree of freedom of the positioning platform 188 can rely on admittance control, while the rotational degree of freedom of the gimbal 186 relies on impedance control.

[0119] F. Navigation and Control .

[0120] Conventional endoscopy may involve the use of fluoroscopy (e.g., as may be delivered by a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system contemplated by the present disclosure may provide non-radiation-based navigation and positioning devices to reduce physician exposure to radiation and reduce the amount of equipment in the operating room. As used herein, the term "positioning" may refer to determining and / or monitoring the orientation of an object in a reference coordinate system. Technologies such as preoperative mapping, computer vision, real-time EM tracking, and robotic command data may be used alone or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robotic command data may be used alone or in combination to improve information obtained only by radiation-based imaging modalities.

[0121] Fig. 20 is a block diagram illustrating a positioning system 90 for estimating the position of one or more elements of a robotic system, such as the position of an instrument, according to an exemplary embodiment. The positioning system 90 may be a set of one or more computer devices configured to execute one or more instructions. The computer device may be embodied by a processor (or multiple processors) and a computer readable memory in one or more of the components discussed above. By way of example and not limitation, the computer device may be located at Figure 1 The tower 30 shown, Figures 1 to 4 The cart shown, Figures 5 to 14 The bed shown, etc.

[0122] like Fig. 20 As shown, the positioning system 90 may include a positioning module 95 that processes the input data 91-94 to generate position data 96 for the distal tip of the medical device. The position data 96 may be data or logic that represents the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be a reference frame relative to the patient's anatomy or a known object such as an EM field generator (see below for a discussion of EM field generators).

[0123] The various input data 91-94 are now described in more detail. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images that are visualized, for example, as "slices" of cross-sectional views of the patient's internal anatomical structures. When analyzed as a whole, image-based models of anatomical cavities, spaces, and structures for the patient's anatomical structures (such as the patient's lung network) can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient's anatomical structure, which is referred to as model data 91 (also referred to as "preoperative model data" when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application No. 14 / 523,760, the contents of which are incorporated herein in their entirety. Network topology models can also be derived from CT images and are particularly suitable for bronchoscopy.

[0124] In some embodiments, the instrument can be equipped with a camera to provide visual data 92. The positioning module 95 can process the visual data to implement one or more vision-based position tracking. For example, preoperative model data can be used in conjunction with the visual data 92 to implement computer vision-based tracking of a medical instrument (e.g., an endoscope or an instrument advanced through a working channel of an endoscope). For example, using the preoperative model data 91, the robotic system can generate a library of expected endoscopic images from the model based on the expected path of travel of the endoscope, each image connected to a location within the model. In operation, the robotic system can reference the library to compare real-time images captured at a video camera (e.g., a camera at the distal end of an endoscope) with those in the image library to assist in positioning.

[0125] Other computer vision based tracking techniques use feature tracking to determine the motion of the camera, and therefore the motion of the endoscope. Some features of the localization module 95 may identify circular geometric structures in the preoperative model data 91 that correspond to anatomical cavities and track changes in those geometric structures to determine which anatomical cavity is selected, as well as track relative rotational and / or translational motion of the camera. The use of topological maps may further enhance vision based algorithms or techniques.

[0126] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence in the visual data 92 to infer camera motion. Examples of optical flow techniques can include motion detection, object segmentation calculations, brightness, motion compensated encoding, stereo disparity measurements, etc. Through multiple iterations of multi-frame comparisons, the motion and position of the camera (and therefore the endoscope) can be determined.

[0127] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be aligned to the patient's anatomical structure represented by the preoperative model. In EM tracking, an EM sensor (or tracker) comprising one or more sensor coils in one or more positions and orientations embedded in a medical device (e.g., an endoscopic tool) measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The position information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field that can be detected by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "aligned" to the patient's anatomical structure (e.g., a preoperative model) during surgery to determine a geometric transformation that aligns a single position in the coordinate system with an orientation in the preoperative model of the patient's anatomical structure. Once registered, an embedded EM tracker in one or more locations of a medical device (eg, the distal tip of an endoscope) can provide a real-time indication of the progress of the medical device through the patient's anatomy.

[0128] The robotic commands and kinematic data 94 may also be used by a positioning module 95 to provide orientation data 96 for the robotic system. The pitch and yaw of the device derived from the joint motion commands may be determined during preoperative calibration. In surgery, these calibration measurements may be used in conjunction with known insertion depth information to estimate the orientation of the instrument. Alternatively, these calculations may be analyzed in conjunction with EM, vision, and / or topological modeling to estimate the orientation of the medical device within the network.

[0129] like Fig. 20 As shown, the positioning module 95 can use a variety of other input data. For example, although Fig. 20 Not shown, but an instrument utilizing shape sensing fibers may provide shape data that positioning module 95 may use to determine the position and shape of the instrument.

[0130] The localization module 95 may use the input data 91-94 in combination. In some cases, such a combination may use a probabilistic approach, where the localization module 95 assigns a confidence weight to a position determined from each of the input data 91-94. Thus, in situations where the EM data may be unreliable (such as where EM interference may be present), the confidence in the position determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or the robot command and kinematics data 94.

[0131] As discussed above, the robotic systems discussed herein may be designed to incorporate a combination of one or more of the above techniques. A computer-based control system for a robotic system located in a tower, bed, and / or cart may store computer program instructions, for example, in a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.) that, when executed, causes the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the position of an instrument in a global coordinate system, an anatomical map, etc.

[0132] 2. Introduction to the alignment of the input part of medical devices .

[0133] Embodiments of the present disclosure relate to systems and techniques for aligning an input on a medical device with a corresponding output shaft on a drive mechanism (e.g., an instrument drive mechanism (IDM) or an active drive mechanism (ADM)). One exemplary medical procedure that may involve alignment of an input of a medical device with an output shaft on a drive mechanism is a laparoscopic procedure. For example, one or more laparoscopic tools (e.g., a camera or other instrument) having an input may have to be aligned with a corresponding output shaft of the drive mechanism to perform the medical procedure. However, aspects of the present disclosure are not limited to alignment in laparoscopic procedures and may be applied to other medical procedures, such as endoscopic procedures (e.g., bronchoscopy, ureteroscopy, gastroscopy, etc.).

[0134] During a laparoscopic procedure, one or more cannulas for receiving laparoscopic medical instruments (also called laparoscopic tools) may be inserted into the patient's body. Fig.21 An embodiment of a system 200 configured for laparoscopic procedures according to aspects of the present disclosure is shown. The system 200 includes a drive mechanism 400 and a port or cannula 235. The drive mechanism 400 is configured to be attached or coupled to an instrument (not shown), which can then be actuated by the drive mechanism 400. The cannula 220 can be mounted within the body of the patient 245 through the body wall 250 of the patient 245. Thus, the drive mechanism 400, which is coupled to a robotic arm (not shown), can be docked to the cannula 235, such as Fig.21 The drive mechanism 400 may also include an optional camera 225 that may be configured to help align the drive mechanism 400 with the cannula 235 and / or align one or more inputs of a medical device with one or more output shafts on the drive mechanism 400, as discussed below.

[0135] The system 200 can be configured to maintain the remote center of motion 220 at substantially the same location where the cannula 235 intersects the body wall 250. As used herein, the remote center of motion 220 can refer to a point in space at which the system 220 prevents movement of the cannula 235 and a laparoscopic tool (not shown) inserted through the cannula 235. In other words, the system 200 prevents the cannula 220 from moving at the remote center of motion 220 to prevent unnecessary forces from being applied to the body wall 250.

[0136] Fig. 22 An embodiment of a medical tool 300 according to aspects of the present disclosure is shown. The tool 300 includes a handle 310, an alignment mechanism 305, a shaft 330, and an end effector 303. Although not shown, the tool 300 also includes one or more pull wires configured to be actuated via one or more inputs formed on the handle, which will be described in more detail below.

[0137] Fig.23A An embodiment of a drive mechanism 400 according to aspects of the present disclosure is shown. Fig. 23B is a schematic diagram showing how a drive mechanism 400 according to aspects of the present disclosure may be coupled with an adapter 410. FIG. 23A to FIG. 23B , the drive mechanism 400 includes a drive mechanism body 405 that can be coupled to an adapter 410. The drive mechanism body 405 can be coupled to a robotic arm (e.g., Figure 1 Robotic arm 12 or Figure 5 Adapter 410 may form an interface between drive mechanism 400 and medical tool 300. In certain embodiments, medical tool 300 may be coupled directly to drive mechanism 400 without the use of an adapter. In these embodiments, various components / features of adapter 410 (described below) may be formed on an upper surface of drive mechanism 400 itself.

[0138] The adapter 410 can be, for example, part of a sterile cover that covers one or more sterile components of the surgical robotic system and the IDM 400 and can facilitate maintaining a sterile interface between the drive mechanism 400 and one or more components of the robotic arm or medical tool 300, thereby providing a barrier between non-sterile components of the robotic system and a sterile surgical area or region.

[0139] The adapter 410 includes a plurality of output shafts 415, a plurality of attachment mechanisms 420, a reader housing 425, a channel 430, and a release slot 435 through which an adapter release mechanism 440 of the drive mechanism 400 can extend. Each of the output shafts 415 is configured to be coupled to a corresponding input portion of the handle 310 of the tool 300 (e.g., see Fig.24 ) connection. Fig. 23B As shown in the schematic diagram of , the drive mechanism 400 also includes a plurality of motors 413 respectively coupled to output shafts 415. The motors 413 are configured to engage with and rotate corresponding output shafts 415 of the adapter 410. In an embodiment in which the output shaft 415 is formed as a component of the drive mechanism body 405, the motors 413 may be directly mechanically coupled to the output shaft 415.

[0140] The attachment mechanism 420 is configured to provide a secure connection between the medical tool 300 and the instrument drive mechanism 400 via the adapter 410. In some embodiments, the attachment mechanism 420 may include a locking element on the adapter 410 and a corresponding recess on the medical tool 300 (e.g., see Fig.24 ). The reader housing 425 houses a data reader configured to receive alignment data from the tool 300 when the tool 300 is positioned within a threshold distance of the data reader. The channel 430 is configured to receive the shaft 330 of the tool 300. When the adapter 410 is coupled to the drive mechanism 400, the adapter 410 can be released from the drive mechanism 400 by actuation of a release mechanism 440 formed on the drive mechanism 400 and extending through a release slot 435.

[0141] Fig.24 The present invention shows various aspects of the present disclosure. Fig. 22 300, including an illustration of a lower surface of a handle 310. Specifically, the medical tool 300 includes a handle 310 from which a shaft 330 and an alignment mechanism 305 extend. The handle 310 includes a plurality of inputs 315 (also referred to as drive inputs), a plurality of recesses 320, and a recess 325. As previously described, the inputs 315 are configured to mechanically couple to and engage with an adapter 410 and an output shaft 415 of a drive mechanism 400. The tool 300 also includes a plurality of pull wires configured to be actuated by the output shaft 415 via the inputs 315 so as to control actuation of the end effector 303. In other words, each of the inputs 315 is configured to mechanically couple to a corresponding one of the output shafts 415 of the drive mechanism 400 (e.g., via the adapter 410).

[0142] The recess 320 is configured to engage with and receive the attachment mechanism 420 to mechanically couple the handle 310 to the adapter 410. The recess 325 provides a space for accommodating a reader housing 425 when the tool 300 is coupled to the drive mechanism 400. As described below, in some embodiments, the recess 325 also includes a wireless data transmitter configured to wirelessly transmit alignment data to a data reader housed within the reader housing 425. The alignment mechanism 305 is configured to provide proper orientation between the tool 300 and the drive mechanism 400 and the adapter 410. The drive mechanism 440, the adapter 410, and the handle 300 may have configurations similar to those described in U.S. Patent Application No. 16 / 357,763, filed March 19, 2019, the entire contents of which are incorporated herein by reference.

[0143] Fig.25 The invention is shown in accordance with various aspects of the present disclosure in a state of being connected to Fig.23A The process of driving mechanism 400 Fig.24 Medical tools 300. Fig.25 As shown, when the handle 310 is advanced toward the drive mechanism 400 and the adapter 410, the alignment mechanism 305 can be inserted into the channel 430 of the adapter 410. The alignment mechanism 305 can provide a mechanism reorientation of the handle 310 (e.g., rotation around the central axis of the tool 300) so that the components formed on the adapter 410 (e.g., the output shaft 415, the attachment mechanism 420, and the reader housing 425) are aligned with the corresponding components of the handle 310 (e.g., the input portion 315, the recess 320, and the recess 325).

[0144] like FIG. 23A to FIG. 25 As shown, the output shaft 415 is formed with external splines 417 that engage with corresponding internal splines 317 formed in the input portion 315. As used herein, the term external splines may refer to ridges or teeth that may be formed on the output shaft 415 and are configured to couple to corresponding internal splines 317 (e.g., grooves) formed on the input portion 315. Therefore, the output shaft 415 and the input portion 315 may form a multiple spline connection.

[0145] Although FIG. 23A to FIG. 25An embodiment is shown in which an output shaft 415 having external splines 417 is formed on the adapter 410 and an input portion 315 having internal splines 317 is formed on the handle 310 of the tool 300, but the present disclosure is not limited thereto, and various combinations of the output shaft 415, external splines 417, input portion 315, and internal splines 317 may also be implemented. For example, in some embodiments, the output shaft may have internal splines, wherein the input portion has external splines, and in other embodiments, the input portion may be formed on the adapter and / or the drive mechanism, and the output shaft may be formed on the handle. In general, any combination is possible such that rotational torque can be transmitted from the drive mechanism to the tool to actuate at least a portion of the tool (e.g., an end effector) in at least one degree of freedom.

[0146] Although the tool 300 has an alignment mechanism 305 that can substantially align the output 315 of the drive mechanism 400 with the input 315 of the tool 300, there may still be misalignment between the external splines 417 formed on the output shaft 415 and the internal splines 317 formed on the input 315 due to the discrete number of angles at which the splines can engage. Although there may be a certain amount of allowable misalignment between the external splines and the internal splines 317, if the misalignment between the splines is greater than a threshold amount of misalignment, it may be difficult to couple the output shaft 415 to the input 315. The end effector 303 may be configured to be backdriven a certain amount (e.g., by backdriving the wrist of the end effector) in order to align the input 315 with the output shaft 415. For example, the end effector may be forced to rotate the input 315 through a certain range of articulation to allow some movement to facilitate alignment. However, the range of motion provided by the backdrive may be limited by the amount of movement available to the wrist within the cannula, and may force the input 315 to be tensioned or braked in order to fit on the output shaft 415, resulting in a poor user experience. Accordingly, aspects of the present disclosure are directed to techniques for automatically aligning the output shaft 415 of the drive mechanism 400 with the input 315 of the tool 300, which may improve the user experience.

[0147] A. Automatic alignment of the medical device input and the drive mechanism output shaft .

[0148] Fig.26A Another embodiment of a medical tool 301 according to aspects of the present disclosure is shown. Certain aspects of the tool 301 (including portions of the handle 311) may be combined with the above Fig.24 The components discussed above for the illustrated tool 300 are similar or identical. Fig.26B Another embodiment of a drive mechanism 401 according to aspects of the present disclosure is shown. Certain aspects of the drive mechanism 401 may be combined with the above Fig.23A The components discussed above for the drive mechanism 400 and / or adapter 410 are similar or identical. Fig.26BIn the embodiment of the present invention, the adapter is not shown, and the corresponding part of the drive mechanism that can be covered by the adapter 410 is shown. Fig. 27 According to various aspects of the present disclosure FIG. 26A to FIG. 26B A schematic diagram of yet another embodiment of a medical tool and drive mechanism is shown.

[0149] like FIG. 26A to FIG. 26B As shown, tool 301 also includes data transmitter 327, and drive mechanism 401 also includes data reader 427. Data transmitter 327 can be configured to transmit alignment data to data reader 427 of drive mechanism 401. Similarly, data reader 427 can be configured to receive alignment data from tool 401 (e.g., via data transmitter 327) when tool 401 is positioned within a threshold distance of data reader 427.

[0150] The robotic system including the drive mechanism may be configured to account for the above-described misalignment of the external splines 417 / internal splines 317 by aligning the angle of the external splines 417 of the output shaft 415 on the drive mechanism 401 with the angle of the internal splines 317 of the input portion 315 on the tool 301 using software calibration based on alignment data transmitted from the tool 301 to the drive mechanism 401. By aligning the internal splines 317 of the input portion 315 with the external splines 417 of the output shaft 415 before mechanically coupling the input portion 315 to the output shaft 415, the system may be able to provide a smooth loading experience, thereby reducing any additional forces and / or backdrive required for alignment.

[0151] The mechanism for transmitting the alignment data from the tool 301 to the drive mechanism 401 may depend on the specific embodiment. For example, in some embodiments, the data reader 427 includes a wireless data receiver and the data transmitter 327 includes a wireless data transmitter. The wireless data receiver can be configured to read the alignment data from the wireless data transmitter included on the tool 301.

[0152] In some embodiments, the wireless data transmitter includes a radio frequency identification (RFID) reader, and the wireless data transmitter includes an RFID tag. The RFID reader can be configured to read the alignment data from the RFID tag. The RFID reader can be positioned within a reader housing 425 formed on the drive mechanism 401. The reader housing 425 can be formed of a different material (e.g., plastic) than the rest of the face of the drive mechanism 401 and / or the adapter 410, thereby reducing interference of the metal surface of the drive mechanism 401 with the RFID communication of the alignment data.

[0153] In some embodiments, the tool 301 may transmit the alignment data to the drive mechanism 401 via Bluetooth, and thus, the wireless data transmitter may include a Bluetooth reader and the wireless data transmitter may include a Bluetooth transmitter. Fig. 27 As shown, in other embodiments, the data reader 427 includes a camera 429 and the data transmitter 327 includes an optically readable label 329 visible on the tool 301. For example, when the tool 301 is aligned with the drive mechanism 401, the optically readable label 329 can be located in the recess 325 or any other surface of the tool 301 that is visible to the camera 429. The camera 429 can be configured to read the alignment data from the optically readable label 329 visible on the tool. The camera 429 can also be located within the reader housing 425 or at another location on the drive mechanism (e.g., on the side of the drive mechanism 400, such as Fig.21 In other embodiments, the positions of the camera and the optically readable label may be reversed such that the camera is positioned on the tool 301 and the optically readable label is positioned on the drive mechanism 401.

[0154] A. Exemplary Alignment Techniques .

[0155] Fig.28 is a flow chart illustrating an exemplary method 500 operable by a robotic system or component thereof for aligning a tool input 315 with an output shaft 415 of a drive mechanism 401 in accordance with aspects of the present disclosure. For example, Fig.28 The steps of the illustrated method 500 may be performed by a processor and / or other components of a robotic system or associated system, including a tool (e.g., Fig.26A The data transmitter and driving mechanism (e.g., Fig. 27 For convenience, some parts of the method 500 are described as being performed by a robot system (also referred to as a "system" in conjunction with the description of the method 500). The method 500 starts at box 501.

[0156] Fig.29 According to various aspects of the present disclosure, Fig.28500. Specifically, the first stage 600 may occur before block 505 of the method 500 and may involve a user loading the tool 301 onto the drive mechanism 401. In some embodiments, loading may include moving the tool 301 from a first position to a second position, wherein in the second position, one or more inputs 315 of the tool are closer in distance to one or more outputs 415 of the drive mechanism 401 than in the first position. Thus, the user may insert the shaft 330 of the tool 301 into the channel 430 formed in the drive mechanism. At the first stage 600, the external splines 417 on the output shaft 415 on the drive mechanism may not be aligned with the internal splines 317 on the input 315 of the tool 301.

[0157] refer to Fig.28 , at box 505, alignment data is transmitted from the data transmitter 327 to the data reader 427. In some embodiments, the transmission of the alignment data of box 505 may occur during the transition of the tool from the first position to the second position. When the pull wire of the tool 301 is not actuated, the alignment data may indicate a zero angle associated with each of the inputs 315 of the tool 301. As used herein, the zero angle may define the angle or orientation of the internal splines 317 of the input in the tool 301, with which the external splines 417 of the output shaft 415 of the drive mechanism 401 will be aligned. Thus, when no force is applied externally to the input 315, the zero angle may define the angle of the input 315 of the tool 301. When the output shaft 315 of the drive mechanism 401 is rotated to align with the zero angle, the drive mechanism 401 and the tool 301 can be coupled without excessive force or backdrive of the input 315.

[0158] In some embodiments, the zero angle may be established during manufacture of the tool 301. In other embodiments, the zero angle may be adjusted after one or more uses of the tool 301 and the drive mechanism 401, for example, when the tool 301 includes a data transmitter in the form of an RFID tag, the zero angle value stored in the RFID tag may be updated in response to a change in the length of the pull wire after use of the tool 301. During the manufacturing stage, the zero angle of the tool 301 may be measured and stored in the data transmitter 327. For example, when the data transmitter 327 is embodied as an RFID tag, information about the zero angle may be loaded into an instrument-specific configuration file on the instrument RFID tag.

[0159] At block 510, method 500 involves receiving alignment data at data reader 427 from data transmitter 327. In some implementations, data reader 427 may receive alignment data only when data transmitter 327 is within a threshold distance of data reader 427. Fig.30 The present invention shows various aspects of the present disclosure. Fig.28The second stage 605 during the alignment method 500 of FIG. 5 is shown in FIG. 5 . Specifically, in the second stage 605 , the tool 301 can be brought close enough to the drive mechanism 401 so that it is within a threshold distance of the data reader 427 .

[0160] Since the drive mechanism may not include a processor, at block 515, the method 500 involves receiving alignment data from a data reader at a processor of the system. At block 520, the method 500 involves rotating one or more output shafts 415 of the drive mechanism 401 into alignment with one or more inputs 315 of the tool 301 via the processor based on the alignment data.

[0161] Prior to rotating the output shaft 415, the processor may use the alignment information to determine whether the external splines 417 of the output shaft 415 are aligned with the internal splines 317 of the input portion 315. At this point, if the processor detects a misalignment, the processor may send a command to the drive mechanism to rotate the output splines of the output shaft 415 to match the angle of the internal splines 317 of the input portion 315 on the tool 301. In RFID embodiments, the RFID tag advantageously has a read distance greater than the distance at which the output shaft 415 contacts the input portion 315, thereby allowing the processor to adjust the output shaft 415 before the output shaft contacts the input portion 315. In some embodiments, the drive mechanism 401 and / or the adapter 410 may include an additional sensor (e.g., a Hall Effect sensor 428) that may monitor the distance of the RFID tag of the tool 301 before the RFID tag is read using an RFID reader.

[0162] The processor can be configured to rotate the output shaft 415 into alignment before bringing the tool 301 close enough for the input 315 to contact the output shaft 415. Thus, the output shaft 415 can be rotated into alignment with the input 315 so that when the tool 301 is fully coupled to the drive mechanism 401, the external splines 417 of the output shaft 415 can smoothly engage the internal splines 317 of the input 315. Fig.31 According to various aspects of the present disclosure, Fig.28 The third stage 610 during the alignment method 500 of FIG. 505 . Specifically, in the third stage 605 , the tool 301 is coupled to the drive mechanism 401 after the output shaft 415 has been aligned with the input 315 . The method 500 ends at block 525 .

[0163] During use of the tool 301 over time, the zero angle of the input 315 may change (e.g., the zero angle may shift due to a change in the length of the pull wire). In some embodiments, the system can be configured to load new values ​​into the RFID tag so that the zero angle can be continuously updated. Therefore, the processor can be configured to update the alignment data stored on the RFID tag in response to changes in the zero angle associated with each of the inputs 315 of the tool 301. As previously described, when the pull wire is not actuated, the zero angle can indicate the angle of the corresponding input 315.

[0164] Advantageously, by using pre-stored information in the data transmitter, the system can read the zero angle of the tool's input 315, thereby achieving the correct alignment angle between the input 315 and the output shaft 415, without having to perform a more time-consuming homing routine. In addition, by loading the information into the data transmitter (e.g., during the manufacturing phase), alignment can be performed through a software calibration process that can be easily implemented.

[0165] 3. Implement systems and terminology .

[0166] Implementations disclosed herein provide systems, methods, and apparatus for aligning an input of a medical device with an output shaft of a drive mechanism.

[0167] It should be noted that as used herein, the terms "couple," "coupling," "coupled," or other variations of the word coupled may indicate an indirect connection or a direct connection. For example, if a first component is "coupled" to a second component, the first component may be indirectly connected to the second component via another component or directly connected to the second component.

[0168] The input / output axis alignment functionality described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example and not limitation, such a medium may include a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a compact disk read-only memory (CD-ROM) or other optical disk storage device, a magnetic disk storage device or other magnetic storage device, or any other medium that can be used to store the desired program code in the form of an instruction or data structure and can be accessed by a computer. It should be noted that a computer-readable medium may be tangible and non-transient. As used herein, the term "code" may refer to software, instructions, code or data that can be executed by a computing device or processor.

[0169] The method disclosed herein includes one or more steps or actions for implementing the method. The method steps and / or actions may be interchangeable with each other without departing from the scope of the claims. In other words, unless the correct operation of the method being described requires a specific order of steps or actions, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0170] As used herein, the term "plurality" means two or more. For example, a plurality of components indicates two or more components. The term "determine" encompasses a variety of actions, and thus, "determine" may include calculating, computing, processing, deriving, investigating, searching (e.g., searching in a table, a database, or another data structure), ascertaining, etc. Additionally, "determine" may include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), etc. Additionally, "determine" may include parsing, selecting, choosing, establishing, etc.

[0171] Unless explicitly stated otherwise, the phrase “based on” does not mean “based only on.” In other words, the phrase “based on” describes both “based only on” and “based at least on.”

[0172] The foregoing specific embodiments of the disclosed specific implementations are provided to enable any person skilled in the art to make or use the present invention. Various modifications to these specific implementations will be apparent to those skilled in the art, and the general principles defined herein may be applied to other specific implementations without departing from the scope of the present invention. For example, it should be understood that one of ordinary skill in the art will be able to adopt a plurality of corresponding alternatives and equivalent structural details, such as equivalent ways of fastening, mounting, coupling or engaging tool parts, equivalent mechanisms for producing specific actuating motions, and equivalent mechanisms for delivering electrical energy. Therefore, the present invention is not intended to be limited to the specific implementations shown herein, but is given the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic medical system, comprising: An instrument driving mechanism, the instrument driving mechanism comprising: one or more output shafts, each of the one or more output shafts being configured to mechanically couple with a corresponding one of the one or more inputs of the tool, wherein the tool comprises one or more puller wires configured to be actuated by the one or more output shafts via the one or more inputs; one or more motors respectively coupled to the one or more output shafts and configured to rotate the one or more output shafts; and a data reader configured to receive alignment data from the tool when the tool is positioned within a threshold distance of the data reader; and at least one computer-readable memory in communication with at least one processor, the memory having computer-executable instructions stored thereon, the computer-executable instructions causing the at least one processor to: receiving the alignment data from the data reader; and Adjusting the one or more output shafts prior to contact with the one or more inputs includes rotating the one or more output shafts into alignment with the corresponding inputs of the tool based on the alignment data prior to contact with the one or more inputs. 2 . The system of claim 1 , wherein the data reader comprises a wireless data receiver configured to read the alignment data from a wireless data transmitter included on the tool.

3. The system of claim 2, wherein the wireless data receiver comprises a radio frequency identification (RFID) reader configured to read the alignment data from an RFID tag included on the tool.

4. A system according to claim 3, wherein the instructions further cause the processor to update the alignment data stored on the RFID tag in response to a change in a zero angle associated with each of the input portions of the tool, wherein the zero angle indicates the angle of the corresponding input portion when the pull wire is not actuated.

5. The system of claim 2, wherein the wireless data receiver comprises a Bluetooth reader configured to read the alignment data from a Bluetooth transmitter included on the tool.

6. The system of claim 1, wherein the data reader comprises a camera configured to read the alignment data from an optically readable label visible on the tool.

7. The system of claim 1, wherein each of the one or more output shafts includes external splines configured to couple with internal splines of the corresponding input portion of the tool.

8. The system of claim 1, wherein each of the output shafts is further configured to mechanically couple with the corresponding input of the tool via an adapter.

9. The system of claim 1, wherein the data reader is further configured to receive the alignment data from the tool before the one or more output shafts are mechanically coupled to the one or more inputs of the tool.

10. The system of claim 1, wherein the alignment data indicates a zero angle associated with each of the inputs of the tool when the puller wire is not actuated.

11. A method of aligning an instrument drive mechanism with a tool, comprising: receiving alignment data from the tool at the data reader when the tool is positioned within a threshold distance of a data reader of the instrument drive mechanism, wherein the tool includes one or more inputs and one or more puller wires configured to be actuated by one or more output shafts of the instrument drive mechanism via the one or more inputs; receiving, at a processor, the alignment data from the data reader; as well as The one or more output shafts are adjusted via the processor prior to contact with the one or more input parts, including rotating the one or more output shafts of the instrument drive mechanism to align with the one or more input parts of the tool based on the alignment data before the one or more output shafts contact with the one or more input parts, wherein each of the one or more output shafts is configured to be mechanically connected to a corresponding one of the input parts of the tool.

12. The method of claim 11, wherein the data reader comprises a wireless data receiver configured to read the alignment data from a wireless data transmitter included on the tool.

13. The method of claim 12, wherein the wireless data receiver comprises an RFID reader configured to read the alignment data from an RFID tag included on the tool.

14. The method according to claim 13, further comprising: The alignment data stored on the RFID tag is updated in response to a change in a zero angle associated with each of the inputs of the tool, the zero angle indicating an angle of the corresponding input when the pull wire is not actuated.

15. The method of claim 12, wherein the wireless data receiver comprises a Bluetooth reader configured to read the alignment data from a Bluetooth transmitter included on the tool.

16. The method of claim 11, wherein each of the one or more output shafts includes external splines configured to couple with internal splines of the corresponding input portion of the tool.

17. The method according to claim 11, further comprising: Each of the output shafts is mechanically coupled to the corresponding input of the tool via an adapter.

18. The method of claim 11, wherein receiving the alignment data from the tool is performed before the one or more output shafts are mechanically coupled to the one or more inputs of the tool.

19. The method of claim 11, wherein the alignment data indicates a zero angle associated with each of the inputs of the tool when the puller wire is not actuated.

20. A non-transitory computer-readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to: receiving alignment data from the tool at the data reader when the tool is positioned within a threshold distance of a data reader of an instrument drive mechanism, wherein the tool includes one or more inputs and one or more pull wires configured to be actuated by one or more output shafts of the instrument drive mechanism via the one or more inputs; receiving the alignment data from the data reader at the computing device; and adjusting the one or more output shafts prior to contact with the one or more inputs, comprising rotating the one or more output shafts of the instrument drive mechanism into alignment with the one or more inputs of the tool based on the alignment data prior to contact with the one or more output shafts, Wherein each of the output shafts is configured to be mechanically coupled to a corresponding one of the input portions of the tool.

21. The non-transitory computer readable storage medium of claim 20, wherein the data reader comprises a wireless data receiver configured to read the alignment data from a wireless data transmitter included on the tool.

22. The non-transitory computer-readable storage medium of claim 21, wherein the wireless data receiver comprises an RFID reader configured to read the alignment data from an RFID tag included on the tool.

23. The non-transitory computer-readable storage medium of claim 22, further having stored thereon instructions that, when executed, cause the at least one computing device to: The alignment data stored on the RFID tag is updated in response to a change in a zero angle associated with each of the inputs of the tool, the zero angle indicating an angle of the corresponding input when the pull wire is not actuated.

24. The non-transitory computer-readable storage medium of claim 21, wherein the wireless data receiver comprises a Bluetooth reader configured to read the alignment data from a Bluetooth transmitter included on the tool.

25. The non-transitory computer readable storage medium of claim 20, wherein each of the one or more output shafts comprises external splines configured to couple with internal splines of the corresponding input portion of the tool.

26. The non-transitory computer-readable storage medium of claim 20, further having stored thereon instructions that, when executed, cause the at least one computing device to: Each of the output shafts is mechanically coupled to the corresponding input of the tool via an adapter.

27. The non-transitory computer readable storage medium of claim 20, wherein receiving the alignment data from the tool is performed before the one or more output shafts are mechanically coupled to the one or more inputs of the tool.

28. The non-transitory computer readable storage medium of claim 20, wherein the alignment data indicates a zero angle associated with each of the inputs of the tool when the puller wire is not actuated.

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