Emergency monitoring using inductively coupled hand-held knives

Abstract

A robotic surgical tool includes a tool driver, a drive housing mountable to the tool driver and including one or more component parts made of or containing a magnetically responsive material, a first inductive coil included on the tool driver and configured to generate a magnetic field, and a second inductive coil included on the drive housing and configured to measure the strength of the magnetic field and field distortions caused by the one or more component parts. Changes in the field distortions provide an indication of movement of the one or more component parts.

Description

Background Technology

[0001] Minimally invasive surgical (MIS) instruments are generally superior to traditional open surgical devices due to reduced postoperative recovery time and minimized scarring. The most common MIS procedures can be endoscopic, and the most common form of endoscopic surgery is laparoscopic surgery, in which one or more small incisions are made in the patient's abdomen, and a cannula is inserted through these incisions to create access to the abdominal cavity. The cannula is used to introduce various instruments and tools into the abdominal cavity and provides air insufflation to elevate the abdominal wall above organs. Instruments can be used to engage and / or manipulate tissue in a variety of ways to achieve diagnostic or therapeutic effects.

[0002] Each surgical instrument typically includes an end effector positioned at its distal end. Exemplary end effectors include clamps, grippers, scissors, suture devices, and needle holders, and are similar to those used in routine (open) surgery, except that the end effector of each instrument is separated from its shank by an approximately 12-inch-long shaft. A camera or image-capturing device, such as an endoscope, is also typically introduced into the abdominal cavity to allow the surgeon to observe the surgical field and the operation of the end effector during the procedure. The surgeon can observe the surgery in real time via a visual monitor that communicates with the image-capturing device.

[0003] A surgical stapler is an end effector capable of cutting and simultaneously suturing (fastening) transversely cut tissue. Alternatively referred to as a "linear cutter," a surgical stapler includes opposing jaws capable of opening and closing to grasp and release tissue. Once the tissue is grasped or clamped between the opposing jaws, the end effector can be "fired" to advance a cutting element or blade distally to transversely cut the grasped tissue. As the cutting element advances, staples housed within the end effector are progressively deployed to seal the opposing sides of the transversely cut tissue.

[0004] Some surgical staplers include a knife emergency mechanism or system that allows the user to manually retract the knife in emergencies such as loss of power. It might be desirable to communicate the status of the manual knife emergency system to the user, but including various sensors in the end effector to sense whether the knife is being manually released may not be feasible. Attached Figure Description

[0005] The following figures are included to illustrate certain aspects of this disclosure and should not be considered as exclusive embodiments. The subject matter disclosed herein is capable of numerous modifications, alterations, combinations, and equivalents in form and function without departing from the scope of this disclosure.

[0006] Figure 1 This is a block diagram of an exemplary robotic surgical system that can incorporate some or all of the principles of this disclosure.

[0007] Figure 2 yes Figure 1 An exemplary implementation of one of the main consoles in the main console.

[0008] Figure 3 It is based on one or more implementation schemes. Figure 1 An example of a robot manipulator.

[0009] Figure 4 It is an isometric side view of an exemplary surgical tool that can incorporate some or all of the principles of this disclosure.

[0010] Figure 5 It shows that Figure 4 The wrist has the potential degrees of freedom for joint movement (pivot).

[0011] Figure 6 yes Figure 4 An enlarged isometric view of the drive housing.

[0012] Figure 7 It is based on one or more implementation schemes. Figure 4 Bottom view of the drive housing.

[0013] Figure 8A and Figure 8B It is an inductive coupling to, according to one or more implementation schemes Figure 7 tool driver Figure 4 and Figure 7 A cross-sectional side view of the drive housing.

[0014] Figure 9 It shows Figure 7 Exemplary implementations of a computer system. Detailed Implementation

[0015] This disclosure relates to robotic surgical instruments, and more specifically to systems and methods for sensing when a manual scalpel emergency system for robotic surgical instruments has been activated or is about to be activated.

[0016] The embodiments discussed herein describe a robotic surgical tool having a tool driver that communicates with a computer system, and a drive housing that can be mounted to the tool driver and includes one or more components made of or containing a magnetically responsive material. A first inductor coil may be included on the tool driver and configured to generate a magnetic field, and a second inductor coil may be included on the drive housing and configured to measure the magnetic field strength and field distortion caused by the one or more components. When a change in field distortion is measured, it can be an indication of the movement of the one or more components. In some embodiments, the one or more components form part of a manual scalpel emergency system, and measuring the change in field distortion can provide an indication that the manual scalpel emergency system has been activated or will be activated. When a change in field distortion is measured, the computer system can notify the user (e.g., a surgeon, scrubbing nurse, etc.) of the status change.

[0017] Figures 1 to 3 The structure and operation of an exemplary robotic surgical system and its associated components are illustrated. While applicable to robotic surgical systems, it should be noted that the principles of this disclosure may alternatively be applied to non-robotic surgical systems without departing from the scope of this disclosure.

[0018] Figure 1 This is a block diagram of an exemplary robotic surgical system 100 that can incorporate some or all of the principles of this disclosure. As shown, system 100 may include at least one main console 102a and at least one robotic manipulator 104. The robotic manipulator 104 may be mechanically and / or electrically coupled to one or more robotic arms 106 or otherwise include one or more robotic arms. In some embodiments, the robotic manipulator 104 may be mounted to a transport vehicle (alternatively referred to as an "arm vehicle") that enables the robotic manipulator 104 and the associated robotic arms 106 to move. Each robotic arm 106 may include and otherwise provide tool actuators on which one or more surgical instruments or tools 108 may be mounted to perform various surgical tasks on a patient 110. The operation of the robotic arms 106, the corresponding tool actuators, and the associated tools 108 may be guided by a clinician 112a (e.g., a surgeon) from the main console 102a.

[0019] In some embodiments, a second master console 102b (shown in dashed lines), operated by a second clinician 112b, may also assist in guiding the operation of the robotic arm 106 and tool 108, in conjunction with the first clinician 112a. In such embodiments, for example, each clinician 112a, 112b may control a different robotic arm 106, or in some cases, complete control of the robotic arm 106 may be transferred between clinicians 112a, 112b. In some embodiments, additional robotic manipulators with additional robotic arms may be used on the patient 110 during surgery, and these additional robotic arms may be controlled by one or more of the master consoles 102a, 102b.

[0020] The robot manipulator 104 and the main control consoles 102a and 102b can communicate with each other via a communication link 114. This communication link can be any type of wired or wireless communication link configured to carry appropriate types of signals (e.g., electrical signals, optical signals, infrared signals, etc.) according to any communication protocol. The communication link 114 can be an actual physical link, or it can be a logical link using one or more actual physical links. When the link is a logical link, the type of physical link can be a data link, uplink, downlink, fiber optic link, point-to-point link, such as those well known in the field of computer networking used to refer to communication facilities connecting network nodes. Therefore, clinicians 112a and 112b can remotely control the operation of the robot arm 106 via the communication link 114, thereby enabling clinicians 112a and 112b to remotely perform surgery on patient 110.

[0021] Figure 2 It can be used for control Figure 1 An exemplary embodiment of the main console 102a for operating the robot manipulator 104. As shown, the main console 102a may include a support 202, clinicians 112a, 112b ( Figure 1 His / her forearm can rest on the support while grasping one or more user input devices (not shown). The user input devices may include, for example, physical controllers, such as, but not limited to, handheld actuator modules, joysticks, exoskeleton gloves, master manipulators, etc., and are capable of movement in multiple degrees of freedom to control surgical tool 108. Figure 1 The main control console 102a may also include one or more foot pedals 204 that can be engaged by clinicians 112a, 112b to change the configuration of the surgical system and / or generate additional control signals to control the operation of the surgical instruments 108.

[0022] When clinicians 112a, 112b ( Figure 1While observing surgery via the visual display 206, the user input device and / or foot pedal 204 can be manipulated. Images displayed on the visual display 206 may be obtained from an endoscopic camera or "endoscope". In some embodiments, the visual display 206 may include or otherwise incorporate a force feedback meter or "force indicator" that provides clinicians 112a, 112b with visual indications of the magnitude and direction of the force exerted by surgical tools (i.e., cutting instruments or dynamic clamping members). As will be understood, other sensor arrangements may be employed to provide indications of other surgical tool measurements on the main control console 102a, such as, for example, whether the staple cartridge has been loaded into the end effector or whether the anvil has moved to the closed position before firing.

[0023] Figure 3 An example of a robotic manipulator 104 for operating multiple surgical instruments 108 according to one or more embodiments is shown. As shown, the robotic manipulator 104 may include a base 302 supporting a vertically extending column 304. Multiple robotic arms 106 (three shown) may be operably coupled to the column 304 at a carriage 306, the carriage being selectively adjustable to change the height of the robotic arms 106 relative to the base 302, as indicated by arrow A.

[0024] The robotic arm 106 may include links capable of manual joint movement, alternatively referred to as "device joints". In an illustrated embodiment, a surgical tool 108 is mounted to a corresponding tool driver 308 disposed on each robotic arm 106. Each tool driver 308 may include one or more drivers or motors for interacting with one or more corresponding drive inputs to the surgical tool 108, and actuation of the drive input causes the associated surgical tool 108 to operate.

[0025] One of the surgical tools 108 may include an image capturing device 310, such as an endoscope, which may include, for example, a laparoscope, arthroscopy, hysteroscopy, or alternatively, other imaging modalities such as ultrasound, infrared, fluorescence microscopy, magnetic resonance imaging, etc. The image capturing device 310 has an observation end located at the distal end of an elongated axis, which allows the observation end to be inserted through an inlet into the internal surgical site of the patient's body. The image capturing device 310 is communicatively coupled to a visual display 206. Figure 2 It can also transmit images in real time for display on the visual display 206.

[0026] The remaining surgical tools are communicatively coupled to the clinicians 112a, 112b ( Figure 1 In the main console 102a ( Figure 2The user input device is held at the location. The movement of the robotic arm 106 and the associated surgical instrument 108 can be controlled by the clinician 112a, 112b through the user input device. As detailed below, the surgical instrument 108 may include or otherwise incorporate an end effector mounted on a corresponding articulated wrist, which is pivotally mounted on the distal end of an associated elongated shaft. The elongated shaft allows the end effector to be inserted through an inlet into the internal surgical site of the patient's body, and the user input device also controls the movement (actuation) of the end effector.

[0027] In use, the robotic manipulator 104 is positioned close to the patient requiring surgery and then typically held stationary until the surgical procedure is completed. The robotic manipulator 104 typically has wheels or casters to enable its movement. Lateral and vertical positioning of the robotic arm 106 can be achieved by clinicians 112a, 112b. Figure 1 The surgical tool 108 and image capture device 310 are positioned to facilitate the transfer of the elongated shaft of the surgical tool 108 and the image capture device 310 to the desired position relative to the surgical site via the inlet. When the surgical tool 108 and image capture device 310 are thus positioned, the robotic arm 106 and carriage 306 can be locked into place.

[0028] Figure 4 This is an isometric side view of an exemplary surgical tool 400 incorporating some or all of the principles of this disclosure. The surgical tool 400 can be used with... Figure 1 and Figure 3 At least one of the surgical tools 108 is the same as or similar to that of the surgical tools, and therefore can be used with robotic surgical systems such as Figure 1 The surgical tool 400 is used in conjunction with a robotic surgical system 100. As shown, the surgical tool 400 includes an elongated shaft 402, an end effector 404, an articulated wrist 406 (alternatively referred to as a "wrist joint") that connects the end effector 404 to the distal end of the shaft 402, and a drive housing 408 that connects to the proximal end of the shaft 402. In applications where the surgical tool 400 is used in conjunction with a robotic surgical system, the drive housing 408 may include a coupling feature that releasably connects the surgical tool 400 to the robotic surgical system. However, the principles of this disclosure are equally applicable to non-robot surgical tools that can otherwise be manually manipulated.

[0029] The terms "proximal" and "distal" are defined herein with respect to a robotic surgical system having an interface configured to mechanically and electrically connect surgical tools 400 (e.g., drive housing 408) to a robotic manipulator. The term "proximal" refers to a location of an element closer to the robotic manipulator, and the term "distal" refers to a location of an element closer to the end effector 404 and therefore further away from the robotic manipulator. Furthermore, directional terms such as above, below, up, down, upward, downward, left, right, etc., are used with respect to exemplary embodiments as they are shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0030] Surgical tool 400 may have any of a variety of configurations capable of performing one or more surgical functions. In an illustrated embodiment, end effector 404 includes a surgical stapler configured to cut and suture (tighten) tissue, alternatively referred to as a “linear cutter.” As shown, end effector 404 includes opposing jaws 410, 412 configured to move (articularly) between an open and closed position. However, opposing jaws 410, 412 may alternatively form part of other types of end effectors including jaws such as, but not limited to, tissue grippers, surgical scissors, advanced-energy vascular sealers, clamps, needle actuators, babcock clamps including a pair of opposing gripping jaws, bipolar jaws (e.g., bipolar Maryland grippers, clamps, perforated grippers, etc.). One or both of jaws 410, 412 may be configured to pivot to actuate end effector 404 between an open and closed position. In the illustrated example, the second jaw 412 is rotatable (pivotable) relative to the first jaw 410 to move between an open, unclamped position and a closed, clamped position. However, in other embodiments, without departing from the scope of this disclosure, the first jaw 410 may move (rotate) relative to the second jaw 412.

[0031] In the illustrated example, the first jaw 410 may be characterized as or otherwise referred to as a “cabin” jaw, and the second jaw 412 may be characterized as or otherwise referred to as an “anvil” jaw. The first jaw 410 may include a frame that houses or supports the staple cartridge, and the second jaw 412 is pivotally supported relative to the first jaw 410 and defines a surface that operates as an anvil to deform staples ejected from the staple cartridge during operation.

[0032] The wrist 406 enables the end effector 404 to articulate (pivot) relative to the axis 402, thereby positioning the end effector 404 in the desired orientation and position relative to the surgical site. Figure 5The potential degrees of freedom for joint movement (pivot) of the wrist 406 are shown. The wrist 406 can have any of a variety of configurations. Typically, the wrist 406 includes a joint configured to allow pivotal movement of the end effector 404 relative to axis 402. The degrees of freedom of the wrist 406 are represented by three translational variables (i.e., forward / backward, undulation, and sway) and three rotational variables (i.e., Euler angles or roll, pitch, and yaw). The translational and rotational variables describe the position and orientation of a component of the surgical system (e.g., the end effector 404) relative to a given reference Cartesian coordinate system. Figure 5 As shown, "advance and retreat" refers to forward and backward translational movement, "undulation" refers to up and down translational movement, and "sway" refers to left and right translational movement. Regarding rotational terms, "roll" refers to tilting left and right, "pitch" refers to tilting forward and backward, and "yaw" refers to turning left and right.

[0033] Pivoting motion may include pitch motion about a first axis (e.g., the X-axis) of the wrist 406, yaw motion about a second axis (e.g., the Y-axis) of the wrist 406, and combinations thereof, such that the end effector 404 rotates 360° about the wrist 406. In other applications, pivoting motion may be limited to movement in a single plane, such as pitch motion only about the first axis of the wrist 406 or yaw motion only about the second axis of the wrist 406, such that the end effector 404 moves only in a single plane.

[0034] See you again Figure 4 The surgical tool 400 may incorporate or include an actuation system designed to facilitate joint movement of the wrist 406 and actuation (operation) of the end effector 404 (e.g., gripping, firing, rotation, joint movement, energy delivery, etc.). The actuation system may include multiple actuating components extending from the drive housing 408 to the wrist 406, etc. Figure 4 (The end effector is obscured), and the selective actuation of these drive components causes the end effector 404 to articulate (pivot) relative to the axis 402 at the wrist 406. The end effector 404 in Figure 4 The image shows the end effector 404 in a non-jointed position, where the longitudinal axis A2 of the end effector 404 is substantially aligned with the longitudinal axis A1 of the shaft 402, such that the end effector 404 forms a substantially zero angle with respect to the shaft 402. In the jointed position, the longitudinal axes A1 and A2 will be offset at an angle to each other, such that the end effector 404 forms a non-zero angle with respect to the shaft 402.

[0035] Other actuating members may extend to end effector 404, and selective actuation of these actuating members may cause end effector 404 to be actuated (operated). Actuating end effector 404 may include closing and / or opening a second jaw 412 relative to a first jaw 410 (or vice versa), thereby enabling end effector 404 to grip (clamp) onto tissue. Once tissue is gripped or clamped between opposing jaws 410, 412, actuating end effector 404 may also include “firing” end effector 404, which may refer to causing a cutting element or blade (not visible) to advance distally within a slot 414 defined in the second jaw 410. As it moves distally, the cutting element may transection any tissue gripped between opposing jaws 410, 412. Furthermore, as the cutting element advances distally, multiple staples contained within the staple cartridge (e.g., housed within the first jaw 410) can be pushed (cam-driven) into deformable contact with corresponding anvil surfaces (e.g., recesses) disposed on the second jaw 412. The deployed staples can form multiple rows of staples sealing opposite sides of the transversely cut tissue.

[0036] In some applications, the surgical tool 400 may also be configured to apply energy, such as radio frequency (RF) energy, to tissue. In such cases, the actuated end effector 404 may also include applying energy to tissue gripped or clamped between two opposing jaws to cauterize or seal the captured tissue, after which the tissue may be transversely cut.

[0037] The surgical tool 400 may also include a manual jaw emergency system that allows a user to manually open and close jaws 410, 412. In an illustrated embodiment, the manual jaw emergency system may include an emergency tool 416 that the user can access from outside the drive housing 408. The emergency tool 416 may be operatively coupled to various gears and / or drive components located within the drive housing 408 to allow a clinician to manually open and close jaws 410, 412. By rotating the emergency tool 416 in either angular direction, the clinician can fully clamp and fully unclamp jaws 410, 412. The emergency tool 416 may be particularly useful to the clinician when the surgical tool 400 is disengaged from the surgical robot, as the ability to open and close jaws 410, 412 eliminates the need to apply unintended stress to internal drive components or parts. In cases where a clinician wishes to manually open jaws 410, 412 while the surgical tool 400 is still attached to the surgical robot, the clinician may rotate the emergency tool 416 to attempt to open end effector 404.

[0038] Figure 6 This is an enlarged isometric view of the drive housing 408. In some embodiments, the surgical tool 400 may include a manual knife emergency system that allows the user to operate the end effector 404 ( Figure 4The manual retraction knife (cutting element) is located at a point. This manual knife emergency system includes various components, such as an emergency tool 602 that is accessible to the user and configured to engage with an emergency cover 604 to cause the knife to retract. The emergency cover 604 may include or otherwise provide one or more surface features 606 configured to interact with corresponding engagement features (not shown) located on the bottom of the emergency tool 602. Each surface feature 606 may be angled in one direction and terminate at a raised shoulder. The engagement features of the emergency tool 602 may be configured to engage the raised shoulders of the surface features 606 when the emergency tool 602 rotates in a first direction (e.g., counterclockwise), thereby transmitting torque from the emergency tool 602 to the emergency cover 604. Conversely, when the emergency tool 602 rotates in a second direction (e.g., clockwise), the engagement features may be transverse (upward straddle) and ratcheted over the surface features 606. Thus, the emergency cover 604 can operate as a unidirectional transmission member.

[0039] In an exemplary use of the manual knife emergency system, a user who rotates the emergency tool 602 in a first direction (e.g., counterclockwise) will drive the emergency cover 604 in the same direction, thereby causing the gears of the firing system to rotate. This will rotate the firing pinion and thereby retract the firing rack, allowing the interconnected firing lever (not shown) to retract the knife at the end actuator 404. Figure 4 However, when the emergency tool 602 rotates in the second direction (e.g., clockwise), the emergency tool 602 will ratchet on the surface feature 606 and rotate relative to the emergency cover 604 in other ways, thus not affecting the position of the firing lever or the knife.

[0040] In the illustrated embodiment, emergency tool 602 includes a separate component stored within drive housing 408 and is accessible to the user by first removing emergency panel 608 from the body of drive housing 408. As shown, emergency tool 602 can be positioned within recess 610, and the user can remove emergency tool 602 from recess 610 and engage it with emergency cover 604 to manually retract the knife. However, in other embodiments, emergency tool 602 may be located on the exterior of drive housing 408 and extend through emergency panel 608 for operative engagement with emergency cover 604. In other embodiments, emergency tool 602 may be attached to the bottom (underside) of emergency panel 608 or form part of it. In such embodiments, a clinician can remove emergency panel 608 and align the interconnected emergency tool 602 with emergency cover 604, thereby converting the removable emergency panel 608 into a wrench.

[0041] Figure 7This is a bottom view of a drive housing 408 according to one or more embodiments. As shown, the drive housing 408 may include a tool mounting portion 702 for operatively coupling the drive housing 408 to a tool driver 704. The tool driver 704 may be coupled to... Figure 3 The tool driver 308 is the same as or similar to it, and therefore can be used with Figure 1 and Figure 3 The robot manipulator 104 is used in conjunction with the robot. The drive housing 408 is mounted to the tool driver 704 so that the drive housing 408 can communicate with the computer system 706, which can communicate with the main controllers 102a and 102b. Figure 1 The computer system 706 monitors and directs the operation of the drive housing 408 via the operation of the tool driver 704, thereby enabling the user (e.g., Figure 1 The clinicians (112a, 112b) can control the operation of the drive housing 408 through the operation of the main controllers (102a, 120b).

[0042] The tool mounting portion 702 includes and otherwise provides an interface for mechanically, magnetically, and / or electrically connecting the drive housing 408 to the tool driver 704. In at least one embodiment, the tool mounting portion 702 connects the drive housing 408 to the tool driver 704 via a sterile barrier (not shown). As shown, the interface may include and support a plurality of input devices, such as drive input devices 708a, 708b, 708c, 708d, 708e, and 708f. Each drive input device 708a-708f may include a rotatable disk configured to align (mate) and engage with corresponding drivers 710a, 710b, 710c, 710d, 710e, and 710f of the tool driver 704. Each drive input device 708a-708f and its corresponding driver 710a-710f respectively provides or defines one or more mating surface features 712 and 714, which are configured to facilitate mating engagement between opposing surface features 712, 714, such that movement (rotation) of a given driver 710a-710f causes corresponding movement (rotation) of the associated drive input device 708a-708f.

[0043] Each actuator 710a-710f may include or otherwise include a motor 716 configured to actuate the corresponding actuator 710a-710f, and actuation of a given actuator 710a-710f correspondingly causes actuation of the cooperating drive input devices 708a-708f, which facilitates the operation of the mechanism of the drive housing 408. More specifically, actuation of a given motor 716 may cause rotational movement of the corresponding actuator 710a-710f, which in turn causes rotation of the associated drive input devices 708a-f operably coupled thereto. Each motor 716 may communicate with a computer system 706, and based on input signals provided by a user (e.g., a surgeon), the computer system 706 may selectively actuate any of the motors 716, thereby driving the corresponding actuator 710a-710f to operate the mechanical system of the drive housing 408.

[0044] In some embodiments, actuation of the first drive input device 708a via the first driver 710a controls the rotation of the shaft 402 about its longitudinal axis A1. Depending on the direction of rotation of the first drive input device 708a, the shaft 402 can rotate clockwise or counterclockwise, thus causing the end effector 404 to rotate accordingly in the same direction. Figure 4 The actuation of the second drive input device 708b and the third drive input device 708c via the second drive 710a and the third drive input device 710b respectively controls the joint movement of the end effector 404 at the wrist 406. Figure 4 Actuation of the fourth drive input device 708d and the fifth drive input device 708e via the fourth drive 710d and the fifth drive 710e respectively causes the outer portion of shaft 402 (referred to herein as the "closed tube") to advance and retract, thereby closing and opening jaws 410, 412. Figure 4 Finally, actuation of the sixth drive input device 708f via the sixth drive 710f can cause the end effector 404 to fire, which may require the distal deployment of a blade (cutting element) to transcribe the tissue held by the jaws 410, 412 and simultaneously deploy a staple contained in the staple cartridge within the first jaw 410.

[0045] The drive housing 408 may accommodate or otherwise include an internal computer 722, which may include memory 724 and / or a microprocessor 726. Memory 724 may include one or more databases or libraries stored with the drive housing 408 and more specifically with the surgical tools 400. Figure 4 Related data. In some implementations, memory 724 may include non-transitory computer-readable media, such as read-only memory (ROM), which may be PROM, EPROM, EEPROM, etc.

[0046] Mounting (coupling) the tool mounting section 702 to the tool driver 704 facilitates communication and power transfer between the tool driver 704 and the drive housing 408. More specifically, mating the drive housing 408 to the tool driver 704 enables the internal computer 722 to communicate with the computer system 706, allowing the computer system 706 to recognize and authenticate the surgical tool 400. Figure 4 The surgical tool 400 may be associated with data stored elsewhere in the robotic surgical system, or otherwise. In some embodiments, to facilitate communication and power transfer between the tool mounting portion 702 and the tool driver 704, the tool mounting portion 702 may include one or more electrical connectors 718 (two shown) configured to mate with corresponding electrical connectors 720 (two shown) provided by the tool driver 704.

[0047] Alternatively, or in addition, the drive housing 408 may be inductively (or “magnetically”) coupled to the tool driver 704 to facilitate wireless communication and power transfer between the two structures. In at least one embodiment, for example, the drive housing 408 may be inductively coupled to the tool driver 704 using a near-field communication (NFC) connection or protocol. However, in other embodiments, the drive housing 408 may be inductively coupled to the tool driver 704 via other wireless communication protocols.

[0048] In the illustrated embodiment, a first or "transmitting" inductor 728a (shown in dashed lines) may be included on the tool driver 704, and a corresponding second or "receiving" inductor 728b (shown in dashed lines) may be included on the drive housing 408, such as arranged on the tool mounting portion 702. The first inductor 728a may be communicatively coupled to the computer system 706, and the second inductor 728b may be communicatively coupled to the internal computer 722 of the drive housing 408. Once the first inductor 728a and the second inductor 728b are inductively coupled, data can be transferred between the computer system 706 and the internal computer 722.

[0049] The first inductor coil 728a can be operated and powered by the computer system 706 and is configured to generate (emit) a magnetic field that induces an electromotive force (i.e., voltage or current) in the adjacent second inductor coil 728b. Based on the varying strength of the magnetic field, the generated electromotive force can be interpreted by the internal computer 722 to transfer data between the two structures. Furthermore, the generated electromotive force can be obtained in the form of electrical power, which can be used to power the circuitry of the internal computer 722.

[0050] According to embodiments of this disclosure, the inductive coupling between the drive housing 408 and the tool driver 704 can also be used to determine the surgical tool 400 ( Figure 4 The manual scalpel emergency system is activated or will be activated. More specifically, embodiments of this disclosure rely on the effect of a magnetically responsive material (e.g., a conductive or ferro-containing material) on a magnetic field generated by inductive coupling. One or more components of the drive housing 408 for activating the manual scalpel emergency system may contain or be made of a magnetically responsive material. When these components are physically moved, a disturbance in the magnetic field can be detected, and this provides a definite indication that the manual scalpel emergency system is being activated. In some embodiments, once a disturbance is detected, the user (i.e., surgeon, scrubbing nurse, etc.) can be informed of the change in status and subsequently given instructions on how to complete the scalpel emergency procedure or other instructions on how to reverse the initiation of the scalpel emergency procedure.

[0051] Figure 8A and Figure 8B This is a cross-sectional side view of the drive housing 408 inductively coupled to the tool driver 704 according to one or more embodiments. Figures 8A to 8B Various components of the manual knife emergency system are also shown, including an emergency tool 602 and an emergency cover 604. In the illustrated embodiment, the emergency tool 602 is stored within the drive housing 408 and positioned (received) within a recess 610. The user can access the emergency tool 602 by first removing the emergency panel 608. The emergency tool 602 can then be removed from the recess 610 and engaged with the emergency cover 604 to rotate the emergency cover 604, thereby manually retracting the knife (not shown). As described above, rotating (driving) the emergency cover 604 in a first direction (e.g., counterclockwise) will cause the interconnected firing lever 802 (shown in dashed lines) to retract proximally, as... Figure 8B As indicated by arrow A in the diagram. The blade can be operably coupled to the distal end of the firing lever 802 at the end effector 404. Figure 4 ), and the proximal movement of the firing lever 802 correspondingly retracts the blade in the proximal direction A.

[0052] Install the drive housing 408 onto the tool driver 704. Place the second inductor coil 728b of the drive housing 408 near the first inductor coil 728a of the tool driver 704. (As per computer system 706) Figure 7 Controlled by the first inductor 728a, it can be configured to generate (emit) a radially outward propagating magnetic field 804. As briefly described above, the magnetic field 804 can be received or otherwise sensed by the second inductor 728b to facilitate data transmission and electrical power transfer (i.e., voltage or current) to the circuitry of the internal computer 722. Figure 7 ).

[0053] In some embodiments, as shown in the figure, one or more components of the manual knife emergency system may be made of or otherwise comprise a magnetically responsive material 806 that causes field distortion 808 in a magnetic field 804. The magnetically responsive material 806 may include any magnetically responsive material capable of distorting or interfering with the magnetic field 804. The magnetically responsive material 806 may include, for example, conductive metals such as, but not limited to, silver, copper, gold, aluminum, zinc, nickel, brass, bronze, ferrous metals (e.g., iron, carbon steel, stainless steel, etc.), platinum, lead, any alloy thereof, or any combination thereof. The magnetically responsive material 806 may alternatively include conductive polymers, graphite, carbon fibers, or any combination thereof.

[0054] In some embodiments, all or part of one or more of the emergency tool 602, emergency panel 608, and trigger 802 may be made of magnetically responsive material 806. In other embodiments, magnetically responsive material 806 may be incorporated into or otherwise attached to one or more of the emergency tool 602, emergency panel 608, and trigger 802. Magnetically responsive material 806 will distort the magnetic field 804 and generate a field distortion 808, which may be measured or otherwise sensed by a second inductor coil 728b.

[0055] More specifically, the second inductor 728b can be configured to measure the electromotive force (i.e., voltage or current) generated within the second inductor 728b; that is, how much potential is generated in the second inductor 728b due to the magnetic field 804. Since the potential is driven by the amount of magnetic flux driving through the second inductor 728b, the measured potential can also be used as a measurement of the magnetic flux in the second inductor 728b. Depending on the position of the magnetically responsive material 806 within the magnetic field 804, the magnetically responsive material 806 will distort the magnetic flux of the magnetic field 804. If the physical position of the magnetically responsive material 806 changes, the magnetic flux of the magnetic field 804 will change accordingly, and the second inductor 728b will be able to detect this change and the change in position.

[0056] See Figure 8A The components of the manual knife emergency system are correctly loaded and otherwise positioned for normal use of the surgical instrument 400. Figure 4 When the drive housing 408 is first mounted on the tool driver 704, the strength of the magnetic field 804 and the resulting field distortion 808 generated by the magnetically responsive material 806 included in the components of the manual knife emergency system can be measured and recorded. This data can be processed by the computer system 706. Figure 7 ) or internal computer 722 ( Figure 7The system stores (records) data to provide a normal operating state for the surgical tool 400, and any changes in this normal operating state provide an indication that the manual knife emergency system has been activated or will be activated. Alternatively, the memory 224 of the internal computer 722 may have stored therein known field distortions 808 generated in the magnetic field 804 when the drive housing 408 is coupled to the tool driver 704 and is in a normal operating state. In such embodiments, the computer system 706 ( Figure 6 It can interpret the measured magnetic field 804 and the associated field distortion 808, and identify the surgical tool 400 based on the measured magnetic field 804 and the associated field distortion 808.

[0057] Then it can be handled by computer system 706 ( Figure 7 ) and internal computer 722 ( Figure 7 One or both of these continuously monitor and measure the strength of the magnetic field 804. In some embodiments, the real-time strength of the magnetic field 804 can then be compared with the strength corresponding to a normal operating state and one or more predetermined strength thresholds. The predetermined strength thresholds may correspond to a known magnetic field 804 and an associated field distortion 808 generated by predetermined positions (states) of one or more component parts, which may indicate the direction of the surgical tool 400 ( Figure 4 The manual knife emergency system is activated or will be activated at any time. A predetermined intensity threshold can be stored in the memory of computer system 706 or the internal memory of internal computer 722 (724). Figure 7 In the context of emergency tools 602 and emergency panel 608, the predetermined positions of one or more components may include, but are not limited to: 1) the presence of emergency tool 602 and emergency panel 608, 2) the presence of emergency tool 602 but the removal of emergency panel 608, 3) the presence of emergency panel 608 but the removal of emergency tool 602, 4) the removal of both emergency tool 602 and emergency panel 608, 5) the firing lever 802 being in the extended position, and 6) the firing lever 802 being in the retracted position.

[0058] exist Figure 8BIn this scenario, the emergency tool 602, emergency panel 608, and trigger lever 802 each physically move relative to the drive housing 408 and the magnetic field 804, and the field distortion 808 caused by the magnetically responsive material 806 corresponding to each component changes accordingly. In the illustrated scenario, both the emergency tool 602 and the emergency panel 608 have moved out of the range of the magnetic field 804, thus eliminating any field distortion 808 that might be attributable to the presence of the emergency tool 602 and the emergency panel 608. In this case, the measured strength of the magnetic field 804 will change accordingly, which provides a definite indication that both the emergency tool 602 and the emergency panel 608 have been removed from the drive housing 408. Furthermore, in the illustrated scenario, the trigger lever 802 has moved towards proximal A, which also changes the resulting field distortion 808 and the measured strength of the magnetic field 804, which provides a definite indication that the trigger lever 802 has moved to the retracted position (state).

[0059] If the computer system 706 ( Figure 7 If the manual knife emergency system is confirmed to be activated, then computer system 706( Figure 7 The device can be programmed and otherwise configured to notify users (i.e., surgeons, scrubbing nurses, etc.) of status changes. In some implementations, the notification may include a visual display 206. Figure 2 The notification is provided visually on the device, but in other embodiments, the notification may be auditory or tactile (i.e., felt through a user input device held by the surgeon). In at least one embodiment, the notification may provide the user with instructions on how to successfully complete a manual knife emergency procedure or other instructions on how to reverse the start of an emergency procedure (e.g., instructions on how to replace emergency tool 604 and / or emergency panel 608).

[0060] If it is determined that one or more components of the manual knife emergency system are missing and otherwise outside the range of magnetic field 804, then computer system 706 ( Figure 7 It can be further programmed and otherwise configured to send alarms or notifications to ensure accurate inventory of lost objects. This could prove beneficial in preventing the potential loss of tools, objects, or parts within a patient's body.

[0061] While the foregoing discussion has mentioned emergency tool 602, emergency panel 608, and trigger lever 802 as components of a manual knife emergency system capable of influencing magnetic field 804, the manual knife emergency system may include additional components, including but not limited to various gears, racks, levers, etc., included within drive housing 408. Therefore, this disclosure contemplates that any of the gears, racks, levers, etc., may be made of magnetically responsive material 806, or alternatively, magnetically responsive material 806 may be attached thereto and equally influence magnetic field 804 to indicate activation of the manual knife emergency system. Furthermore, the principles of this disclosure are not limited to monitoring a manual knife emergency system, but are alternatively applied to other mechanisms or devices included within drive housing 408. In such embodiments, each mechanism or device may have its own predetermined strength threshold, which will trigger a tool-dependent response when magnetic field 804 is distorted.

[0062] Instead of measuring the strength of the magnetic field 804 on the second inductor 728b to determine when a component of the manual knife emergency system is present or removed, this document also envisions measuring the electromotive force (i.e., voltage or current) generated in the second inductor 728b. Alternatively, the phase delay of the magnetic field 804 may be measured to determine when a component of the manual knife emergency system is present or removed.

[0063] Figure 9 It shows Figure 7 An exemplary embodiment of the computer system 706 is shown. As illustrated, the computer system 706 includes one or more processors 902 capable of controlling the operation of the computer system 706. The term "processor" is also referred to herein as a "controller". The processor 902 may include any type of microprocessor or central processing unit (CPU), including programmable general-purpose or special-purpose microprocessors and / or any of a variety of proprietary or commercially available single-processor or multi-processor systems. The computer system 706 may also include one or more memories 904 that may provide temporary storage for code to be executed by the processor 902 or for data retrieved from one or more users, storage devices, and / or databases. The memory 904 may include read-only memory (ROM), flash memory, one or more random access memories (RAM) (e.g., static RAM (SRAM), dynamic RAM (DRAM), or synchronous DRAM (SDRAM)) and / or a combination of memory technologies.

[0064] Various components of the computer system 706 can be connected to the bus system 906. The bus system 906 described is an abstract concept, representing any one or more individual physical buses, communication lines / interfaces, and / or multipoint or point-to-point connections connected via appropriate bridges, adapters, and / or controllers. The computer system 706 may also include one or more network interfaces 908, one or more input / output (I / O) interfaces 910, and one or more storage devices 912.

[0065] Network interface 908 enables computer system 706 to communicate with remote devices (e.g., other computer systems) via a network, and, for non-limiting examples, may be a remote desktop connection interface, an Ethernet adapter, and / or other local area network (LAN) adapter. I / O interface 910 may include one or more interface components for connecting computer system 706 to other electronic instruments. For non-limiting examples, I / O interface 910 may include high-speed data ports such as a Universal Serial Bus (USB) port, a 1394 port, Wi-Fi, Bluetooth, etc. Additionally, computer system 706 may be accessible to a human user, and therefore I / O interface 910 may include a display, speakers, a keyboard, pointing devices, and / or various other video, audio, or text and number interfaces. Storage device 912 may include any conventional medium for storing data in a non-volatile and / or non-transitory manner. Therefore, storage device 912 can maintain data and / or instructions in a persistent state, i.e., retain one or more values ​​even if power to computer system 706 is interrupted. Storage device 912 may include one or more hard disk drives, flash drives, USB drives, optical disc drives, various media cards, disks, optical discs, and / or any combination thereof, and may be directly connected to computer system 706 or remotely (e.g., via a network) connected to the computer system. In an exemplary embodiment, storage device 912 may include tangible or non-transitory computer-readable media configured to store data, such as hard disk drives, flash drives, USB drives, optical disc drives, media cards, disks, optical discs, etc.

[0066] Figure 9 The components shown may be some or all of the components of a single physical machine. Furthermore, not all components depicted need to be located on or within the same physical machine. Exemplary computer systems include conventional desktop computers, workstations, minicomputers, laptop computers, tablet computers, personal digital assistants (PDAs), mobile phones, etc.

[0067] Computer system 706 may include a web browser for: retrieving web pages or other markup language streams; presenting these pages and / or streams (visually, audibly, or otherwise); executing scripts, controls, and other code on these pages / streams; accepting user input about these pages / streams (e.g., for completing input fields); issuing Hypertext Transfer Protocol (HTTP) requests about these pages / streams or other aspects (e.g., for submitting server information from completed input fields), etc. Web pages or other markup languages ​​may be Hypertext Markup Language (HTML) or other traditional forms, including embedded Extensible Markup Language (XML), scripts, controls, etc. Computer system 706 may also include a web server for generating web pages and / or delivering web pages to client computer systems.

[0068] In an exemplary embodiment, the computer system 706 may be provided as a single unit, such as as a single server, as a single tower, housed within a single enclosure, etc. The single unit may be modular, allowing various aspects of it to be swapped in and out as needed, such as for upgrades, replacements, maintenance, etc., without interrupting the functionality of any other aspect of the system. Therefore, the single unit may also be scalable, having the ability to be added as an add-on module and / or the desired and / or improved functionality of existing modules.

[0069] Computer system 706 may also include any of a variety of other software and / or hardware components, including (as a non-limiting example) an operating system and a database management system. Although exemplary computer systems are depicted and described herein, it should be understood that this is for reasons of generality and convenience. In other embodiments, the architecture and operation of the computer system may differ from those shown and described herein.

[0070] The implementation plan disclosed in this article includes:

[0071] A. A robotic surgical tool comprising: a tool actuator communicating with a computer system; a drive housing mountable to the tool actuator and including one or more components made of or containing a magnetically responsive material; a first inductor coil included on the tool actuator and configured to generate a magnetic field; and a second inductor coil included on the drive housing and configured to measure the strength of the magnetic field and field distortion caused by the one or more components, wherein changes in the field distortion provide an indication of motion of the one or more components.

[0072] B. A method of operating a robotic surgical tool, comprising: mounting a drive housing to a tool driver in communication with a computer system, the drive housing including one or more components made of or containing a magnetically responsive material; inductively coupling the drive housing to the tool driver by generating a magnetic field using a first inductor coil included on the tool driver and sensing the magnetic field using a second inductor coil included on the drive housing; measuring the strength of the magnetic field and field distortion caused by the one or more components using the second inductor coil; and detecting changes in the field distortion using the second inductor coil, thereby providing an indication of movement of the one or more components.

[0073] C. A robotic surgical tool, comprising: a tool driver communicating with a computer system; a drive housing mountable to the tool driver and including a manual scalpel emergency system, the manual scalpel emergency system including one or more components selected from the group consisting of: an emergency tool, an emergency panel, and a firing lever, wherein at least one of the one or more components is made of or contains a magnetically responsive material; a first inductor coil included on the tool driver and configured to generate a magnetic field; and a second inductor coil included on the drive housing and configured to measure the strength of the magnetic field and field distortion caused by the one or more components, wherein changes in the field distortion provide an indication of movement of at least one of the emergency tool, the emergency panel, and the firing lever.

[0074] Each of embodiments A, B, and C may have one or more of the following additional elements in any combination: Element 1: The magnetically responsive material comprises a magnetically responsive material selected from the group consisting of conductive metals, conductive polymers, graphite, carbon fibers, and any combination thereof. Element 2: The drive housing further comprises an internal computer that communicates with the second inductor coil and is programmed to handle the changes in the strength of the magnetic field and the field distortion. Element 3: The computer system is programmed to provide a notification upon detecting the change in the field distortion. Element 4: The notification includes a visual notification provided on a visual display. Element 5: The notification includes an auditory or tactile notification. Element 6: The one or more components of the drive housing form part of a manual knife emergency system, and the measurement of the change in the field distortion provides an indication that the manual knife emergency system has been activated.

[0075] Element 7: The drive housing further includes an internal computer in communication with the second inductor coil, and the method further includes processing the changes in the strength and field distortion of the magnetic field using the internal computer. Element 8: The method further includes providing a notification to the computer system when the change in the field distortion is detected. Element 9: The method further includes providing a visual notification on a visual display in communication with the computer system. Element 10: Providing the notification includes providing an auditory or tactile notification. Element 11: Measuring the strength and field distortion of the magnetic field includes measuring the strength and field distortion while inductively coupling the drive housing to the tool driver. Element 12: Measuring the strength and field distortion of the magnetic field includes measuring the strength and field distortion before inductively coupling the drive housing to the tool driver, and storing the strength and field distortion in the memory of the internal computer included in the drive housing. Element 13: wherein detecting the change in the field distortion includes: comparing the change in the field distortion with a predetermined intensity threshold corresponding to a known magnetic field and a known field distortion caused by a predetermined position of the one or more components, and matching the change in the field distortion with the predetermined intensity threshold.

[0076] Element 14: The magnetically responsive material comprises magnetically responsive materials selected from the group consisting of conductive metals, conductive polymers, graphite, carbon fibers, and any combination thereof. Element 15: The emergency tool is stored within the drive housing and is accessible by removing the emergency panel. Element 16: The drive housing further includes an emergency cover, and the emergency tool is capable of engaging the emergency cover, wherein rotating the emergency tool correspondingly rotates the emergency cover, causing longitudinal translation of the firing lever. Element 17: The computer system is programmed to provide notification upon detecting a change in the field distortion.

[0077] As a non-limiting example, exemplary combinations applicable to A, B, and C include: element 3 and element 4; element 3 and element 5; element 8 and element 9; and element 8 and element 10.

[0078] Therefore, the systems and methods disclosed herein are highly suitable for achieving the aforementioned results and advantages, as well as those inherent therein. The specific embodiments disclosed above are merely exemplary, as the teachings of this disclosure can be modified and implemented in different but equivalent ways that will be apparent to those skilled in the art. Furthermore, there are no limitations on the details of the constructions or designs shown herein, except as described in the following claims. It is therefore apparent that the specific exemplary embodiments disclosed above may be changed, combined, or modified, and all such changes are considered to be within the scope of this disclosure. The systems and methods illustratively disclosed herein may be suitably implemented in the absence of any elements not specifically disclosed herein and / or any optional elements disclosed herein. While compositions and methods are described according to various components or steps “comprising,” “containing,” or “including,” such compositions and methods may also be “substantially composed of various components or steps” or “composed of various components or steps.” All numerical values ​​and ranges disclosed above may vary in some quantities. Whenever a numerical range with a lower and upper limit is disclosed, any numerical value falling within that range and any included range are specifically disclosed. Specifically, each range of values ​​disclosed herein (in the form of "about a to about b" or equivalent "about a to b" or equivalent "from about ab") should be understood to list each numerical value and range covered within a broader range of values. Furthermore, the terms in the claims have their ordinary, general meaning unless otherwise expressly and clearly defined by the patentee. Additionally, the indefinite articles "a" or "an" used in the claims are defined herein as referring to one or more elements introduced therein, rather than a single element. If the use of words or terms in this specification conflicts in any way with one or more patents or other documents that may be incorporated herein by reference, the definitions consistent with this specification shall prevail.

[0079] As used herein, the phrase “at least one of…” preceding a series of items (separated by the terms “and” or “or”) modifies the list as a whole, not each member of the list (i.e., each item). The phrase “at least one of…” allows for the meaning of at least one of any of the items, and / or at least one of any combination of the items, and / or at least one of each of the items. As an example, the phrases “at least one of A, B, and C” or “at least one of A, B, or C” each refer to at least one of the following: only A, only B, or only C; any combination of A, B, and C; and / or each of A, B, and C.

Claims

1. A robotic surgical tool, comprising: A tool driver that communicates with a computer system; A drive housing capable of being mounted to the tool driver and comprising one or more components made of or containing a magnetically responsive material; A first inductor coil is included on the tool driver and is configured to generate a magnetic field; A second inductor coil, which is included on the drive housing and configured to measure the strength of the magnetic field and the field distortion caused by the one or more component parts, The change in the field distortion provides an indication of the motion of the one or more component parts.

2. The robotic surgical tool according to claim 1, wherein, The magnetically responsive material includes magnetically responsive materials selected from the group consisting of: conductive metals, conductive polymers, graphite, carbon fibers, and any combination thereof.

3. The robotic surgical tool according to claim 1, wherein, The drive housing also includes an internal computer that communicates with and is programmed to handle the changes in the strength of the magnetic field and the field distortion.

4. The robotic surgical tool according to claim 1, wherein, The computer system is programmed to provide a notification when a change in the field distortion is detected.

5. The robotic surgical tool according to claim 4, wherein, The notification includes visual notifications provided on a visual display.

6. The robotic surgical tool according to claim 4, wherein, The notifications include auditory or tactile notifications.

7. The robotic surgical tool according to claim 1, wherein, The one or more components of the drive housing form part of a manual knife emergency system, and wherein the measurement of the change in the field distortion provides an indication that the manual knife emergency system has been activated.

8. The robotic surgical tool according to claim 1, wherein, Measuring the strength and field distortion of the magnetic field includes measuring the strength and field distortion while inductively coupling the drive housing to the tool driver.

9. The robotic surgical tool according to claim 1, wherein, Measuring the strength and distortion of the magnetic field includes: The strength and field distortion were measured before the drive housing was inductively coupled to the tool driver; and The intensity and the field distortion are stored in the memory of an internal computer included in the drive housing.

10. The robotic surgical tool according to claim 1, wherein, The changes in the field distortion detected include: The change in the field distortion is compared with a predetermined intensity threshold corresponding to a known magnetic field and a known field distortion caused by a predetermined location of the one or more component parts; and The change in the field distortion is matched with the predetermined intensity threshold.

11. A robotic surgical tool, comprising: A tool driver that communicates with a computer system; A drive housing capable of being mounted to the tool driver and including a manual knife emergency system, the manual knife emergency system including one or more components selected from the group consisting of: an emergency tool, an emergency panel, and a firing lever, wherein at least one of the one or more components is made of or contains a magnetically responsive material. A first inductor coil is included on the tool driver and is configured to generate a magnetic field; A second inductor coil, which is included on the drive housing and configured to measure the strength of the magnetic field and the field distortion caused by the one or more component parts, The changes in the field distortion provide an indication of the movement of at least one of the emergency tool, the emergency panel, and the firing lever.

12. The robotic surgical tool according to claim 11, wherein, The magnetically responsive material includes magnetically responsive materials selected from the group consisting of: conductive metals, conductive polymers, graphite, carbon fibers, and any combination thereof.

13. The robotic surgical tool according to claim 11, wherein, The emergency tools are stored within the drive housing and can be accessed by removing the emergency panel.

14. The robotic surgical tool according to claim 11, wherein, The drive housing also includes an emergency cover, and the emergency tool is capable of engaging with the emergency cover, wherein rotating the emergency tool correspondingly rotates the emergency cover, which causes the firing lever to translate longitudinally.

15. The robotic surgical tool according to claim 11, wherein, The computer system is programmed to provide a notification when a change in the field distortion is detected.

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