Robotic surgical system and related devices and methods

Abstract

Various robotic surgical systems having various robotic devices are disclosed herein. Further, removable couplable connection ports are disclosed herein, each of which can be coupled to a robotic device and a camera assembly disposed in and passing through the robotic device. Removable connection ports having at least one of an elongated device body coupling mechanism, a camera assembly coupling mechanism, and / or a presence detection mechanism are also disclosed herein. Camera assemblies having at least one actuation mechanism for actuating movement of its steerable distal tip are further discussed herein.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Application 62 / 789,029, filed January 7, 2019, entitled “Robotic-Assisted Surgical System,” under 35 U.S. SC §119(e), which is incorporated herein by reference in its entirety. Technical Field

[0003] The embodiments disclosed herein relate to various medical devices and related components that can constitute a surgical system, including robotic and / or in vivo medical devices and related components. Some embodiments include various robotic medical devices, including robotic devices disposed within a body cavity and positioned using a body or support member disposed through an orifice or opening in the body cavity. Other embodiments relate to various systems having robotic surgical devices and controllers, wherein the devices have one or more sensors and the controller has one or more motors, such that the sensors transmit information used at the controller to activate the motors to provide tactile feedback to the user. Background Technology

[0004] Invasive surgery is essential for addressing a wide range of medical conditions. Minimally invasive procedures, such as laparoscopy, are preferred when possible.

[0005] However, known minimally invasive techniques such as laparoscopy are limited in scope and complexity, partly due to 1) restricted movement caused by the use of rigid tools inserted through the access port, and 2) limited visual feedback. Known robotic systems such as da... The surgical system (purchased from Intuitive Surgical, Inc., located in Sunnyvale, CA) is also limited by its access port and has additional disadvantages, namely that it is very large, very expensive, unavailable in most hospitals, and has limited sensory and mobility capabilities.

[0006] There is a need in this field for improved surgical methods, systems, and devices. Summary of the Invention

[0007] This paper discusses various robotic surgical systems with a variety of robotic devices. Some robotic devices have coupleable connection ports (also referred to as "nested") that receive and couple to various camera assemblies. These connection ports may have coupling mechanisms for coupling to the robotic devices and / or camera assemblies. Furthermore, some ports also have presence detection mechanisms. This paper further discusses camera assemblies with actuation mechanisms for actuating the movement of their manipulable distal tips.

[0008] In Example 1, a robotic surgical system includes a robotic surgical device and a removable camera component. The robotic surgical device includes an elongate device body including a distal end and a proximal end; a removable connection port disposed at the proximal end of the device body; and first and second robotic arms operably coupled to the distal end of the device body. The connection port includes a device body coupling mechanism disposed within the connection port, a camera receiving opening defined in the proximal end of the connection port; a sealed package disposed in the removable connection port, the sealed package including at least two seals; and a camera coupling mechanism disposed within the removable connection port. The removable camera component is removably disposed in the camera receiving opening and through the sealed package, the removable camera component including a camera body, an elongate camera tube, a flexible portion, and a distal imager.

[0009] Example 2 relates to the robotic surgical system of Example 1, wherein the device body coupling mechanism includes first and second articulating coupling mechanisms articulately coupled to the connection port.

[0010] Example 3 relates to the robotic surgical system of Example 2, wherein each of the first and second articulating coupling mechanisms includes a coupling mechanism body; a tensioning hinge at a proximal end of the coupling mechanism body, wherein the tensioning hinge is articulately coupled to the connection port; a couplable structure at a distal end of the coupling mechanism, wherein the couplable structure includes at least one coupling feature configured to be couplable with a matching coupling feature on the proximal end of the device body and an actuable button.

[0011] Example 4 relates to the robotic surgical system of Example 1, wherein the elongate device body includes a male connector disposed at a proximal end of the elongate device body, wherein the male connector is couplable with the connection port.

[0012] Example 5 relates to the robotic surgical system of Example 1, wherein the removable connection port further includes a presence detection mechanism operably coupled to the camera coupling mechanism.

[0013] Example 6 relates to the robotic surgical system of Example 1, wherein the camera coupling mechanism includes a slidable body disposed within the connection port, a camera receiving opening defined within the slidable body, an actuable camera release button attached to a first end of the slidable body, and a tensioning spring operably coupled to a second end of the slidable body.

[0014] Example 7 relates to the robotic surgical system of Example 6, wherein the slidable body is slidable along a plane substantially transverse to a longitudinal axis of the elongate device body.

[0015] Example 8 relates to the robotic surgical system according to Example 1, further comprising a presence detection mechanism including a rotatable lever operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable lever rotates about the pivot point; a first sensing component disposed on the rotatable lever; and a second sensing component disposed on the elongated body, wherein the second sensing component is configured to sense a presence or absence of the first sensing component.

[0016] Example 9 relates to the robotic surgical system according to Example 8, wherein the first sensing component is a magnet.

[0017] In Example 10, a removable connection port for a robotic surgical device includes a connection port body; a distal opening defined at a distal end of the port body, wherein the distal opening is sized and shaped to receive a proximal end of an elongated device body; a proximal opening defined at a proximal end of the port body, wherein the proximal opening is sized and shaped to receive a camera assembly; a sealed package disposed in the connection port body, the sealed package including at least two seals configured to receive a shaft of the camera assembly; a device body coupling mechanism disposed within the connection port body, the device body coupling mechanism including a first articulating coupling mechanism and a second articulating coupling mechanism articulatedly coupled to the connection port body; and a camera coupling mechanism disposed within the connection port body. The camera coupling mechanism includes a slidable body disposed within the connection port body, and a camera receiving opening defined within the slidable body.

[0018] Example 11 relates to the removable connection port according to Example 10, wherein each of the first articulating coupling mechanism and the second articulating coupling mechanism includes a coupling mechanism body; a tensioning hinge at a proximal end of the coupling mechanism body, wherein the tensioning hinge is articulatedly coupled to the connection port body; and a couplable structure at a distal end of the coupling mechanism, wherein the couplable structure includes at least one coupling feature configured to be couplable with a matching coupling feature on the proximal end of the elongated device body and an actuatable button.

[0019] Example 12 relates to the removable connection port according to Example 10, wherein the distal opening is sized and shaped to receive a male connector disposed at the proximal end of the elongated device body.

[0020] Example 13 relates to the removable connection port according to Example 10, further comprising a presence detection mechanism operably coupled to the camera coupling mechanism.

[0021] Example 14 relates to the removable connection port according to Example 10, wherein the camera coupling mechanism further includes an actuatable camera release button attached to a first end of the slidable body and a tensioning spring operably coupled to a second end of the slidable body.

[0022] Example 15 relates to the removable connection port of Example 10, wherein the slidable body is slidable along a plane substantially transverse to a longitudinal axis of the internal cavity of the sealed package.

[0023] Example 16 relates to the removable connection port of Example 10, further comprising a presence detection mechanism including a rotatable lever operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable lever rotates about the pivot point; and a first sensing component disposed on the rotatable lever, wherein the first sensing component is configured to interact with a second sensing component disposed on the elongated device body when the removable connection port is coupled to the elongated device body.

[0024] Example 17 relates to the removable connection port of Example 16, wherein the first sensing component is a magnet.

[0025] In Example 18, a robotic surgical system includes a robotic surgical device and a removable camera component. The robotic surgical device includes an elongated device body including a distal end and a proximal end; a removable connection port disposed at the proximal end of the device body; and a first robotic arm and a second robotic arm operably coupled to the distal end of the device body. The connection port includes a device body coupling mechanism disposed within the connection port, the device body coupling mechanism including a first articulating coupling mechanism and a second articulating coupling mechanism articulately coupled to the connection port; a camera receiving opening defined in the proximal end of the connection port; a sealed package disposed in the removable connection port, the sealed package including at least two seals; a camera coupling mechanism disposed within the removable connection port; and a presence detection mechanism operably coupled to the camera coupling mechanism. The camera coupling mechanism includes a slidable body slidably disposed within the connection port, a camera receiving opening defined within the slidable body, an actuatable camera release button attached to a first end of the slidable body, and a tension spring operably coupled to a second end of the slidable body. The presence detection mechanism includes a rotatable lever operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable lever rotates about the pivot point; a first sensing component disposed on the rotatable lever; and a second sensing component disposed on the elongated body, wherein the second sensing component is configured to sense a presence or an absence of the first sensing component. The removable camera component is removably disposed in the camera receiving opening and through the sealed package, and the removable camera component includes a camera body, an elongated camera tube, a flexible portion, and a distal imager.

[0026] Example 19 relates to the robotic surgical system of Example 18, wherein each of the first and second articulating coupling mechanisms includes a coupling mechanism body; a tensioning hinge located proximal to the coupling mechanism body, wherein the tensioning hinge is articulately coupled to the connection port; and a couplable structure located distal to the coupling mechanism, wherein the couplable structure includes at least one coupling feature configured to be couplable with a matching coupling feature on the proximal end of the device body and an actuable button.

[0027] Example 20 relates to the robotic surgical system of Example 18, wherein the slidable body is slidable along a plane substantially transverse to a longitudinal axis of an internal cavity defined by the at least two seals in the sealed package.

[0028] In Example 21, a camera assembly for a robotic surgical system includes an elongate camera shaft, a camera body coupled to a proximal end of the elongate camera shaft, a steerable tip disposed distal to the elongate camera shaft, a first cable coupled at a first end to a first drive carriage and at a second end to the steerable tip, and a second cable coupled at a first end to a second drive carriage and at a second end to the steerable tip. The camera body includes a distal end configured to be positionable within a robotic device and at least one actuation mechanism disposed within the camera body. The distal end includes a distal nosecone disposed about the elongate shaft and a coupling mechanism receiving slot defined proximal to the distal nosecone. The at least one actuation mechanism includes a rotatable shaft, a first drive carriage threadably coupled to the rotatable shaft, and a second drive carriage threadably coupled to the rotatable shaft. The steerable tip includes a steerable tip body and a flexible portion, the steerable tip body including a camera imager and an illumination component, the flexible portion coupled to the elongate camera shaft and the steerable tip body, wherein the steerable tip body is movable relative to the elongate camera shaft via the flexible portion. Further, actuation of the actuation mechanism causes linear movement of the first and second drive carriages in opposite directions, whereby the first and second cables steer the steerable tip.

[0029] Example 21 relates to the camera assembly of Example 21, wherein the camera body further includes a housing and a cylindrical heat sink structure, wherein the cylindrical heat sink structure is disposed within the housing.

[0030] While multiple embodiments are disclosed, still other embodiments will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments. As will be realized, the various embodiments are capable of modifications in various obvious respects, all without departing from the spirit and scope. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature, and not as restrictive. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1is a perspective view of a robotic surgical system in an operating room according to one embodiment.

[0032] Figure 2 is a perspective view of a robotic device according to one embodiment.

[0033] Figure 3A is a perspective view of a robotic device according to one embodiment. Figure 2 is another perspective view of a robotic device.

[0034] Figure 3B is a perspective view of an insertable Figure 3A camera in a robotic device according to one embodiment.

[0035] Figure 3C is a perspective view of a robotic device according to one embodiment. Figure 2 is a magnified perspective view of a distal end and a robotic arm of the

[0036] Figure 4A is a magnified perspective view of a distal end and a robotic arm of another robotic device according to another embodiment.

[0037] Figure 4B is another magnified perspective view of a distal end and a robotic arm of the Figure 4A

[0038] Figure 5A is a perspective view of a robotic device attached to a support arm coupled with a surgical table according to one embodiment.

[0039] Figure 5B is a magnified perspective view of a device clamp and a robotic device according to one embodiment. Figure 5A

[0040] Figure 6 is a schematic perspective view of a robotic device and camera components that are not positioned in the device, but are operated via a separate port in the patient according to one embodiment.

[0041] Figure 7 is a magnified perspective view of a control console of a surgical system according to one embodiment. Figure 1

[0042] Figure 8A is a side view of a camera assembly according to one embodiment.

[0043] Figure 8B is a front view of a camera assembly according to one embodiment. Figure 8A

[0044] Figure 9A is a front view of a camera assembly according to one embodiment. Figure 8A ​​​​Enlarged side view of the camera body of the camera assembly of

[0045] Figure 9B Enlarged perspective view of the camera body of Figure 9A Enlarged cross-sectional side view of the distal end of the camera body of

[0046] Figure 9C Enlarged perspective view of the camera body of Figure 9A Enlarged cross-sectional view of the camera body of

[0047] Figure 10A Enlarged perspective view of the camera body of Figure 9A Cross-sectional side view of the internal components of the camera body of

[0048] Figure 10B Enlarged perspective view of the camera body of Figure 9A Enlarged perspective view of the camera body of

[0049] Figure 10C Enlarged perspective view of the camera body of Figure 9A Perspective cross-sectional view of the actuation mechanism of the camera body of

[0050] Figure 10D Enlarged perspective view of the camera body of Figure 10C Perspective view of the lead screw of the actuation mechanism of

[0051] Figure 10E Enlarged perspective view of the camera body of Figure 10C Cross-sectional view of certain components of the actuation mechanism of

[0052] Figure 10F Enlarged perspective view of the camera body of Figure 9A Cross-sectional view of certain components of the camera body of

[0053] Figure 11A Enlarged perspective view of the elongated body and robotic arm of the robotic device and nested camera couplable thereto according to an embodiment.

[0054] Figure 11B Enlarged perspective view of the robotic device of Figure 11 having a nested camera coupled thereto according to an embodiment, and an enlarged view of the nested camera itself.

[0055] Figure 12A Enlarged perspective view of the camera body of Figure 11B Perspective cross-sectional view of the nested camera and sealed package disposed therein according to an embodiment.

[0056] Figure 12B Enlarged perspective view of the camera body of Figure 12A Cross-sectional view of the sealed package of and enlarged view of the two seals disposed therein according to an embodiment.

[0057] Figure 13 This is a cross-sectional view of the proximal end of the device body according to one embodiment. Figure 11B The device is nested and attached to the device body, and the camera is configured to pass through the device body.

[0058] Figure 14A According to one embodiment Figure 11B A cross-sectional view of the nesting and the two latches set within it.

[0059] Figure 14B According to one embodiment Figure 14A A perspective view of a latch.

[0060] Figure 15A According to one embodiment, the nearest neighbor Figure 11A The proximal end of the robot device body is set Figure 11B Nested side cross-sectional view.

[0061] Figure 15B They are coupled together according to one embodiment. Figure 15A The nesting and side cross-sectional view of the device body.

[0062] Figure 16A According to one embodiment, the nearest neighbor Figure 11A The male connector of the device body is set Figure 11B Nested side cross-sectional view.

[0063] Figure 16B According to one embodiment and Figure 16A The male connector coupling Figure 16A A magnified perspective view of a nested latch.

[0064] Figure 17A According to one embodiment, the nearest neighbor Figure 11A The male connector of the device body is set Figure 11B Nested side cross-sectional view.

[0065] Figure 17B They are coupled together according to one embodiment. Figure 17A Side cross-sectional view of the nested male connector.

[0066] Figure 18 According to one embodiment Figure 11B Nested perspective cross-sections, in which a camera coupling mechanism is set.

[0067] Figure 19A According to one embodiment Figure 18 A side cross-sectional view of the nesting and camera coupling mechanism, where the camera is not yet coupled to the nest.

[0068] Figure 19B is a perspective view of a nest and camera coupling mechanism according to one embodiment. Figure 18 is a side cross-sectional view of a nest and camera coupling mechanism according to one embodiment, with the camera pushed into the nest to a fully coupled position, but not yet fully coupled.

[0069] Figure 19C is a perspective view of a nest and camera coupling mechanism according to one embodiment. Figure 18 is a side cross-sectional view of a nest and camera coupling mechanism according to one embodiment, with the camera fully coupled to the nest.

[0070] Figure 20 is a perspective view of a nest and presence detection mechanism according to one embodiment. Figure 11B is a perspective cross-sectional view of a nest according to one embodiment, with a presence detection mechanism provided.

[0071] Figure 21 is a side cross-sectional view of a nest and presence detection mechanism according to one embodiment, with the camera not yet coupled to the nest. Figure 20

[0072] Figure 22 is a side cross-sectional view of a nest and presence detection mechanism according to one embodiment, with the camera coupled to the nest. Figure 20

[0073] is a side cross-sectional view of a nest and presence detection mechanism according to one embodiment, with the camera coupling mechanism button already pressed. Figure 23 Figure 20 is a cross-sectional view of a forearm according to one embodiment.

[0074] Figure 24 is a perspective view of a forearm according to one embodiment.

[0075] Figure 25 is a cross-sectional view of an upper arm coupled to a device body at a shoulder joint according to one embodiment. Figure 24 is a perspective view of an upper arm coupled to a device body at a shoulder joint according to one embodiment.

[0076] Figure 26 is a cross-sectional view of a proximal end of a device body according to one embodiment.

[0077] Figure 27 is a perspective view of a proximal end of a device body according to one embodiment. Figure 26 DETAILED DESCRIPTION

[0078] The various systems and devices disclosed herein relate to devices for medical procedures and systems. More specifically, various embodiments relate to various medical devices, including robotic devices, and related methods and systems.

[0079] It should be appreciated that the various embodiments of robotic devices, and related methods and systems, disclosed herein can be incorporated into, or used with, any other known medical devices, systems, and methods.​​​

[0080] It should be understood that various embodiments of the robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods. For example, various embodiments disclosed herein can be incorporated into or used with the medical devices and systems disclosed in U.S. Patent 8,968,332 (issued March 3, 2015, and entitled “Magnetically Couplable Robotic Devices and Related Methods”), U.S. Patent 8,834,488 (issued September 16, 2014, and entitled “Magnetically Couplable Surgical Robotic Devices and Related Methods”), U.S. Patent 10,307,199 (issued June 4, 2019, and entitled “Robotic Surgical Devices and Related Methods”), U.S. Patent 9,579,088 (issued February 28, 2017, and entitled “Methods, Systems, and Devices for Surgical Visualization and Device Manipulation”), U.S. Patent Application 61 / 030,588 (filed February 22, 2008), U.S. Patent 8,343,171 (issued January 1, 2013, and entitled “Actuation Methods and Systems in Robotic Devices”), U.S. Patent 8,828,024 (issued September 9, 2014, and entitled “Actuation Methods and Systems in Robotic Devices”), U.S. Patent 9,956,043 (issued May 1, 2018, and entitled “Actuation Methods and Systems in Robotic Devices”), U.S. Patent Application 15 / 966,606 (filed April 30, 2018, and entitled “Methods, Systems, and Devices for Surgical Access and Procedures”), U.S. Patent Application 12 / 192,663 (filed August 15, 2008, and entitled “Medical Inflation, Attachment, and Delivery Devices and Related Methods”), U.S. Patent Application 15 / 018,530 (filed February 8, 2016, and entitled “Medical Inflation, Attachment, and Delivery Devices and Related Methods”), U.S. Patent 8,974,440 (issued March 10, 2015, and entitled “Modular and Collaborative Medical Devices and Related Systems and Methods”), U.S. Patent 8,679,096 (issued March 25, 2014, and entitled “Multi-functional Operating Components for Robotic Devices”), U.S. Patent 9,179,981 (issued November 10, 2015, and entitled “Multi-functional Operating Components for Robotic Devices”), U.S. Patent 9,883,911 (issued February 6, 2018, and entitled “Multi-functional Operating Components for Robotic Devices”), U.S. Patent Application 15 / 888,723 (filed February 5, 2018, and entitled “Multi-functional Operating Components for Robotic Devices”), U.S. Patent 8,894,633 (issued November 25, 2014, and entitled “Modular and Collaborative Medical Devices and Related Systems and Methods”), U.S. Patent 8,968,267 (issued March 3, 2015, and entitled “Methods and systems for processing or delivering materials for natural orifice surgery”), U.S. Patent 9,060,781 (issued June 23, 2015, and entitled “Methods, systems, and devices related to surgical end effectors”), U.S. Patent 9,757,187 (issued September 12, 2017, and entitled “Methods, systems, and devices related to surgical end effectors”), U.S. Patent 10,350,000 (issued July 16, 2019, and entitled “Methods, systems, and devices related to surgical end effectors”), U.S. Patent Application 16 / 512,510 (filed July 16, 2019, and entitled “Methods, systems, and devices related to surgical end effectors”), U.S. Patent 9,089,353 (issued July 28, 2015, and 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[0081] Certain device and system embodiments disclosed in the applications listed above can be positioned within a body lumen of a patient, or a portion of the device can be placed within a body lumen, in conjunction with support members similar to those disclosed herein. As used herein, “intracorporeal device” means any device that can be at least partially positioned, operated, or controlled by a user while positioned within a body lumen of a patient, including any device coupled to a support member such as a rod or other such member that is disposed through an opening or orifice of the body lumen, also including any device positioned substantially against or adjacent to a wall of a body lumen of a patient, further including any such internally actuated device (without an external source of motive force), and additionally including any device that can be used under a laparoscope or endoscope during a surgical procedure. As used herein, the terms “robot” and “robotic device” shall mean any device capable of performing a task automatically or in response to a command.

[0082] Certain embodiments provide for insertion of the present invention into a cavity while maintaining adequate insufflation of the cavity. Further embodiments minimize physical contact of the surgeon or surgical user with the present invention during insertion. Other embodiments enhance safety of the patient and the insertion process of the present invention. For example, some embodiments provide for visualization of the present invention as it is inserted into a patient cavity to ensure that no damaging contact occurs between the system / device and the patient. In addition, certain embodiments allow for minimization of incision size / length. Other embodiments include devices that can be inserted into the body via an incision or natural orifice. Further embodiments reduce the complexity of the access / insertion procedure and / or the steps required for the procedure. Other embodiments involve devices that have a minimal profile, minimal size, or are generally minimal in function and appearance to improve ease of handling and use.

[0083] As in manual laparoscopic surgery, a known insufflation system can be used to pump sterile carbon dioxide (or other gas) into the patient's abdominal cavity. This lifts the abdominal wall away from the organs and creates space for the robot. In certain embodiments, the system does not have a direct interface with the insufflation system. Alternatively, the system can have a direct interface to the insufflation system.

[0084] In certain embodiments where the device is inserted through an insertion port, the insertion port is a known, commercially available flexible membrane that is placed transabdominally to seal and protect the abdominal incision. This off-the-shelf component is the same device or substantially the same device used in substantially the same manner as in hand-assisted laparoscopic surgery (HALS). The only difference is that the arm of the robotic device according to the various embodiments herein is inserted into the abdominal cavity through the insertion port rather than the surgeon's hand. When the robotic device body is positioned through the insertion port, the robotic device body seals against the insertion port, thereby maintaining insufflation pressure. The port is disposable and disposable. Alternatively, any known port can be used. In further alternatives, the device can be inserted through an incision without a port or through a natural orifice.

[0085] Certain embodiments disclosed herein relate to "combination" or "modular" medical devices that can be assembled in a variety of configurations. For the purposes of this application, "combination device" and "modular device" shall both refer to any medical device having modular or interchangeable components that can be arranged in a variety of different configurations.

[0086] Certain embodiments disclosed or contemplated herein can be used for colectomy, a surgical procedure performed to treat patients suffering from lower gastrointestinal diseases such as diverticulitis, Crohn's disease, inflammatory bowel disease, and colon cancer. About two-thirds of known colectomy procedures are performed via fully open surgical procedures that involve an 8- to 12-inch incision and up to six weeks of recovery time. Due to the complexity of the procedure, existing robotic-assisted surgical devices are rarely used for colectomy procedures, and manual laparoscopic approaches are used in only one-third of cases. In contrast, various implementations disclosed herein can be used in a minimally invasive manner for various procedures that are typically performed 'open' by known techniques, with the potential to improve clinical outcomes and healthcare costs. Further, various implementations disclosed herein can be used for any laparoscopic surgical procedure in place of known laparoscopic surgical robots that resemble a similar mainframe that extends from outside the patient's body into the body. That is, the less invasive robotic systems, methods, and devices disclosed herein feature small, self-contained surgical devices that are inserted as a whole through a single incision in the patient's abdomen. Designed to utilize existing tools and techniques familiar to surgeons, the devices disclosed herein will not require a dedicated operating room or specialized infrastructure, and due to their much smaller size, are expected to be much less expensive than existing robotic alternatives to laparoscopic surgery. Due to these technological advances, various embodiments herein can enable a minimally invasive approach to procedures that are today performed in open surgery.

[0087] Figure 1 One embodiment of a robotic surgical system 10 is depicted, having several components that will be described in further detail below. The components of various system implementations disclosed or contemplated herein can include an external console 16 and a robotic device 12 having a movable camera 14, which will also be described in further detail below. According to Figure 1 embodiments, the robotic device 12 is shown mounted to a surgical table 18 via a known, commercially available support arm 20. In certain embodiments, the system 10 can be operated by a surgeon 22 at the console 16 and one surgical assistant 24 positioned at the surgical table 18. Alternatively, one surgeon 22 can operate the entire system 10. In further alternatives, three or more people can participate in the operation of the system 10. It is further understood that the surgeon (or user) 22 can be located at a remote location relative to the surgical table 18, such that the surgeon 22 can be in a different city or country or a different continent relative to the patient on the surgical table 18.

[0088] In this particular embodiment, the robotic device 12 with the camera 14 is connected to the surgeon console 16 via cable: a device cable 24A and a camera cable 24B, which will be described in further detail below. Alternatively, any connection configuration can be used. In certain embodiments, the system can also interact with other devices such as electrosurgical generators, insertion ports, and auxiliary monitors during use.

[0089] Figure 2 One exemplary embodiment of a robotic device 40 is depicted, which can be incorporated into the exemplary system 10 discussed above or any other system disclosed or contemplated herein. The device 40 has a body (or "torso") 42 with a distal end 42A and a proximal end 42B, and an imaging device (or "camera") 44 disposed through the body, as described above and will be described in further detail below. Briefly, the robotic device 40 has two robotic arms 46, 48 operably coupled thereto, and the camera 44 is removably positioned through the body 42 and disposed between the two arms 46, 48. That is, the device 40 has a first (or "right") arm 46 and a second (or "left") arm 48, both of which are operably coupled to the device 40, as discussed in further detail below. In this embodiment, as shown, the body 42 of the device 40 has an enclosure (also referred to as a "cover" or "housing") 52 such that the internal components and internal cavities of the body 42 are disposed within the enclosure 52. The device body 42 has two rotatable cylindrical bodies (also referred to as "shoulders" or "turntables") 54A, 54B: a first (or "right") shoulder 54A and a second (or "left") shoulder 54B. In this embodiment, each arm 46, 48 also has an upper arm (also referred to herein as an "inner arm," "inner arm assembly," "inner link," "inner link assembly," "upper arm assembly," "first link," or "first link assembly") 46A, 48A and a forearm (also referred to herein as an "outer arm," "outer arm assembly," "outer link," "outer link assembly," "forearm assembly," "second link," or "second link assembly") 46B, 48B. The right upper arm 46A is operably coupled to the right shoulder 54A of the body 42 at a right shoulder joint 46C, and the left upper arm 48A is operably coupled to the left shoulder 54B of the body 42 at a left shoulder joint 48C. Further, for each arm 46, 48, the forearm 46B, 48B is rotatably coupled to the upper arm 46A, 48A at an elbow joint 46D, 48D. In various embodiments, the forearms 46B, 48B are configured to receive various removable, interchangeable end effectors 56A, 56B.

[0090] The end effectors 56A, 56B on the distal ends of the arms 46, 48 can be various tools 56A, 56B (scissors, graspers, needle drivers, etc.), as will be described in further detail below. In certain embodiments, the tools 56A, 56B are designed to be removable, including in some cases by a small twist of a tool knob that couples the end effectors 56A, 56B to the arms 46, 48. In certain embodiments, at least two disposable, interchangeable, disposable surgical end effectors can be used with any of the robotic device embodiments herein, including the device 40. Such end effectors can include, but are not limited to, a perforated grasper capable of bipolar cautery, scissors to deliver monopolar cautery, hooks to deliver monopolar cautery, and left / right needle driver sets. The tools can be selected for a particular surgical task. Certain forearm and end effector configurations that allow for the mobility and interchangeability of end effectors are disclosed in detail in U.S. Application 14 / 853,477, which is incorporated by reference herein. Further, it should be understood that any known forearm and end effector combination can be used in any of the robotic device embodiments disclosed or contemplated herein.

[0091] In various embodiments, each link of the body 40 and the arms 46, 48 can contain various actuators or motors. In certain embodiments, no motors are provided in the body 40, and at least one motor is present in each arm 46, 48. In one embodiment, any of the motors discussed and depicted herein can be a brushed or brushless motor. Further, the motors can be, for example, 6 mm, 8 mm, or 10 mm diameter motors. Alternatively, any known size capable of being integrated into a medical device can be used. In further alternatives, the actuators can be any known actuator used in medical devices to actuate movement or action of components. Examples of motors that can be used for the motors described herein include EC 10 BLDC + GP10A planetary gearhead, EC 8 BLDC + GP8A planetary gearhead, or EC 6 BLDC + GP6A planetary gearhead, all of which are commercially available from Maxon Motors, located in Fall River, MA. There are many ways to actuate these motions, such as using DC motors, AC motors, permanent magnet DC motors, brushless motors, pneumatic, remote motor cables, hydraulic, etc. As such, the actuation source can be at least one motor, a hydraulic source, a pneumatic pressure source, or any other actuation source disposed remotely or proximally to the device 40, such that an appropriate coupling or transmission mechanism (such as at least one cable, at least one hydraulic transmission hose, at least one pneumatic transmission hose, or any other transmission mechanism) is disposed through the body 42.

[0092] In one embodiment, the various joints discussed above according to any embodiment disclosed or contemplated herein can be driven by electric motors disposed within the device, and in some implementations proximate to each joint. Other embodiments incorporate pneumatic or hydraulic actuators in any device implementation herein. In still alternative embodiments, drive actuators are disposed external to the device and / or body cavity, and a power transmission mechanism is provided to transmit energy from an external source to the various joints of any device herein. Such transmission mechanisms can take the form of gears, drive shafts, cables, pulleys, or other known mechanisms or any combination thereof, for example.

[0093] Figure 3A and Figure 3B depicts one embodiment of a robotic device 40 with camera assembly 44 removed, according to one embodiment. That is, Figure 3A depicts device 40 without a camera positioned through body 42, whereas Figure 3B depicts one embodiment of a camera 44. In certain implementations and as Figure 3B best shown, camera 44 has a handle (or "camera body") 60 with an elongated shaft 62 coupled to the handle such that shaft 62 extends distally from a distal end of handle 60. Further, camera 44 has a steerable tip 64 coupled to a distal end of shaft 62 via a flexible portion 68 such that steerability allows a user to adjust a viewing direction, as will be discussed in further detail below. Further, tip 64 also includes a camera imager 66 located at a distal end of tip 64 that is configured to capture desired images. Further, in certain implementations, tip 64 has an illumination light (not shown) disposed thereon such that the light can illuminate objects in the field of view. In one particular implementation, camera 44 provides digital video at 1080p 60Hz. Alternatively, camera 44 can provide any known video quality.

[0094] as Figure 3A and Figure 3C best shown, camera assembly 44 can be inserted into body 42 of robotic device 40 by positioning a distal end of shaft 62 through an internal lumen (not shown) defined through body 42 of robotic device 40, as indicated by arrow A in Figure 3A As will be described in further detail below, certain implementations of device 40 incorporate a removable nest (or "docking piece") (not shown) disposed proximate to a proximal end of body 42 that includes a seal (not shown) that operates to ensure that a cavity of a patient remains insufflated. When shaft 62 is inserted through the internal lumen of body 42 as desired, according to Figure 2 and Figure 3CIn the best shown certain embodiment, the distal end of the shaft 62, including the flexible portion 68 and the steerable tip 64 (containing the imager 66), extends out of the opening in the distal end of the body 42 such that the tip 64 is positioned between the two arms 46, 48 in the surgical environment, as shown. Thus, the imager 66 is positioned to capture a view between the two arms 46, 48, and the steerable tip 64 can be actuated to provide a view of the surgical tool and the surgical target. That is, the tip 64 can be moved such that the surgical tool and / or the surgical target are captured within the field of view of the imager 66. It should be appreciated that this camera 44 embodiment and any other such camera embodiment disclosed or contemplated herein can be used with any similar robotic device having a camera lumen defined therethrough.

[0095] In various embodiments, as Figure 3C In the best shown embodiment, the steerable tip 64, and thus the camera imager 66, can be steered or otherwise moved in two independent directions relative to the shaft 62 at the flexible portion 68 disposed between the shaft 62 and the steerable tip 64 to change the viewing direction. That is, Figure 3C It is shown that the steerable tip 64 can be articulated by the robot in a yaw direction (left and right relative to the device 40) as shown by arrow B or in a pitch direction (up and down relative to the device 40) as shown by arrow C. In various embodiments, the camera 44 can be controlled via a console (such as, for example, the console 16 discussed above) or via control buttons (not shown), as will be discussed in further detail below. In one embodiment, the steerable tip features and operations (including articulation) are substantially similar to the steerable tip described in U.S. applications 14,334,383 and 15 / 227,813, both of which are incorporated by reference above. Alternatively, any known robotic articulation mechanism for a camera or similar device can be incorporated into any camera embodiment used in any device or system disclosed or contemplated herein.

[0096] In various embodiments, the camera 44 can be re-sterilized for multiple uses. In one particular embodiment, the camera 44 can be reused up to one hundred or more times. Alternatively, it should be appreciated that any known endoscope camera capable of fitting through a device body according to any embodiment herein can be utilized.

[0097] Now focusing on the robotic device 80 mechanical arms 82, 84 according to one embodiment as Figure 4A-4B shown. Each mechanical arm 82, 84 in this embodiment has six degrees of freedom, including an open / close function of the tool, as Figure 4A shown best. For purposes of this discussion, it will be assumed that the robotic device 80 is configured to perform a surgical procedure on a patient, as Figure 4AThe various degrees of freedom are discussed in the context of the right arm 82 shown, but it will be appreciated that the two arms have the same degrees of freedom. The right shoulder joint 86 is approximately a spherical joint similar to a human shoulder. The upper arm 88 can yaw (J1), pitch (J2), and roll (J3) about the shoulder joint 86. These first three axes of rotation intersect approximately at the shoulder joint 86. The robot elbow 90 (J4) allows the forearm 92 to rotate relative to the upper arm 88. Finally, the end effector 94 can roll (J5) about the long axis of the tool 94, and some tools that are alternatively attached to the forearm 92 have an open / close actuation function. On the other hand, it will be appreciated that, for example, a hook cautery tool does not open / close.

[0098] The robotic arms 82, 84 in this embodiment have significant dexterity. As Figure 4B The above six degrees of freedom allow the arms 82, 84 to reach into the confined space of the abdominal cavity, as shown. Figure 4B The entire workspace 110 of the arms 82, 84 of the robotic device 80 according to certain embodiments is depicted schematically. In these embodiments, the “workspace” 110 refers to the space 110 around the robotic device 80 in which either arm 82, 84 (and / or its end effector) can move, enter, and perform its functions. According to one embodiment, the arms 82, 84 herein are substantially the same as the arms, degrees of freedom, and overall and individual workspaces of each arm disclosed in U.S. Pub. Appl. 2019 / 0090965, which is incorporated by reference herein in its entirety.

[0099] Figure 4B A perspective view of the device 80 is depicted, and further schematically illustrates the collective workspace 110 of the first arm 82 and the second arm 84. Note that each arm 82, 84 has a range of motion and corresponding workspace that extends from the front 112 of the device 80 to the back 114 of the device 80. Thus, for each arm 14, 16, the first arm 82 moves equally to the front 112 and to the back 114 by about 180° of space relative to the axis of the device body 80A. This entire workspace 110, which is based on the individual workspaces of the two arms 82, 84 constituting the cross or collective workspace 110, allows the robotic device 80 to work equally well to the front 112 and to the back 114 without having to reposition the body 80A. Thus, the workspace 110 represents the area that both the left arm 112 and the right arm 114 can reach, and is defined as a dual-hand robot workspace 110. When working in this dual-hand area 110, the surgeon will have full robotic dexterity.

[0100] The dual-hand workspace 110 is approximately an ellipse that is rotated 180 degrees about the shoulder pitch joint (J2) in Figure 4A Figure 4B ​As shown. For one particular design implementation, the ellipse is about 4.5" (11.5 cm) on the major axis and about 3.25" (8.25 cm) on the minor axis. The two-handed work space 110 extends from the front of the robotic device 80 to the underside of the device 80, and also behind the back of the device 80. This dexterity of the robotic arms 82, 84 allows the surgeon to operate the arms 82, 84 equally well anywhere within this two-handed work space 110.

[0101] As Figure 4A As

[0102] Additional features and components of the robotic device include those disclosed in U.S. Applications 14 / 334,383, 15 / 227,813, and 16 / 144,807, all of which are incorporated by reference above, and all other patents and applications are incorporated by reference above. It should be understood that any of the robotic device embodiments disclosed or contemplated herein, including, for example, the robotic devices 12, 40, 80 discussed above, can be incorporated not only into the system embodiments disclosed herein, but also into any other known robotic surgical system. It is further understood that, in accordance with certain embodiments, any of the robotic devices disclosed or contemplated herein can be configured such that it can be cleaned and sterilized for multiple uses. In some embodiments, the device can be reused up to ten or more times.

[0103] As Figure 5A As Figure 5B As shown (and as discussed above with respect to Figure 1 the robotic device 12 is attached to the surgical table 18 via the support arm 20. More particularly, as shown, the support arm 20 is coupled to the surgical table 18 at one end. Further, the support arm 20 has a robotic device body clamp 116 at the other end of the arm 20, such that the clamp 116 can be coupled to a clamp interface ring 118 defined in the outer surface of the enclosure 52 of the device body 42, as shown in Figure 5BBest shown. Certain embodiments of the clamp 116 are disclosed in further detail in U.S. Pub. App. 2017 / 0035526, which is incorporated herein in its entirety by this reference. Further, the support arm 20 has an adjustment knob 119 that allows for adjustment of the arm 20 so that the attached device 12 can be repositioned to a number of different position options as needed. In this way, the device 12 is adjustably attached to the surgical table 18 via the arm 20. Alternatively, any known support arm can be used to support the various robotic device embodiments herein. Thus, in addition to the positioning of the device 12 and arms 46, 48 as discussed above, in various implementations, the robotic device 12 can reach any area of the surgical cavity as it can be easily repositioned during surgery via “coarse positioning.” That is, by manually adjusting the external support arm 20 and the robotic clamp 116, the device 12 can be quickly moved in a matter of seconds. As noted above, the combination of the coarse positioning of the robotic device 12 and the dexterity of the robotic arms 46, 48 allows the surgeon to place the device 12 so that it can work anywhere in the patient’s target cavity, in certain embodiments, the arms 46, 48 are well triangulated for a given surgery, as discussed elsewhere herein.

[0104] In certain implementations, the various camera embodiments herein (e.g., including cameras 14 and 44) can coordinate with the device to which it is coupled to create a coordinated triangulation between the camera and the arm and end effector for any configuration, positioning, and use of the device. Further, the steerable tip of any such camera can be articulated by the robot to reposition the field of view either automatically or via surgeon control using the system console controls. That is, the camera is articulated to ensure that the surgeon can view all possible positions of the robotic arm and desired areas of the surgical field. Further, as the robotic arm moves, the steerable camera tip can coordinate with the arm to move using active joints in conjunction with arm movement to view the entire robotic workspace. In certain implementations, motors and sensors and processors (and in some implementations, control algorithms included therein) are used to actively control the articulation of the camera. In these implementations, the processor allows the camera 12 to be automatically and / or semi-automatically positioned and repositioned relative to the robotic device about pitch (a) and / or yaw (b) rotation. It should be understood that various embodiments of systems and devices having such coordination between the camera and the device (and arm) and the resulting features thereof are disclosed in detail in U.S. Pub. App. 2019 / 0090965, which is incorporated by reference above.

[0105] Alternatively, as Figure 6In certain embodiments shown, the camera 44 can be removed from the robotic device 40 and positioned through another known laparoscopic port 120, which is typically used with standard manual laparoscopy. In this embodiment, thus, the device 40 is disposed through a primary port (also referred to as an "insertion port") 122, and the camera 44 is positioned through the known laparoscopic port 120, as shown. It will be appreciated that such an arrangement can be useful for visualizing the robotic device 40 to ensure safe insertion and removal via the primary port 122. According to various embodiments, the camera 44 can also be removed from the robotic device 40, so that the optics can be cleaned, the camera 44 can be repaired, or for any other reason it is beneficial to remove the camera 44. It will be appreciated that while the device 40 and camera 44 are depicted and discussed herein, any device or camera according to any embodiment disclosed or contemplated herein can also be used in similar arrangements, and any such camera can also be removed from the device for any reason discussed herein.

[0106] It will be appreciated that the insertion port 122 can also represent the port 122 through which any robotic device embodiment disclosed or contemplated herein is positioned for any procedure contemplated herein, including those in which the camera 44 is disposed through the device 40. In one embodiment, the insertion port 122 can be a disposable, commercially available flexible film that is disposed transabdominally to seal and protect the abdominal incision and allow the body 42 of the device 40 to be positioned therethrough. In particular embodiments, the insertion port 122 is the same device used in hand assisted laparoscopic surgery (HALS), including Figure 6 The exemplary port 122 depicted in the middle, according to one embodiment, is a GelPort™ 122. The device body 42 is sealed against the insertion port 122, thereby establishing a fluid seal and thus maintaining insufflation pressure. Alternatively, any known insertion port (or incision) configured to receive a device similar to that disclosed herein can be used.

[0107] Returning to the overall system embodiment, such as Figure 1 The system 10 shown and discussed above, according to certain embodiments, the robotic device (such as the device 12 or the device 40) can be guided via the surgeon console 16, as Figure 1 and Figure 7The exemplary embodiment of the surgeon console 16 contains a main processor (not shown) that performs robotic control functions, system monitoring, and any other known processes or functions necessary or beneficial for the control system according to any embodiment herein. In these embodiments, the console 16 also has a real-time display 130 that can display real-time images of the surgical environment using the output of a camera such as the cameras 14 or 44. In one embodiment, the display 130 is a high-definition display 130. Alternatively, any known display can be used. In addition, the console 16 can also have a touch screen interface 132 that can be used to control a number of functions of the console 16 and the device 12 (or device 40). In certain embodiments, the touch screen 132 can also display various types of information about the status of the robotic device 12 (or 40) or any other component of the system 10. Alternatively, any known console can be used with the various embodiments of the system disclosed or contemplated herein.

[0108] The console 16 in this embodiment also has right and left hand controllers (or “input devices”) 134A, 134B that can be used to control various aspects of the device 12, 40 and / or the cameras 14, 44, including their movement. The surgeon can interface the surgeon’s hands with the input devices 134A, 134B such that the input devices 134A, 134B can track the movement of the surgeon’s hands. In certain embodiments, each of the input devices 134A, 134B can have a surgeon presence sensor to track whether the surgeon’s hands are properly engaged. In one exemplary embodiment, the user presence sensor is any embodiment disclosed or contemplated in U.S. Patent Application 15 / 826,166, which is incorporated by reference above. In certain embodiments, the input devices 134A, 134B can also be configured to provide haptic feedback by pressing on the surgeon’s hands to indicate things such as workspace boundaries and collisions between the robotic arms, as described in detail in U.S. Patent Application 15 / 227,813 and U.S. Patent 9,888,966, both of which are incorporated by reference above. According to various embodiments, the input devices 134A, 134B can also control the open / close function of the robotic end effectors.

[0109] According to some embodiments, the surgeon console 16 can also have foot pedals 136 that are configured to be operable by the surgeon’s feet to control various robotic functions, including, for example, grasping, camera movement, and various electrocautery functions. Alternatively, the pedals 136 can be used to operate any known function of the robotic device 12, 40 or any other component of the system 10. In further alternatives, any other input device on the console 16 can be used to control these different functions.

[0110] According to certain embodiments, the surgeon console 16 can be configured such that it can be operated by a surgeon positioned in a seated position (similar to the Intuitive Da Vinci console) or a standing position (similar to a manual laparoscope). The console 16 in this example embodiment is designed to be easily transported between operating rooms using casters 138 and a transport handle 140. In certain embodiments, the height of the console 16 is adjustable.

[0111] Other console and system embodiments that can be incorporated into any of the systems disclosed or contemplated herein are disclosed in U.S. Applications 14 / 334,383, 15 / 227,813, and 16 / 144,807, all of which are incorporated by reference above and any other related patents and applications are incorporated by reference above. For example, various components in the described applications include a companion cart, an interface box, an electrosurgical generator, and appropriate cables and connections. Further, it should be appreciated that any other known console or controller can be used with any of the robotic devices or systems disclosed or contemplated herein.

[0112] Figure 8A and Figure 8B Another camera embodiment is depicted in FIGS. 1 1 A and 1 1 B Figure 8A a side view is depicted, and Figure 8B a front view is depicted), in which the camera assembly 150 has a handle (or "camera body") 152, with an elongated shaft 154 coupled to the handle such that the shaft 154 extends distally from a distal end of the handle 152. Further, the camera 150 has a steerable tip 156 coupled to the distal end of the shaft 154 via a flexible portion 158 that couples the tip 156 to the shaft 154, such that the steerability allows a user to adjust the viewing direction, as will be discussed in further detail below. The tip 156 includes a camera imager (also referred to as an "imaging sensor") 160 at a distal end of the tip 156, as well as optics and supporting electronics (not shown), that are configured to capture desired images. In this embodiment, the camera 150 also has an optical fiber (not shown) disposed through the shaft 154, the flexible portion 158, and the tip 156, such that the optical fiber provides a light output at the tip 156 in order to illuminate a surgical target for imaging. Further, the assembly 150 has a cable 162 that is coupled to and extends from the handle 152 to an external controller (such as the console 16 discussed above or any other controller), such that the cable 162 can provide electrical signals to and from the camera 150, including video signals as well as any power and other signals or information needed to operate the camera 150.

[0113] According to one embodiment, the steerable tip 156 can be articulated in two independent directions by a robot. More specifically, as discussed in further detail above with respect to the camera assembly 44 embodiments, and as will be discussed in further detail below with respect to the camera assembly 150 embodiments, the camera 150 can be articulated in two independent directions by a robot.Figure 3C As depicted, the steerable tip 156 can be articulated to move in the pitch and yaw directions.

[0114] Figure 9A 、 Figure 9B and Figure 9C is a magnified view of the camera handle 152 according to one embodiment. In this exemplary implementation, the camera handle 152 has an outer enclosure (also referred to as an "outer housing," "shell," or "enclosure") 180, as best shown in Figure 9A as best shown in Figure 9B In certain embodiments, the inner shell 182 is an internal heat distribution heat sink 182 that can be used to distribute heat within the camera handle housing 180. More specifically, the heat distribution heat sink 182 is a cylindrical body 182 or any suitably shaped structure 182 that is disposed within the enclosure 180 and around the internal components of the handle 152. The heat sink 182 is made of a material that distributes heat across the structure 182 and has a heat capacity for heat. In one particular embodiment, the material is aluminum. Alternatively, the heat sink 182 can be made of any known heat sink material. The outer enclosure 180 helps to enclose the heat sink 182 and the internal mechanical and electrical components of the handle 152.

[0115] Further, according to various implementations, the handle 152 also has a cable strain relief assembly 184 extending from the proximal end of the handle 152 such that the cable 162 is disposed through the relief assembly 184. In one embodiment, the relief assembly 184 is a tube 184 or other elongated structure 184 through which the cable 162 can be disposed such that the relief assembly 184 has a reinforcing structure to reduce strain placed on the cable 162 when a force is applied to the cable 162. It should be appreciated that the cable strain relief assembly 184 can be any known structure for providing strain relief. Alternatively, the assembly 184 can be any known cable strain relief assembly.

[0116] In this particular implementation, the camera handle 152 also has two O-ring seals 186A, 186B disposed around the cable connection 188. The seals 186A, 186B are disposed between the connection 188 and the shell 180, thereby establishing a fluid seal therebetween, thereby helping to prevent fluid ingress. Alternatively, there can be one seal, three seals, or any number of seals disposed around the connection 188. In further alternatives, the seals need not be O-ring seals, but can be any known type of seal.

[0117] According to one embodiment, the distal end of the camera handle 152 has a nose cone 190 extending therefrom. As best shown in Figure 9CAs best shown, the nosecone 190 is a distal structure 190 that extends distally from the handle 152. The nosecone 190 includes a nosecone tip 192 at a distal end of the nosecone 190 and a nosecone slot 194 defined in the nosecone 190 proximal of the tip 192. In one embodiment, the nosecone slot 194 is a camera coupling mechanism receiving slot 194 such that a camera latch 420, discussed in further detail below, can be received in the slot 194. As such, the camera latch receiving slot 194 can work in conjunction with the camera latch 420 to help attach the camera to the elongated body 42 of the elongated device 40 (or any other device embodiment herein) via the nesting structure 346, as will also be discussed in further detail below.

[0118] Further, the nosecone 190 has a protrusion (or "collar") 196 disposed about the cone 190 and, as shown, has an outer O-ring seal 198A and an inner O-ring seal 198B attached to the protrusion 196. The outer O-ring seal 198A is disposed on an outer circumference of the collar 196 such that the seal 198A is disposed between the collar 196 and the camera body enclosure 180. Further, the inner O-ring seal 198B is disposed on an inner circumference of the collar 196 such that the seal 198B is disposed between the collar 196 and the cone 190. As such, the seals 198A, 198B help establish a fluid seal between the nosecone 190 and the camera housing 180, thereby forming a sealed camera handle 152 that helps protect the internal mechanical and electrical components during use and cleaning.

[0119] In use, when the camera 150 is moved about the device body 42 (or any other device body embodiment herein) and inserted or removed from the device body (or when used independent of any robotic device as discussed above), the camera assembly 150 is generally held by a user (such as a surgical assistant and / or surgeon) via the camera handle / body 152. Further, the nosecone 190 of the handle 152 is sized and shaped to couple with and help attach to the elongated body 42 (or any other device body embodiment herein), as discussed in further detail below.

[0120] According to Figure 10A and Figure 10B one embodiment, the camera body / handle 152 can contain several internal components. Figure 10A is a side view of the internal components of the handle 152 (same view provided in Figure 8A , Figure 9A and Figure 9B , while Figure 10B is an elevation view (same view as Figure 8B ). As Figure 10AAs best shown, in this embodiment, the handle 152 has an LED light source 220 with two optical transmission fibers 222A and 222B coupled thereto. These optical transmission fibers extend distally from the light source 220 through the interior of the handle 152 and toward and toward the distal tip of the camera axis 154. Thus, the optical fibers 222A and 222B transmit light from the light source 220 along the optical fibers 222A and 222B to the field of view of the imager 160, as discussed above. In this way, the light from the light source 220 ultimately illuminates the imaging target. It should be understood that the light source 220 can be adjusted in a known manner via a controller (such as console 16), including via software in the controller or console 16, to adjust the resulting light intensity. Alternatively, the handle 152 may have two LED light sources, each individually coupled to a different one of the two optical transmission fibers. In a further alternative, a single optical transmission fiber may be used, or three or more optical fibers may be used. In yet another alternative, any configuration for transmitting light to the steerable tip 156 can be incorporated into any camera embodiment disclosed or envisioned herein.

[0121] In addition, at least one circuit board 224 is provided in the camera body 152. In one embodiment, the at least one circuit board 224 can be used to control the camera assembly 150 in any number of known ways. In some non-limiting examples, the at least one circuit board 224 can control any aspect of the light source 220 or illumination, video signals, image sensor 160, actuators 226A, 226B, or any sensor present on or anywhere in the camera 150. Alternatively, the camera body 152 may have two or more circuit boards for controlling various components and / or features of the camera 150. Further, the camera body 152 also has an actuator unit (also referred to herein as a “kinematic unit”) 226 that actuates the steerable tip 156. That is, the actuator unit 226 is operatively coupled to the steerable tip 156 such that the actuator unit 226 actuates the tip 156 in two directions, described in further detail herein: pitch and yaw. In this particular embodiment, actuator unit 226 actually comprises two actuator mechanisms: a first (or yaw or left / right) actuation mechanism 226A and a second (or pitch or north / south) actuation mechanism 226B. Each of these mechanisms is coupled via a cable to a controllable tip 156, which can be used to transmit the actuating force for moving the controllable tip 156, as described herein. Figure 10BIn the best shown embodiment, each of the two mechanisms is coupled to the steerable tip 156 via a pair of cables, the first mechanism 226A being coupled to the tip 156 via a pair of cables 228, and the second mechanism 226B being coupled to the tip 156 via a pair of cables 230. That is, as best shown in Figure 10A the side view, the first pair of cables 228A, 228B is coupled at a proximal end of the pair 228A, 228B to the first mechanism 226A, and further coupled at a distal end of the pair 228A, 228B to the steerable tip 156. Similarly, as shown in profile in Figure 10B the second pair of cables 230 is coupled at its proximal end to the second mechanism 226B, and at a distal end of the pair 230 to the steerable tip 156. In one embodiment, the pairs of cables 228, 230 are known Bowden cables 228, 230, as will be described in further detail below.

[0122] Figure 10C One of the two actuation mechanisms according to one embodiment is depicted. That is, a first actuation mechanism 226A is depicted in Figure 10C but it will be understood that a second actuation mechanism 226B has similar components and operates in a similar manner. The mechanism 226A has a drive motor 240, a gear train 242 rotationally coupled to the drive motor 240, and a double-threaded lead screw 244 rotationally coupled to the gear train 242. Thus, actuation of the drive motor 240 causes rotation of the gear train 242, which causes rotation of the lead screw 244. Alternatively, the motor 240 can be rotationally coupled to the lead screw 244 via any combination of gears or other rotational couplings. According to one implementation, the actuation mechanism 226A can also have two sensors 262, 264 for measuring the angular position of the lead screw 244. One sensor 262 has a magnet 262 rotationally coupled to the lead screw 244, such that the sensor 262 provides an absolute position measurement. The other sensor 264 in this implementation is a position sensor 264 as shown. It will be understood that either of these sensors 262, 264 can be any known sensor for tracking the position of the lead screw 244. According to certain implementations, the actuation mechanism 226A also allows for manual driving of the lead screw 244. That is, this embodiment has a manual drive input 266, which in this exemplary embodiment is a thumb nut 266 that can be turned using a simple tool such as a wrench or the user's fingers. This manual drive mechanism 266 can be used for unpowered movement during assembly or service of the actuation mechanism 226A.

[0123] As Figure 10C and Figure 10DAs best shown, the double-threaded lead screw 244 has two sets of threads: a first set of threads 246A and a second set of threads 246B. In one embodiment, the two sets of threads 246A, 246B have opposite threads. That is, one of the two sets of threads 246A, 246B has right-handed threads, while the other set has left-handed threads. As will be explained below, the double-threaded lead screw 244 is configured to rotate in one direction to cause the carriage 248A, 248B to move linearly towards each other, and to rotate in the opposite direction to cause the carriage 248A, 248B to move linearly away from each other. Figure 10C and Figure 10E As best shown, the actuation mechanism 226A also has two carriages threaded to the double-threaded lead screw 244. More specifically, a first carriage 248A is threaded to the first set of threads 246A, while a second carriage 248B is threaded to the second set of threads 246B. Each of the two carriages 248A, 248B is slidably disposed in the actuation mechanism 226A along a rod (also referred to as a "linear bearing") 250A, 250B. That is, as shown, each carriage 248A, 248B has an internal cavity 252A, 252B, 254A, 254B disposed therethrough, such that the rod 250A, 250B is disposed therethrough. In other words, the first carriage 248A is slidably disposed on the rod 250A, 250B via the internal cavities 252A, 252B, while the second carriage 248B is slidably disposed on the rod 250A, 250B via the internal cavities 254A, 254B, as shown. Thus, assuming the sets of threads 246A, 246B have opposite threads, rotation of the lead screw 244 in one direction causes the carriages 248A, 248B to move linearly towards each other (closer), while rotation of the lead screw 244 in the opposite direction causes the carriages 248A, 248B to move linearly away from each other (further apart). It will be appreciated that, according to certain embodiments, if the threads of the two sets 246A, 246B have the same pitch, the carriages 248A, 248B will move in equal and opposite directions.

[0124] Furthermore, each carriage 248A, 248B is coupled to a separate one of the two cables of the cable pair 228, as described above with respect to Figure 10A and Figure 10B More specifically, the first carriage 248A is coupled to the first cable 228A of the pair 228, and the second carriage 248B is coupled to the second cable 228B. In Figure 10CIn the best shown one particular embodiment, each carriage has a coupling structure 258A, 258B for attaching the cable 228A, 228B in place. That is, the first carriage 248A has a first coupling structure 258A that can removably couple the cable 228A to the carriage 248A. Similarly, the second carriage 258B has a second coupling structure 258B that can removably couple the cable 228B to the carriage 248B. In this particular implementation, the coupling structures 258A, 258B are clamp structures 258A, 258B, where a screw 260A, 260B can be used to loosen or tighten the clamp structure 258A, 258B to removably couple the cable 228A, 228B to the clamp structure. Further, each coupling structure 258A, 258B also has a half-internal cavity 261A, 261B defined in a side of each carriage 248A, 248B, such that the cable 228A, 228B can be disposed within the half-internal cavity 261A, 261B, and the clamp structure 258A, 258B can be positioned against the cable 228A, 228B and tightened with the screw 260A, 260B to secure the cable 228A, 228B in place. It should be appreciated that, as discussed above, the cables 228A, 228B are coupled at their distal ends to the steerable tip 156. More specifically, one of the two cables 228A, 228B is coupled to the steerable tip 156 such that actuation of the cable 228A, 228B causes the tip 156 to move to the left, and the other of the two cables 228A, 228B is coupled to the tip 156 such that actuation of the cable 228A, 228B causes the tip 156 to move to the right.

[0125] Figure 10F An enlarged view of a cross-section of the camera body 152 depicting the internal components thereof, in accordance with one embodiment. More specifically, Figure 10A Figure 10F ​The relationship between the cables 228A, 228B and the connection assemblies 280A, 280B disposed distal of the actuation mechanism 226A is depicted. In this exemplary embodiment, each of the cables 228A, 228B is a known Bowden cable having an inner cable slidably disposed within a cable housing along a portion of the length of the inner cable. More specifically, the first cable 228A has an inner cable 282A and a housing 282B. The inner cable 282A extends from the actuation assembly 226A to the steerable tip 156, while the housing 282B extends from the connection assembly 280A to the steerable tip 156. Similarly, the second cable 228B has an inner cable 284A that extends from the actuation assembly 226A to the steerable tip 156 and a housing 284B that extends from the connection assembly 280B to the steerable tip 156. Thus, a distal length of the inner cable 282A is slidably disposed within the cable housing 282B, while a proximal length of the inner cable 282A extends out of the housing 282B at the connection assembly 280A and extends toward the actuation assembly 226A as indicated by arrow D. Similarly, a distal length of the inner cable 284A is slidably disposed within the cable housing 284B, while a proximal length of the inner cable 284A extends out of the housing 284B at the connection assembly 280B and extends toward the actuation assembly 226A as indicated by arrow E. Thus, the inner cables 282A, 284A are actuatable by the actuation assembly 226A as discussed above to articulate the steerable tip 156 via linear movement of the inner cables 282A, 284A. In one embodiment, each of the cable housings 282B, 284B is made of a known composite construction having an inner liner (to facilitate movement of the inner cable therein) and is longitudinally incompressible.

[0126] Each of the connection assemblies 280A, 280B has a tension spring assembly 286A, 286B and a tension adjustment mechanism 288A, 288B, both of which are described in detail below.

[0127] According to one embodiment, each tension spring assembly 286A, 286B is operable to absorb forces applied to the cable housings 282B, 284B, thereby reducing strain applied thereto and potentially preventing damage caused thereby. That is, each tension spring assembly 286A, 286B has a tension spring retainer body 300A, 300B that is slidably disposed through a bushing 302A, 302B and an opening 304A, 304B defined in a body wall 306. Each bushing 302A, 302B is fixedly attached to the body wall 306 such that each spring retainer body 300A, 300B is slidable relative to the body 152. Each retainer body 300A, 300B has a tension spring 308A, 308B disposed about the body 300A, 300B and positioned between a lip 307A, 307B on the retainer body 300A, 300B and the body wall 306 such that each tension spring 308A, 308B is movable between an extended state (as shown in assembly 280A) and a compressed state (as shown in assembly 280B). Further, each retainer body 300A, 300B has an extendable barrel 310A, 310B extending from a distal end of the retainer body 300A, 300B. As shown, each cable housing 282B, 284B is coupled to the extendable barrel 310A, 310B. It should be appreciated that both the retainer body 300A, 300B and the extendable barrel 310A, 310B have an internal lumen 312A, 312B defined therethrough as shown such that the internal cable 282A, 284A can extend therethrough as shown.

[0128] Accordingly, each tension spring assembly 286A, 286B is structured to provide strain relief. For example, if the steerable tip 156 has a force applied thereto from an external source (such as a user's hand or a collision of the tip 156 with an object), the external force is applied to one or both of the cable housings 282B, 284B. Assuming each cable housing 282B, 284B is longitudinally incompressible, the force is transferred axially along the length of the housing 282B, 284B and into the retainer body 300A, 300B, which causes the tension spring 308A, 308B to be pushed from its relaxed state to its compressed or its extended state. All of this occurs without any external force being applied to the internal cable 282A, 284A. Accordingly, each tension spring assembly 286A, 286B helps to prevent damage to the cable 228A, 228B by absorbing any external force applied thereto through the cable housing 282B, 284B and the tension spring 308A, 308B. That is, the compression of the tension spring 308A, 308B allows for the length of the cable housing 282B, 284B to adjust due to the external force while protecting the internal cable 282A, 284A from the external force.

[0129] Alternatively, the configuration of the tension spring assemblies 286A, 286B need not be limited to their particular components. It should be appreciated that any known assembly for absorbing strain from external forces can be incorporated herein.

[0130] Turning now to the tension adjustment mechanisms 288A, 288B, each such assembly 288A, 288B is operable to allow for manual adjustment of the tension of each internal cable 282A, 284A. That is, if a user determines that either cable 282A, 284A is too loose or too tight, the user can utilize the appropriate adjustment mechanism 288A, 288B to adjust its tension. As discussed above, each mechanism 288A, 288B includes an extendable barrel 310A, 310B extending from the distal end of the holder body 300A, 300B. Each adjustable barrel 310A, 310B has an adjuster nut 314A, 314B that is threadably coupled to the barrel 310A, 310B such that rotation of either nut 314A, 314B by the user causes axial extension or retraction of the corresponding barrel 310A, 310B. Thus, if either of the cables 282A, 284A is too loose, the user can rotate either nut 314A, 314B to lengthen the corresponding barrel 310A, 310B, thereby tightening the cable 282A, 284A. On the other hand, if either of the cables 282A, 284A is too tight, the user can rotate either nut 314A, 314B to shorten the appropriate barrel 310A, 310B, thereby loosening the cable 282A, 284A.

[0131] Alternatively, the configuration of the tension adjustment assemblies 286A, 286B need not be limited to their particular components. It should be appreciated that any known assembly for adjusting cable tension can be incorporated herein.

[0132] Further, it should be appreciated that the various camera body embodiments disclosed or envisioned herein are not limited to the particular components and features discussed above. That is, the camera body / handle can incorporate any known mechanism or component for illumination, energy / information transmission, articulation, and adjustment / strain relief mechanisms.

[0133] As Figure 11A and Figure 11B As shown, various embodiments of the robotic device 340 can include a removable nest 346 that is removably coupled to the proximal end of the device body 342 (as best shown in FIG. 34), and is designed to receive an insertable camera assembly 344 (including, for example, any camera embodiment disclosed or envisioned herein), and to couple or lock the device 340 and camera 344 together, as shown in FIG. 35. Figure 11A As shown, various embodiments of the robotic device 340 can include a removable nest 346 that is removably coupled to the proximal end of the device body 342 (as best shown in FIG. 34), and is designed to receive an insertable camera assembly 344 (including, for example, any camera embodiment disclosed or envisioned herein), and to couple or lock the device 340 and camera 344 together, as shown in FIG. 35. Figure 13As shown. That is, as shown in the figure, nesting 346 is a coupling component or port that can be coupled to device 340 and camera 344, such that when the three components 342, 344, and 346 are coupled together (e.g. Figure 11B and Figure 13 (As best shown), a nest 346 is disposed between the device body 342 and the camera 344. In this embodiment, the nest 346 is removably attached to the proximal portion of the elongated body 342, such as... Figure 11A As shown in the best example, and can be released from it via nested release button 348, as... Figure 11B The optimal arrangement is shown (where one of the two buttons 348 is visible, while the other button is positioned on the opposite side of the nested 346). The release button 348 will be discussed in further detail below. Furthermore, as... Figure 11B As best shown, the nest 346 has a proximal opening 350, also referred to as a camera receiving opening 350 for receiving a camera (such as camera 344), such that camera 344 is mechanically coupled or engaged with the nest 346 in the opening 350. In this embodiment, the lip 352 of the opening 350 includes a slot 354, which is a rotational registration feature 354 that engages with a matching feature (in this case, a protrusion) on camera 344 to ensure that camera 344 will fully engage with nest 346 only in one particular direction. Furthermore, nest 346 also has a sealing package 356 disposed therein, which helps ensure that the blowing pressure in the patient target cavity does not leak through the camera cavity (not shown) in the device body 342, regardless of whether camera 344 is disposed in the cavity. Additionally, as shown, nest 346 has a camera lock / release button 358. The sealing package 356 and button 358 will be discussed in further detail below.

[0134] Figure 12A and Figure 12B An embodiment of sealed packaging 356 is depicted. For example... Figure 12A As best shown, the sealed package 356 is disposed in the nest 346, such that the sealed package 356 is positioned in the nest 346 and thus disposed in and coupled to the device body 342 (e.g., Figure 13 When a camera (such as camera 344) is received (as shown in the diagram), the sealed package 356 is any structure in which at least one seal is provided for establishing a fluid seal in the presence or absence of a camera. In various embodiments, structure 356 may have one seal, two seals, three seals, or any number of seals as needed to maintain the fluid seal described herein. Figure 12BAs best shown, the sealed package 356 in this example embodiment has two seals: a first seal 358 and a second seal 360. In the illustrated embodiment, the first seal 358 is disposed above the second seal 360. Alternatively, the second seal 360 can be disposed above the first seal 358.

[0135] As Figure 12B As best shown, the first seal 358 is configured to receive the camera 344 and maintain a fluid seal between the camera 344 and the seal 358. In the illustrated example embodiment, the seal 358 is a circular seal having a tensioned seal wall 362 with an opening 364 defined therein. The diameter of the opening 364 is less than the outer diameter of the camera 344 that will be positioned therethrough. When the camera 344 is disposed through the opening 364 in the first seal 358 (e.g., as shown), the wall 362 is pushed away from the center of the seal 358 due to the smaller diameter of the opening 364, causing the tension in the wall 362 to increase. In this way, the tension in the wall 362 causes the wall 362 to be pushed toward the camera 344, thereby establishing a seal therebetween. Alternatively, the first seal 358 can be any seal that can receive a camera therethrough and establish a fluid seal between the seal and the camera. Figure 13 As best shown, the first seal 358 is configured to receive the camera 344 and maintain a fluid seal between the camera 344 and the seal 358. In the illustrated example embodiment, the seal 358 is a circular seal having a tensioned seal wall 362 with an opening 364 defined therein. The diameter of the opening 364 is less than the outer diameter of the camera 344 that will be positioned therethrough. When the camera 344 is disposed through the opening 364 in the first seal 358 (e.g., as shown), the wall 362 is pushed away from the center of the seal 358 due to the smaller diameter of the opening 364, causing the tension in the wall 362 to increase. In this way, the tension in the wall 362 causes the wall 362 to be pushed toward the camera 344, thereby establishing a seal therebetween. Alternatively, the first seal 358 can be any seal that can receive a camera therethrough and establish a fluid seal between the seal and the camera.

[0136] The second seal 360 is configured to maintain a fluid seal when the camera is not disposed through the sealed package 356. As shown, in this embodiment, the seal 360 is a circular seal having a hinged seal wall 366 that can be moved between an open position (when the camera is disposed therethrough) and a closed position (when the camera is not present) such that the closed wall 366 establishes a fluid seal. According to one implementation, the seal wall 366 is pushed closed by the higher gas pressure within the patient's target cavity, thereby reducing or preventing the leakage or loss of air pressure. Alternatively, the second seal 360 can be any seal that can receive a camera therethrough and establish a fluid seal when the camera is not present.

[0137] Continuing Figure 12B , the sealed structure 356 also has a frame 368 having a top frame structure 370 and a bottom frame structure 372 coupled to the top frame structure 370. As shown, both of the seals 358, 360 are disposed between the top frame structure 370 and the bottom frame structure 372. In one embodiment, the bottom frame structure 372 also has a third seal 374 disposed therein. More specifically, in this particular embodiment, the third seal 374 is an O-ring seal 374. Alternatively, the third seal 374 can be any known seal.

[0138] In use, the sealed package 356 allows the camera 344 to be inserted or removed at any time, including during surgery, without the risk of loss of insufflation. That is, when the camera 344 is present, as shown, the first seal 358 maintains a fluid seal, while when the camera 344 is not present, the second seal 360 maintains a fluid seal. Figure 13

[0139] It should be appreciated that the sealed structure 346 embodiments disclosed or contemplated herein can be incorporated into any of the nesting embodiments disclosed or contemplated herein. Moreover, it should also be appreciated that any other known sealing mechanism or structure can be used to establish a fluid seal in any of the nesting embodiments to receive any of the camera embodiments herein.

[0140] Returning to the nesting 346 being coupled to the proximal end of the device body 342, Figure 14A depictions of two hinged latches 380A, 380B disposed within the nesting 346, such that the latches 380A, 380B can be used to couple the nesting 346 to the device body 342, and Figure 14B depictions of an enlarged view of one of these latches 380B. The latches 380A, 380B are coupling mechanisms that can be used to couple and decouple the nesting 346 to the proximal end of the device body 342. While Figure 14B depictions of the hinged latch 380B are merely for a more detailed description of the latch 380B, it should be appreciated that the other hinged latch 380A has substantially the same or similar components. The latch 380B has a proximal end 382 that is hingedly coupled to or cantilevered from the interior of the nesting 346, such that a distal end 384 of the latch 380B is movable relative to the nesting 346. Further, each latch 380A, 380B is hinged in such a way that the latches 380A, 380B are tensioned, such that when the latches 380A, 380B are pushed radially inwards, a force is applied to the latches 380A, 380B, such that the force is directed to push them back to their natural state (and thus a force is applied such that the latches 380A, 380B are pushed radially outwards). Moreover, the latch button 348 discussed above with respect to Figure 11B the latch 380B has a distal end at which the latch button 348 is disposed, the latch button 348 being coupled to the latch body 386 via an arm 388, such that the button 348 is disposed at a distance from the latch body 386. The arm 388 has several structural features that facilitate the interaction and coupling / decoupling of the latch 380B relative to the device body 342. That is, the arm 388 includes a protrusion or protruding body 390 that has a ramped surface 392 on a side of the protrusion 390 and a nesting latch surface 394 on a top of the protrusion 390. Further, a side of the arm 388 is a guide surface 396. The functions of these surfaces will be explained in detail below. ​

[0141] Figure 15A and Figure 15B The nesting 346 is shown coupled to the proximal end of the device body 342. More specifically, Figure 15A The nesting 346 is depicted positioned very close to the proximal end of the body 342, whereas Figure 15B The nesting 346 is depicted coupled to the proximal end of the body 342. The proximal end of the device body 342 has a male connector 400 disposed on the proximal end of the body 342, which is configured to couple with the nesting 346 such that when the nesting 346 is coupled to the male connector 400, the nesting 346 is disposed over the male connector.

[0142] Figure 16A-17B The operation of the articulating latches 380A, 380B to couple the nesting 346 to the device body 342 is depicted. As Figure 16A and Figure 16B Best shown, the male connector 400 has a V-shaped receiving slot 402 defined on either side thereof, only one of which is depicted in the figure. The slot 402 is disposed on opposite sides of the connector 400 and is aligned to receive both articulating latches 380A, 380B. Further, as Figure 16A and Figure 16B shown, the slot 402 (and the un-depicted slot on the opposite side of the connector 400) communicates with a tab-receiving opening 404, which is also defined in the side of the connector 400. Again, the connector has two such tab-receiving openings, one such opening 404 is depicted, and the other opening is positioned on the opposite side of the connector 400, but is not depicted in the figure.

[0143] Thus, when the nesting 346 is pushed down towards the male connector 400, the latches 380A, 380B align with the V-shaped slot (including the slot 402), as Figure 16A best shown, such that the leading surface 396 of the arm 388 also aligns. When the distal end 384 of the latches 380A, 380B approaches and contacts the connector 400 (as Figure 17A best shown), the arm 388 aligns with the V-shaped slot 402, and the inclined surface 392 contacts the inner wall 408 of the connector 400. Thus, as the nesting 346 is pushed further down, the V-shaped slot 402 helps guide the arm 388 of the latches 380A, 380B, and the inclined surface 392 contacting the inner wall 408 causes the distal end of the latches 380A, 380B to be pushed radially inward, as Figure 17Athe latch 380A, 380B is positioned parallel to the projection-receiving opening 404, such that the tensioning properties of the latch 380A, 380B cause the latch 380A, 380B to be pushed radially outward, such that the projection 390 is pushed into the opening 404. That is, the distal end of the latch 380A, 380B and the button 348 thereon are pushed radially outward, as Figure 17B indicated by arrow G in FIG. 6. At this point, the nest latch surface 394 is disposed in contact with the upper wall 406 of the opening 404, thereby holding the latch 380A, 380B in place.

[0144] When the nest 346 is coupled to the device body 342 as described herein, the latch 380A, 380B releasably locks to the male connector 400 as described above. Thus, in order to remove the nest 346, a user must reverse the above-described process by pressing the two buttons 348 on the latch 380A, 380B, thereby pushing the distal end of the latch 380A, 380B radially inward, such that the nest latch surface 394 is no longer in contact with the upper wall 406. In this way, once the buttons 348 are pressed far enough, the latch 380A, 380B releases, and the nest 346 can be pushed proximally away from the proximal end of the device body 342, thereby removing the nest from the device 340.

[0145] It should be appreciated that the latch 380A, 380B embodiments disclosed or contemplated herein can be incorporated into any of the nest embodiments disclosed or contemplated herein, and can be used to couple to any of the device bodies disclosed or contemplated herein. Furthermore, it should also be appreciated that any of the nest embodiments herein can be removably coupled to any of the device bodies herein using any other known attachment mechanism.

[0146] As Figure 18 indicated in FIG. 7, according to one embodiment, once the nest 346 is coupled to the device body 342 as described above, the nest 346 can have a camera coupling mechanism (or “latch mechanism”) 420 that can be used to couple a camera, such as the camera 344, to the nest 346, and thereby to the device 340. Furthermore, the mechanism 420 can also be used to release or decouple the camera 344 from the device body 342. Furthermore, the mechanism 420 can also have a presence detection mechanism 422 coupled thereto that can operate in conjunction with the latch mechanism 420 to detect the presence or absence of the camera 344. Both the camera coupling mechanism 420 and the presence detection mechanism 422 will be described in further detail below.

[0147] Continuing Figure 18As shown in the figure, the camera latching mechanism 420 has a slidable latch body 424 defining a camera receiving opening 426. The camera receiving opening 426 is positioned above the camera cavity 432 within the sealed package 356. Further, as shown in the figure, the coupling mechanism 420 also has a latch button 428 attached to one side of the body 424, and a tension spring 430 attached to the body 424 on the side opposite to the button 428. The tension spring 430 is configured to push the latch body 424 away from the spring 430 as indicated by arrow H, such that the opening 426 is not aligned with the camera cavity 432 within the sealed package 356.

[0148] According to one embodiment, the following will now be discussed... Figure 19A-19C Describes the insertion of camera 150 into nest 346 (and thus into device 340) and the resulting interaction with camera latching mechanism 420. (As follows) Figure 19A As shown, when the shaft 154 of a camera (such as camera 150) is inserted into the nest 346, the tension spring 430 continues to push the mechanism 420 toward the button in the direction indicated by arrow I before the distal end of the handle 152 reaches the latching mechanism 420. Figure 19B As shown, when the camera 150 is pushed distally into the nest 346, causing the nose cone tip 192 to be pushed through the opening 426 in the latch body 424, the tip 192 contacts the body 424 and pushes the body 424 back toward the tension spring 430, as indicated by arrow J. This allows the tip 192 to pass through the opening 426 in the latch body 424. Figure 19C As shown, once the tip 192 passes through the opening 426, the latch receiving slot 194 is positioned within the opening 426. This releases the force applied by the tip 192 and allows the force of the tension spring 430 to push the latch body 424 away from the spring 430 again, as indicated again by arrow I. This pushes the latch body 424 into the slot 294 in the camera 150, thereby coupling the latch mechanism 420 and the camera 150 so that the camera 150 is locked in place in the nest 346, and thus in place in the elongated body 342. When it is desired to remove the camera 150, the user can press the button 428, which pushes the latch mechanism 420 against the latch spring, thereby pushing the latch body 424 out of the slot 194. This releases the camera 150, allowing the user to remove it proximally from the nest 346 and the device body 342.

[0149] It should be appreciated that the camera coupling mechanism 420 embodiments disclosed or contemplated herein can be incorporated into any of the nest embodiments disclosed or contemplated herein and can be used to couple to any of the camera embodiments disclosed or contemplated herein. Further, it should also be appreciated that any other known camera coupling mechanism can be used to removably couple any of the camera embodiments herein to any of the device bodies herein.

[0150] As noted above, according to one embodiment, the nest 346 also has a presence detection mechanism 422, which will now be described with respect to Figure 20-22 BThe mechanism is described in detail. The mechanism 422 includes a lever 440 that is pivotally coupled to the latch body 424 at a pivot point 442, as Figure 21 best shown. As shown, the lever 440 has a contact pad 444 at one end of the lever 440 and a magnet 446 at an opposite end of the lever 440. In addition, the detection mechanism 422 also includes a tension spring 448 that is in contact with the lever 440 at a point along the lever identified by arrow K, as Figure 20 and Figure 21 best shown, such that the tension spring 448 pushes the lever 440 to rotate clockwise about the pivot point 442, as Figure 21 shown. Further, the detection mechanism 422 includes a sensor 450 disposed in the proximal end of the device body 342, such that the magnet 446 on the lever 440 is configured to interact with the sensor 450, as described in further detail below.

[0151] According to one embodiment, the presence detection mechanism 422 can detect three different configurations: (1) the presence of a fully installed camera, such as the camera 150, (2) that the nest 346 is properly coupled to the device body 342, and (3) that the user has actuated the camera release button 428. Each of these will be described in turn below.

[0152] Figure 21 The presence detection mechanism 422 is depicted when the camera 150 has not been properly coupled to the nest 346 and the device body 342. Since the camera body 152 is not positioned adjacent to and in contact with the contact pad 444, the force exerted by the tension spring 448 pushes a portion of the lever 440 forward, which pushes the magnet 446 away from the sensor 450. The gap between the magnet 446 and the sensor 450 causes the sensor 450 to indicate that the magnet 446 is not in contact with the sensor 450, thereby indicating that the camera 150 is not properly coupled to the device body 342.

[0153] Figure 22The presence detection mechanism 422 is depicted when the camera 150 is properly coupled to the nest 346 and the device body 342. The camera body 152 is positioned in contact with the contact pad 444, which pushes the contact pad 444 radially outward and thus the portion of the rod 440 above the pivot point 442 radially outward, as indicated by arrow L. As a result, the magnet 446 is pushed into contact with the sensor 450, such that the sensor 450 indicates the presence of the magnet 446, and thus the proper coupling of the camera 150 to the device body 342. Further, this position of the rod 440 and the contact of the magnet 446 with the sensor 450 also indicates the proper coupling of the nest 346 to the device body 342.

[0154] Figure 23 The presence detection mechanism 422 is depicted when the user presses the camera latch button 428 as indicated by arrow M. Assuming the rod 440 is pivotally coupled to the latch body 424 at the pivot point 442, the pressing of the latch button 428 causes the pivot point 442 to move away from the button 428 (in the direction of arrow M). The movement of the pivot point 442 in combination with the force exerted by the tension spring 448 causes the portion of the rod 440 below the pivot point 442 to move radially outward, pushing the magnet 446 away from the sensor 450. The gap between the magnet 446 and the sensor 450 causes the sensor 450 to indicate that the magnet 446 is not in contact with the sensor 450, and thus that the button 428 has been pressed. This indication of the pressing of the button 428 is a precursor to the removal of the camera. Thus, in certain embodiments, the entire system can use this information to straighten the camera tip (to make the tip coaxial with the camera shaft), such that it can be more easily removed, or take any other similar step.

[0155] Alternatively, the magnet 446 need not be a magnet. Rather, the component of the end of the rod 440 can be any sensor component or sensor detectable component that can interact with the sensor 450 to indicate whether the end of the rod 440 is in contact with (or very close to) the sensor 450 or not close to the sensor 450. For example, the component 446 and the sensor 450 can both be sensors that can sense the presence of the other sensor. Alternatively, the component 446 and the sensor 450 can be any type of mechanism that provides for sensing the presence or absence of the end of the rod 440.

[0156] It should be appreciated that the presence detection mechanism embodiments disclosed or contemplated herein can be incorporated into any of the nest embodiments disclosed or contemplated herein. Further, it should also be appreciated that any other known presence detection mechanism can be used in any of the nest embodiments herein to detect the presence of any of the camera embodiments herein.

[0157] It should be understood that the various nested embodiments disclosed or contemplated herein are not limited to particular coupling and decoupling mechanisms, sensors, etc. as described above with respect to the exemplary nested embodiments described herein. It should be understood that other known mechanisms or components that can achieve the same result can be incorporated herein.

[0158] In one embodiment, the various device embodiments herein can have fluid seals at all possible fluid entry points in the device, thereby reducing or eliminating the risk of fluid entering any internal areas or components of the device. For example, in one embodiment, each of the robotic arms in the device can have a fluid seal disposed at a particular location within the arm to reduce or prevent fluid from entering the interior of the arm. In addition, as discussed above, the arms can also have a flexible protective sleeve disposed about the arm. The sleeve is attached at one end to the distal end of the elongate device body and at the other end to the distal end of the forearm of each arm.

[0159] According to one embodiment, in Figure 23 and Figure 24 One exemplary forearm 460 with appropriate fluid seals is depicted. As Figure 23 best shown, the forearm 460 has a tool lumen 462 defined therein with a tool driver 464 disposed at the proximal end of the lumen 462. Further, the forearm 460 has a protective sleeve 472 disposed about the forearm body 470 and fluid seals at both ends of the lumen 462: a proximal seal 468 at the proximal end and a seal arrangement at the distal end. As Figure 24 best shown, the seal arrangement at the distal end of the forearm 460 includes a seal 476 (which can be a compression ring 476) that engages and holds the protective sleeve 472 in place about the opening of the tool lumen 462. The seal 476 can be molded into the protective sleeve 472 or, alternatively, can be a separate component. Further, the distal seal arrangement also includes a threaded seal retainer 478 that is threadably coupled into the lumen opening of the forearm body 470. This retainer 478 compresses the seal 476 and the protective sleeve 472, thereby creating a fluid seal between the protective sleeve 472 and the threaded seal retainer 478. In certain embodiments, the threaded seal retainer 478 is removable, thereby allowing the protective sleeve 472 to be removed and replaced if necessary. Further, the distal seal arrangement includes an annular seal 466 that can be positioned to create a seal between the threaded seal retainer 478 and the tool lumen 462 while still allowing relative rotation between the tool lumen 462 and the forearm body 470. Finally, as shown, a tool bayonet 480 is positioned over the seal assembly. The bayonet 480 is configured to receive and couple to any interchangeable end effector (not shown) that is inserted into the tool lumen 462. It should be understood that the bayonet interface 480 can be used to allow only certain end effectors to be inserted into the forearm 460.

[0160] The fluid seals 466, 468 establish a fluid seal between the tool lumen 462 and the interior region and components of the forearm body 470. More specifically, each fluid seal 466, 468 prevents fluid ingress while still allowing the tool lumen body 474 to rotate relative to the forearm body 470. As noted above, the distal seal 466 establishes a fluid seal between the tool lumen 462 and the protective sleeve 472, while the proximal seal 468 establishes a fluid seal between the tool lumen 462 and the interior of the body 470, thereby preventing fluid that enters the lumen 462 from entering the interior of the body 470. In this way, the two seals 466, 468, in combination with the protective sleeve 472 and the remainder of the distal seal assembly discussed above, prevent fluid ingress into the forearm body 470, even if an end effector (not shown) is not present in the tool lumen 462.

[0161] As Figure 25 shown, a fluid seal is also established at the shoulder joint 500 between the device body 502 and the upper arm 504. As noted above, the protective sleeve 472 is disposed about the upper arm 504 and extends through the shoulder joint 500 to the elongate body 502. In the one embodiment shown, the sleeve 472 is mechanically retained against the elongate body 502 by a retaining band 506 that is disposed about the sleeve 472 at a groove 508 formed in the body 502, such that the band 506 pulls the sleeve 472 into the groove 508. In addition, according to certain implementations, the sleeve 472 can have two seals 510 molded or otherwise formed in the sleeve 472 itself, as shown. These bands 510 extend around the outer circumference of the sleeve 472 and function similarly to two O-rings by establishing a redundant compression seal between the sleeve 472 (at the bands 510) and the robotic assembly. A camera lumen 512 in the device body 502 extends past and adjacent to the sleeve 472, such that it allows a camera (not shown) to be positioned therethrough and past the protective sleeve 472 and to extend unimpeded at the front of the body 502.

[0162] As Figure 26As shown, fluid seals are also established via several seals at the proximal end of the elongated device body 502 to prevent fluid ingress. First, the body housing 520 is coupled to the recess ring body 522 by a seal 524, such as for example, an O-ring 524, to establish a fluid seal between the housing 520 and the recess ring body 522. Further, a fluid seal is established between the recess ring body 522 and the light ring 526 with another seal 528, such as for example, an O-ring seal 528. Finally, a fluid seal is established between the light ring 526 and the male connector 530 with another seal 532, such as for example, an O-ring seal 532. In certain embodiments, a seal 534 can also be present where the cable 536 enters the elongated body 502, and a seal 538 can also be present where the elongated body is pierced by the camera lumen 512.

[0163] It should be appreciated that the fluid seals disclosed or contemplated herein can be incorporated into any of the device embodiments disclosed or contemplated herein. Further, it should also be appreciated that any other known sealing mechanism can be used and positioned in any known manner to establish a fluid seal of any of the device embodiments herein.

[0164] While various applications have been described with reference to the preferred embodiments, one skilled in the art will recognize that changes can be made in form and detail without departing from the spirit and the intended scope of the applications.

Claims

1. A robotic surgical system comprising: (a) a robotic surgical device comprising: (i) an elongate device body comprising a distal end and a proximal end; (ii) a removable connection port disposed at the proximal end of the elongate device body, the connection port comprising: (A) an elongate device body receiving opening defined at a distal end of the connection port, the elongate device body receiving opening comprising an elongate device body coupling mechanism disposed within the connection port, the elongate device body coupling mechanism comprising a first articulating coupling mechanism and a second articulating coupling mechanism articulately coupled to the connection port, each of the first articulating coupling mechanism and the second articulating coupling mechanism comprising at least one coupling feature configured to be couplable with a matching coupling feature disposed on the proximal end of the elongate device body; (B) a camera receiving opening defined in a proximal end of the connection port; (C) a sealed package disposed in the removable connection port, the sealed package comprising at least two seals; and (D) a camera coupling mechanism disposed within the removable connection port; and (iii) a first robotic arm and a second robotic arm operably coupled to the distal end of the elongate device body; and (b) a removable camera component removably disposed in the camera receiving opening and through the sealed package, the removable camera component comprising a camera body, an elongate camera shaft, a flexible portion, and a distal imager; and (c) a presence detection mechanism comprising: (i) a rotatable lever operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable lever rotates about the pivot point; (ii) a first sensing component disposed on the rotatable lever; and (iii) a second sensing component disposed on the elongate device body, wherein the second sensing component is configured to sense a presence or an absence of the first sensing component.

2. The robotic surgical system of claim 1, wherein each of the first articulating coupling mechanism and the second articulating coupling mechanism comprises: (a) a coupling mechanism body; (b) a tension hinge located at a proximal end of the coupling mechanism body, wherein the tension hinge is articulately coupled to the connection port; and (c) a couplable structure located at a distal end of the coupling mechanism body, wherein the couplable structure comprises the at least one coupling feature configured to be couplable with the matching coupling feature on the proximal end of the elongate device body, and wherein the couplable structure further comprises an actuable button.

3. The robotic surgical system of claim 1, wherein the elongate device body comprises a male connector disposed at a proximal end of the elongate device body, wherein the male connector is couplable with the connection port.

4. The robotic surgical system of claim 1, wherein the camera coupling mechanism comprises: (a) a slidable body disposed within the connection port; (b) a camera receiving opening defined within the slidable body; (c) an actuable camera release button attached to a first end of the slidable body; and (d) a camera release button actuation mechanism disposed within the slidable body. ​ (d) a tension spring operably coupled to a second end of the slidable body.

5. The robotic surgical system of claim 4, wherein the slidable body is slidable along a plane transverse to a longitudinal axis of the elongate device body.

6. The robotic surgical system of claim 1, wherein the first sensing component is a magnet.

7. The robotic surgical system of claim 1, wherein the camera body is coupled to a proximal end of the elongate camera shaft, the camera body comprising: (i) a distal end configured to be positionable within the removable connection port, the distal end comprising: (A) a distal nosecone disposed about the elongate camera shaft; and (B) a coupling mechanism receiving slot defined proximal to the distal nosecone; and (ii) at least one actuation mechanism disposed within the camera body, the at least one actuation mechanism comprising: (A) a rotatable shaft; (B) a first drive carriage threadably coupled to the rotatable shaft; and (C) a second drive carriage threadably coupled to the rotatable shaft.

8. The robotic surgical system of claim 7, wherein the camera body further comprises: (a) a housing; and (b) a cylindrical heat sink structure, wherein the cylindrical heat sink structure is disposed within the housing.

9. A removable connection port for a robotic surgical device, the port comprising: (a) a connection port body; (b) a distal opening defined at a distal end of the connection port body, wherein the distal opening is sized and shaped to receive a proximal end of a device body; (c) a proximal opening defined at a proximal end of the connection port body, wherein the proximal opening is sized and shaped to receive a camera assembly; (d) a sealed package disposed in the connection port body, the sealed package comprising at least two seals configured to receive a shaft of a camera assembly; (e) a device body coupling mechanism disposed within the connection port body, the device body coupling mechanism comprising a first articulation coupling mechanism and a second articulation coupling mechanism articulately coupled to the connection port body; and (f) a camera coupling mechanism disposed within the connection port body, the camera coupling mechanism comprising: (i) a slidable body disposed within the connection port body; and (ii) a camera receiving opening defined within the slidable body; and (g) a presence detection mechanism comprising: (i) a rotatable rod operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable rod rotates about the pivot point; and (ii) a first sensing component disposed on the rotatable rod, wherein the first sensing component is configured to interact with a second sensing component disposed on the device body when the removable connection port is coupled to the device body.

10. The removable connection port of claim 9, wherein each of the first articulation coupling mechanism and the second articulation coupling mechanism comprises: (a) a coupling mechanism body; (b) a tension hinge located at a proximal end of the coupling mechanism body, wherein the tension hinge is hingedly coupled to the connection port body; and (c) a couplable structure located at a distal end of the coupling mechanism, wherein the couplable structure includes at least one coupling feature and an actuatable button, the coupling feature configured to be couplable with a matching coupling feature on the proximal end of the device body.

11. The removable connection port of claim 9, wherein the distal opening is sized and shaped to receive a male connector disposed at the proximal end of the device body.

12. The removable connection port of claim 9, wherein the camera coupling mechanism further comprises: (a) an actuatable camera release button attached to a first end of the slidable body; and (b) a tension spring operably coupled to a second end of the slidable body.

13. The removable connection port of claim 9, wherein the slidable body is slidable along a plane transverse to a longitudinal axis of an internal cavity of the sealed package.

14. The removable connection port of claim 9, wherein the first sensing component is a magnet.

15. A robotic surgical system comprising: (a) a robotic surgical device comprising: (i) a device body comprising a distal end and a proximal end; (ii) a removable connection port disposed at the proximal end of the device body, the connection port comprising: (A) a device body coupling mechanism disposed within the connection port, the device body coupling mechanism comprising a first hingedly coupled coupling mechanism and a second hingedly coupled coupling mechanism hingedly coupled to the connection port; (B) a camera receiving opening defined in a proximal end of the connection port; (C) a sealed package disposed in the removable connection port, the sealed package comprising at least two seals; (D) a camera coupling mechanism disposed within the removable connection port, the camera coupling mechanism comprising: (1) a slidable body slidably disposed within the connection port; (2) a camera receiving opening defined within the slidable body; (3) an actuatable camera release button attached to a first end of the slidable body; and (4) a tension spring operably coupled to a second end of the slidable body; and (E) a presence detection mechanism operably coupled to the camera coupling mechanism, the presence detection mechanism comprising: (1) a rotatable lever operably coupled to the camera coupling mechanism at a pivot point, wherein the rotatable lever rotates about the pivot point; (2) a first sensing component disposed on the rotatable lever; and (3) a second sensing component disposed on the device body, wherein the second sensing component is configured to sense a presence or absence of the first sensing component; and (iii) a first robotic arm and a second robotic arm operably coupled to the distal end of the device body; and iv) a control system operably coupled to the robotic surgical device, the control system comprising: (b) a removable camera component removably disposed in the camera receiving opening and through the sealed package, the removable camera component including a camera body, an elongate camera shaft, a flexible portion, and a distal imager.

16. The robotic surgical system of claim 15, wherein each of the first and second articulating coupling mechanisms comprises: (a) a coupling mechanism body; (b) a tensioning hinge at a proximal end of the coupling mechanism body, wherein the tensioning hinge articulates to the connection port; and (c) a couplable structure at a distal end of the coupling mechanism, wherein the couplable structure includes at least one coupling feature configured to couple with a matching coupling feature on the proximal end of the device body and an actuatable button.

17. The robotic surgical system of claim 15, wherein the slidable body is slidable along a plane transverse to a longitudinal axis of an internal lumen defined by the at least two seals in the sealed package.

Images