Improved coarse positioning device and related system and method

Abstract

Disclosed herein is a coarse positioning system for use with a robotic surgical device to provide coarse positioning of the robotic surgical device. The coarse positioning system has a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling member slidably coupled to the third arm link.

Description

[0001] This application is a divisional application of Chinese invention patent application No. 201780082263.3, whose application date is November 22, 2017 and whose invention name is “Improved coarse positioning device and related systems and methods”.

[0002] Government support

[0003] This invention was made with government support under Grant No. W81XWH-14-1-0058 awarded by the U.S. Department of Defense. The government has certain rights in this invention.

[0004] CROSS-REFERENCE TO RELATED APPLICATIONS

[0005] This application claims the benefit of U.S. Provisional Application No. 62 / 425,149, filed on November 22, 2016, entitled “COARSE POSITIONING APPARATUS AND RELATED SYSTEMS AND METHODS,” under 35 U.S.C. §119(e), the entire contents of which are incorporated herein by reference. Technical Field

[0006] Various embodiments herein relate to robotic surgical devices, and more particularly to coarse positioning systems and devices that facilitate coarse repositioning of surgical devices during surgical procedures. The combination of a coarse positioning system with an intracorporeal surgical device increases the degree of freedom of the intracorporeal device without increasing the size of the device. Background Art

[0007] Currently known positioning systems for robotic surgery are large and bulky. For example, the Da Vinci SPSurgical System TM Taking up a large portion of the operating room and creating a crowded space at the surgical site, the system created by Waseda University has a bulky motor housing that creates a larger profile than necessary. TM It does this by inserting a single tool to mimic current laparoscopic techniques (unlike the intracorporeal robotic systems used in the other two systems discussed above).

[0008] Figure 1A and Figure 1B Depicted is a known general purpose spherical mechanism 10 and the workspace 16 necessary for the mechanism to reach the patient's abdominal cavity. A "spherical mechanism" is a physical mechanism or software application that can move all end effectors to pass through a single point, allowing the surgical system to use long, rigid tools that operate through an incision that serves as a single pivot point. For example, COBRASurge and Raven both have mechanical spherical mechanisms, while Da Vinci has a software-based spherical mechanism.

[0009] This kind of Figure 1A and Figure 1B The known mechanism shown has a cable driven tool coupled thereto. The link angles 12, 14 in the device 10 have been optimized in the BioRobotics Laboratory at the University of Washington to create Figure 1B Depicted working space 16. The working space 16 is an elliptical cone of 90° in the transverse direction and 60° in the cranial to caudal direction, with a distal center 18 arranged at the base of the cone 16. The link angles 12, 14 can be varied for different working spaces.

[0010] There is a need in the art for an improved coarse positioning system. Summary of the invention

[0011] This article discusses various coarse positioning systems used with in vivo robotic surgical devices.

[0012] In Example 1, a coarse positioning system for use with a robotic surgical device includes: a base; a first arm link, the first arm link is operably coupled to the base at a first rotation joint; a second arm link, the second arm link is operably coupled to the first arm link at a second rotation joint; a third arm link, the third arm link is operably coupled to the second arm link; and a slidable coupling member, the slidable coupling member is slidably coupled to the third arm link, so that the slidable coupling member can move between an extended position and a retracted position along the length of the third arm link. The third arm link can rotate about a third rotation joint and is configured to be positionable through an incision of a patient. The slidable coupling member is configured to be coupled to the robotic surgical device.

[0013] Example 2 relates to the coarse positioning system according to Example 1, wherein the rotation axis of the first rotation joint, the rotation axis of the second rotation joint, and the rotation axis of the third rotation joint intersect at a single intersection point.

[0014] Example 3 relates to the coarse positioning system according to Example 2, wherein the single intersection point is a ball joint.

[0015] Example 4 relates to the coarse positioning system according to Example 2, wherein the single intersection point is arranged at a point along a portion of the robotic surgical device.

[0016] Example 5 relates to the coarse positioning system according to Example 2, wherein the coarse positioning system is positioned so that the single intersection point is arranged at an incision of the patient.

[0017] Example 6 relates to the coarse positioning system according to Example 5, wherein the third arm link is arranged through the single insertion point.

[0018] Example 7 relates to a coarse positioning system according to Example 2, wherein the single intersection point is arranged at an insertion point of the patient.

[0019] Example 8 relates to the coarse positioning system according to Example 7, wherein the insertion point comprises an incision or a natural orifice.

[0020] Example 9 relates to the coarse positioning system according to Example 7, wherein the third arm link is arranged through the single intersection.

[0021] Example 10 relates to a coarse positioning system according to Example 1, wherein the robotic surgical device includes at least one arm, and wherein the coarse positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of a patient.

[0022] Example 11 relates to the coarse positioning system according to Example 10, further comprising a controller operably coupled to the coarse positioning system and the robotic surgical device.

[0023] In Example 12, a coarse positioning system for use with a robotic surgical device includes: a base; a first arm link, the first arm link is operably coupled to the base at a first rotation joint; a second arm link, the second arm link is operably coupled to the first arm link at a second rotation joint; a third arm link, the third arm link is operably coupled to the second arm link at a third rotation joint; a slidable coupling member, the slidable coupling member is slidably coupled to the third arm link, so that the slidable coupling member can move between an extended position and a retracted position along the length of the third arm link; and a robotic surgical device, the robotic surgical device operably coupled to the slidable coupling member. The robotic surgical device includes: a device body; a first arm, the first arm is operably coupled to the device body; and a second arm, the second arm is operably coupled to the device body. The first arm includes at least one first actuator, and the second arm includes at least one second actuator.

[0024] Example 13 relates to the coarse positioning system according to Example 12, wherein the rotation axis of the first rotational joint, the rotation axis of the second rotational joint, and the rotation axis of the third rotational joint intersect at a single intersection point.

[0025] Example 14 relates to the coarse positioning system according to Example 12, wherein the third arm link is arranged through the single intersection and is further configured to be positionable through the patient's insertion point.

[0026] In Example 15, an external coarse positioning system for use with an internal robotic surgical device includes: a base; a first arm link, the first arm link is operably coupled to the base at a first rotation joint; a second arm link, the second arm link is operably coupled to the first arm link at a second rotation joint; a third arm link, the third arm link is operably coupled to the second arm link at a third rotation joint; a slidable coupling member, the slidable coupling member is slidably coupled to the third arm link so that the slidable coupling member can move between an extended position and a retracted position along the length of the third arm link; and a single intersection point located at the intersection of the rotation axis of the first rotation joint, the rotation axis of the second rotation joint, and the rotation axis of the third rotation joint. The slidable coupling member is configured to be coupled to the robotic surgical device. The single intersection point is arranged at the insertion point of the patient.

[0027] Example 16 relates to the coarse positioning system according to Example 15, wherein a portion of the third arm link is arranged through the single intersection.

[0028] Example 17 relates to the coarse positioning system according to Example 15, wherein a portion of the robotic surgical device is arranged through the single intersection.

[0029] Example 18 relates to the coarse positioning system according to Example 15, wherein the insertion point is an incision.

[0030] Example 19 relates to a coarse positioning system according to Example 15, wherein the robotic surgical device includes at least one arm, and wherein the coarse positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of a patient.

[0031] Example 20 relates to the coarse positioning system according to Example 19, further comprising a central processing unit operably coupled to the coarse positioning system and the robotic surgical device and a controller operably coupled to the central processing unit. The central processing unit comprises software configured to transmit control instructions to the coarse positioning system and the robotic surgical device.

[0032] In Example 21, a coarse positioning system for use with a robotic surgical device includes: a base; a first arm link, the first arm link is operably connected to the base at a first rotation joint; a second arm link, the second arm link is operably connected to the first arm link at a second rotation joint; a third arm link, the third arm link is operably connected to the second arm link at a third rotation joint; a slidable coupling member, the slidable coupling member is slidably connected to the third arm link; and a robotic surgical device, the robotic surgical device is operably connected to the slidable coupling member. In addition, the robotic surgical device includes: a device body; a first arm, the first arm is operably connected to the device body; and a second arm, the second arm is operably connected to the device body, the second arm includes at least one second actuator. In addition, the third arm link can be positioned through the patient's insertion point so that the robotic surgical device can be positioned within the patient's body cavity.

[0033] Example 22 is directed to the coarse positioning system according to Example 21, wherein the slidable coupling member is capable of sliding along the length of the third arm link between an extended position and a retracted position.

[0034] Example 23 relates to a coarse positioning system according to Example 21, wherein the rotation axis of the first rotary joint, the rotation axis of the second rotary joint and the rotation axis of the third rotary joint intersect at a single intersection, and the third arm link is arranged through the single intersection.

[0035] Although multiple embodiments are disclosed, other embodiments of the present invention will be apparent to those skilled in the art from the following detailed description which shows and describes illustrative embodiments of the present invention. As will be appreciated, the present invention is capable of modification in various obvious aspects, all without departing from the spirit and scope of the present invention. Therefore, the drawings and detailed description are to be regarded as illustrative rather than restrictive in nature. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1A is a perspective view of a known spherical mechanism.

[0037] Figure 1B yes Figure 1A Perspective view of the working space of the known spherical mechanism.

[0038] Figure 2A is a perspective view of a coarse positioning device coupled to an in-vivo robotic device disposed within a cavity of a patient, according to one embodiment.

[0039] Figure 2B yes Figure 2AAnother perspective view of a coarse positioning device and an in-vivo robotic device disposed within a cavity of a patient.

[0040] Figure 2C yes Figure 2A Another perspective view of a coarse positioning device and an in-vivo robotic device disposed within a cavity of a patient.

[0041] Figure 3 is an exploded perspective view of a coarse positioning device according to one embodiment.

[0042] Figure 4 yes Figure 3 An enlarged exploded perspective view of a first joint of the device.

[0043] Figure 5 yes Figure 3 An enlarged exploded perspective view of a second joint of the device.

[0044] Figure 6 yes Figure 3 An enlarged exploded perspective view of the third joint of the device.

[0045] Figure 7 yes Figure 3 An enlarged exploded perspective view of a coupling component of a device coupled to a robotic device.

[0046] Figure 8 is a side view of a coarse positioning device and the actual axis of rotation created at each joint according to one embodiment.

[0047] Fig. 9 is a coarse positioning device and consists of Figure 8 The actual rotation axis forms a perspective view of the global rotation axis.

[0048] Fig.10 is a schematic diagram of a control process for controlling a coarse positioning device according to an embodiment.

[0049] Fig.11 is a perspective view of a controller according to one embodiment.

[0050] Fig.12 is a perspective view of another controller according to yet another embodiment.

[0051] Fig.13A Depicted is a perspective view of an arm of a robotic device according to one embodiment.

[0052] Fig. 13B Depicted Fig.13A A perspective view of the arm of the robotic device.

[0053] Fig.14Ais a side view of a coarse positioning device coupled to an in-vivo robotic device disposed within a cavity of a patient according to one embodiment.

[0054] Fig. 14B is a coarse positioning device and Fig.14A Another side view of the intracorporeal robotic device deployed within a cavity of a patient. DETAILED DESCRIPTION

[0055] Various embodiments disclosed or contemplated herein relate to an improved coarse positioning device coupled to a dexterous in-vivo robotic device such that the coarse positioning device can be used for global orientation of the robotic device within a patient cavity, as described in further detail herein.

[0056] Various coarse positioning device embodiments disclosed or contemplated herein can be used to automatically coarsely position a surgical device within a patient's cavity. "Coarse positioning" as used herein is intended to refer to the approximate positioning of an entire movable surgical device (rather than the precise movement and placement of specific components of such a device, such as an arm or end effector). In known robotic surgical systems, coarse positioning of those devices during surgical procedures can be a challenging task. In addition, minimally invasive surgery (using either robotic or non-robotic systems) often requires surgical technicians to reposition surgical equipment (e.g., laparoscopes). Such coarse repositioning requires time and additional effort. Moreover, in some cases, the surgical technicians are junior medical students who have not received comprehensive training in laparoscopy. As a result, repositioning instructions from the surgeon often result in an obstructed and / or fogged view of the surgical site, requiring additional perceptual resources from the surgeon. Therefore, Da Systems and known single incision surgical devices often require timely manual repositioning of the patient, the robotic system, or both when performing complex surgeries.

[0057] Various coarse positioning devices contemplated herein facilitate coarse repositioning of a surgical device (e.g., including any surgical device having a device body or rod configured to be positioned through an incision and at least one robotic arm coupled to the device body and positioned entirely within a patient's cavity) throughout a surgical procedure without requiring additional intervention or manual repositioning by the surgical staff. Coarse positioning system embodiments are capable of controlling degrees of freedom, azimuth and pitch angles, as well as roll and translation about an insertion axis of a laparoscopic surgical tool (including a robotic laparoscopic surgical tool). As a result, coarse positioning device embodiments disclosed and contemplated herein are capable of coarsely positioning a surgical device through an incision into a patient's cavity (e.g., the abdominal cavity) with high operability, thereby reducing surgical time and stress on the surgical staff. The combination of an external coarse positioning system with an internal surgical device system will allow the degrees of freedom of the internal system to be effectively increased without increasing the size of the surgical robot / device.

[0058] In one embodiment, the various devices described and contemplated herein may be used with any single-site surgical device having a usable external positioning fixture (eg, a protrusion, a rod, or a magnetic handle).

[0059] Figure 2A-2C A coarse positioning device 20 is depicted with an in-vivo robotic device 22 coupled thereto. The three figures depict the device 20 with the robotic device 22 oriented at three different positions within a cavity 24 of a patient through an incision 26. The device 20 has a base (also referred to as a "body") 28, a first arm link (or "upper arm") 30, a second arm link (or "forearm") 32, and a third link (or "extension") 34. The extension 34 has a coupling member 36 that is directly coupled to a body 38 of the robotic device 22 such that the body 38 is disposed through the incision 26 providing access to the cavity 24 (or, more typically, through a port (not shown) disposed in the incision 26 providing access to the cavity 24).

[0060] As shown, the links 30, 32, 34 of the positioning device 20 (and any other positioning device embodiments disclosed or contemplated herein) allow the robotic device 22 to access the entire range of the working space within the cavity 24. That is, the positioning device 20 enables the robotic device 22 to be positioned within the cavity 24 of a patient, wherein the body 38 of the device 22 is positioned through the incision 26 (or a port disposed in the incision 26) so that the end effector 42 attached to the arm 40 of the robotic device 22 can reach any desired position in the working space within the cavity 24, while the links 30, 32, 34 of the positioning device 20 are used to form a "ball joint" 44 where the device body 38 passes through the incision 26 so that all movement of the robotic device 22 is through a single point. In other words, regardless of the positioning of the three links 30, 32, 34 and the resulting positioning of the robotic device 22 within the patient's cavity 24, the portion of the device body 38 located at the incision 26 (the ball joint 44) is maintained in the same position (through the incision 26) by the positioning device 20. This allows the operation of a robotic device (e.g., robotic device 22) within a cavity (e.g., cavity 24) so ​​that an end effector (e.g., end effector 42) can reach any desired position within the cavity, while the entire device 22 is connected to the positioning device 20 via the device body 38, which passes through a single point at the incision 26 (the ball joint 44) and never moves from the single point at the incision 26 (the ball joint 44), thereby allowing the device 22 to be operated and positioned through the single incision (e.g., incision 26). The formation of the ball joint 44 through the positioning device 20 will be described in more detail below. Another advantage is that the positioning device 20 allows a single in vivo robotic device to be used within a patient's cavity, rather than using the known Da Vinci TM The system has multiple arms that extend from the patient's cavity and thereby occupy a large amount of working space outside the patient's body.

[0061] Figure 3 An exploded view of the components of the coarse positioning device 20 is depicted. As will be described in further detail below, the device 20 has three degrees of freedom ("DOF") and those DOFs can be used to provide a robotic device 22 (preferably a Figure 2A-2C As described above, the device 20 has a base 28, a first arm link 30, a second arm link 32, a third link 34, and a connecting member 36. In this embodiment, the first arm link 30 has a cover 30A, and the second arm link 32 has a cover 32A. Alternatively, each of the links 30, 32 is a single integral component without a cover.

[0062] Best as Figure 3 and Figure 4 As shown, the first arm link 30 is rotatably coupled to the base 28 at a first joint 50. More specifically, the base 28 is formed by a bracket 52 configured to receive a first motor 54 and a bearing 56 rotatably coupled to the bracket 52, thereby forming the first joint 50. That is, the motor 54 is positioned in the openings 58A, 58B so that the motor 54 rotates within those openings 58A, 58B. The first link 30 is fixedly coupled to the first motor 54 so that actuation of the first motor 54 causes rotation of the motor 54 relative to the bracket 52, thereby causing the first link 30 to rotate about the first joint 50.

[0063] In one embodiment, the base 28 is configured to keep the entire device 20 stable and secure during use. As shown, the base 28 is a bracket 52 as described above. In alternative embodiments, the base 28 can be any structure that provides such stability, including, for example, a very heavy or weighted structure that uses weight to enhance stability. In certain embodiments, the base 28 can be stably connected to an operating table where a patient is placed. For example, the base 28 can be connected to a rail (not shown) on an operating table (not shown). In another alternative, the base 28 can be connected to any fixed object in an operating room. Alternatively, the base 28 can be connected to a cart or other mobile independent unit or be a component of a cart or other mobile independent unit.

[0064] Best as Figure 3 and Figure 5 As shown, the first arm link 30 and the second arm link 32 are rotatably coupled to each other at a second joint 60. More specifically, the joint 60 is constituted by a bracket 62 configured to receive a second motor 64 rotatably coupled to the bracket 62 and a bearing 66, thereby forming the second joint 60. That is, the motor 64 is located in the openings 68A, 68B so that the motor 64 rotates within those openings 68A, 68B. The first link 30 is fixedly coupled to the second motor 64, and the second link 32 is fixedly coupled to the bracket 62, so that actuation of the second motor 64 causes rotation of the motor 64 relative to the bracket 62, thereby causing the second link 32 to rotate about the joint 60 relative to the first link 30.

[0065] Best as Figure 3 and Figure 6As shown, the third link 34 is rotatably coupled to the second arm link 32 at a third joint 70. More specifically, the joint 70 is formed by a third motor 72, which is fixedly coupled to the second arm link 32 and rotatably coupled to the third link 34, so that actuation of the motor 72 causes rotation of the third link 34, thereby forming the third joint 70. Figure 3 and Figure 7 As shown, the third link 34 has a coupling member 36 at the distal end of the link 34 so that the robot device 74 can be coupled thereto. It should be understood that Figure 3 and Figure 7 The depicted object 74 is intended to represent an intracorporeal robotic device 74. In this particular example, only the rod or body 76 of the device 74 is shown, but no robotic arms or other components are shown. It should be understood that this particular body component 76 shown is merely used as a schematic diagram of the device 74, and is not a complete depiction of an actual robotic device (such as the device 22 discussed and depicted above) having a robotic arm. Thus, actuation of the third motor 72 causes rotation of the robotic device through rotation of the third link 34.

[0066] Alternatively, any joint configuration may be used in the various coarse positioning device embodiments so long as the links 30 , 32 , 34 may move relative to one another as described herein.

[0067] According to one embodiment, the coupling member 36 is slidably coupled to the third link 34 so that the coupling member 36 (and therefore the robotic device 74) can be positioned at any position along the longitudinal length of the third link 34. In this way, the robotic device 74 can be moved toward and away from the third joint 70 as needed to position the device 74 along the longitudinal axis of the third link 34. According to some embodiments, the coupling member 36 has a quick release handle 78 that can be actuated to secure or release the position of the coupling member 36 along the length of the third link 34. That is, the handle 78 can be actuated to move the coupling member 36 into an unsecured configuration so that the member 36 can slide along the length of the link 34. Once the coupling member 36 (and therefore the robotic device 74) is positioned at a desired point along the length of the link 34, the handle 78 can be moved to a secured position, thereby securing the coupling member 36 at that point so that the member 36 cannot slide. Thus, the coupling member 36 can move between the extended position and the retracted position and any position therebetween along the length of the third link 34. Alternatively, the third link 34 can have any known member or device that provides movement between the extended position and the retracted position.

[0068] Figure 8 The axes of rotation 90, 92, 94 created by the joints 50, 60, 70 are depicted, and further depicted is a linear platform D created by the coupling member 36 and the third link 34. That is, the rotation about the axis 90, as indicated by arrow A, is created by the rotation of the first joint 50. Additionally, the rotation about the axis 92, as indicated by arrow B, is created by the rotation of the second joint 60. Finally, the rotation about the axis 94, as indicated by arrow C, is created by the rotation of the third joint 70. Additionally, the linear movement, as indicated by arrow D, is created by the movement of the coupling member 36 along the third link 34. In one embodiment, the linear movement of the coupling member 36 is used at the surgeon's discretion to further position the robotic device 74 into a patient's cavity (not shown) or to move the robotic device closer to the joint 70. In one embodiment, the movement of the coupling member 36 relative to the third link 34 is performed manually (and requires actuation of the quick release lever 78 discussed above). Alternatively, the movement of the coupling member 36 may be motorized.

[0069] In one embodiment, the axis of rotation 90 at the rotating joint 50 is perpendicular to the axis of rotation 92 at the rotating joint 60 and the axis of rotation 94 at the joint 70. In other words, each axis 90, 92, 94 can be perpendicular to the other two axes. In some embodiments, the three axes 90, 92, 94 being perpendicular can simplify the control of the system 20 by having each axis 90, 92, 94 act on only a single degree of freedom. For example, when all three axes 90, 92, 94 are perpendicular, if the third link 34 rotates around the axis 94, the inclination of the in-vivo robotic device 74 does not change. Similarly, if the first link 30 rotates around the axis 90, only the inclination of the surgical device 74 from one side to the other is affected. Alternatively, two of the three axes 90, 92, 94 are perpendicular to each other. In another alternative, none of the axes 90, 92, 94 are perpendicular to each other.

[0070] Fig. 9 Shows Figure 8 How the three local rotation axes 90, 92, 94 of the body lead to the overall orientation of the robot 74 in the body. In other words, Figure 8 The actual axes of rotation 90, 92, 94 associated with each of the joints 50, 60, 70, respectively, are depicted. Fig. 9The global rotation axes 100, 102, 104 generated by the actual rotation axes 90, 92, 94 are depicted. That is, the global axes 100, 102, 104 are axes used to describe the actual or desired orientation of a robotic device, such as the device 74. Thus, the axes 90, 92, 94 generate the global axis 100 such that a rotation about the axis 100, as indicated by arrow D, is a "pitch" rotation of the device 74. Additionally, the axes 90, 92, 94 generate the global axis 102 such that a rotation about the axis 102, as indicated by arrow E, is a "roll" rotation of the device 74. Additionally, the axes 90, 92, 94 generate the global axis 104 such that a rotation about the axis 104, as indicated by arrow F, is a "yaw" rotation of the device 74. Thus, according to certain embodiments, the desired overall orientation of the device 74 may be controlled by the axes 90, 92, 94. For example, if it is desired that the pitch of the device 74 be 90 degrees, then the local axes 90, 92, 94 may be rotated to a certain solved value as needed so that the robotic device 74 has a pitch of 90 degrees.

[0071] In one embodiment, it is best to Figure 8 As shown, the three axes 90, 92, 94 intersect at an intersection 100 (also referred to as a "ball joint" 100 as described above). Regardless of the positioning of the arm links 30, 32, 34, the intersection 100 remains fixed in the same position and can be used as an insertion point during a surgical procedure. That is, the coarse positioning system 20 can be positioned so that the intersection 100 is positioned at the incision of the patient through which the robotic device 74 is positioned.

[0072] In one embodiment, the intersection 100 allows the system 20 to function in a similar manner to a spherical mechanism as described above. Figure 8 In the illustrated device 20, the configuration of the device 20 creates the ball joint 100 such that the extension 34 must pass through a single point of the ball joint 100, typically located at the incision in the patient. The ball joint 100 created by the device 20 increases the size of the effective working space of the surgical device 74 within the patient's cavity while maintaining the ball joint 100 at the incision.

[0073] Alternatively, the coarse positioning device 20 may have a fourth link, a fifth link, or any number of additional links, and an associated additional number of rotational joints. In addition, the device 20 may have less than three links and an associated number of rotational joints. In summary, the coarse positioning device 20 may have a single rotational joint, two rotational joints, or any number of rotational joints.

[0074] According to one embodiment, the following Fig.10 The control process 120 according to one embodiment is shown to control the coarse positioning device 20. A controller 122 is provided as an input for communicating with a software architecture 124 (informally referred to as "RobotApp" in this exemplary embodiment). According to one embodiment, the software 124 is custom software 124 that allows the integration of different hardware and the development of "plug-ins", thereby creating a modular platform on which additional features can be easily built. Alternatively, the software architecture 124 restricts the use of hardware to a limited set of hardware and has no modularity. In another alternative, the software architecture 124 can be any known type of architecture.

[0075] Communications from the controller 122 are interpreted (or "conditioned") by the software 124 (block 126) and used to calculate kinematic features (block 128). These kinematic feature calculations are then transmitted to the coarse positioning device 20 via a connection 130 so that the device 20 is actuated to move as transmitted from the controller 122. In this particular embodiment, the connection is a USB port 130 in the hardware (not shown) containing the software 124. The port 130 allows the coarse positioning device 20 to connect to the software 124 and therefore to the controller 122. In one embodiment, the controller 122 is hardware containing the software 124. Alternatively, the hardware can be any processing unit (e.g., a computer).

[0076] According to some embodiments, a manual controller is used to control the coarse positioning device and / or the robotic device. In one embodiment, the manual controller 150 is as follows Fig.11 Depicted is a joystick controller 150. The joystick controller 150 controls the orientation of the coarse positioning device (eg, device 20). Fig.12 Another controller embodiment 152 is depicted in FIG. 1 , wherein the controller 152 is a commercially available GeoMagic Touch TM Controller 152. In this embodiment, the controller 152 can be used to control the coarse positioning device (e.g., device 20). In another embodiment, the controller 152 can be used to control the coarse positioning device (e.g., device 20) and the robotic device (e.g., device 22), but the control scheme must be changed every time the user wants to switch from controlling one of the devices to the other.

[0077] In another embodiment, two GeoMagic Touch TMThe controller 152 is used in conjunction with a control process or application that allows the coarse positioning device (e.g., device 20) and the robotic device (e.g., device 22) to be controlled without having to change the control scheme during a procedure. Fig.13A and Fig. 13B As shown, for the purpose of the control process, the midpoint 160 between the two end points (end effectors) 162 of the intracorporeal robot 166 is identified. A midpoint envelope 164 is established using polar coordinates (θ, Φ) so that if the midpoint 160 leaves the area of ​​the envelope 164, the orientation of the intracorporeal robotic device 166 will be moved accordingly by the coarse positioning device (e.g., device 20). More specifically, if the midpoint 160 of the end effector 162 reaches the range of the envelope 164, the coarse positioning device (e.g., device 20) will begin to move to adjust the field of view of the camera lens 168 on the device 166. In this way, the robotic device 166 can control the field of view of the camera lens 168 by moving up, down, left, or right or "posing up, down, left, or right" to move the camera lens 168 to the desired field of view. In order to stop the movement of the coarse positioning device, the end effectors 162 must return to the midpoint contour (that is, they must move so that the midpoint 160 is within the envelope 164). In this manner, both the coarse positioning device (e.g., device 20) and the robotic device (e.g., device 22) can be operated so that the robotic device can reach the range of the patient's cavity without changing the control scheme.

[0078] In one embodiment, the midpoint envelope 164 corresponds to the extent of the camera lens 168. Alternatively, other approaches may be used for different cameras, or where the robotic device has an optimal workspace within which it must remain.

[0079] Alternatively, the control process may be operated in a different manner, preferably as follows Fig.14A and Fig. 14B In this particular embodiment, if the midpoint 160 leaves the envelope 164, the coarse positioning device (e.g., device 20) and the intracorporeal robotic device 166 can be moved together to fix the end effectors 162 in space but return them to the midpoint envelope 164 as shown. More specifically, the end effector 162 is first offset to the right of the robotic device 166, but by repositioning the coarse positioning device (e.g., device 20) and the intracorporeal robot 166 together, the end effector 162 remains fixed in space but returns to within the midpoint envelope 164.

[0080] In use, the coarse positioning device 20 and other embodiments disclosed or contemplated herein can be operated in the following manner to position a surgical device (e.g., device 22, device 74, or device 166) through an incision in a surgical space in a cavity of a patient. The three links 30, 32, 34 rotate about respective axes 90, 92, 94 to position the devices 22, 74, 166 as desired. More specifically, the third link 34 can rotate about axis 94 to rotate the surgical device 22, 74, 166 about axis 94. In addition, the arm links 30, 32 can be combined with the extension 34 to articulate the device 20 through two separate angled planes. That is, the two axes 90, 92 can affect the angular position of the extension 34. In addition, the coupling member 36 can be extended or retracted to allow the surgical device 22, 74, 166 to be advanced into and withdrawn from the cavity of the patient.

[0081] In one embodiment, the positioning system 20 and the surgical device 22, 74, 166 can be used in combination so that the surgical device 22, 74, 166 is considered an extension of the positioning system 20, where the two are used together to move and operate the surgical device 22, 74, 166. For example, the surgeon may want to move the surgical device 22, 74, 166 a total of one inch to the right, and therefore actuate the external controller to cause the movement. The controller (e.g., any of the controller embodiments discussed above) sends appropriate signals to the positioning system 20 and the surgical device 22, 74, 166 so that the system 20 and the device 22, 74, 166 work in combination to move the surgical device 22, 74, 166 to the right by one inch. In one example, the system 20 can move 0.5 inches and the device 22, 74, 166 can move 0.5 inches, resulting in the device 22, 74, 166 moving a full inch as desired. According to one embodiment, the positioning system 20 may thus be used to maximize the strength, workspace, and maneuverability of the combination of the system 20 and device 22, 74, 166 by determining the optimal contribution of each component during use.

[0082] Alternatively, the positioning system 20 and the device 22, 74, 166 operate independently. That is, the system 20 is inoperable or not operating when the device 22, 74, 166 is being used, and the device 22, 74, 166 is inoperable or not operating when the system 20 is being used. For example, if the device 22, 74, 166 is being used and it is determined that a target object in the surgical space is beyond the reach of the device 22, 74, 166, the device 22, 74, 166 is "turned off", or otherwise inoperable, or simply placed in a "pause mode", and the system 20 is used to reposition the device 22, 74, 166 accordingly.

[0083] It should be understood that the device 20 can be operably connected to a processor or computer (not shown) so that the processor can be used to control the positioning system 20 (including the movement of the arm links 30, 32, 34) to roughly position the surgical device 22, 74, 166.

[0084] In another alternative embodiment, the positioning system 20 may also be configured to combine or integrate a device or apparatus coupled to the surgical device 22, 74, 166 to provide various functions to the device 22, 74, 166. For example, in one embodiment, the system 20 may include suction and irrigation apparatus coupled to corresponding apparatuses in the surgical device 22, 74, 166, so that the surgical device 22, 74, 166 includes suction and irrigation components. In another example according to another embodiment, the positioning device 20 may include any known apparatus configured to be coupled to corresponding apparatuses in the surgical device 22, 74, 166.

[0085] Alternative embodiments contemplated herein also include systems that can be used with magnetically controlled surgical devices (as distinct from the surgical devices described above that are controlled by a body or positioning rod inserted into a surgical incision). In those embodiments, the positioning system positions the surgical device at any location along the interior surface of a patient's cavity by positioning an external magnetic component (such as a magnetic handle or other type of external magnetic component) along the patient's skin. Such positioning of the device can include any combination of two-dimensional movement along the surface of the patient's skin and rotation of the external magnetic component about an axis perpendicular to the skin surface. Of course, it should be understood that although the movement of the magnetic component along the patient's skin is considered to be two-dimensional, the patient's skin is curved so that the movement of the external component along the skin exhibits absolute manipulation in all six degrees of freedom.

[0086] Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention.

Claims

1. A positioning system for use with a robotic surgical device, the system comprising: (a) a first arm link, the first arm link comprising a first rotary joint, the first rotary joint being arranged at a first end of the first arm link; (b) a second arm link rotatably coupled to a second end of the first arm link at a second swivel joint; (c) a third arm link rotatably coupled to the second arm link at a third revolute joint, wherein the third arm link is rotatable about the third revolute joint and has a linear portion offset from an axis of rotation of the third revolute joint; and (d) a connecting component connected to the exterior of the third arm link so that the connecting component can be selectively slid and fixed between an extended position and a retracted position along the length of the third arm link, wherein the connecting component is configured to be connected to a device body of the robotic surgical device so that the robotic surgical device can be positioned through an incision of a patient, and wherein the connecting component is slidably arranged on the linear portion of the third arm link so that the device body connected to the connecting component extends in alignment with the rotation axis of the third rotary joint.

2. The positioning system according to claim 1, wherein: The rotation axis of the first rotation joint, the rotation axis of the second rotation joint, and the rotation axis of the third rotation joint intersect at a single intersection point.

3. The positioning system according to claim 2, wherein: The single intersection point is a ball joint.

4. The positioning system according to claim 2, wherein: The single intersection is disposed at a point along a portion of the robotic surgical device.

5. The positioning system according to claim 2, wherein: The positioning system is positioned such that the single intersection point is disposed at an incision in the patient.

6. The positioning system according to claim 5, wherein: The third arm link is disposed through the single intersection.

7. The positioning system according to claim 2, wherein: The single intersection is disposed at the insertion point of the patient.

8. The positioning system according to claim 7, wherein: The insertion point includes an incision or a natural orifice.

9. The positioning system according to claim 7, wherein: The third arm link is disposed through the single intersection.

10. The positioning system according to claim 1, wherein: The robotic surgical device includes at least one arm, wherein the positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of the patient.

11. The positioning system of claim 10, further comprising a controller operably coupled to the positioning system and the robotic surgical device.

12. A positioning system for use with a robotic surgical device, the system comprising: (a) a first arm link, the first arm link comprising a first rotary joint, the first rotary joint being arranged at a first end of the first arm link; (b) a second arm link rotatably coupled to a second end of the first arm link at a second swivel joint; (c) a third arm link rotatably coupled to the second arm link at a third revolute joint, wherein the third arm link is rotatable about the third revolute joint and has a linear portion offset from an axis of rotation of the third revolute joint; (d) a coupling member coupled to an exterior of the third arm link such that the coupling member is selectively slidable and securable along a length of the third arm link between an extended position and a retracted position; and (e) a robotic surgical device operably coupled to the coupling member, the robotic surgical device comprising: (i) a device body that, when coupled to the coupling member, extends in alignment with the axis of rotation of the third rotary joint; (ii) a first arm operably coupled to the device body, the first arm comprising at least one first actuator; and (iii) a second arm operably coupled to the device body, the second arm comprising at least one second actuator, Wherein, the third arm link is positionable through an insertion point of a patient such that the robotic surgical device is positionable within a body cavity of the patient.

13. The positioning system according to claim 12, wherein: A rotation axis of the first rotation joint, a rotation axis of the second rotation joint, and the rotation axis of the third rotation joint intersect at a single intersection, and a portion of the robotic surgical device is arranged through the single intersection.

14. An external positioning system for use with an internal robotic surgical device, the system comprising: (a) a first arm link, the first arm link comprising a first rotary joint, the first rotary joint being arranged at a first end of the first arm link; (b) a second arm link operably coupled to a second end of the first arm link at a second rotational joint; (c) a third arm link operably coupled to the second arm link at a third revolute joint, wherein the third arm link is rotatable about the third revolute joint and has a linear portion offset from an axis of rotation of the third revolute joint; (d) a coupling component coupled to an exterior of the third arm link such that the coupling component is selectively slidable and securable along the length of the third arm link between an extended position and a retracted position, wherein the coupling component is configured to be coupled to the robotic surgical device such that the robotic surgical device is positionable through an insertion point of a patient, and wherein the coupling component is slidably disposed on the linear portion of the third arm link such that a device body of the robotic surgical device coupled to the coupling component extends in alignment with an axis of rotation of the third rotary joint; and (e) a single intersection of the rotational axis of the first rotational joint, the rotational axis of the second rotational joint, and the rotational axis of the third rotational joint, wherein the single intersection is disposed at an insertion point of the patient.

15. The positioning system according to claim 14, wherein: A portion of the third arm link is disposed through the single intersection.

16. The positioning system according to claim 14, wherein: A portion of the robotic surgical device is disposed through the single intersection.

17. The positioning system according to claim 14, wherein: The insertion point is the incision.

18. The positioning system according to claim 14, wherein: The robotic surgical device includes at least one arm, wherein the positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of a patient.

19. The positioning system according to claim 18, further comprising (a) a central processing unit operably coupled to the positioning system and the robotic surgical apparatus, wherein: The central processing unit includes software configured to transmit control instructions to the positioning system and the robotic surgical device; as well as (b) A controller operably connected to the central processing unit.

Images