Manual input device for a robotic system

Abstract

Some aspects relate to systems and techniques for input devices used to control robotic surgical tools. The input device may include a first pair of opposing connectors and a second pair of opposing connectors. The first pair of opposing connectors and the second pair of opposing connectors may be arranged radially symmetrically. The input device can be configured to control the operation of the robotic surgical tool.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 000769, filed on March 27, 2020, which is incorporated herein by reference in its entirety. Technical Field

[0003] The systems and methods disclosed herein relate to input devices, and more specifically, in some embodiments, to input devices for surgical systems. Background Technology

[0004] Medical procedures such as laparoscopic surgery may involve accessing and visualizing a patient's internal areas. During laparoscopic procedures, medical instruments can be inserted into the internal areas through a laparoscopic incision.

[0005] In some procedures, robotic medical systems can be used to control the insertion and / or manipulation of instruments and end effectors. Robotic medical systems may include robotic arms or other instrument positioning devices. Robotic medical systems may also include input devices for controlling the positioning and / or actuation of instruments during the procedure. Summary of the Invention

[0006] The systems, methods, and apparatuses disclosed herein each have several innovative aspects, none of which are solely responsible for the desired properties disclosed herein.

[0007] In one aspect, an input device for controlling a robotic surgical tool is provided. The input device may include a first pair of opposing connectors and a second pair of opposing connectors. The first pair of opposing connectors and the second pair of opposing connectors may be arranged radially symmetrically. The input device can be configured to control the operation of the robotic surgical tool.

[0008] In some configurations, the first pair of opposing connectors is longer than the second pair of opposing connectors. The first pair of opposing connectors may have the same length as the second pair of opposing connectors. Each connector in the first pair of opposing connectors may include a finger pad. Each connector in the second pair of opposing connectors may include a clutch button. The clutch button may be a push-button. The clutch button may include a protruding flange. The input device may include at least one clutch button. When actuated, the at least one clutch button may be configured to disengage the input device from the operation of the robotic surgical tool. Each connector in the first pair of opposing connectors and each connector in the second pair of opposing connectors may be coupled to a central longitudinal member. The proximal ends of each connector in the first pair of opposing connectors and the proximal ends of each connector in the second pair of opposing connectors may be configured to move radially relative to the central longitudinal member. Each connector in the first pair of opposing connectors may be configured to move together. Each connector in the second pair of opposing connectors may be configured to move together. The first pair of opposing connectors and the second pair of opposing connectors may be configured to move together. Each connector in the first pair of opposing connectors can be configured to move together such that the proximal ends of the first pair of opposing connectors are positioned equidistant from the central longitudinal member. The first pair of opposing connectors can be constrained to move together. The second pair of opposing connectors can also be constrained to move together. The central longitudinal member may include a Hall effect sensor.

[0009] In another aspect, an input device for controlling a robotic surgical tool can be provided. The input device may include a multi-connector gripper comprising three or more connectors coupled to a central longitudinal member. The three or more connectors may be spaced apart from each other by less than 180 degrees around the central longitudinal member. The multi-connector gripper can be configured to control the operation of the robotic surgical tool. The three or more connectors may be equidistant from each other. Each of the three or more connectors can be configured to move from an open position to a closed position, in which the proximal end of each of the three or more connectors is positioned radially away from the central longitudinal member, and in the closed position, the proximal end of each of the three or more connectors is positioned radially closer to the central longitudinal member. Each of the three or more connectors may be biased in the open position.

[0010] In another aspect, an input device for controlling surgical instruments can be provided. The input device may include a multi-connector gripper comprising two or more connectors surrounding a central longitudinal member for controlling the operation of the surgical instruments.

[0011] In some configurations, at least one of the two or more connectors may include a finger input section. The finger input section is operable in a first mode and a second mode. In the first mode, the finger input section operates as a finger clutch, and in the second mode, the finger clutch operates as a selection tool. The finger input section may include a pressure input section. The finger input section may include a rotation input section. The central longitudinal member may include a sensor for detecting the pattern of the finger input section. The sensor may be coupled to the central longitudinal member. Each of the two or more connectors may include a curved surface at its proximal end. The curved surface may surround the central longitudinal member. The input device may include a rack. The rack may include gear teeth configured to engage with each of the two or more connectors. Each of the two or more connectors may be configured to rotate relative to the rack, wherein each of the two or more connectors is configured to mesh with the rack such that rotation of one of the two or more connectors causes rotation of the remaining two or more connectors. Each of the two or more connectors may include bevel gear teeth configured to connect the movement of each of the two or more connectors to the remaining connectors of the two or more connectors.

[0012] In another aspect, a physician control console may be provided. The physician control console may include an input device comprising a first gripper and a second gripper. The input device may be configured to control surgical tools. At least one of the first and second grippers may include a four-joint radially symmetrical gripper for controlling the operation of the surgical tools. Attached Figure Description

[0013] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided to illustrate and not limit the disclosed aspects, wherein similar reference numerals denote similar elements.

[0014] Figure 1 An implementation scheme of a cart-based robotic system deployed for diagnostic and / or therapeutic bronchoscopy is shown.

[0015] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0016] Figure 3 The setup for ureteroscopy is shown. Figure 1 The implementation plan for the robot system.

[0017] Figure 4 The diagram shows the arrangement used for vascular procedures. Figure 1 The implementation plan for the robot system.

[0018] Figure 5 An implementation scheme of a table-based robotic system deployed for bronchoscopy procedures is shown.

[0019] Figure 6 Provided Figure 5 An alternative view of the robot system.

[0020] Figure 7 An exemplary system configured to retract a robotic arm is shown.

[0021] Figure 8 An implementation scheme of a table-based robotic system configured for ureteroscopy procedures is shown.

[0022] Figure 9 An implementation scheme of a table-based robotic system constructed for laparoscopic procedures is shown.

[0023] Figure 10 It shows Figures 5 to 9 An implementation scheme for a platform-based robot system with pitch and tilt adjustment.

[0024] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column of the platform-based robotic system.

[0025] Figure 12 An alternative implementation of a stage-based robotic system is shown.

[0026] Figure 13 It shows Figure 12 An end view of a platform-based robotic system.

[0027] Figure 14 An end view of a platform-based robotic system with a robotic arm attached is shown.

[0028] Figure 15 An exemplary device driver is shown.

[0029] Figure 16 An exemplary medical device with paired instrument drivers is shown.

[0030] Figure 17 An alternative design of the instrument actuator and the instrument is shown, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0031] Figure 18 An instrument with an instrument-based insertion architecture is shown.

[0032] Figure 19 An example controller is shown.

[0033] Figure 20A block diagram of a positioning system according to an example implementation is shown, which estimates... Figures 1 to 10 The location of one or more components of a robotic system, such as Figures 16 to 18 The location of the instruments.

[0034] Figure 21A The input device is shown in the open position.

[0035] Figure 21B It shows the closed position. Figure 21A The input device.

[0036] Figure 22 Shown in exploded view Figures 21A to 21B The input device.

[0037] Figure 23 It shows a design without multiple connectors. Figures 21A to 21B and Figure 22 The input device.

[0038] Figure 24A It shows Figures 21A to 21B and Figures 22 to 23 The input device does not have a second pair of connectors in the open position.

[0039] Figure 24B It shows the closed position. Figure 24A The input device.

[0040] Figure 24C A spring-loaded cylinder is shown. Figure 24B The input device.

[0041] Figure 24D It shows Figure 24C A cross-sectional view of the input device.

[0042] Figure 24E It shows Figures 24C to 24D Spring cylinder.

[0043] Figure 24F It shows Figure 24E A cross-sectional view of the spring cylinder.

[0044] Figure 25A A top view of the first connector with finger pads is shown.

[0045] Figure 25B It shows Figure 25A Bottom view of the first connector.

[0046] Figure 26A A top view of the third connector with an auxiliary input section is shown.

[0047] Figure 26B It shows Figure 26A Bottom view of the third connector.

[0048] Figure 27A Another example of a third connector with an auxiliary input section is shown.

[0049] Figure 27B It shows Figure 27A Cross-sectional view of the third connector.

[0050] Figure 28 Another example of a third connector with an auxiliary input section is shown.

[0051] Figure 29A Another example of a third connector with an auxiliary input section is shown.

[0052] Figure 29B Another example of a grabber with an auxiliary input section is shown.

[0053] Figure 29C An example of a first connector with an auxiliary input section is shown.

[0054] Figure 29D It shows Figure 29C A cross-sectional view of the first connector.

[0055] Figure 30 Another example of a third connector with an auxiliary input section is shown.

[0056] Figure 31 Another example of an input device is shown.

[0057] Figure 32 A cross-sectional view of another example of an input device is shown.

[0058] Figure 33 This shows yet another example of an input device. Detailed Implementation

[0059] 1. Overview .

[0060] The aspects of this disclosure can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. In endoscopic procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0061] In addition to executing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system allows physicians to execute procedures from an ergonomic orientation, eliminating the need for cumbersome arm movements and positioning. Additionally, the system provides physicians with improved ease of use, enabling one or more instruments within the system to be controlled by a single user.

[0062] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other specific embodiments of the disclosed concepts are possible, and various advantages can be achieved using the disclosed specific embodiments. Titles are included herein for reference and to aid in locating the various sections. These titled sections are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout the specification.

[0063] A. Robotic System – Cart .

[0064] Robot-enabled medical systems can be configured in a variety of ways, depending on specific procedures. Figure 1 An embodiment of a trolley-based, robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy is illustrated. During bronchoscopy, system 10 may include a trolley 11 having one or more robotic arms 12 to deliver medical instruments, such as a manipulable endoscope 13 (which may be a procedure-specific bronchoscope for bronchoscopy), to a natural orifice entry point (i.e., the patient's mouth positioned on the table in this example), to deliver diagnostic and / or therapeutic instruments. As shown, trolley 11 may be positioned near the patient's upper torso to provide access to the entry point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. This can also be used when performing GI procedures using a gastroscopy (a dedicated endoscope for gastrointestinal (GI) procedures). Figure 1 The layout within. Figure 2 An exemplary implementation of the cart is described in more detail.

[0065] Continue to refer to Figure 1Once the trolley 11 is correctly positioned, the robotic arm 12 can robotically, manually, or in combination thereof insert the maneuverable endoscope 13 into the patient. As shown, the maneuverable endoscope 13 may include at least two telescopic portions, such as an inner guide portion and an outer sheath portion, each coupled to a separate instrument actuator from a set of instrument actuators 28, each instrument actuator coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, which facilitates coaxial alignment of the guide portion and the sheath portion, creates a “virtual track” 29 that can be repositioned in space by maneuvering one or more robotic arms 12 to different angles and / or positions. The virtual track described herein is depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual track 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual track 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and orientation of the virtual track 29 shown in the figure represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0066] After insertion, endoscope 13 can be guided downwards through the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to achieve enhanced joint movement and a larger radius of flexion. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0067] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed downwards along the working channel, which extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological findings, additional tools can be deployed downwards along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can be used to deliver endoscopic tools to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be delivered in a separate procedure. In these cases, endoscope 13 can also be used to deliver a reference point to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0068] System 10 may also include a movable tower 30, which can be connected to the trolley 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical support to the trolley 11. Placing such functionality in the tower 30 allows for a smaller form factor trolley 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, the division of functionality between the trolley / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the trolley 11 can be positioned close to the patient, the tower 30 can be retracted in a remote location to avoid obstructing the path during procedures.

[0069] To support the aforementioned robotic system, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnet memory drive, a solid-state drive, etc. Whether execution occurs within tower 30 or cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate relevant brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, motors in the joints of the robotic arm can position the arm into a specific posture.

[0070] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid passages to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0071] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the need to place power transformers and other auxiliary power components in trolley 11, resulting in a smaller and more mobile trolley 11.

[0072] Tower 30 may also include support devices for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic devices for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with a control system, such optoelectronic devices can be used to generate real-time images for display in any number of consoles deployed throughout the system (including displays within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on a medical device.

[0073] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart), tower 30 may also include console 31. Console 31 may include a user interface and display, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide both robot control and preoperative and real-time information for procedures, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator (such as a nurse) to monitor the patient's health or vital signs and operation of system 10, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, console 30 is housed in a separate body from tower 30.

[0074] Tower 30 can be coupled to cart 11 and endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functionality from tower 30 can be provided to cart 11 via a single cable, thereby simplifying the operating room and eliminating clutter. In other embodiments, specific functions can be coupled in separate wiring and connections. For example, while power can be provided to cart 11 via a single cable, support for controls, optics, fluid, and / or navigation can also be provided via separate cables.

[0075] Figure 2 Provided from Figure 1 The illustration shows a detailed depiction of an embodiment of a cart 11 in a cart-based robot-enabled system. The cart 11 typically includes an elongated support structure 14 (often referred to as a "post"), a cart base 15, and a console 16 at the top of the post 14. The post 14 may include one or more brackets, such as those for supporting one or more robotic arms 12. Figure 2 The bracket 17 (or alternatively, "arm support") is deployed in three configurations. The bracket 17 may include a separately configurable arm mount that rotates along a vertical axis to adjust the base of the robotic arm 12 for better positioning relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the post 14.

[0076] The bracket interface 19 is connected to the column 14 via a slot, such as slot 20, positioned on the opposite side of the column 14 to guide the vertical translation of the bracket 17. Slot 20 includes a vertical translation interface to position and hold the bracket 17 relative to the trolley base 15 at various vertical heights. The vertical translation of the bracket 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, individually configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be configured at various angles.

[0077] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of column 14 and the vertical translation interface during the vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels positioned near the vertical top and bottom of slot 20. The cover is coiled within the reels until it is deployed to extend and retract from its coiled state during the vertical up-and-down translation of bracket 17. The spring loading of the reels provides a force to retract the cover into the reels as bracket 17 translates toward the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during the translation of bracket 17.

[0078] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 using vertically aligned lead screws in response to control signals generated in response to user input (e.g., input from the console 16).

[0079] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm 12. Each robotic arm in the robotic arm 12 may have seven joints, and thus provide seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thus allowing for “redundant” degrees of freedom. Having redundant degrees of freedom allows the robotic arm 12 to position its corresponding end effector 22 in a specific orientation, orientation, and trajectory in space using different joint positions and joint angles. This allows the system to locate and guide medical devices from desired points in space, while allowing physicians to move the arm joints to a clinically advantageous orientation away from the patient to achieve greater proximity while avoiding arm collisions.

[0080] The cart base 15 balances the weight of the counterweight 14, bracket 17, and robotic arm 12 on the floor. Therefore, the cart base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the cart 11 to move and / or be secured. For example, the cart base 15 includes rollable wheel-shaped casters 25 that allow the cart 11 to easily move around the room before the procedure. Once in the correct orientation, the casters 25 can be secured using wheel locks to hold the cart 11 in the correct orientation during the procedure.

[0081] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as, for example, touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include preoperative planning, navigation, and mapping data derived from preoperative computed tomography (CT) scans and / or records from preoperative patient interviews. Intraoperative data on the display screen may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this orientation, the physician can operate the console 16 from behind cart 11 while observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes a handle 27 to aid in manipulating and stabilizing cart 11.

[0082] Figure 3 An embodiment of a robot-enabled system 10 arranged for ureteroscopy is shown. In a ureteroscopy procedure, a trolley 11 is positioned to deliver a ureteroscope 32 (a procedure-specific endoscope designed to traverse the patient's urethra and ureter) to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and force on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access into the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra from the foot of the table along a virtual track 33.

[0083] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed downwards along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed downwards along the ureteroscope 32.

[0084] Figure 4An embodiment of a robot-enabled system 10 for vascular procedures is illustrated similarly. In vascular procedures, system 10 can be configured such that a trolley 11 delivers a medical device 34 (such as a manipulable catheter) to an entry point in the femoral artery in the patient's leg. The femoral artery presents both a relatively large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in ureteroscopy procedures, the trolley 11 can be positioned toward the patient's leg and lower abdomen to allow the robotic arm 12 to provide a virtual track 35 for direct linear access to the femoral artery entry point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted via a translational device actuator 28. Alternatively, the trolley can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near the shoulder and wrist.

[0085] B. Robot System – Unit .

[0086] Implementation plans for robot-enabled medical systems can also incorporate patient-integrated tables. Integrating tables reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5 An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on a floor. Much like a trolley-based system, the end effector of the robotic arm 39 of system 36 includes an instrument actuator 42, which is designed to manipulate elongated medical instruments, such as… Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluorescence imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0087] Figure 6An alternative view of system 36 without a patient and medical devices is provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, upon which one or more robotic arms 39 may be based. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors positioned within column 37 to allow the robotic arms 39 to access multiple sides of table 38, such as both sides of the patient. In embodiments with multiple brackets, the brackets may be individually positioned on the column and may translate and / or rotate independently of other brackets. While the brackets 43 need not be circular or even encircling column 37, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow system 36 to align medical devices such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient examination table or bed with an adjustable arm support, which takes the form of a rod or rail extending beside the patient examination table or bed. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) may be attached to the adjustable arm support, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 can advantageously be compactly stored under the patient examination table or bed and subsequently raised during procedures.

[0088] The robotic arm 39 can be mounted on the bracket 43 via a set of arm mounts 45 comprising a series of joints that can be individually rotated and / or telescopically extended to provide additional configurability to the robotic arm 39. Additionally, the arm mounts 45 can be positioned on the bracket 43 such that, when the bracket 43 is properly rotated, the arm mounts 45 are positioned on the same side of the stage 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0089] Column 37 structurally supports platform 38 and provides a path for the vertical translation of bracket 43. Internally, column 37 may be equipped with a lead screw for guiding the vertical translation of the bracket, and a motor for mechanizing the lead screw-based translation of bracket 43. Column 37 may also transmit power and control signals to bracket 43 and the robotic arm 39 mounted thereon.

[0090] Platform base 46 has with Figure 2The trolley base 15 in the illustrated trolley 11 functions similarly, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during operation. Casters deployed from the bottom of the table base 46 can extend in opposite directions on either side of the base 46 and retract when the system 36 requires movement.

[0091] Continue to refer to Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in previously disclosed embodiments, the tower may provide the table with a variety of support functions, such as processing, computing and control capabilities, electrical, fluid and / or optical, and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician access and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the table base 46 for potential retraction of the robotic arm 39. The tower may also include a main controller or console that provides both a user interface (such as a keyboard and / or widgets) for user input and a display screen (or touchscreen) for preoperative and intraoperative information (such as real-time imaging, navigation, and tracking information). In some embodiments, the tower may also include a gripper for a gas canister to be used for inflatation.

[0092] In some implementations, the base can be retracted and stored when not in use. Figure 7 A system 47 for retracting a robotic arm is illustrated in an embodiment of a platform-based system. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and robotic arm 50 around a post 53, and to close to retract the bracket, arm mount, and robotic arm for protection when not in use. The base cover 52 can be sealed along the edges of its opening using a membrane 54 to prevent dust and fluid from entering when closed.

[0093] Figure 8An embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure is illustrated. During ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to the column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the lower portion of the rotating portion 55 away from the column 37. For example, pivoting the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket 35 (not shown) about the column 37, a robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual track 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of table 38 to support the orientation of the patient's legs during the procedure and allow full access to the patient's groin region.

[0094] In laparoscopic procedures, minimally invasive instruments are inserted into the patient's anatomical structures through one or more small incisions in the abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid components, such as axes, for accessing the anatomical structures within the patient. After the patient's abdominal cavity is inflated, the instruments can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may include endoscopes, such as laparoscopes. Figure 9 An implementation of a table-based, robot-enabled system configured for laparoscopic procedures is shown. Figure 9 As shown, the bracket 43 of system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of table 38, so that the instrument 59 can be positioned through the smallest incision on both sides of the patient to reach his / her abdominal cavity using arm mount 45.

[0095] To accommodate laparoscopic procedures, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation scheme for a robot-enabled medical system with pitch or tilt adjustment is shown. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38 to position one part of the platform at a greater distance from the base plate than another part. Additionally, arm mount 45 can rotate to match the tilt, ensuring that robot arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the floor or colliding with platform base 46.

[0096] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom. The pitch-rotation mechanism 61 is achieved by positioning orthogonal axes 1 and 2 at the column interface, each axis being actuated by separate motors 3 and 4 in response to electrical pitch angle commands. Rotation along one screw 5 enables tilt adjustment along axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2. In some embodiments, ball joints may be used to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom.

[0097] For example, pitch adjustment is particularly useful when attempting to position the table in a head-down, feet-up position (i.e., positioning the patient's lower abdomen higher than their upper abdomen above the floor) for lower abdominal surgery. The head-down, feet-up position causes the patient's internal organs to slide down to their upper abdomen by gravity, clearing the abdominal cavity to allow minimally invasive instruments to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0098] Figure 12 and Figure 13 Isometric and end views of an alternative embodiment of a stage-based surgical robot system 100 are shown. The surgical robot system 100 includes one or more robotic arms (see, for example) that can be configured to support a stage 101 relative to it. Figure 14 One or more adjustable arm supports 105 are provided. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be positioned on opposite sides of the platform 101. The adjustable arm support 105 may be configured such that it is movable relative to the platform 101 to adjust and / or change the orientation of the adjustable arm support 105 and / or any robotic arm attached to it relative to the platform 101. For example, the adjustable arm support 105 may be adjusted with one or more degrees of freedom relative to the platform 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily retract one or more adjustable arm supports 105 and any robotic arms attached thereto under the platform 101. The adjustable arm support 105 may be raised from a retracted orientation to an orientation below the upper surface of the platform 101. In other embodiments, the adjustable arm support 105 can be raised from a retracted position to a position above the upper surface of the platform 101.

[0099] The adjustable arm support 105 provides several degrees of freedom, including lifting, lateral translation, and tilting. Figure 12 and Figure 13 In the exemplary embodiment, the arm support 105 is configured to have four degrees of freedom, which are in Figure 12The arrows indicate the first degree of freedom, which allows adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 may include a bracket 109 configured to move up or down along or relative to the column 102 of the support platform 101. The second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a rotary joint that allows the adjustable arm support 105 to be aligned with the bed in a head-down, feet-up position. The third degree of freedom allows the adjustable arm support 105 to “pivot upwards”, which can be used to adjust the distance between one side of the platform 101 and the adjustable arm support 105. The fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the platform.

[0100] Figure 12 and Figure 13 The surgical robot system 100 may include a platform supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the platform 101 relative to a support surface. A floor axis 131 and a support axis 133 are... Figure 13 As shown in the image.

[0101] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the platform 101 or the base 103. The adjustable arm support 105 may include a bracket 109, a rod or rail connector 111, and a rod or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to each other.

[0102] The bracket 109 can be attached to the post 102 via a first connector 113, which allows the bracket 109 to move relative to the post 102 (e.g., such as up and down movement along a first axis or vertical axis 123). The first connector 113 can provide a first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 may include a second connector 115, which provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third connector 117, which provides a third degree of freedom (“upward pivot”) to the adjustable arm support 105. An additional connector 119 may be provided (in... Figure 13 (As shown in the diagram), the additional joint mechanically constrains the third joint 117 to maintain the orientation of the guide rail 107 as the guide rail connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along the fourth axis 129.

[0103] Figure 14An end view of a surgical robot system 140A according to one embodiment, having two adjustable arm supports 105A, 105B mounted on opposite sides of a stage 101, is shown. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or tools.

[0104] In some embodiments, one or more of the robotic arms 142A and 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A and 142B may include eight degrees of freedom, including an insertion axis (including one degree of freedom for insertion), a wrist (including three degrees of freedom for wrist pitch, yaw, and roll), an elbow (including one degree of freedom for elbow pitch), a shoulder (including two degrees of freedom for shoulder pitch and yaw), and a base 144A and 144B (including one degree of freedom for translation). In some embodiments, the insertion degree of freedom may be provided by the robotic arms 142A and 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0105] C. Instrument drivers and interfaces .

[0106] The end effector of the system's robotic arm may include: (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") incorporating electromechanical devices for actuating medical devices; and (ii) a removable or detachable medical device, which may lack any electromechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical devices used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, medical devices may be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not need to be altered or sterilized and can be covered for protection.

[0107] Figure 15An example instrument actuator is shown. The instrument actuator 62, positioned at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to an axis to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., as...) to the medical device. Figure 15 Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0108] For procedures requiring a sterile environment, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile cover, positioned between the instrument actuator and the medical device. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the device, while maintaining physical separation between the drive shaft and the drive input, thus preserving sterility. Therefore, an exemplary sterile adapter may include a series of rotary inputs and rotary outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the device. The sterile cover, composed of a thin, flexible material (such as transparent or translucent plastic), is connected to the sterile adapter and designed to cover capital devices, such as instrument actuators, robotic arms, and trolleys (in trolley-based systems) or tables (in table-based systems). The use of the cover allows the capital device to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile cover, the medical device can dock with the patient in an area that requires sterilization (i.e., a sterile area).

[0109] D. Medical devices .

[0110] Figure 16An example medical device with paired instrument actuators is shown. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as the “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73 (e.g., a socket, pulley, or reel) designed to mate with a drive output 74 on an instrument actuator 75 extending through the distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share a rotational axis with the drive output 74 in the instrument actuator 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include a spline designed to mate with a socket on the drive input 73.

[0111] The elongated shaft 71 is designed to be delivered through an anatomical opening or cavity (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from a connector wrist formed by a connecting fork having at least one degree of freedom and a surgical tool or medical instrument (such as, for example, a grasper or scissors), which can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending segment that articulates and bends based on torque received from the drive output 74 of the instrument actuator 75.

[0112] Torque from the instrument actuator 75 is transmitted along the elongated shaft 71 using tendons. These individual tendons (e.g., traction cables) may be individually anchored to a separate drive input 73 within the instrument handle 72. From the handle 72, the tendons are guided downward along one or more traction chambers of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or at the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopy, or mixed procedures, these tendons may be coupled to a distally mounted end effector, such as a wrist, gripper, or scissors. In such an arrangement, torque applied to the drive input 73 transmits tension to the tendons, thereby actuating the end effector in a certain way. In some embodiments, during surgery, the tendons may cause the connector to rotate about the axis, thereby causing the end effector to move in one direction or the other. Alternatively, the tendons may be connected to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein tension from the tendons causes the gripper to close.

[0113] During endoscopy, tendons can be coupled via adhesives, control rings, or other mechanical fasteners to flexural or articulated segments positioned along an elongated axis 71 (e.g., at the distal end). When fixedly attached to the distal end of a flexural segment, torque applied to the drive input 73 is transmitted down the tendon, causing the softer flexural segment (sometimes referred to as an articulated segment or region) to flex or articulate. Along non-flexural segments, it can be advantageous to helve or coil individual traction cavities that guide individual tendons along the wall (or inside) of the endoscope axis to balance radial forces caused by tension in the traction lines. For specific purposes, the angle of the helices and / or the spacing between them can be varied or designed, with tighter helices exhibiting less axial compression under load, while a lower amount of helix causes greater axial compression under load but restricts flexion. Alternatively, traction cavities can be guided parallel to the longitudinal axis of the elongated axis 71 to allow controlled articulation in the desired flexural or articulated segment.

[0114] In endoscopic procedures, the elongated shaft 71 accommodates multiple components to assist in robotic procedures. The shaft 71 may include, at its distal end, a working channel for deploying surgical instruments (or medical devices), rinsing and / or aspirating the surgical area. The shaft 71 may also be adapted with wires and / or optical fibers to transmit signals to / from optical components at its distal end, which may include an optical camera. The shaft 71 may also be adapted with optical fibers to carry light from a proximal light source (such as a light-emitting diode) to the distal end of the shaft 71.

[0115] At the distal end of the instrument 70, the distal end may further include an opening for delivering tools for diagnosis and / or treatment, and for a working channel for rinsing and aspirating the surgical site. The distal end may also include a port for a camera (such as a fiberoptic endoscope or digital camera) to capture images of the internal anatomical space. Relatedly, the distal end may also include a port for a light source used to illuminate the anatomical space when the camera is used.

[0116] exist Figure 16 In the example, the axis of the drive shaft, and therefore the axis of the drive input, is orthogonal to the axis of the elongated shaft 71. However, this arrangement complicates the rolling capability of the elongated shaft 71. Rolling the elongated shaft 71 along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon as it extends from the drive input 73 and enters the traction cavity within the elongated shaft 71. Such tendon tangling can disrupt any control algorithms designed to predict the movement of the flexible elongated shaft 71 during endoscopic procedures.

[0117] Figure 17 An alternative design of the instrument actuator and instrument is shown, wherein the axis of the drive unit is parallel to the axis of the slender axis of the instrument. As shown, the circular instrument actuator 80 includes four drive units whose drive outputs 81 are aligned parallel to each other at the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, driven by one of the drive units within assembly 83. In response to torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator 80. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, which can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may be responsive to a separate drive unit integrated into the non-rotating portion 84 and therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to allow the drive units and their respective drive outputs 81 to rotate as a single unit about the instrument actuator axis 85.

[0118] Similar to previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown as having a transparent outer surface for discussion purposes), the instrument base including a plurality of drive inputs 89 (such as sockets, pulleys, and reels) configured to receive drive outputs 81 in the instrument driver 80. Unlike previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87, and the axis of the instrument base is substantially parallel to the axes of the drive inputs 89, rather than... Figure 16 It is orthogonal as in the design.

[0119] When coupled to the rotating assembly 83 of the instrument driver 80, the medical device 86, including the instrument base 87 and the instrument shaft 88, rotates in combination with the rotating assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, when the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input portion 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output portion 81, the drive input portion 89, and the instrument shaft 88 allows the shaft to rotate without causing any control tendons to become entangled.

[0120] Figure 18 An instrument with an instrument-based insertion architecture according to some embodiments is illustrated. Instrument 150 is coupleable to any of the instrument drivers described above. Instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a shank 170 coupled to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through the grooves. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also pass through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) actuates the end effector 162.

[0121] The instrument handle 170 (also referred to as the instrument base) typically includes an attachment interface 172 having one or more mechanical inputs 174, such as jacks, pulleys, or spools, which are designed to reciprocately engage with one or more torque couplers on the attachment surface of the instrument actuator.

[0122] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing reliance on a robotic arm to provide the insertion of the instrument 150. In other embodiments, the robotic arm may be largely responsible for the instrument insertion.

[0123] E. Controller .

[0124] Any of the robotic systems described herein may include an input device or controller for manipulating a device attached to a robotic arm. In some embodiments, the controller may be coupled to the device (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller, for example via master-slave control, causes corresponding manipulation of the device.

[0125] Figure 19 This is a perspective view of an embodiment of controller 182. In this embodiment, controller 182 includes a hybrid controller that may have both impedance and admittance control. In other embodiments, controller 182 may utilize only impedance or passive control. In other embodiments, controller 182 may utilize only admittance control. By being a hybrid controller, controller 182 advantageously has lower perceived inertia during use.

[0126] In the illustrated embodiment, controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each handle 184 is connected to a universal joint 186. Each universal joint 186 is connected to a positioning platform 188.

[0127] like Figure 19 As shown, each positioning platform 188 includes a SCARA arm (selective compliant assembly robot arm) 198 coupled to a post 194 via a prism joint 196. The prism joint 196 is configured to translate along the post 194 (e.g., along guide rail 197) to allow each handle 184 to translate in the z-direction, thus providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the xy-plane, thus providing two additional degrees of freedom.

[0128] In some embodiments, one or more load sensors are located within the controller. For example, in some embodiments, load sensors (not shown) are located within the body of each gimbal in gimbal 186. By providing load sensors, portions of controller 182 are able to operate under admittance control, thereby advantageously reducing the sense inertia of the controller during use. In some embodiments, positioning platform 188 is configured for admittance control, while gimbal 186 is configured for impedance control. In other embodiments, gimbal 186 is configured for admittance control, while positioning platform 188 is configured for impedance control. Thus, for some embodiments, the translational or orientational degrees of freedom of positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of gimbal 186 may depend on impedance control.

[0129] F. Navigation and Control .

[0130] Traditional endoscopy can involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system envisioned in this disclosure can provide radiation-free navigation and positioning, reducing physician exposure to radiation and the amount of equipment required in the operating room. As used herein, the term "positioning" can refer to determining and / or monitoring the orientation of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0131] Figure 20 This is a block diagram illustrating a positioning system 90 for estimating the position of one or more components of a robotic system (such as the position of a machine) according to an example embodiment. The positioning system 90 may be one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or multiple processors) and computer-readable storage among the components discussed above. By way of example and not limitation, the computer devices may be located in... Figure 1 Tower 30 shown Figures 1 to 4 The trolley 11 shown Figures 5 to 14 The bed, etc. shown.

[0132] like Figure 20 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 for the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be relative to a patient's anatomy or a known object (such as an EM field generator) (see the discussion of EM field generators below).

[0133] The various input data are now described in more detail 91-94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images, which are visualized, for example, as “slices” of cross-sectional views of the patient’s internal anatomy. When analyzed in whole, image-based models of the anatomical cavities, spaces, and structures of the patient’s anatomical structures, such as the patient’s lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient’s anatomy, which is referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application 14 / 523,760, the contents of which are incorporated herein by reference in their entirety. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0134] In some implementations, the instrument may be equipped with a camera to provide visual data (or image data) 92. A positioning module 95 may process the visual data 92 to enable one or more vision-based (or image-based) position tracking modules or features. For example, preoperative model data 91 may be used in conjunction with the visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope or an instrument propelled through the working channel of an endoscope). For example, using the preoperative model data 91, a robotic system may generate a library of expected endoscopic images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope's movement. During surgical procedures, the robotic system may refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with those images in the image library to aid in positioning.

[0135] Other computer vision-based tracking techniques use feature tracking to determine camera motion, and thus, endoscope motion. Some features of the localization module 95 can identify circular geometries corresponding to anatomical cavities in the preoperative model data 91 and track changes in those geometries to determine which anatomical cavity has been selected, as well as track the relative rotation and / or translational motion of the camera. The use of a topology map can further enhance vision-based algorithms or techniques.

[0136] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence within visual data 92 to infer camera motion. Examples of optical flow techniques can include motion detection, object segmentation computation, brightness, motion compensation coding, stereo parallax measurement, and more. Through multiple iterations and comparisons of multiple frames, the motion and position of the camera (and therefore the endoscope) can be determined.

[0137] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker), including one or more sensor coils embedded in one or more locations and orientations within the medical instrument (e.g., an endoscopic tool), measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align a single location in the coordinate system with its orientation in the preoperative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more orientations of the medical device (e.g., the distal end of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0138] Robot commands and kinematic data 94 can also be used by the positioning module 95 to provide orientation data 96 for the robotic system. Device pitch and yaw from joint movement commands can be determined during preoperative calibration. During surgical procedures, these calibration measurements can be combined with known insertion depth information to estimate the instrument's orientation. Alternatively, these calculations can be analyzed in conjunction with EM, vision, and / or topology modeling to estimate the medical device's orientation within the network.

[0139] like Figure 20 As shown, the positioning module 95 can use multiple other input data. For example, although in Figure 20 Although not shown, the device using shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0140] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic method, where the localization module 95 assigns confidence weights to the location determined based on each of the input data 91-94. Therefore, in cases where the EM data may be unreliable (e.g., in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0141] As discussed above, the robotic systems discussed in this paper can be designed as a combination of one or more of the technologies mentioned above. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.). When executed, these computer program instructions cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the instrument's position in a global coordinate system, anatomical diagrams, etc.

[0142] 2. Manual input device for robot systems .

[0143] The embodiments disclosed herein relate to systems and techniques for input devices used to operate one or more medical devices.

[0144] Robotic medical systems such as those described above may include input devices configured to allow an operator (e.g., a physician performing a robot-enabled medical procedure) to manipulate and control one or more instruments. In some embodiments, the robotic medical system may include input devices for operating one or more medical instruments. In some examples, the input devices may remotely operate one or more medical instruments, such as via remote operation or remote surgery.

[0145] Those skilled in the art will understand that the input device described herein can also be applied in non-medical environments. For example, the input device can be used to manipulate tools involving hazardous substances. Furthermore, in some embodiments, the input device described herein can be used to grasp objects in both physical and virtual environments. In some configurations, the input device can be self-contained as a service robot interacting with a human operator. In some configurations, the input device can be coupled to a medical device (e.g., communicative, electronic, electrical, wireless, and / or mechanical ground) such that manipulation of the input device causes corresponding manipulation of the medical device. In some configurations, the input device and the medical device are arranged as a master-slave pair. In some configurations, the input device can be configured to control the operation of robotic surgical tools. In some configurations, the input device can be referred to as a manipulator, simulator, host, controller, interface, etc.

[0146] The input device can be used as an input for an operator to control the movement of a medical device, such as in endoscopy, endoscopic, laparoscopic, or open surgery. Movement of the input device by the operator can guide movement of the medical device. For example, when the operator translates the input device in three-dimensional space (e.g., up, down, left, right, backward, forward), the system can cause the medical device to translate accordingly. Similarly, if the operator rotates the input device (e.g., about any of the three orthogonal axes), the system can cause the medical device to rotate accordingly. The input device may also include one or more input sections that allow the operator to actuate the medical device. As an example, if the medical device includes a grasping instrument, the input device may include one or more input sections that allow the operator to open and close the grasping instrument.

[0147] In some embodiments, the robotic medical system includes an input device with seven degrees of freedom that moves with the operator's hand. These seven degrees of freedom include three positional degrees of freedom (e.g., translational movement in x, y, z space), three rotational degrees of freedom (e.g., rotational movement about pitch, roll, and yaw axes), and one (or more) instrument actuation degrees of freedom (e.g., angular degrees of freedom). In some embodiments, the instrument actuation degrees of freedom can control the opening and closing of end effectors of a medical device, such as grippers or grasping instruments for holding objects. In some embodiments, the input device may include more or fewer degrees of freedom. For example, in some embodiments, the input device may include more than three positional degrees of freedom or more than three rotational degrees of freedom to provide one or more redundant degrees of freedom. In some embodiments, redundant degrees of freedom can provide additional mechanical flexibility to the input device, for example, to avoid singularities caused by the mechanical structure of the input device.

[0148] Figure 19 An embodiment of an input device or controller 182 is shown, which a user can use to control one or more instruments. As described above, the controller may include two handles 184 that can be used to control the instruments. Each handle 184 may be connected to a universal joint 186. Both handles 184 may be used as grippers.

[0149] A gripper can be part of the input device that a physician touches and holds to allow the user to control components of a robotic system, such as a medical device. The gripper can be the physician's primary input to the system during surgery. Users encounter several challenges when using a gripper. In some situations, the gripper is not always comfortable to use. For example, when performing rolling movements, the user may find it difficult to grip the various parts of the gripper (such as the opposing finger grippers). Users may choose to perform such operations outside the finger grippers, thus gripping the gripper's connectors at points away from the finger pads. When moving their hands to such positions, it may be difficult to reach other parts of the gripper, such as auxiliary controls or finger clutches. Therefore, ergonomic features are needed to allow physicians to manipulate the gripper as needed.

[0150] A. Multi-connector gripper

[0151] Figures 21A to 21B An embodiment of the handle or gripper 200 is shown, which can be used as part of an input system, as described in the reference above. Figure 19 The input system described. Figure 21A The grabber 200 is shown in the open configuration, while Figure 21B The gripper 200 is shown in a closed configuration. Figure 22 Shown in exploded view Figures 21A to 21B The gripper 200 may include multiple connectors, and in the illustrated embodiment, the gripper 200 includes four connectors 202, 204, 206, and 208. In some configurations, the gripper may include at least two connectors. In some configurations, the gripper 200 may include at least three connectors. In some examples, the gripper 200 may have any number of connectors, such as any number between 2 and 12. In some embodiments, the multiple connectors may be arranged circumferentially around the gripper 200. In some configurations, the multiple connectors may be equidistant from each other. In some configurations, the multiple connectors may be spaced less than 180 degrees from each other around a central axis. Although the configuration described below includes four connectors, any number of connectors may be included.

[0152] like Figures 21A to 21BAs shown, the gripper 200 includes four connectors: a first connector 202, a second connector 204, a third connector 206, and a fourth connector 208. The four connectors 202, 204, 206, and 208 are spaced apart from each other by at least less than 180 degrees and are spaced around the circumference of the gripper 200. The four connectors 202, 204, 206, and 208 can be evenly spaced apart from each other. The four connectors can be arranged radially symmetrically. Each of the four connectors 202, 204, 206, and 208 can be spaced apart from its adjacent connector by less than 180 degrees. As shown in the illustrated arrangement, the four connectors 202, 204, 206, and 208 can each be spaced apart from each other by approximately 90 degrees. As shown, multiple connectors 202, 204, 206, and 208 can be arranged circumferentially around the gripper 200.

[0153] Connectors 202, 204, 206, and 208 can be arranged in pairs. For example, gripper 200 may include a first pair of opposing connectors 202, 204 and a second pair of opposing connectors 206, 208. In the illustrated arrangement, the first pair of opposing connectors may include a first connector 202 and a second connector 204 spaced approximately 180 degrees apart from each other. In the illustrated arrangement, the second pair of opposing connectors may include a third connector 206 and a fourth connector 208 spaced approximately 180 degrees apart from each other. In a modified arrangement, connectors 202, 204 of the first pair of opposing connectors may be spaced less than 180 degrees from each connector 206, 208 of the second pair of opposing connectors.

[0154] refer to Figure 22 The gripper 200 may include a central axis 250. The central axis 250 may be referred to as a longitudinal axis, longitudinal member, central member, shaft, or member. The central axis may include circuitry 300, such as a printed circuit board, for connection to other components of the gripper 200 or other components of the robot system. In the illustrated arrangement, the circuitry 300 may be housed within the central axis 250.

[0155] The central shaft 250 can support multiple connectors 202, 204, 206, 208. Each of the first pair of opposing connectors 202, 204 and each of the second pair of opposing connectors 206, 208 can be coupled to the central shaft 250. The first connector 202 can have a proximal end 232 and a distal end 222. The second connector 204 can have a proximal end 234 and a distal end 224. The third connector 206 can have a proximal end 236 and a distal end 226. The fourth connector 208 can have a proximal end 238 and a distal end 228. The multiple connectors 202, 204, 206, 208 can be connected or operatively connected at their respective proximal ends 232, 234, 236, 238 and / or their respective distal ends 222, 224, 226, 228.

[0156] The first pair of opposing connectors 202, 204 may each include a finger gripping portion or finger pad 212, 214. The second pair of opposing connectors 206, 208 may each include an auxiliary input portion 216, 218. Each of the plurality of connectors 202, 204, 206, 208 may include auxiliary connectors 242, 244, 246, 248 to attach the proximal ends 232, 234, 236, 238 of connectors 202, 204, 206, 208 to the central shaft 250.

[0157] Each of the plurality of connectors can be configured to move from an open position to a closed position. In the open position, the proximal ends 232, 234, 236, and 238 of each of the plurality of connectors 202, 204, 206, and 208 are positioned radially away from the central axis 250. In the closed position, the proximal ends 232, 234, 236, and 238 of each of the plurality of connectors 202, 204, 206, and 208 are positioned radially close to the central axis 250. (See again) Figure 21A The gripper 200 is shown in the open position, with the proximal ends 232, 234, 236, 238 of a plurality of connectors 202, 204, 206, 208 positioned away from the central axis 250 of the gripper 200. Each of the plurality of connectors 202, 204, 206, 208 can be connected to the gripper 200 at each of its respective distal ends 222, 224, 226, 228, such that each connector can extend or pivot at an angle away from the central axis 250. The proximal ends 232, 234 of each of the first pair of opposing connectors 202, 204 and the proximal ends 236, 238 of each of the second pair of opposing connectors 206, 208 are configured to move radially relative to the central axis 250.

[0158] Refer again Figure 21B The gripper 200 is shown in a closed position, with the proximal ends 232, 234, 236, and 238 of the plurality of connectors 202, 204, 206, and 208 positioned close to the central axis 250 of the gripper 200. In the closed position, each of the proximal ends 232, 234, 236, and 238 can be positioned close to the central axis 250 such that each of the plurality of connectors 202, 204, 206, and 208 can be parallel to the central axis 250 in length.

[0159] Each of the multiple connectors 202, 204, 206, and 208 can be biased into an open position. In some configurations, each connector can be spring-loaded in the open position. In some configurations, each connector has at least two springs (not shown), wherein a first spring provides most of the force to bias the connector into the open position. A second spring can provide slight tactile feedback as the connector reaches a certain degree of closure to indicate to the user when the gripper has closed and that further movement of the closing gripper will result in an increase in the clamping force of the surgical instrument.

[0160] For example, the first pair of opposing connectors 202, 204 and / or the second pair of opposing connectors 206, 208 can be manipulated in a pinching motion, which can be translated into the movement of surgical instruments within the body. For example, opening and closing the first pair of opposing connectors 202, 204 would correspond to opening and closing the jaws of a medical instrument's scissors or forceps. A convenient pinching motion makes actuation of the gripper natural and easy for the user.

[0161] Multiple connectors 202, 204, 206, and 208 on the gripper 200 can measure the input angle of the user's finger. For example, the angle at which any one or more of the connectors 202, 204, 206, and 208 are positioned relative to the central axis 250 can be converted into the desired angle of a component of the instrument (such as one or more jaws of the end effector of the instrument).

[0162] The gripper 200 may have an increased number of connectors (such as...) Figures 21A to 21B and Figure 22 (The four connectors shown) and / or connectors positioned closer to each other. The gripper 200 can also be radially symmetrical, particularly at the farthest end.

[0163] With this radially symmetrical configuration of the gripper, users can advantageously and easily perform certain movements (e.g., rolling manipulations) that would otherwise be challenging. If a user wants to perform a task requiring high rolling intensity with the gripper, such as sewing, the user can only rotate the gripper approximately 180 degrees before exceeding the range of motion of their wrist without repositioning their hand. To continue rolling the gripper, they must release the gripper's current position, rotate their wrist, and re-grip the gripper to continue.

[0164] A radially symmetrical gripper with multiple connectors spaced less than 180 degrees apart allows a physician to roll the gripper between their fingertips while maintaining the gripper in a desired orientation (such as in a closed position or at a closed angle). This is possible because the user's fingers are always in contact with at least two connectors, due to the increased number of connectors and the reduction of any dead zones that may exist between them.

[0165] Some users may choose to work outside of finger pads 212, 214 to keep the multiple connectors 202, 204, 206, 208 closer to their distal ends 222, 224, 226, 228. The gripper 200 is advantageously adapted to this situation and allows for comfortable use both inside and outside of finger pads 212, 214. Furthermore, when working outside of finger pads 212, 214 (such as at the distal ends 222, 224, 226, 228 of one or more of the multiple connectors 202, 204, 206, 208), the gripper 200 can have radial symmetry, allowing the physician to close the gripper 200 (such as closing the first pair of opposing connectors 202, 204 and / or closing the second pair of opposing connectors 206, 208) and then roll the gripper 200 between their fingers. When performing this rolling motion of the gripper 200, it may be desirable for the gripper 200 to remain in the closed position. The first pair of opposing connectors 202, 204 and / or the second pair of opposing connectors 206, 208 may be identical and symmetrical at their distal ends 222, 224, 226, 228, allowing the user to close the clamping portion 200 using any one of the multiple connectors 202, 204, 206, 208.

[0166] When operating the gripper 200, the radial symmetry at the distal end advantageously provides greater tolerance for user hand misalignment. Furthermore, the increased number of closely spaced connectors (e.g., spaced less than 180 degrees apart) allows users to more easily position their fingers to maintain contact with one or more of the connectors when manipulating the gripper 200. For example, when working outside of finger pads 212, 214, the user can actuate the gripper 200 using any combination of the connectors. Multiple connectors increase the number of contact points the user has for actuating the gripper 200. This allows the user to more easily maintain contact with the gripper's actuator, reducing the difficulty of positioning and readjusting the user's hand. Multiple connectors and radial symmetry provide the user with greater freedom of movement when manipulating the gripper 200.

[0167] The length of the first pair of opposing connectors 202, 204 may be longer than the length of the second pair of opposing connectors 206, 208. Multiple connectors may be arranged such that the longer connectors 202, 204 are opposite each other, with the shorter connectors 206, 208 located between them. The two longer connectors 202, 204 may serve as primary gripping connectors. The longer connectors 202, 204 may have finger gripping portions, pads, or rings, such as the illustrated finger pads 212, 214.

[0168] In other examples, the first pair of opposing connectors 202, 204 and the second pair of opposing connectors 206, 208 may have equal lengths. In other examples, the second pair of opposing connectors 206, 208 may be longer than the first pair of opposing connectors 202, 204.

[0169] Figure 23 It shows a design without multiple connectors. Figures 21A to 21B and Figure 22 The gripper is shown in more detail, with the central support shaft 250 and the sliding support 260 illustrated. The main support shaft 250 can serve as a bearing surface for the sliding support 260. (As shown...) Figure 24A As shown, the slider or sliding support 260 can be connected to multiple connectors 202, 204, 206, 208. The main support shaft 250 can engage or connect to the sliding support 260 to constrain the connectors 202, 204, 206, 208 relative to the central support shaft 250, while still allowing the multiple connectors 202, 204, 206, 208 to rotate and translate relative to the central support shaft 250. For example, the central support shaft 250 can have a slot or recess to receive a portion of the sliding support 260 or to receive a key connected to the sliding support 260. Furthermore, the key can serve as a stop to limit the translation of the sliding support 260. In some examples, the translation limitation can be approximately 5 mm.

[0170] For clarity, Figure 24A and Figure 24B The gripper without the second pair of connectors 206, 208 is shown. Figure 24A The gripper is shown with the first pair of connectors 202, 204 in the open position. Figure 24B A gripper with the first pair of connectors 202, 204 in the closed position is shown. As shown, the first pair of connectors 202, 204 can be connected to the sliding support 260 at their respective proximal ends 232, 234. For example, each of the plurality of connectors 202, 204, 206, 208 can be connected to the sliding support 260 respectively via auxiliary connectors 242, 244. The auxiliary connectors 242, 244 can pivot freely to convert the angular displacement of the respective connectors 202, 204 into axial translation of the sliding support 260 along the central axis 250. Figure 24A In the open position shown, the sliding support 260 can be positioned towards the proximal end of the gripper 200, such that the auxiliary connectors 242, 246 and the first pair of connectors 202, 204 are each angled away from the central axis 250. As the sliding support 260 moves in the distal direction, the auxiliary connectors 242, 244 are angled away from the central axis 250, which in turn causes the proximal ends 232, 234, 236, 238 to move away from the central axis 250. Figure 24B In the closed position shown, the sliding support 260 can be positioned closer to the central axis 250, such that the first pair of connectors 202, 204 and the auxiliary connectors 242, 248 extend and are positioned at an angle closer to the central axis 250. In the open position, the sliding support 260 can be positioned such that the first pair of connectors 202, 204 and / or the auxiliary connectors 242, 244 extend fully in length and are substantially parallel to the central support 250. In this configuration, axial displacement of one connector 202, 204 causes the same displacement of the other connector 202, 204. In this configuration, the movement of the first pair of connectors 202, 204 is constrained together. Each connector in the first pair of opposing connectors 202, 204 can be configured to move together such that the proximal ends 232, 234 of the first pair of opposing connectors 202, 204 are positioned equidistant from the central axis 250.

[0171] In some configurations, each of the first pair of opposing connectors 202, 204 is configured to move together. In some configurations, each of the second pair of opposing connectors 206, 208 is configured to move together. In some configurations, the first pair of opposing connectors 202, 204 and the second pair of opposing connectors 206, 208 are configured to move together. In some configurations, the first pair of opposing connectors 202, 204 and the second pair of opposing connectors 206, 208 are configured to move independently. In some configurations, each of the multiple connectors is configured to move independently. In some configurations, each of the multiple connectors is configured to move together.

[0172] Although for the sake of clarity Figures 24A to 24B Not shown, but the second pair of connectors 206, 208 can similarly be connected at their respective proximal ends 236, 238, which can be correspondingly connected to the sliding support 260 by auxiliary connectors 246, 248. In the illustrated arrangement, all four connectors 202, 204, 206, 208 can be connected to the same sliding support 260. In this configuration, axial displacement of one of the connectors 202, 204, 206, 208 causes the same displacement of the other three connectors 202, 204, 206, 208. In this configuration, the movement of the connectors 202, 204, 206, 208 is constrained together.

[0173] The gripper 200 may include a proximal plate 262. The proximal plate 262 may be attached to or integral with the central support shaft 250. The proximal plate 262 may be positioned about the proximal end of the central support shaft 250. The proximal plate 262 may serve as a stop to limit axial translation of the sliding support 260. In some examples, the proximal plate 262 may be positioned to prevent the sliding support 260 from causing the plurality of connectors 202, 204, 206, 208 to extend beyond the length of the plurality of connectors 202, 204, 206, 208 and / or auxiliary connectors 242, 244, 246, 248. In some examples, the proximal plate 262 may also serve as an additional surface for supporting the user's hand.

[0174] Multiple connectors 202, 204, 206, and 208 may be connected or operatively connected at their respective distal ends 222, 224, 226, and 228. For example, multiple connectors 202, 204, 206, and 208 may be connected or operatively connected at their respective distal ends 222, 224, 226, and 228 to the distal end connector support 270. Multiple connectors 202, 204, 206, and 208 may be connected or operatively connected at their respective proximal ends 232, 234, 236, and 238.

[0175] Figure 24C The grabber 200 is shown. Figure 24D It shows Figure 24C A cross-sectional view of the input device. As described earlier, each of the multiple connectors can be biased into an open position. In some configurations, each connector can be spring-loaded in the open position. Figure 24D As shown, the gripper 200 may include a series of main springs 210 at each connector in the connector. The main springs 210 may be positioned near the distal end of each connector in the connector to bias each connector in the open position.

[0176] The gripper 200 may also include an auxiliary spring 280 to measure auxiliary forces, such as those applied by the user at the proximal end of the gripper 200, when near the closed position. The auxiliary spring 280 can provide slight tactile feedback as the connection reaches a degree of closure, indicating when the gripper 200 is closed and further movement of the closed gripper 200 will result in an increase in the clamping force of the surgical instrument. The auxiliary spring 280 is used to determine the force applied when the gripper 200 is fully closed and the user applies force. As shown, the auxiliary spring 280 can be positioned within a spring sleeve 272. The spring sleeve 272 can be positioned adjacent to the sliding ring 260. The spring sleeve 272 can be axially adjustable along the central axis 250. When the auxiliary force is applied and measured by the auxiliary spring 280, the axial position of the spring sleeve 272 along the central axis 250 can adjust the angle of the connection relative to the central axis 250. The use and placement of the spring sleeve 272 advantageously positions the auxiliary spring 280 so that it does not interfere with the radial symmetry of the gripper 200. The auxiliary sleeve 272 also avoids placing the auxiliary spring 280 in the distal portion of the gripper 200, thus advantageously preventing an increase in the size of the gripper 200. The auxiliary sleeve 272 also provides easier assembly and adjustment of the auxiliary spring 280.

[0177] Figure 24E It shows Figures 24C to 24D Spring cylinder 272. Figure 24F It shows Figure 24EA cross-sectional view of the spring cylinder 272. The spring cylinder 272 includes an auxiliary spring 280 and a washer 278. The spring cylinder 272 includes an outer surface 278. The outer surface 278 not only visually conceals the auxiliary spring 280 but also protects the auxiliary spring 280 from damage or unintentional adjustment. The outer surface 278 may be threaded to allow the spring cylinder 272 to engage axially and move along the central axis 250. The thread of the outer surface 278 allows for more precise or fine control of the axial movement of the spring cylinder 272, which can advantageously allow for more precise adjustment of the spring cylinder 272, and therefore allows for more precise adjustment of the impact angle of the connector. As shown, a sliding support or sliding ring 260 is positioned adjacent to the spring cylinder and is also configured to move axially along the central axis 250, as described above. The sliding support 260 can impact the washer 278 of the spring cylinder 272. The sliding support 260, which applies a force to the washer 278, causes the washer 278 to apply a force to the auxiliary spring 280. In some examples, the thickness of the washer 278 can be adjusted to change the magnitude of the force applied to the auxiliary spring 280.

[0178] Figure 25A A top view of the first connector 202 with finger pad 212 is shown. Figure 25B It shows having Figure 25A A bottom view of the first connector 202 of the finger pad 212. Although in Figures 25A to 25B Only the first connector 202 of the first pair of connectors 202, 204 is shown, but the second connector 204 and the finger pad 214 can be substantially similar. Each of the first pair of opposing connectors 202, 204 may respectively include finger pads 212, 214. The finger pads 212, 214 facilitate manipulation of the finger connectors 202, 204 by increasing the surface area on which the user can contact and manipulate the opposing connectors. The finger pads 212, 214 can be attached to the respective connectors 202, 204 by bolts. A Velcro ring (not shown) may be positioned between the finger pads 212, 214 and the respective connectors 202, 204 to secure them around the user's fingers during use.

[0179] The first pair of connectors 202, 204 may each include distal ridges 223, 243 located at the distal ends 222, 224 of the first pair of connectors 202, 204, which may each conform to the contour of the respective connector 202, 204. The distal ridges 223, 243 may be ergonomic features that allow a physician to easily grasp and manipulate the gripper 200 at the distal end. For example, the distal ridges 223, 243 may serve as surfaces to allow a user to pull the gripper 200 toward them while working outside the finger pads 212, 214.

[0180] The first pair of connectors 202, 204 may each include magnets 302, 304 for sensing the position of the corresponding pair of connectors 202, 204. Figure 25B As shown, magnet 302 can be positioned or mounted on the bottom of connector 202. Angular displacement of connector 202 can be sensed by a Hall effect sensor. The Hall effect sensor can be positioned on or within central axis 250. The Hall effect sensor can be used to measure the magnitude or change of the magnetic field. When multiple connectors change angle, one or more sensors can be used to detect changes in the magnetic field caused by the movement of magnets 302, 304, which occurs through the movement of the respective connectors 202, 204. In some configurations, the Hall effect sensor can be used to detect the distance of magnets 302, 304 and connectors 202, 204 relative to central axis 250, which an input device can use to transmit control signals. Similarly, the second pair of connectors 206, 208 can each also include a magnet (not shown). Furthermore, other sensors, such as resistive sensors and / or optical sensors, can be used.

[0181] B. Auxiliary Input Section

[0182] In some configurations, at least one auxiliary input section (such as...) is included on one of the multiple connectors. Figures 21A to 21B and Figure 22 The auxiliary input unit 216 is shown in the diagram. The auxiliary input unit may also be referred to as a finger input unit or a specific function of the auxiliary input unit, such as a clutch. In some embodiments, this temporarily disengages the movement of the instrument from the controller by depressing the clutch. One or more of the first pair of opposing connectors 202, 204 may include an auxiliary input unit. One or both of the second pair of opposing connectors 206, 208 may include an auxiliary input unit. Having auxiliary input units 216, 218 on the gripper 200 to allow for other control schemes is useful. In some configurations, the auxiliary input units 216, 218 may be multi-functional finger input units that can serve different purposes depending on the mode. For example, the auxiliary input unit may serve a first mode and a second mode. In the first mode, the auxiliary input unit functions as a clutch. In the second mode, the auxiliary input unit functions as a selection tool, such as a menu / tool ​​selector for a user interface. For example, the auxiliary input unit may function as a clutch. During procedures, the user often has to readjust the position of his or her hand. Actuation of any finger clutch can temporarily disengage the gripper from control of the instrument, allowing the user to readjust his or her hand position to re-grip the gripper during the procedure.

[0183] Maintaining a radially symmetrical configuration of the gripper can be challenging in terms of the size or volume of the auxiliary input section. In some configurations, it may be advantageous to position the auxiliary input section on one or more of the connectors 202, 204, 206, 208. In some examples, such as Figures 21A to 21B and Figure 22 As shown, the second pair of connectors 206, 208 may include auxiliary input sections 216, 218. In some configurations, the auxiliary input sections may be placed on connectors without finger pads or on connectors positioned between connectors with finger pads. This configuration allows the user to easily access the auxiliary input sections when manipulating the gripper. This configuration also reduces the size of the auxiliary input sections and minimizes their radial symmetry interference with the gripper, while maximizing the remaining space for the user to actuate the multiple connectors 202, 204, 206, 208.

[0184] Figures 27A to 27B and Figures 28 to 30 Various configurations of the third connector 206 with an auxiliary input section are shown. Although only the third connector 206 is shown in these figures, the fourth connector 208 can be substantially similar. The auxiliary input section can be a sliding input section, a pressing input section, a translation input section, or a rotary input section.

[0185] Figure 26A It shows having Figures 21A to 21B and Figure 22 A top view of the third connector 206 of the auxiliary input section 216. Figure 26B It shows Figure 26A A bottom view of the third connector 206. Although in Figures 26A to 26B Only the third connector 206 of the second pair of connectors 206, 208 is shown, but the fourth connector 208 can be substantially similar. The second pair of opposing connectors 206, 208 may include a switch 306. The switch 308 may be positioned on the top side of each connector 206, 208, toward their respective proximal ends 236, 238. The switch 308 may be connected to circuitry 300 within the central support 250. Figure 26B As shown, each of the second pair of connectors 206, 208 may include a wire guide 326 to connect the switch 308 to the circuit 300.

[0186] Similar to the distal ridges 223 and 243 of the first pair of connectors 202 and 204, the second pair of connectors 206 and 208 may also each have distal ridges 263 and 283 located at the distal ends 226 and 228 of the second pair of connectors 206 and 208. The distal ridges 263 and 283 may each conform to the contour of the respective connector 206 and 208. The distal ridges 263 and 283 may be ergonomic features that allow a physician to easily grasp and manipulate the gripper 200 at the distal end. For example, the distal ridges 263 and 283 may serve as surfaces to allow the user to pull the gripper 200 toward them when handling it at the distal end.

[0187] The auxiliary input section can appear in many different forms to activate switches 306 and 308. Figure 27A Another example of a third connector with an auxiliary input section is shown. Figure 27B It shows Figure 27A A cross-sectional view of the third connector. (See attached image.) Figure 27A As shown, the auxiliary input 216 may include a press-down button 256. If the auxiliary input is a clutch for the gripper, the press-down button 256 can be considered a clutch button. During procedures, the user often needs to readjust the position of his or her hand. Actuation of the clutch (such as via the auxiliary input) can temporarily disengage the gripper from the control operation of the instrument, allowing the user to readjust the position of his or her hand to re-grip the gripper during procedures. The auxiliary input 216 may include a cover 254 that surrounds the entire assembly to protect the auxiliary input 216 from accidental impacts.

[0188] like Figure 27B As shown, the push button 256 may be spring-loaded. The auxiliary input 216 may include a surface or rail 258 that can engage with the switch 306. The push button 256 may be mounted on the rail 258 and slide along the rail. The push button 256 may be constrained to the rail 258, for example by means of a locating pin, to which the button translates axially along the rail 258. When the push button 256 is actuated by a user, it may engage with the switch 306 to activate another control scheme, such as a clutch mode. The push button 256 may be positioned at the proximal end 236 of the third connector 206, allowing the user to actuate the push button 256 by hooking their fingers around the proximal end 236 of the third connector 206.

[0189] Figure 28 Another example of a third connector 206 with an alternative arrangement of auxiliary input section 316 is shown. Auxiliary input section 316 can be similar to... Figures 27A to 27BThe auxiliary input section 216 is shown. The auxiliary input section 316 may include a push button 356 having a flange, protruding flange, or protrusion 358. The flange or protrusion 358 provides an additional surface for the user to actuate the push button 356. The flange or protrusion 358 is particularly useful for users with shorter fingers, as it is easier for them to reach the flange or protrusion 358 than the proximal end of the push button 256.

[0190] Figure 29A Another example of a third connector 206 with an alternative arrangement of auxiliary input 416 is shown. Auxiliary input 416 may include a rotation-based device or a roller 446. The user provides linear movement on the edge of the roller 446, which is converted into rotational movement of the roller 446. The roller 446 can be advantageous because it can be small in size, minimizing the auxiliary input 416 and maximizing the space available for the user to actuate multiple connectors. Furthermore, rotation-based devices 446 can be smaller, simpler, and more robust than translation mechanisms. For example, rotation-based devices 446 can advantageously provide a perceived large stroke of rotational movement without occupying the space of a large translation mechanism. Rotation-based devices 446 are also advantageously simpler than translation mechanisms of similar size. Rotation-based devices 446 can occupy less space without compromising the user experience. Furthermore, for rotation-based devices 446, there is a minimal sliding surface, improving wear and lifespan.

[0191] The actuation of roller 446 can engage and activate a switch (such as...) Figure 26A and Figure 27B (Switch 306 shown). In some examples, actuation of roller 446 can be detected by a sensor. In some examples, a rotation-based device or roller 446 can be coupled to a magnet. In some examples, actuation of roller 446 can change a magnetic field that can be detected by a sensor (such as an analog magnetic sensor). In some examples, actuation of roller 446 can directly rotate a magnet, which can orient the magnetic field in different directions by rotating the magnet. Changes in the direction of the magnetic field can be detected by a sensor. In other examples, actuation of the roller can cause linear motion of the magnet, which can also be detected by a sensor.

[0192] Figure 29B Another example of the gripper 200b is shown, wherein an auxiliary input section 916 is provided on the first pair of opposing connectors 202, 204. Although in Figure 29BThe diagram shows the first pair of opposing connectors 202, 204, but in some embodiments, the auxiliary input 916 may alternatively or additionally be positioned on the second pair of opposing connectors 206, 208. The gripper 200b may be similar to the gripper 200 described above. Each of the connectors 202, 204, 206, 208 may include a finger gripper or finger pad 212, 214, 266, 268.

[0193] Figure 29C A first connector 202 with an auxiliary input section 916 is shown. Figure 29D It shows Figure 29C A cross-sectional view of the first connector. Similar to... Figure 29A Auxiliary input unit 416, Figures 29B to 29D The auxiliary input unit 916 may include a rotation-based device or a roller 946. The user provides linear motion on the edge of the roller 946, which is converted into rotational motion of the roller 946. The roller 946 can offer similar advantages in terms of size, simplicity, robustness, space, and wear. Furthermore, actuation of the roller 946 can similarly engage and activate a switch (such as...). Figure 26A and Figure 27B (Switch 306 shown). In some examples, actuation of the roller 946 can be detected by a sensor. In some examples, the rotation-based device or roller 946 can be coupled to a magnet. In some examples, actuation of the roller 946 can change a magnetic field that can be detected by a sensor (such as an analog magnetic sensor). In some examples, actuation of the roller 946 can directly rotate the magnet, which can orient the magnetic field in different directions by rotating the magnet. Changes in the direction of the magnetic field can be detected by a sensor. In other examples, actuation of the roller can cause linear motion of the magnet, which can also be detected by a sensor. Figure 30 Another example of a third connector 206 with an arrangement having an auxiliary input section 516 is shown. The auxiliary input section 516 may be a translation pad 546 that moves along the length of the third connector 206. The translation pad 546 may be advantageous because it reduces the height of the auxiliary input section 516 on the third connector 206.

[0194] The actuation of the translation pad 546 can engage and activate the switch (such as...) Figure 26A and Figure 27B (Switch 306 shown). In some examples, actuation of the translation pad 546 can be detected by a sensor. In some examples, the translation pad 546 can be coupled to a magnet. In some examples, actuation of the translation pad 546 can change a magnetic field that can be detected by a sensor (such as an analog magnetic sensor). In some examples, actuation of the translation pad 546 can cause linear movement of the magnet, which can be detected by a sensor.

[0195] C. Alternative multi-connector gripper

[0196] Figure 31 Another example of a gripper 600 is shown. The gripper 600 has only two connectors 602, 604. Each connector 602, 604 may have a curved surface at its distal end 622, 624, which wraps around the central support 250. Each connector 602, 604 may have a curved surface at the distal end 622, 624 of each connector or at the distal end of the central axis 250 or the gripper 600. This allows the user greater freedom to grip the connectors 602, 604. The gripper 600 may have partial radial symmetry. The curved surface of the gripper 600 allows for rolling operations, where the user can close the connectors 602, 604 and roll the gripper 600 between the user's fingers without opening the connectors 602, 604. The auxiliary input part of the gripper 600 can be a wheel or roller mechanism 646, which can be positioned on the central shaft 250 instead of being mounted on the connector.

[0197] Figure 32 A cross-sectional view of another example of the gripper 700 is shown. The gripper 700 can be similar to, for example... Figures 21A to 21B and Figure 22 The four-connector gripper shown has different mechanisms for connecting the movement of multiple connectors. Although for clarity, Figure 32 Only two connectors 202 and 204 are shown, but the gripper 700 may include any number of connectors, such as two, three or four connectors.

[0198] The gripper 700 may include a four-sided rack 770. Each of the plurality of connectors 202, 204, 206, 208 may have gear teeth configured to mesh or engage with the gear teeth of the rack 770. When one of the connectors 202, 204, 206, 208 moves between an open configuration and a closed configuration, the plurality of connectors 202, 204, 206, 208 causes the rack 770 to translate forward or backward (or proximal or distal), which forces the remaining connectors 202, 204, 206, 208 to move in the same manner. In this configuration, the movement of the plurality of connectors 202, 204, 206, 208 is constrained together. Each of the plurality of connectors 202, 204, 206, 208 can be configured to rotate relative to the rack 770, wherein each of the plurality of connectors 202, 204, 206, 208 is configured to engage with the rack 770 such that rotation of one of the plurality of connectors 202, 204, 206, 208 causes rotation of the remaining connectors of the plurality of connectors 202, 204, 206, 208.

[0199] Figure 33 Another example of a gripper 800 is shown. The gripper 800 may similarly be radially symmetrical and have multiple connectors, such as four connectors 802, 804, 806, and 808. Each of the multiple connectors 802, 804, 806, and 808 may have a bevel gear 810 to interconnect the movement of each connector 802, 804, 806, and 808. The bevel gear 810 may be mounted on a central support member 850. Each of the multiple connectors 202, 204, 206, and 208 may include bevel gear teeth configured to connect the movement of each of the multiple connectors 202, 204, 206, and 208 to the remaining connectors of the multiple connectors 202, 204, 206, and 208.

[0200] D. Sensor location

[0201] As described above, when a user manipulates multiple connectors of the gripper, the user's fingers can adjust the angles of the connectors. The connectors can be oriented or angled relative to a central axis or central shaft. The multiple connectors on the gripper can measure the input angle of the user's fingers. For example, the angle at which any one or more of the connectors are positioned relative to the central axis can be converted into a desired angle for a component of the instrument (such as one or more jaws of an end effector). The gripper 200 may include one or more sensors to measure the angles of the connectors, thereby measuring the input angle of the user's fingers. Similarly, as described above, the state of the auxiliary input section can also be measured by one or more sensors.

[0202] The gripper may include one or more sensors located at different positions. In some configurations, one or more sensors may be located on or coupled to one or more of the multiple connectors. In some configurations, one or more sensors may be located on or coupled to a central axis. Having one or more sensors on the central axis may be advantageous because space is limited on each of the multiple connectors. Having one or more sensors on the central axis can also advantageously position the sensors away from movement and user contact with the connectors, which can reduce the risk of sensor damage.

[0203] In some configurations, one or more sensors may include Hall effect sensors, such as 3D Hall effect sensors. One or more sensors may include three different sensors orthogonally oriented to each other. Using these sensor readings, an algorithm can be developed to determine the angles of multiple connectors and detect the state of the auxiliary input section. The position of one or more sensors in the central axis can also advantageously eliminate the need for wiring and sensor encapsulation on the connectors.

[0204] One or more sensors can detect one or more magnets included in multiple connectors and / or one or more magnets in auxiliary input sections. For example, each connector may include one or more magnets located in a fixed position. When the multiple connectors change angle, one or more sensors can be used to detect changes in the magnetic field caused by the movement of these magnets.

[0205] Similarly, the auxiliary input may include or be operatively connected to one or more magnets, such that changes or movement of the auxiliary input can alter the position or orientation of the one or more magnets, which can be detected by a sensor. In some examples, changes in the magnetic field caused by the auxiliary input may be coupled to the movement of the gripper or one or more components of the gripper. In some examples, the angles of multiple connectors may be decoupled from the state of the auxiliary input.

[0206] In some configurations, one or more sensors may be 3-DOF sensors with physical electrical connections to multiple connectors and auxiliary inputs.

[0207] 3. Implementation System and Terminology .

[0208] The implementation disclosed herein provides systems, methods, and apparatus for controllers used in robotic surgical systems.

[0209] It should be noted that, as used herein, the term “coupled” or other variations of the word coupling can indicate an indirect or direct connection. For example, if a first component is “coupled” to a second component, the first component may be indirectly connected to the second component or directly connected to the second component via another component.

[0210] The position and orientation estimation of the various connectors and the state detection of the auxiliary input section described herein can be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium accessible by a computer or processor. By way of example, and not limitation, such media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. It should be noted that computer-readable media can be tangible and non-transitory. As used herein, the term "code" can refer to software, instructions, code, or data executable by a computing device or processor.

[0211] The methods disclosed herein include one or more steps or actions for implementing the methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims unless proper operation of the described method requires a specific order of steps or actions.

[0212] As used herein, the term "multiple" means two or more. For example, multiple components indicates two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, operation, processing, derivation, investigation, lookup (e.g., searching in a table, database, or another data structure), ascertainment, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Furthermore, "determine" can include parsing, selecting, picking, building, etc.

[0213] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0214] The foregoing description of the disclosed specific embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these specific embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other specific embodiments without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ numerous corresponding alternatives and equivalent structural details, such as equivalent methods of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for generating specific actuating motions, and equivalent mechanisms for delivering electrical energy. Therefore, the invention is not intended to be limited to the specific embodiments shown herein, but is to be endowed with the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An input device for controlling a robotic surgical tool, the input device comprising: a first pair of opposing links; and a second pair of opposing links, wherein the first pair of opposing links and the second pair of opposing links are arranged radially symmetrically, wherein the input device is configured to control operation of the robotic surgical tool, and wherein each link of the second pair of opposing links comprises a clutch button.

2. The input device of claim 1, wherein the first pair of opposing links is longer than the second pair of opposing links.

3. The input device of claim 1, wherein the first pair of opposing links has an equal length as the second pair of opposing links.

4. The input device of claim 1, wherein each link of the first pair of opposing links comprises a finger pad.

5. The input device of claim 1, wherein the clutch button comprises a push-down button.

6. The input device of claim 1, wherein the clutch button comprises a protruding flange.

7. The input device of claim 1, wherein when the clutch button is actuated, the clutch button is configured to decouple the input device from controlling operation of the robotic surgical tool.

8. The input device of claim 1, wherein each link of the first pair of opposing links and each link of the second pair of opposing links is coupled to a central longitudinal member.

9. The input device of claim 8, wherein a proximal end of each link of the first pair of opposing links and a proximal end of each link of the second pair of opposing links is configured to move radially relative to the central longitudinal member.

10. The input device of claim 1, wherein the first pair of opposing links and the second pair of opposing links are configured to move together.

11. The input device of claim 8, wherein each link of the first pair of opposing links is configured to move together such that proximal ends of the first pair of opposing links are positioned an equal distance from the central longitudinal member.

12. An input device for controlling a robotic surgical tool, the input device comprising: a multi-link gripper comprising three or more links coupled to a central longitudinal member, wherein the three or more links are spaced apart from each other around the central longitudinal member by less than 180 degrees, wherein the multi-link gripper is configured for controlling operation of the robotic surgical tool, and wherein each link of at least two of the three or more links comprises a clutch button.

13. The input device of claim 12, wherein each of the three or more links is configured to move from an open position in which a proximal end of each of the three or more links is positioned radially away from the central longitudinal member to a closed position in which the proximal end of each of the three or more links is positioned radially proximate to the central longitudinal member.

14. The input device of claim 13, wherein each of the three or more links is biased in the open position.

15. An input device for controlling a surgical tool, the input device comprising: a multi-link grabber comprising two or more links about a central longitudinal member for controlling operation of the surgical tool, wherein at least one of the two or more links comprises a finger input, and wherein in a first mode the finger input operates as a finger clutch and in a second mode the finger input operates as a select tool.

16. The input device of claim 15, wherein the finger input comprises a rotary input.

17. The input device of claim 15, wherein the central longitudinal member comprises a sensor for detecting a mode of the finger input.

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