Apparatus and method for robotic assembly

Abstract

The present application relates to apparatus and methods for a robotic assembly. Disclosed herein are methods, apparatus, and systems for performing a robotic procedure. The apparatus may include one or more robotic arms. The one or more robotic arms may include one or more joints. The joints may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently of an end effector or origin of the robotic arm. The working end of the robotic arm may be configured to be inserted into a body cavity of a subject via a trocar and may be operably coupled to a motor unit via one or more electrical or robotic components housed in a support tube.

Description

[0001] This application is a divisional application of an application filed on June 23, 2020, with application number 202080059771.1 and invention name “Device and method for robotic components”.

[0002] Cross-references

[0003] This application claims the benefit of U.S. Provisional Application Serial No. 62 / 865,658, filed June 24, 2019, U.S. Provisional Application Serial No. 62 / 877,141, filed July 22, 2019, U.S. Provisional Application Serial No. 62 / 882,921, filed August 5, 2019, and U.S. Provisional Application Serial No. 62 / 912,910, filed October 9, 2019, the entire contents of which are incorporated herein by reference.

[0004] Incorporation by reference

[0005] All publications, patents, and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference. Summary of the Invention

[0006] A robotic arm is described herein, comprising a plurality of joints coupled sequentially from an origin of the robotic arm to an end effector of the robotic arm to form: (i) a first segment of the robotic arm comprising the origin; (ii) a second segment of the robotic arm comprising a robotic elbow joint; and (iii) a third segment of the robotic arm comprising an end effector, wherein joints positioned within the first segment and joints positioned within the third segment permit movement of at least a portion of the second segment independently of movement of the origin or the end effector of the robotic arm. In some embodiments, the robotic elbow joint comprises a hinge joint. In some embodiments, the plurality of joints comprises a hinge joint, a revolute joint, or a combination thereof. In some embodiments, the joint positioned within the first segment comprises a hinge joint. In some embodiments, the joint positioned within the third segment comprises a hinge joint. In some embodiments, the joint positioned within the first segment and the joint positioned within the third segment permit movement of at least a portion of the second segment independently of movement of the origin and the end effector. In some embodiments, the end effector comprises a surgical tool. In some embodiments, the plurality of joints comprises at least three hinge joints. In some embodiments, the plurality of joints includes at least three revolute joints. In some embodiments, movement of the joints is performed by a motor unit. In some embodiments, displacement of the joints is measured by a magnetic sensing system. In some embodiments, the magnetic sensing system is positioned within a portion of the joint. In some embodiments, the plurality of joints are positioned to form a robotic arm, allowing the robotic arm to have a range of motion with at least eight degrees of freedom. In some embodiments, the robotic arm is sized for placement within a body cavity. In some embodiments, the plurality of joints includes joint segments positioned in an alternating pattern of hinge joints and revolute joints. In some embodiments, the end effector is directly coupled to the hinge joint. In some embodiments, the hinge joint is configured for rotational movement about an axis perpendicular to the longitudinal axis of the robotic arm. In some embodiments, the revolute joint is configured for movement about the longitudinal axis of the robotic arm. In some embodiments, the hinge joint is configured for movement along a single plane. In some embodiments, the robotic arm includes a surgical robotic assembly comprising a support tube configured to couple to the robotic arm and deliver the robotic arm through a trocar, such that when a portion of the robotic arm exits the trocar, at least a portion of the robotic arm deflects outward.

[0007] A method is described herein, comprising: inserting multiple working ends of a robotic assembly through a trocar, wherein a support tube operably couples corresponding working ends of the multiple working ends to a portion of the robotic assembly positioned outside the trocar; and inserting at least a portion of the support tube into the trocar, wherein when the corresponding working end exits the trocar, at least a portion of the support tube moves radially outward toward a portion of an inner wall of the trocar. In some embodiments, a transition element is coupled to the corresponding working end. In some embodiments, a proximal end of the transition element guides the corresponding working end radially outward upon exiting the trocar. In some embodiments, the stiffness of the support tube urges the support tube radially outward. In some embodiments, the support tube is coupled to a resilient element, and wherein the resilient element urges the support tube radially outward. In some embodiments, the resilient element comprises a spring. In some embodiments, the multiple working ends include at least two of the following: a working end of a camera, a working end of a first robotic arm, and a working end of a second robotic arm. In some embodiments, the multiple working ends include the working end of the camera, the working end of the first robotic arm, and the working end of the second robotic arm. In some embodiments, at least a portion of the proximal end of the transition element includes a curved side along at least a portion of its length. In some embodiments, at least a portion of the distal end of the transition element includes a tapered end. In some embodiments, insertion of the plurality of working ends is sequential. In some embodiments, the order of insertion of the plurality of working ends is based at least in part on the relative cross-sectional areas of each of the plurality of working ends. In some embodiments, insertion comprises individually inserting each of the plurality of working ends into the trocar. In some embodiments, insertion is performed by one or more motor units coupled to the robotic assembly. In some embodiments, the one or more motor units comprise a motor, a drive train, electronics, or any combination thereof. In some embodiments, the one or more motor units comprise a mounting member configured to translate the motor unit substantially parallel to an axis of insertion of the plurality of working ends. In some embodiments, each of the plurality of working ends is coupled to a corresponding motor unit. In some embodiments, the support tube comprises a mechanical power element, an electrical power element, or a combination thereof. In some embodiments, the trocar maintains inflation of the body cavity while the one or more working ends are inserted into the body cavity through the trocar. In some embodiments, the method further comprises positioning a working end of a camera between a working end of a first robotic arm and a working end of a second robotic arm. In some embodiments, the working end of the camera is positioned substantially equidistantly between the working end of the first robotic arm and the working end of the second robotic arm. In some embodiments, positioning is performed by one or more motor units. In some embodiments, the camera comprises a stereo camera. In some embodiments, a portion of the robotic assembly is coupled to a trocar. In some embodiments, the method further comprises removing the plurality of working ends by re-entering the trocar.In some embodiments, the transition element guides the working ends radially inwardly upon re-entering the trocar. In some embodiments, the method further comprises independently adjusting the relative depths of the plurality of working ends.

[0008] Described herein is a robotic joint including a magnetic sensing system, wherein the magnetic sensing system comprises: (a) an arrangement of magnets that form a magnetic field; and (b) an arrangement of sensors configured to measure changes in at least a portion of the magnetic field, wherein the changes correspond to displacements of the robotic joint. In some embodiments, the arrangement of magnets comprises two or more magnets that substantially form a magnetic column. In some embodiments, the two or more magnets are positioned in a dipole arrangement of NS, NS or SN, SN. In some embodiments, the arrangement of magnets comprises a first magnetic column and a second magnetic column. In some embodiments, the magnetization direction of the magnets in the first magnetic column has a dipole arrangement opposite to that of the magnets in the second magnetic column. In some embodiments, the magnetization direction of the magnets in the first magnetic column has the same dipole arrangement as that of the magnets in the second magnetic column. In some embodiments, the arrangement of sensors is positioned on or near a plane that is substantially perpendicular to the arrangement of magnets. In some embodiments, the substantially perpendicular plane is positioned between the first magnet and the second magnet, wherein the first magnet and the second magnet form a column of magnets. In some embodiments, the arrangement of magnets and the arrangement of sensors are positioned substantially near a peripheral edge of the robotic joint. In some embodiments, a magnetic sensing system measures displacement of a robotic joint with higher resolution than a comparable robotic joint lacking the arrangement of magnets and the arrangement of sensors. In some embodiments, the arrangement of magnets comprises a set of magnets positioned in separate spatial quadrants of the magnetic sensing system. In some embodiments, a first magnet in the set comprises a magnetization direction that aligns with a second magnet in a diagonally positioned quadrant. In some embodiments, the first magnet in the set is positioned in the first quadrant, and the second magnet in the set is positioned in the second quadrant. In some embodiments, the magnetic field comprises orthogonal field components, parallel field components, non-parallel field components, or any combination thereof. In some embodiments, a magnet in the plurality of magnets comprises neodymium, iron, or any combination thereof. In some embodiments, a magnet in the plurality of magnets comprises an electromagnet. In some embodiments, the robotic arm comprises a cable-driven robotic arm. In some embodiments, the arrangement of magnets comprises at least four magnets. In some embodiments, the arrangement of sensors comprises a sensor array. In some embodiments, the sensor array comprises at least two sensors. In some embodiments, the robotic arm comprises a robotic joint. In some embodiments, each of the plurality of robotic joints comprises a robotic joint.

[0009] This document describes a robotic arm including a joint, wherein the joint includes: a portion of an electrically communicating component, wherein the portion is associated with first and second portions of the joint and: (a) winds around an axis of the joint, wherein the amount of winding of the portion varies proportionally with the movement of the joint; or (b) extends to form a moving bend, wherein during actuation of the joint, the moving bend moves relative to the first and second portions. In some embodiments, the portion extends to form the moving bend, and wherein the moving bend is positioned within and moves within a channel of a housing of the joint. In some embodiments, the channel is positioned outside a central axis of the joint. In some embodiments, during a first range of motion of the joint, a minimum amount of the moving bend is positioned within the channel, and during a second range of motion of the joint, a maximum amount of the moving bend is positioned within the channel. In some embodiments, the robotic arm includes a pin. In some embodiments, the portion of the joint is operably configured as a cam, and the pin is operably configured as a cam follower. In some embodiments, the robotic arm includes an elastic element coupled to the electrical component. In some embodiments, the elastic element includes a spring or an elastic band. In some embodiments, the elastic element comprises a spring, wherein the spring is a constant force spring. In some embodiments, the portion is wound around the axis of the joint, and the joint comprises a revolute joint. In some embodiments, the portion extends to form a movable bend, and the joint comprises a hinge joint. In some embodiments, the association with the first position of the joint, the second position of the joint, or a combination thereof is fixed. In some embodiments, the portion is wound around the axis of the joint to at least partially form a helical coil. In some embodiments, the portion is wound around the axis of the joint, and a plurality of windings are positioned between the housing and the shaft of the joint. In some embodiments, during a first range of motion of the joint, the number of windings is maximized and the portion is wound around the shaft, and during a second range of motion of the joint, the number of windings is minimized and the portion expands against the housing. In some embodiments, an electrical communication component operably couples an end effector of a robotic arm with a control system. In some embodiments, the electrical communication component is configured to transmit one or more electrical signals to or from a portion of the robotic arm. In some embodiments, the portion is configured to move relative to the movement of the joint. In some embodiments, the portion is configured to substantially maintain a radius of curvature during movement of the joint. In some embodiments, the robotic arm includes a stop element to limit the range of motion of the robotic arm. In some embodiments, the robotic arm includes a coating or film covering at least a portion of the electrical communication component. In some embodiments, the coating or film includes a lubricant. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] This patent application contains at least one drawing executed in color. Copies of this patent or patent application with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.

[0011] Figure 1 A robotic arm including multiple joints is illustrated according to some embodiments.

[0012] Figure 2 to Figure 1 FIG0 illustrates a surgical robot detachable arm structure according to some embodiments.

[0013] Figures 11 to 15 Illustrated is the insertion of a camera motor unit through a trocar, according to some embodiments.

[0014] Figures 16 to 22 Illustrated are a first arm motor unit, a second arm motor unit, and a camera motor unit inserted through a trocar, according to some embodiments.

[0015] Figures 23 to 25 The first arm motor unit, the second arm motor unit, and the camera motor unit are illustrated after insertion through a trocar, according to some embodiments.

[0016] Figure 26 and Figure 27 A system including a sensor array and a rotating magnet is illustrated according to some embodiments.

[0017] Figure 28 A robotic joint assembly is illustrated according to some embodiments.

[0018] Figure 29 An arrangement of magnets according to some embodiments is illustrated.

[0019] Figure 30 Illustrated is a simulation of the magnetic field generated by an arrangement of magnets, according to some embodiments.

[0020] Figure 31 Illustrated is the perpendicular component of the magnetic field generated by an arrangement of magnets according to some embodiments.

[0021] Figure 32 Illustrated are a plurality of magnets and a sensor array for sensing magnetic fields generated by the plurality of magnets, according to some embodiments.

[0022] Figure 33 A sensing system implemented in a joint according to some embodiments is illustrated.

[0023] Figure 34 and Figure 35 A rotary joint is illustrated having a flexible printed circuit board wrapped around the axis of the joint, according to some embodiments.

[0024] Figure 36 and Figure 37 Illustrated are electrical communication components and a retraction mechanism disposed about a connector, according to some embodiments.

[0025] Figure 38 and Figure 39 A hinge joint is illustrated according to some embodiments, wherein an electrical communication component passes through the joint.

[0026] Figures 40 to 42 The robotic assembly is illustrated positioned relative to a patient undergoing surgery and medical personnel performing the surgery with the assistance of the robotic assembly.

[0027] Figure 43 The diagram shows the robotic arm entering the patient's body through the trocar.

[0028] Figure 44 Illustration of different sizes of robot components.

[0029] Figure 45 The insertion pitch angle and clearance between the motor unit and the patient are described when a portion of a robotic assembly is inserted into the patient through a trocar.

[0030] Figure 46 The cross-sectional area of ​​the trocar and the diameters of the associated components are shown.

[0031] Figure 47 Examples of cross-sectional areas of support tubes and electrical and mechanical components housed therein are shown.

[0032] Figure 48 The cross-sectional area of ​​the support tube is illustrated, showing examples of the curvature of each side of an exemplary support tube.

[0033] Figure 49 Describes the use of software programs (Solidworks TM ) to calculate various parameters, such as area moment of inertia.

[0034] Figure 50 An example of an attachment between a support tube and a corresponding robotic arm is illustrated.

[0035] Figure 51 An example of an attachment between a support tube and a corresponding motor unit is illustrated.

[0036] The novel features of the present disclosure are set forth with particularity in the appended claims.A better understanding of the features and advantages of the present disclosure will be obtained by reference to the following detailed description which sets forth illustrative embodiments. DETAILED DESCRIPTION

[0037] Although preferred embodiments of the present disclosure have been shown and described herein, it will be apparent to those skilled in the art that these embodiments are provided as examples only. Without departing from the present disclosure, those skilled in the art will now appreciate that many variations, changes, and substitutions may be made. It should be understood that in practicing the present disclosure, various alternatives to the embodiments of the present disclosure described herein may be employed. The appended claims are intended to define the scope of the present disclosure and are intended to encompass methods and structures within the scope of these claims and their equivalents.

[0038] The use of absolute or sequential terms, such as, "shall," "shall not," "should," "should not," "must not," "must not," "first," "initially," "next," "subsequently," "before," "after," "finally," and "last," are not meant to limit the scope of the embodiments disclosed herein, but are intended to be exemplary.

[0039] As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In addition, to the extent that the terms "including," "includes," "having," "has," "with," or variations thereof are used in the detailed description and / or claims, these terms are intended to be inclusive in a manner similar to the term "comprising."

[0040] As used herein, the phrases "at least one," "one or more," and "and / or" are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions "at least one of A, B, and C," "at least one of A, B, or C," "one or more of A, B, and C," "one or more of A, B, or C," and "A, B, and / or C" means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B, and C together.

[0041] Any systems, methods, software, and platforms described herein are modular and are not limited to sequential steps. Therefore, terms such as "first" and "second" do not necessarily imply priority, order of importance, or order of actions.

[0042] The term "about" or "approximately" means within an acceptable error range for a particular value as determined by one of ordinary skill in the art, which will depend in part on how the value is measured or determined, such as limitations of the measurement system. For example, "about" can mean within one or more standard deviations, depending on the convention in which values ​​are given. Where specific values ​​are described in the application and claims, unless otherwise indicated, the term "about" should be assumed to mean an acceptable error range for the specific value.

[0043] like Figures 40 to 42 As shown in the image sequence of , a medical professional 502 (such as a surgeon) can perform a surgical procedure on a patient 503 with the assistance of a robotic machine 500 having a robotic assembly 501. At least a portion of the robotic assembly 501 can be inserted into a portion of the patient 503. At least a portion of the robotic assembly 501 can remain external to the patient 503. The portion that can be inserted can include a camera and two robotic arms. The portion that can remain external to the patient 503 can include a motor unit, guide rails, portions of a support tube, a control system, and others. The patient 503 can be positioned on a surface 504 (such as an operating table). The robotic assembly 501 can be movable. The robotic assembly 501 can be positioned over an area of ​​the patient. In some cases, the surgical procedure can include inserting a portion of the robotic assembly 501 through one or more trocars into the portion of the patient 503. The surgical procedure can include a therapeutic procedure, a diagnostic procedure, a preventative procedure, a theranostic procedure, or any combination thereof.

[0044] The robotic assembly may include one or more magnets, such as a magnetic sensing system of the robotic assembly. The magnetic sensing system may be positioned within a portion of the robotic assembly, such as a joint. One or more joints of the robotic assembly may include a magnetic sensing system comprising one or more magnets. The magnetic field of the one or more magnets may change due to displacement or movement of a portion of the robotic assembly (such as the joint). The corresponding one or more sensors may be configured to measure the change in the magnetic field. The magnet of the magnetic sensing system may be a ring magnet, a circular magnet, a bar magnet, a horseshoe magnet, a spherical magnet, a cylindrical magnet, or any combination thereof. The magnet or a portion thereof may be a ceramic magnet. The magnet or a portion thereof may include neodymium, boron, iron, or any combination thereof. The magnet or a portion thereof may include neodymium, ferrite, rubber, iron, magnetite, magnetite, or any combination thereof. The magnet or a portion thereof may include NdFeB. The magnet or a portion thereof may include a magnetic strength of approximately N33 to N52. The magnet may include a magnetic strength of approximately N35. The magnet may include a magnetic strength of approximately N42. The magnet or a portion thereof may comprise a magnetic strength of approximately Y10 to Y30 BH. The magnet or a portion thereof may be an isotropic magnet. The magnet or a portion thereof may be an anisotropic magnet. The magnet or a portion thereof may comprise a rubber magnet. The magnet or a portion thereof may comprise ferrite, AlNiCo (AN), SmCo (SC), NdFeB (ND), or any combination thereof. The magnet or a portion thereof may comprise an electromagnet.

[0045] The robotic assembly may include one or more sensors. The magnetic sensing system of the robotic assembly may include one or more sensors. The sensor may be positioned within a portion of the robotic assembly, such as a joint. One or more joints of the robotic assembly may include a magnetic sensing system comprising one or more sensors. The sensor may be configured to measure a change in a portion of the magnetic field of one or more magnets, the change in the portion of the magnetic field of the one or more magnets corresponding to a displacement or movement of a portion of the robotic assembly (such as the joint). The sensor may be configured to measure a change in a portion of the magnetic field. The sensor may include a search coil magnetometer, a fluxgate magnetometer, an optically pumped magnetometer, a nuclear processing magnetometer, a SQUID magnetometer, a Hall effect sensor, a magnetoresistive magnetometer, a magnetic diode, a magneto-transistor, a fiber-optic magnetometer, a magneto-optical sensor, or any combination thereof.

[0046] A robotic component may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 20, 25, 30, 35, 40, 45, 50, 75, 100, 150, 200, or more sensors. A joint of a robotic component may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more sensors. A joint may include about 1 to about 10 sensors. A joint may include about 1 to about 8 sensors. A joint may include about 1 to about 6 sensors. A joint may include about 2 to about 8 sensors. A joint may include about 2 to about 6 sensors. A joint or other component of a robotic component may include an even number of sensors or an odd number of sensors. A joint may include 2, 4, 6, 8, 10, or more sensors. A joint may include 1, 3, 5, 7, 9, or more sensors. One or more sensors may form an arrangement of sensors. One arrangement may include an arrangement in which sensors are positioned substantially around a periphery of a component of a robotic component, such as a joint. One arrangement may include one or more sensors along the same axis or within a given plane. One or more sensors may form a sensor array. A sensor array may include 2×2 sensors, 3×3 sensors, 4×4 sensors, 2×3 sensors, 2×4 sensors, 3×4 sensors, or other combinations.

[0047] The robotic assembly may include a plurality of joints. At least two of the plurality of joints may be of the same type. At least two of the plurality of joints may be of different types. The robotic arm of the robotic assembly may include a plurality of joints. The joints may be configured for translational motion, configured for rotational motion, or any combination thereof. The robotic assembly may include joints configured for translational motion, joints configured for rotational motion, or a combination thereof. The joints may be linear joints, orthogonal joints, rotary joints, torsional joints, or revolute joints. The robotic assembly may include linear joints, orthogonal joints, rotary joints, torsional joints, or revolute joints, or any combination thereof. The joints may include hinge joints or revolute joints. The robotic assembly may include hinge joints, revolute joints, or a combination thereof.

[0048] The robotic assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. The robotic assembly may include at least about 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. The robotic arm may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. The robotic arm may include at least about 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. The robotic assembly may include one or more hinge joints. The robotic assembly may include one or more revolute joints. The robotic arm of the robotic assembly may include one or more hinge joints, one or more revolute joints, or a combination thereof. The robotic arm may include about 1 to 10 hinge joints, about 1 to 10 revolute joints, or a combination thereof. The robotic arm may include approximately 2 to 15 hinge joints, 2 to 15 revolute joints, or a combination thereof. A portion of the robotic arm may include an alternating pattern of hinge joints and revolute joints. A portion of the robotic arm may include a repeating pattern of hinge joints or a repeating pattern of revolute joints. The pattern of joints may be configured to enable the robotic arm to move with at least 7 degrees of freedom, at least 8 degrees of freedom, or more.

[0049] The robotic assembly may include a robotic arm. The robotic assembly may include more than one robotic arm. At least a portion of the robotic arm may be configured to enter a body cavity of a subject and perform a task therein. The robotic arm may include an end effector. The end effector may be coupled to a distal end of the robotic arm. The robotic arm may include more than one end effector, such as two, three, or more end effectors. The end effector may be coupled to and detached from the robotic arm. The end effector of a first robotic arm may be of a different type than the end effector of a second robotic arm of the robotic assembly. The end effector of the first robotic arm may be of the same type as the end effector of the second robotic arm of the robotic assembly. The end effector may include forceps, a needle, a scalpel, a clamp, scissors, a hook, a retractor, a clip, a suction tool, a stapler, a cystoscope, a saw (such as a bone saw), an arthroscope, an energy tool (such as an electrocautery tool, an ultrasound tool, or an endoscope), or any combination thereof.

[0050] The robotic assembly may include one or more working ends. The robotic assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more working ends. The robotic assembly may include at least 2, 3, 4, 5, 6, 7, 8, 9, 10, or more working ends. The working end may be part of the robotic assembly that enters a body cavity. The working end may include a camera, a robotic arm including an end effector, or other robotic component. The working end may be inserted through a trocar to enter the body cavity. In some cases, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more working ends may be inserted through a trocar. In some cases, at least about 2, 3, 4, 5, 6, 7, 8, 9, or 10 working ends may be inserted through a trocar. In some cases, a subset of the working ends may be inserted into the body cavity by passing through a first trocar, and a second subset of the working ends may be inserted into the body cavity by passing through a second trocar. In some cases, the robotic assembly includes three working ends that pass through a single trocar.

[0051] The robotic assembly may include an elastic element. The elastic element may be configured to be operably connected to or embedded in a working end of the robotic assembly (such as a working end of a robotic arm or a working end of a camera), a transition element, a support tube, a motor unit, or any combination thereof. The working end of the robotic assembly may be operably coupled to a corresponding elastic element. Each working end of the robotic assembly may be operably coupled to a corresponding elastic element. The elastic element may bias the working end inserted into the cannula needle outward so that the connecting support tube is driven radially outward to a position adjacent to the inner wall of the cannula needle. The elastic element may include a spring or an elastic band or a rubber band. The spring may include a compression spring, an extension spring, a torsion spring, a constant force spring, or any combination thereof. The spring may include a leaf spring, a coil spring, a helical spring, a disc spring, a tubular spring, a diaphragm, an aneroid box, a bellows, or any combination thereof.

[0052] A robotic assembly or portion thereof as described herein may include one or more coatings. For example, electrical components of a robotic arm of a robotic assembly may be coated with a coating. The coating may include a conformal coating. The coating or a portion thereof may be polymer-based, such as an amorphous fluoropolymer. The coating or a portion thereof may include an acrylic resin, a silicone resin, a polyurethane resin, an epoxy resin, parylene, a silicone resin, or any combination thereof. The coating or a portion thereof may include a nanocoating, a thin film coating, or a combination thereof.

[0053] Robotic arm – range of motion

[0054] Previous generations of surgical robot arms typically had no more than seven degrees of freedom, including the end effector. In fact, many surgical robots operate with fewer than seven degrees of freedom. In most cases, seven degrees of freedom allow the user to both position and orient the end effector of the robot / surgical tool in a range of positions or orientations within the workspace (seven degrees of freedom = x, y, z, yaw, pitch, roll, end effector open / closed). However, for each position and orientation of the end effector, each joint of the robot typically has only one allowed position. For example, for a given position and orientation of the end effector, the robot's elbow can typically only be in one place.

[0055] For some surgical procedures, seven degrees of freedom are not enough. The human arm has additional degrees of freedom that allow a human to move his or her elbow while keeping the shoulder and hand fixed. With more than seven degrees of freedom, the human arm is able to move / rotate the elbow to different positions (e.g., up and down) while keeping the hand in the same position. For some surgical procedures, the choice of approach path is important. For example, this choice is important for open surgery, where the surgeon needs to keep the arm and elbow above the patient to prevent collision with the patient's abdominal contents. In some cases, the choice of the surgical robot's approach path is also important in non-robotic surgery.

[0056] By incorporating eight degrees of freedom, the disclosed robotic arm is able to perform certain access paths that are not available to robotic arms with only seven degrees of freedom (e.g., reaching up toward the ceiling of the abdomen (abdominal wall) and manipulating it). In some embodiments, the robot can reach surrounding tissue and access any organ from behind, just as a human can pick up a coffee cup from behind without rotating it. This is not possible with existing technologies (e.g., including the Intuitive Surgical da Vinci robot). According to some embodiments, the disclosed robotic arm enables surgeons to select a more ideal access path and access any tissue from virtually any angle.

[0057] A robotic assembly, such as a surgical robotic assembly, may include a robotic arm. In some cases, the robotic arm includes multiple joints. The multiple joints may be arranged sequentially from an origin of the robotic arm to an end effector of the robotic arm. The multiple joints may form one or more segments, such as multiple segments. In some cases, a first segment of the robotic arm may include an origin, such as a shoulder of the robotic arm. A second segment of the robotic arm may include a robotic elbow joint. A third segment of the robotic arm may include an end effector (such as a surgical tool). The robotic arm may include a joint (such as a hinge joint) positioned within the first segment and a joint (such as a hinge joint) positioned with the third segment to provide for movement of at least a portion of the second segment independently of movement of the robotic arm's origin or end effector. In some cases, the combination of the joints positioned within the first segment and the joints positioned within the third segment allows at least a portion of the second segment to move independently of movement of the origin and end effector. The robotic elbow joint may be a hinge joint to mimic a human elbow. The multiple joints of the robotic arm may include any combination of different types of joints, such as hinge joints, revolute joints, or combinations thereof. The plurality of joints of the robotic arm may include at least three hinge joints, at least three revolute joints, or a combination thereof. The plurality of joints may be positioned to form the robotic arm, such as an arrangement of the joints or a pattern of the joints. A portion of the robotic arm may include joint segments positioned in an alternating pattern of hinge joints and revolute joints. An end effector may be coupled to the hinge joint. The positioning of the plurality of joints may allow for a range of movement of the robotic arm. The range of movement of the robotic arm may include at least seven degrees of freedom, at least eight degrees of freedom, or more. The range of movement of the robotic arm may be substantially similar to that of a human arm. The robotic arm may be sized to be placed through a trocar and into a body cavity.

[0058] The hinge joint may be configured for rotational movement about an axis substantially perpendicular to the longitudinal axis of the robotic arm. The hinge joint may be configured for movement along a single plane. The revolute joint may be configured for parallel movement about a substantially longitudinal axis of the robotic arm.

[0059] Movement of one or more joints of a robotic arm may be performed by a motor unit. One of the plurality of joints may be operably coupled to a corresponding motor unit. Each of the plurality of joints may be operably coupled to a corresponding motor unit. Displacement of one or more of the plurality of joints may be measured by a magnetic sensing system. The robotic arm may include a magnetic sensing system. One of the plurality of joints may include a corresponding motor unit. Each of the plurality of joints may include a magnetic sensing system. The magnetic sensing system may be positioned within a portion of the joint of the robotic arm.

[0060] Figure 1The figure shows a surgical robot according to some embodiments of the present invention. The robot arm has the same configuration as a human arm. That is, the robot can lower its elbow and operate on the abdominal ceiling while keeping the end effector in the same position and orientation. Figure 1 As shown in FIG, the robot is configured as (starting from the shoulder and in order): a first rotation joint 101, a first hinge joint 102, a second rotation joint 103, a second hinge joint 104, a third rotation joint 105, a third hinge joint 106, a fourth hinge joint 107, and an end effector 108. In some embodiments, the hinge joints 102, 104, 106, and 107 are defined as having rotational motion on an axis perpendicular to the longitudinal axis of the arm. In some embodiments, the rotation joints 101, 103, and 105 are defined as having motion parallel to the longitudinal axis of the arm.

[0061] According to certain embodiments, the full range of motion based on these eight degrees of freedom can be achieved within the abdominal or body cavity in a human-like orientation. In some embodiments, a range of motion can be achieved outside the abdominal cavity with any number of degrees of freedom. In some cases, similar to an Ada Vinci-style robot, motion based on four degrees of freedom can be achieved outside the incision site.

[0062] According to certain embodiments, various suitable robotic actuators or other surgical robotic technologies, including flexible robots, can be used with the disclosed system. According to some embodiments, Figure 1 The surgical instrument system incorporates a specialized actuator disclosed in U.S. Patent No. 10,285,765 B2, entitled “Virtual Reality Surgical Device,” and / or U.S. Patent Application Publication No. 2019 / 0142531 A1, entitled “Virtual Reality Wrist Assembly,” both of which are attached as appendixes and incorporated herein in their entirety.

[0063] Reference again Figure 1 , solid and dashed lines depict two exemplary configurations / positions of the robotic arm. Notably, the elbow (at the second hinge joint 104) can be moved to various positions without moving / adjusting the end effector or the origin of the arm (e.g., the shoulder).

[0064] Insert multiple working tips through the trocar

[0065] A single surgical robotic arm configuration, also referred to herein as a split-arm configuration, is a system designed to simplify and improve the efficiency of inserting a surgical instrument through a trocar, deploying the surgical instrument into a surgically prepared state, and subsequently removing the surgical instrument through the trocar. For example, a surgical instrument may be inserted through a trocar to access and perform surgery on a patient's abdominal cavity. In some embodiments, a variety of surgical instruments may be used, including but not limited to robotic surgical instruments, as well as other surgical instruments known in the art.

[0066] The cross-sectional area of ​​a trocar is spatially limited. Inserting multiple working ends of a robotic arm through a limited space can be challenging. In addition, the working end is coupled to a support tube that carries electrical and mechanical components to operably connect the working end to a motor unit and other large components that remain outside the body cavity. Therefore, at least a portion of each support tube is retained in a portion of the trocar. One benefit of the current design is that by adding an element to each inserted component that biases the working end radially outward and biases the corresponding support tube against the inner wall of the trocar, multiple working ends are allowed to pass through the trocar and into the body cavity.

[0067] The method as described herein can include inserting a working end of a robotic assembly through a trocar and into a body cavity. The method can include inserting multiple working ends of a robotic assembly through a trocar and into a body cavity of a subject. The cross-sectional area of ​​the lumen of the trocar can be limited so that the insertion of the multiple working ends can be optimized. In addition, one or more working ends can be operably coupled to corresponding support tubes that operably couple the working ends to a portion of the robotic assembly that is not inserted through the trocar (such as a motor unit). At least a portion of the support tube (operably coupling the working end to, for example, the motor unit) can remain inside the trocar. Therefore, optimizing the spatial distribution of the support tubes within the lumen of the trocar can be important to accommodate the multiple working ends and the corresponding support tubes.

[0068] The methods described herein may include inserting multiple working ends of a robotic assembly through a trocar. For example, one, two, three, four, five, six, seven, eight, or more working ends may be inserted through a single trocar. At least a portion of the working ends may be inserted sequentially. The order of insertion may be determined based on a comparison of the cross-sectional areas of each of the multiple working ends. At least a portion of the working ends may be inserted simultaneously. A support tube may be operably coupled to corresponding working ends of the multiple working ends via a portion of the robotic assembly positioned outside the trocar (such as a motor unit or a control system). The method may include inserting at least a portion of the support tube into the trocar. The portion of the support tube entering the trocar may be pulled in by movement of the working end coupled thereto. When the corresponding working end exits the trocar (such as into a body cavity of a subject), the portion of the support tube entering the trocar may be pulled in. When the corresponding working end exits the trocar, at least a portion of the support tube may move radially outward toward a portion of an inner wall of the trocar.

[0069] A transition element can be coupled to the working end. The transition element can be coupled to a distal end of the working end. For example, the working end can include a camera, and the transition element can be coupled to a distal end opposite the end including the camera. The working end can include a transition element. The transition element can operably couple the working end to a corresponding support tube. A portion of the transition element, such as a curved edge or a tapered portion, can guide the working end radially outward upon exiting the trocar.

[0070] The working end can be operably coupled to a corresponding support tube. The support tube can facilitate connection between the working end and a portion of the robotic assembly that is not inserted into the trocar (such as, a motor unit that drives the working end), but may not be inserted into the trocar. The characteristics of the robotic assembly (e.g., the support tube, the transition element, or a combination thereof) can provide a radially outward bias, radially outward force, or deflection such that the working end is pushed radially outward after passing through the trocar. This characteristic of the robotic assembly can also cause the portion of the support tube that remains in the trocar to move substantially adjacent to the inner wall of the trocar. The support tube includes a mechanical power element, an electrical element, or a combination thereof.

[0071] The characteristic providing the radially outward force may include the stiffness of the support tube, the transition element, or a combination thereof. The stiffness may be modified by adjusting the wall thickness of the support tube or the transition element, the material composition of the support tube or the transition element, the shape or length of the support tube or the transition element, or any combination thereof. The characteristic may include incorporating a hinge, such as a hinge on the motor unit or the support tube. The characteristic may include incorporating a resilient element, such as a spring, into the robotic assembly. The characteristic providing the radially outward bias may include an attachment (such as a reversible attachment) between the support tube and the trocar.

[0072] Multiple working ends can be inserted into the cannula needle. For example, the working end of a camera (such as for a stereo camera), the working end of a first robotic arm, and the working end of a second robotic arm can be inserted into the cannula needle. The insertion can be manual insertion by a user. The insertion can be performed with the assistance of a motor unit. The relative depths of the working ends can be adjusted independently without further movement to the remaining working ends. The working ends can be operably coupled to corresponding motor units. Each working end can be individually coupled to a corresponding motor unit. The motor units can operate independently of each other. The motor unit may include a motor, a drive train, electronic components, a control system, or any combination thereof. The motor unit may include a mounting member configured to translate the motor unit substantially parallel to the axis of insertion of the multiple working ends.

[0073] A portion of the robotic assembly can be coupled to the trocar. In some cases, a portion of the support tube can be coupled to the trocar. In some cases, a guide rail of the robotic assembly can be coupled to the trocar. The coupling can be reversible.

[0074] One or more working ends can be removed from the body cavity by re-entering the trocar. The re-entry of the working ends can be sequential or simultaneous. Initially, re-entry can include moving the support tube away from the inner wall of the trocar or overcoming a radially outward bias so that the working end can re-enter the trocar substantially through the center point of the trocar's cross-sectional area. A transition element (such as the shape of the transition element) can guide the working end radially inward to re-enter the trocar.

[0075] In some embodiments, the system is supported by a structure having several degrees of freedom such that the structure can be manipulated on the patient to a position suitable for use of the system. In some embodiments, the structure can be mounted directly to a surgical table or floor or ceiling. In some embodiments, mounting is accomplished by various fastening devices including but not limited to clamps, screws, or combinations thereof. In some embodiments, the structure can be freestanding. Figure 2 and Figure 10A As shown, the structure is referred to herein as a Robotic Support System (RSS).

[0076] In some embodiments, the system includes two segments. The first segment is permanently coupled to the RSS and has multiple movable bodies, each of which is called a motor unit (MU). In some embodiments, Figure 3 as well as Figure 10BAs shown in , the plurality of movable bodies may include a camera MU 203, a first arm MU 204-1, and a second arm MU 204-2. The second segment can be coupled and separated from the first segment at will, referred to as a robotic assembly. In some embodiments, the system is composed of three (3) robotic assemblies: one camera robotic assembly and two (2) arm robotic assemblies. In some embodiments, the system includes more than three (3) robotic assemblies. In some embodiments, the system includes less than three (3) robotic assemblies.

[0077] In some embodiments, a motor unit (MU) houses the motor, drive train, and electronics that may be needed to control the working end of the robotic assembly. The MU is electrically coupled to a larger electrical system so that each MU is provided with appropriate power and communication channels for operation. In some embodiments, the MU includes one or more mounting members, a MU electronics housing, and a MU engagement element.

[0078] The camera MU may include a centrally located element such as Figure 2 The camera MU may include a wedge such as Figure 10A As shown in . The housing 205 may include a rolling cage. The housing 205 may provide the rotational motion, or a track or channel within the housing 205 may provide the rotational motion.

[0079] The arm MU may comprise a semi-circular disk such as Figure 3 As shown in , such as 204-1 and 204-2. Arm MU may include a wedge, such as Figure 10B As shown in FIG, such as 204-1 and 204-2. Each working end of the robotic assembly can be coupled to a corresponding MU. The MU for the robotic assembly can be subdivided within the housing 205 to form separate wedges, such as 203, 204-1 and 204-2. A greater number of working ends can accommodate a greater number of wedges, each having a greater number of wedges than the Figure 10B The three wedges shown in FIG are relatively smaller in size. One or more MUs can move independently of each other, such as along guide rails, as shown in FIG. Figure 10B One or more MUs may move together with one or more MUs, such as Figure 10J and Figure 10K The rotational motion shown in .

[0080] To permit linear movement of the working end, such as into and out of a trocar, the assembly can slide along rod 201, as shown. Figures 6 and 7 Alternatively, a single working end, such as camera working end 212, may be inserted into the trocar by linearly translating camera MU and engagement element 211 without moving housing 205 along rod 201 and / or without moving the working end of the arm.

[0081] Figure 2 A rod 201 is shown coupled to a mounting member 202. The mounting member 202 is coupled to a camera MU electronics housing 205 for a camera MU 203. The mounting member 202 supports the camera MU 203 and allows the camera MU 203 to translate relative to the other MUs of the system parallel to the axis of insertion through the trocar 210. In some embodiments, the camera MU 203 is coupled to a rail 213. The rail 213 can be positioned parallel to the rod 201. The rail can be configured to permit movement of the camera MU 203 on its rail. The rail 213 can be configured to extend substantially away from the trocar so that the rail 213 does not encroach upon the space proximal to the trocar. Figure 3 The diagram shows that the first arm MU 204-1 and the second arm MU 204-2 can be separately coupled to the first guide rail 214 and the second guide rail 215. The first guide rail 214 and the second guide rail 215 can be positioned parallel to the rod 201. The guide rails 214 and 215 can be configured to allow the first arm and the second arm to move independently. The guide rails 214 and 215 can be configured to extend substantially away from the cannula needle so that the guide rails 214 and 215 do not substantially encroach on the space near the cannula needle. The guide rails can be folding guide rails, such as telescopic guide rails. The motor units (203, 204-1, 204-2) coupled to the respective guide rails (213, 214, 215) can allow the motor units to move independently of the housing 205 and independently of another motor unit.

[0082] In some embodiments, the workspace vision can be manipulated to create a roll of the workspace relative to the working end of the robotic assembly. In some embodiments, one or more working ends are mechanically rotated around an axis. This can be achieved by rotating one or more MUs. In some embodiments, each MU (operably connected to the working end) can roll or rotate around an axis of insertion, such as Figures 10J to 10K As shown in . Each MU can roll independently. One or more MUs can roll as a collective. The two arm MUs can roll as a collective independent of the camera MU. The rails can roll with the MU relative to the housing 205. The housing can roll with the MU and the rails. In some embodiments, the workspace is visually manipulated so that one or more work ends can be rotated by visual manipulation of the workspace. In some embodiments, the MU electronics housing houses at least one motor and, in some embodiments, other electronics for controlling the motor. The MU coupling elements can be manufactured to accommodate elements that may be required to mechanically and electrically couple the MU to its corresponding robotic assembly. In some embodiments, the first section of the system is manufactured to include at least one MU. In some embodiments, there are as many MUs as there are robotic assemblies.

[0083] In some embodiments, there are three motor units (MUs). In these embodiments, one MU is intended to be connected to a camera robot assembly as defined below and is referred to as camera motor unit 203. The remaining two MUs are referred to as arm MUs 204-1 and 204-2, respectively, and are intended to be connected to two (2) arm robot assemblies, respectively, as described in detail below.

[0084] In some embodiments, the robotic assembly includes a robotic engagement element, a support tube, a transition element, and a working end. According to some embodiments, the robotic engagement element includes one or more elements that can mechanically and / or electrically couple the robotic assembly to its corresponding MU. Figure 4 and Figure 10C A first robotic engagement element 206 for the first arm MU 204 - 1 and a first working end 208 for the first arm MU 204 - 1 are illustrated. Figure 5 and Figure 10D A second robotic joint element 207 for the second arm MU 204 - 2 and a second working end 209 for the second arm motor unit 204 - 2 are illustrated. Figure 6 and Figure 10E The diagram shows a camera robot engagement element 211 for the camera motor unit 203 and a camera motor unit working end 212 for the camera motor unit 203. According to some embodiments, the support tube mechanically supports the working end of the robotic assembly and facilitates mechanical and electrical transmission and communication. According to some embodiments, the transition element enables the working end of the robotic assembly to translate radially within the trocar as it is inserted through the trocar. Figures 11 to 15 A camera motor unit transition element 220 is illustrated that enables radial translation of the camera motor unit working end 212 within the trocar 210 during insertion therethrough.

[0085] like Figure 11 As shown in the cross-sectional view A1 of FIG, the working end 212 of the camera can be slightly visible when it enters the cross-sectional view of the lumen of the cannula. Figure 12 As shown in the cross-sectional view of A2, a portion of the working end 212 of the camera can be fully seen within the cross-section of the lumen of the cannula. Figure 13 As shown in the cross-sectional view of FIG. 3A , a portion of the camera's working end 212 and a portion of the transition element 220 that can be coupled to the camera's working end 212 are both fully visible within the cross-section of the trocar's lumen. Figure 14 As shown in the cross-sectional view of A4, when the working end passes through the cannula, a portion of the support tube can be seen in the central area of ​​the lumen of the cannula. Figure 15As shown in the cross-sectional view of A5 in FIG, when the working end has passed through the trocar, a portion of the support tube can be moved radially outward and the inner wall of the adjacent trocar can be seen. Figure 16 As shown in the cross-sectional view A6 of FIG, a portion of the support tube can be seen adjacent to the inner wall of the trocar. The working end of the robotic arm can begin to be inserted into the trocar. Figure 17 As shown in the cross-sectional view A7 of FIG, a portion of the support tube can be seen adjacent to the inner wall of the trocar, and a portion of the working end of the robot arm can be seen in the central area of ​​the trocar. Figure 18 As shown in cross-sectional view A9 of FIG, a portion of the support tube attached to the working end of the camera and a portion of the support tube attached to the working end of the robot arm are both visible adjacent to the inner wall of the trocar. The support tube can be moved radially outward to be adjacent to the inner wall. Figure 19 As shown in cross-sectional view A10, a portion of the support tube attached to the working end of the camera and a portion of the support tube attached to the working end of the robotic arm are both visible adjacent to the inner wall of the trocar, and the working end of the second robotic arm can begin to enter the trocar. Figure 20 As shown in the cross-sectional view A11 of FIG. 1 , a portion of the working end of the second robotic arm can pass through the available cross-sectional area of ​​the trocar. Figure 21 As shown in cross-sectional view A12 of FIG, a portion of the support tube attached to the working end of the second robotic arm can pass through the available cross-sectional area of ​​the trocar. Figure 22 As shown in cross-sectional view A13 of FIG. 1 , each of the support tubes for the working end of the camera, the working end of the robotic arm, and the working end of the second robotic arm can be positioned adjacent to the inner wall of the trocar.

[0086] Figures 12 to 15 Illustrated is a support tube 221 that mechanically supports the camera motor unit working end 212 and facilitates mechanical and electrical transmission and communication.

[0087] As described above, in some embodiments, the system comprises three separate robotic assemblies: a camera robotic assembly and two arm robotic assemblies. In these embodiments, each robotic assembly is attached to a corresponding motor unit 203, 204-1, or 204-2 (e.g., see Figures 2 to 6 and Figures 10A to 10E). In some embodiments, the working end of the camera robotic assembly is designed to incorporate and utilize a stereo camera assembly disclosed in U.S. Patent Application No. 16 / 130,734, entitled “Virtual Reality Surgical Camera System,” which is attached as an appendix and incorporated herein in its entirety. In other embodiments, the working end of the camera robotic assembly is designed to incorporate and utilize other camera systems, such as a stereo camera capable of actuating in yaw and pitch directions. In some embodiments, the working end of the arm robotic assembly is designed to incorporate and utilize a multi-degree-of-freedom robot having an end effector at the distal end, such as a robotic arm entitled “Virtual Reality Surgical Device” disclosed in U.S. Patent Application No. 10,285,765 B2, and / or a wrist assembly entitled “Virtual Reality Wrist Assembly” disclosed in U.S. Patent Application Publication No. 2019 / 0142531 A1. Both references are attached as an appendix and incorporated herein in their entirety. In other embodiments, the working end of the arm robotic assembly is designed to incorporate and utilize other robotic surgical instruments.

[0088] In some embodiments, the system includes multiple camera robotic assemblies.In some embodiments, each motor unit and its corresponding robotic assembly can be unified such that the working end of the robotic assembly cannot be easily separated from the motor unit.

[0089] In some embodiments, the user can set up the RSS so that it is positioned in a location suitable for surgery and is positioned so that the appropriate robotic components are ready to be attached to their corresponding motor units. Each motor unit can be appropriately suspended (covered by a sterile barrier) before, during, or after the attachment of each robotic component. Once the robotic components are attached and appropriately covered (if applicable), the patient can be brought in and placed on the surgical table and prepared for surgery. An incision for the trocar 210 will then be made and the trocar inserted into the patient to provide access to the desired surgical site. For example, to access the patient's abdominal cavity, the trocar 210 can be inserted into the patient's abdominal wall. In this example, the patient's abdomen will be inflated with carbon dioxide. With the patient's abdomen inflated, the RSS can then be maneuvered into position over the patient and the trocar 210. The RSS can then be coupled to the trocar 210. Once the trocar 210 is aligned and attached to the RSS, the robotic components can be inserted into the patient one by one (e.g., see Figures 7 to 9 and Figures 10G to 10I ).

[0090] In some embodiments, when the working end of the robotic assembly is inserted into the trocar 210, it deflects toward the center of the trocar 210 by contacting the inner wall of the trocar 210, thereby allowing the working end of the robotic assembly to pass through the trocar 210. In some embodiments, as the working end passes through the trocar 210, the trocar 210 maintains a seal around it, so that inflation is maintained. Once the working end passes through the trocar 210, the transition element guides the working end without deflection, allowing it to move radially outward within the trocar 210, providing space for the next working end to pass through. In some embodiments, radial movement within the trocar 210 can be achieved automatically or in a controlled manner by incorporating additional actuating joints or mechanisms within the support tube of the robotic assembly or within its corresponding motor unit or on the RSS. As Figure 10J and Figure 10K As shown in , one or more working ends can rotate together while maintaining relative positioning to each other. This rotational movement can be achieved by rotating the housing 205. This rotational movement can be achieved by channels or tracks in the inner surface of the rotating housing 205.

[0091] In some cases, the working end can be operably coupled to the support tube, such as via the support tube. In some cases, the support tube can include a transition element. In some cases, the support tube can be a separate element from the transition element. The transition element can include a tapered end. The transition element can include a curved edge. In some cases, the support tube can exclude the transition element.

[0092] The shape of the transition element (e.g., a curved edge or a tapered end) can at least partially provide for radially outward movement of the working end upon exiting the trocar and entering the body cavity. The stiffness of the support tube, the transition element, or a combination thereof can at least partially provide for radially outward movement of the working end upon exiting the trocar and entering the body cavity. The stiffness of the transition element, the support tube, or a combination thereof can be selected at least in part by selecting a thickness of the support tube, selecting one or more materials from which the support tube is formed, selecting a length of the support tube, or any combination thereof.

[0093] The radially outward movement of the working end as it exits the trocar and enters the body cavity can be provided at least in part by manipulating the stiffness of the support tube, articulating the support tube or a motor unit to which the support tube is connected, adding a spring member, or any combination thereof. In some cases, the support tube can be partially or temporarily coupled to the trocar to provide or increase the radially outward force on the working end as it exits the trocar.

[0094] refer to Figure 43 and Figure 44, a robotic arm (such as 208 or 209) is inserted into a portion of a patient 503 by inserting the robotic arm through a trocar 210. The robotic arm (208 or 209) can be operatively connected to a motor unit (203, 204-1, 204-2), which is held external to the patient 503 by a support tube 221. The support tube 221 can contain electrical components, mechanical components, or a combination thereof. The length of the support tube 221 can be driven by the geometry of the supporting robot, the parameters of the robotic placement program, the length of components used in the surgical procedure, or any combination thereof. The additional support tube length 505 can be modified. The trocar length 506 can be modified. The robotic arm length 507 can be modified. The desired insertion depth 509 of the robotic arm within the body cavity of the patient 503 can be modified. The radius 508 of the motor unit can be modified.

[0095] like Figure 45 As shown in FIG, additional support tube lengths can be present that can keep the motor unit away from the patient to avoid contact and provide clearance 511 between the motor unit and patient 503 across a range of insertion pitch angles 510. The distance the robotic arm can extend beyond the trocar can be driven by the parameters of one medical procedure versus another. The trocar length 506 can be fixed by the size of the hole and can be based on readily available components (such as those supplied to the hospital). The motor unit size can be determined by one or more design parameters. Therefore, the support tube length can be a parameter that allows the robotic arm to be inserted to a desired depth 509 while maintaining sufficient separation between the motor unit and the patient. In some cases, the support tube length between the robotic arm and the motor unit can be approximately 500 millimeters (mm). In some cases, the support tube length can range from approximately 400 mm to approximately 600 mm. In some cases, the support tube length can range from approximately 300 mm to approximately 700 mm. In some cases, the support tube length can range from approximately 300 mm to approximately 800 mm. In some cases, the support tube can have a length of from about 400 mm to about 1000 mm. In some cases, the support tube can have a length of at least about 400 mm. In some cases, the support tube can have a length of at least about 300 mm. In some cases, the support tube can have a length of at least about 500 mm.

[0096] In some cases, it is advantageous for the support tube to provide sufficient stiffness (e.g., during insertion) to support at least a portion of the weight of the robotic arm (preferably, substantially the entire weight of the robotic arm) and to be able to propel the robotic arm through the trocar (e.g., during initial insertion). The trocar can include a sealing membrane. The sealing membrane can provide friction for insertion of the arm. Given this friction, the stiffness of the support tube can overcome this force without substantially buckling the support tube. Once inserted, the trocar can provide additional stiffness to the support tube by directly coupling it or by associating it with a portion of the inner wall of the trocar. The amount or length of the support tube that extends beyond the trocar can be shorter than the total length of the support tube and can be significantly more rigid when bent over that length. Such a design or similar designs can permit the robotic arm to exert more force during one or more actions (such as when the robotic arm may be pulling a suture or bluntly dissecting tissue).

[0097] refer to Figure 46 , two robotic arms and a robotic camera can be sequentially inserted through the trocar. The inner diameter 210-b of the trocar and the outer diameter 201-a of the trocar can be minimized to facilitate sequential insertion. Figure 46 The inner diameter of the trocar 210 - b is shown, as well as the position of the three support tubes (two arms and a camera) after insertion into the trocar.

[0098] Depending on the maximum diameter of the arms and camera, and the inner diameter of the trocar, the available space for the support tubes can be significant. Highlighted areas 221-1, 221-2, and 221-3 may represent acceptable sizes for each support tube, assuming the camera can be inserted first, followed by one arm, and finally the other arm in sequence. When the second arm is inserted through the trocar, it can fit within the trocar inner diameter 210-b along with the camera support tube and the other arm support tube. Figure 46 A trocar 210 is shown having an inner diameter and an outer diameter 210-a. The highlighted area shows the camera support tube 221-1, the support tube for the first robotic arm 221-2, and the support tube for the second robotic arm 221-3. Also shown are the outer diameters of the camera 212a, the outer diameters 208a and 209a of the robotic arm.

[0099] The purpose of the support tube may be to at least partially provide robotic support for the robotic arm and to provide a conduit for one or more electronic communication components 601 and robotic components 602 (such as drive cables). The support tube may be hollow. The support tube may include an inner lumen along at least a portion of its length. Figure 47 The arrangement of some of these components as they pass through the support tube is shown.

[0100] To create space within the support tube for multiple electrical and mechanical components (such as drive cables and one or two electrical signal / power lines), the support tube's wall thickness can be minimized. Minimizing the support tube's thickness to accommodate the electrical and mechanical components can compromise the tube's stiffness in bending and compression. When selecting an implementation, the support tube's cross-sectional shape, wall thickness, material, manufacturing method, attachment method, usage parameters, and potential failure modes should be considered.

[0101] Manufacturing method

[0102] Various manufacturing methods are possible for the support tube. In some cases, a round tube can be rolled to form the iris-shaped profile. Another option is to weld two round tube sections together. Welding can be difficult and may leave a rough or unclean internal seam. Another option is to draw the tube from the support tube using a die. This method allows the material to be cold worked while being formed.

[0103] The resulting cross-sectional shape is Figure 48 The corners of the profile shown in are rounded, which may be desirable because the inner surface is smoother and the compression and bending performance of the support tube may be more predictable.

[0104] The support tube profile can have an outer (left) curve 701 that efficiently nests over the inner diameter of the trocar, while the inner (right) curve 702 can have a smaller diameter, which can make the entire support tube wider. The top curve 703a and bottom curve 703b can translate smoothly from one to the other without wrinkling the metal tube, which can weaken when bent. The corner radius can be large enough to accommodate one or more data lines.

[0105] Figure 48 The bending stiffness of the cross section shown in can be governed by the following equation (when assuming the support tube behaves as a beam):

[0106] M(x)=-EIK

[0107] Where 'M' is the bending moment, 'E' is the elastic modulus of the material, 'I' is the area moment of inertia, and 'K' is the curvature of the beam due to bending. The material can be 304 stainless steel (which may be compatible with medical applications and may have better weldability than 316 stainless steel). The modulus can be determined. The cross-sectional area of ​​the support tube formed can determine the area moment of inertia, which is calculated in Solidworks. TM Calculated in (see Figure 49 ).

[0108] The principal moments of inertia can be calculated as 19.6 mm² in the "x" bending direction (the thinner dimension) and 54.3 mm² in the "y" bending direction. Therefore, from the cross-sectional shape, the support tube is almost three times stiffer in the vertical direction than in the horizontal direction. On the robot, the "y" direction can be more closely aligned with the direction of gravity, making the support tube more rigid under the weight of the robot arm.

[0109] The support tube can contain one or more drive cables (e.g., 14 drive cables). The drive cables can be under varying levels of tension (sometimes constantly in tension). The support tube can be in constant compression along its long axis. Traditionally, long beams in compression can be less than ideal because they can buckle if the bending stiffness is too low or the compressive load is too high. Tensioning cables inside the support tube can provide a mechanism to increase the bending stiffness of the tube.

[0110] Different properties that can affect bending stiffness

[0111] Thicker tube wall thickness (in the inward direction, the outer profile remains unchanged): can increase the second moment of area ('I' in the beam bending equation) approximately linearly. A rough approximation for thin-walled circular support tubes can be based on the following equation, where I = Pi * r^3 * t, where t = thickness; may slightly increase the buckling strength; may increase the weight of the support tube (which can be a small amount); may significantly increase the compressive strength of the cross section; may reduce the internal area of ​​the support tube (where cables and wires may run); or any combination thereof.

[0112] Thicker tube wall thickness in the outward direction: may significantly increase the second moment of area (again I = Pi*r^3*t, where 'r' is the possible increase in the support tube radius); may slightly increase the flexural strength; may slightly increase the weight of the support tube; will not significantly change the compressive strength unless the dimensions change significantly; can maintain the internal area of ​​the wire and cable support tube; or any combination thereof.

[0113] A longer support tube may: be weaker in bending; may have a lower natural frequency; may have reduced buckling strength (compressive stiffness along the axial direction), or any combination thereof.

[0114] Support tube attachment method

[0115] It may be necessary to rigidly attach the support tube to both the robot arm and the motor unit. Because the robot arm may comprise steel at its proximal end, the two bodies may need to be welded together. Instead of using a butt joint, the support tube can be partially inserted into the proximal end of the robot arm body, forming a longer, significantly more rigid weld line 801. Figure 50It shows how the support tube 221 and the robot arm (208 or 209) can be docked. The red dashed line is the weld line 801.

[0116] The proximal end of the support tube can be mounted to the motor unit, which can be comprised of aluminum. Welding the support tube directly to the motor unit may not be an option. Alternatively, one or more brackets and one or more reinforcement plates can be welded to the support tube at the proximal end to allow the support tube to be bolted to the motor unit.

[0117] The support tube may need to be precisely positioned relative to the motor unit. In such cases, one or more alignment pins may be used.

[0118] like Figure 51 As shown in , under the large compressive load from the bolts, the cross section of the support tube can be clamped between two substantially rigid brackets 903. To ensure that the cross section does not collapse under this force, the bracket 903 itself and a small reinforcement plate 902 can be welded to the support tube 221. The reinforcement plate 902 and the thin protrusion 901 from the bracket 902 can extend beyond the mounting bracket 903 to help create a smoother transition in bending stiffness. When the support tube 221 is subjected to a bending moment, the sharp transition in bending stiffness between the support tube 221 and the mounting bracket 903 can lead to a weak point. One or more additional plates may help minimize this effect.

[0119] Figure 16 The diagram shows the first working end 208 of the first arm MU and the working end 212 of the camera MU inserted through the trocar 210. Figures 17 to 22 As shown in FIG, the transition element 222 of the first arm MU can guide the first working end 208 of the first arm MU through the trocar 210. In addition, the transition element 224 for the second arm MU can guide the second working end 209 of the first arm MU through the trocar 210. The transition elements 222 and 224 of the first and second arms MU can guide the first working end 208 of the first arm MU and the second working end 209 of the second arm MU through the trocar. As described above, the camera MU transition element can also guide the camera MU working end through the trocar 210, so that all three working ends are inserted through the trocar. Figures 23 to 25 Shown are a first working end 208 of the first arm MU, a second working end 209 of the second arm MU, and a camera MU working end 212 inserted through the trocar 210. A transition element 222 for the first arm MU and a transition element 224 for the second arm MU may also be inserted through the trocar 210.

[0120] After each robotic assembly is inserted, the remaining cross-sectional area of ​​the trocar 210 into which additional robotic assemblies and / or other instruments can be inserted is reduced because the support tube of each robotic assembly will occupy some of the space 210 inside the trocar. Figures 11 to 22 Therefore, to ensure that there is sufficient space to insert the necessary robotic components or other instruments into the operating area, the robotic components or instruments with larger cross-sectional areas are inserted first, followed by the robotic components or instruments with smaller cross-sectional areas. One method for inserting a group of instruments of different sizes is to insert the largest instrument first, then the second largest instrument, then the third largest instrument, and so on.

[0121] In some embodiments, where all robotic components or instruments have similar or identical cross-sectional areas, or where all cross-sectional areas of the robotic components or instruments are sufficiently small, the order of insertion may be based on other factors. In embodiments where the cross-sectional area of ​​one of the robotic components or instruments is much larger than the other components or instruments (such that it cannot be inserted if the other components or instruments are already inserted), the larger instrument should be inserted first. For example, if the camera robotic component has such a large cross-sectional area that it cannot be inserted if the arm robotic component is already inserted, then the camera robotic component should be inserted first.

[0122] In accordance with some embodiments, this procedure is repeated for each robotic assembly until all desired robotic assemblies are inserted through the trocar 210 and into the patient. Once inserted into the patient, each robotic assembly can be moved to a surgical preparation position under the guidance of the surgeon or in an automated manner. In some embodiments, the stereo camera of the camera robotic assembly is configured so that it is equidistant from the shoulder joint of each robotic arm and is therefore centered between the arms. This alignment of the stereo camera and the two shoulder joints is the virtual shoulder of the robot. In some embodiments, there are at least two robotic arms with at least 6 degrees of freedom, and at least one stereo camera with 2 degrees of freedom, allowing the robot to face and operate in discrete directions (e.g., left, right, or straight). In some embodiments, the robot can be configured to move continuously between multiple discrete positions to be in any desired position ( Figures 23 to 25 ) work. According to some embodiments, the continuous movement is achieved by changing the facing angle of the robot's virtual shoulder. The facing angle is the direction defined by the center of the user's workspace at a given point in time. Another way to describe it is that the facing angle is the direction that the user can define as straight ahead. According to some embodiments, the facing angle of the virtual shoulder is controlled by adjusting the relative insertion depth of each robot and by simultaneously adjusting the angle of the joint of each robot arm and the camera robot, so that a smooth transition is achieved.

[0123] After insertion, the user can begin operating using the input device and HMD disclosed in U.S. Patent No. 10,285,765B2. In some embodiments, the user can adjust the facing angle of the system while operating so that the user appears as if he or she is simply rotating around the seat. According to some embodiments, this effect can be achieved by combining some user interface (UI) elements, such as tracking the user's chair, pinching or clicking to drag and rotate the world, buttons on the hand controller, etc. The area where the user can access the surgical environment and work is sometimes called the workspace. This ability to rotate in place provides the user with a larger working space to place a given trocar, allowing more freedom to complete the operation. In addition, in some embodiments, the user can utilize the additional degrees of freedom provided by the RSS to move and pivot the robotic assembly throughout the surgical area, thereby further enhancing the available workspace.

[0124] Once the user has completed the procedure, the robotic assembly is removed through the trocar 210. In some embodiments, the robotic assembly automatically moves into a ready-for-removal orientation. For example, the working ends of the robotic assemblies can be straightened so that they align with the axis of their insertion. In some embodiments, the robotic assemblies can be allowed to relax. Once the robotic assemblies are ready for removal, in some embodiments, they are removed one by one by translating them backward through the trocar 210. In one embodiment, as each robotic assembly moves toward the trocar 210, a transition element contacts the inner tip of the trocar 210 and guides the working end of the robotic assembly to deflect radially inward relative to the trocar 210. This allows the working end of the robotic assembly to continue passing through the trocar 210. In this embodiment, after the working end passes through the trocar 210, the trocar wall guides the working end without deflection. At this point, the robotic assembly can be pulled back until it is completely removed. The user can now continue removing the remaining robotic assemblies until they are all removed. In other embodiments, radial retraction motion within the trocar 210 may be achieved automatically or in a controlled manner by incorporating additional actuation joints or mechanisms within the support tube of the robotic assembly or within its corresponding MU or RSS.

[0125] In embodiments where all robotic components or instruments have similar or identical cross-sectional areas, or where all cross-sectional areas of the robotic components or instruments are sufficiently small, the order of removal may be based on other factors. In embodiments where one of the robotic components or instruments has a much larger cross-sectional area than the others (such that it cannot be removed if the others have not already been removed), the larger instrument is removed last.

[0126] In some embodiments, each MU is coupled relative to the other MUs, or may be a unified MU, and the linear travel required for insertion may be provided by linear extension of each support tube of each robotic assembly. In some embodiments, two MUs may be linearly translated relative to a third MU, and the third MU may be linearly translated relative to the RSS (e.g., see Figures 7 to 9 ). In these embodiments, when the third MU translates, the other two MUs also translate. In some embodiments, each MU is coupled to its own RSS and aligned independently.

[0127] There are several significant advantages to the arrangement detailed above. Initially, the ability of the working end to translate radially outward within the trocar creates space to allow other instruments to be inserted through the same trocar (e.g., see Figures 11 to 22 ). In addition, once the robotic assemblies are inserted, the workspace of the system can be moved to work directly on one side, or on the other side simply by adjusting the relative depths of the robotic assemblies (such as by adjusting the relative depths of the camera robotic assembly and the dual-arm robotic assembly). Thus, allowing the user to reach a larger area from a single insertion site. Furthermore, according to some embodiments, the insertion of the camera robotic assembly and the arm robotic assembly can be performed by inserting them along a straight line. And, in some embodiments, each robotic assembly can be removed from the patient's body by simply retracting each assembly outward.

[0128] The various aspects of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware or hardware (including the structural devices disclosed in this specification and their structural equivalents), or in a combination thereof. In addition, the various aspects of the subject matter described herein may be implemented using one or more computer program products (such as one or more computer programs tangibly implemented in an information carrier (e.g., a machine-readable storage device) or implemented in a propagation signal) for execution or control of its operation by a data processing device (e.g., a programmable processor, a computer or multiple computers). A computer program (also referred to as a program, software, software application or code) may be written in any form of programming language (including compiled or interpreted languages), and it may be deployed in any form (including as a standalone program suitable for use in a computing environment or as a module, component, subroutine or other unit). A computer program does not necessarily correspond to a file. A program may be stored in a portion of a file that holds other programs or data, in a single file dedicated to the program in question, or in multiple collaborative files (e.g., files that store one or more modules, subroutines or partial codes).

[0129] The processes and logic flows described in this specification, including the method steps of the subject matter described herein, can be performed by one or more programmable processors executing one or more computer programs to perform the functions of the subject matter described herein by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, and the apparatus of the subject matter described herein can be implemented as special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0130] Processors suitable for executing a computer program include, by way of example, general-purpose and special-purpose microprocessors, and any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from a read-only memory or a random access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include, or be operatively coupled to, one or more mass storage devices (e.g., magnetic, magneto-optical, or optical disks) for storing data, to receive data from or transfer data to, or both. Suitable information carriers for containing computer program instructions and data include all forms of non-volatile memory, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CD and DVD disks). The processor and memory may be supplemented by, or incorporated into, special-purpose logic circuitry.

[0131] It is contemplated that the systems, devices, methods, and processes disclosed herein include variations and modifications developed using information from the embodiments described herein. Persons skilled in the relevant art may make adjustments and / or modifications to the systems, devices, methods, and processes described herein.

[0132] Throughout this specification, when articles, apparatuses, and systems are described as having, including, or comprising particular components, or when processes and methods are described as having, including, or comprising particular steps, it is contemplated that there are additionally articles, apparatuses, and systems of the present disclosure consisting essentially of, or consisting of, the components, and processes and methods according to the present disclosure consisting essentially of, or consisting of, the process steps.

[0133] It should be understood that the order of steps or the order in which certain actions are performed may not be important as long as the disclosure remains operable. Additionally, two or more steps or actions may be performed simultaneously.

[0134] It should be understood that the disclosed subject matter is not limited in its application to the configuration details and arrangements of components set forth above or shown in the accompanying drawings. The disclosed subject matter is capable of other embodiments and can be practiced and executed in various ways. In addition, it should be understood that the wording and terminology employed herein are for descriptive purposes and should not be considered restrictive. Therefore, those skilled in the art will appreciate that the concepts upon which this disclosure is based can be readily used as a basis for designing other structures, methods, and systems for achieving the several purposes of the disclosed subject matter.

[0135] Magnetic sensing system

[0136] In the following description, numerous specific details are set forth regarding the systems and methods of the disclosed subject matter and the environments in which such systems and methods may operate in order to provide a thorough understanding of the disclosed subject matter. However, it will be apparent to one skilled in the art that the disclosed subject matter may be practiced without these specific details, and to avoid complexity in the disclosed subject matter, certain features well known in the art have not been described in detail. Furthermore, it should be understood that the examples provided below are illustrative, and it is contemplated that other systems, devices, and / or methods exist within the scope of the disclosed subject matter.

[0137] While the present system / method is designed for tracking and sensing the orientation and actuation of a joint and / or multiple joints of a miniaturized surgical robotic device, the system may be implemented in any device that utilizes magnets to track and / or sense the actuation and orientation of robotic joints. The system / method may also be implemented in any device or system that may require and / or utilize magnetic tracking and / or sensing when currently available magnetic tracking and sensing systems are too large for the imposed geometric constraints.

[0138] A robotic assembly may include a magnetic sensing system, such as a magnetic sensing system for a robotic joint, such as a robotic joint of a cable-driven robotic arm. The robotic joint may be operably coupled to a corresponding magnetic sensing system. The robotic joint may include a corresponding magnetic sensing system. The magnetic sensing system may be configured to sense displacement or movement of the robotic joint.

[0139] A magnetic sensing system may include a magnet and a sensor. The sensor may be configured to sense changes in at least a portion of the magnetic field of the magnet. The magnetic sensing system may include multiple magnets and multiple sensors. The sensor may be configured to measure changes in at least a portion of the magnetic field of at least a portion of the multiple magnets.

[0140] One or more magnets of a magnetic sensing system can be positioned in an arrangement. The arrangement of magnets can form a magnetic field. One or more sensors of a magnetic sensing system can be positioned in the arrangement. The arrangement of sensors can individually measure at least a portion of the magnetic field generated by the one or more magnets. The arrangement of sensors and magnets can be configured to optimize: (i) space for accommodating or passing through multiple components (such as cables) of a joint (such as a cable-driven robotic arm); (ii) the range of motion or movement of the joint; (iii) the measurement accuracy of the magnetic sensing system; or (iv) any combination thereof.

[0141] An arrangement may include one or more magnets. An arrangement may include at least two magnets. An arrangement may include at least four magnets. Two or more magnets may be arranged substantially in a row. Two or more magnets may be arranged substantially in a single plane, such as four magnets arranged substantially in a single plane. The arrangement of magnets may include an array of magnets, such as 2×2 magnets, 2×3 magnets, 2×4 magnets, 3×4 magnets, 4×4 magnets, or others.

[0142] Magnets, each having a north pole and an south pole, can be arranged relative to each other in a variety of different ways. Two magnets (such as each magnet is arranged in substantially different columns) can be oriented with their dipoles relative to each other, such that the first magnet is oriented NS relative to the second magnet, and the second magnet is oriented SN relative to the first magnet. The magnets of the first column can be positioned so that their dipoles are oriented in alternating orientations relative to the dipoles of the second column, such as the first column is oriented NS, NS, and the second column is oriented SN, SN. The magnet with the NS dipole can be placed diagonally, tilted, or sideways to the magnet with the SN dipole. The south pole of the magnet can directly face the north pole of the second magnet. The side of the magnet moving from the north pole to the south pole can directly face the side of the second magnet positioned to move from the south pole to the north pole.

[0143] The arrangement of one or more magnets can form a magnetic field. Changes in at least a portion of the magnetic field can be measured by one or more sensors. The magnetic field can include orthogonal field components, parallel field components, non-parallel field components, or any combination thereof.

[0144] The magnets can be arranged within sections of the joint. For example, a joint comprising two magnets can have: a first magnet positioned in a first half of the joint; and a second magnet positioned in a second half of the joint. A joint comprising four magnets can have: a first magnet positioned within a first quadrant of the joint; a second magnet positioned within a second quadrant of the joint; a third magnet positioned within a third quadrant of the joint; and a fourth magnet positioned within a fourth quadrant of the joint. This positioning of multiple magnets within sub-segments of a joint has been achieved with approximately 2, 3, 4, 5, 6, 7, 8, 9, 10, or more magnets within a single joint.

[0145] One or more sensors may form an arrangement of sensors substantially along a single plane. The sensor plane may be positioned substantially perpendicular to one or more magnets or arrangements of magnets. The sensor plane may be positioned substantially parallel to one or more magnets or arrangements of magnets. One or more sensors may form an arrangement of sensors along more than one plane. The arrangement of sensors may include an array of sensors, such as 2×2 sensors, 2×3 sensors, 2×4 sensors, 3×4 sensors, 4×4 sensors, or others.

[0146] The sensor plane can be positioned between two or more magnets (e.g., positioned substantially perpendicular to the arrangement of magnets). The sensor plane can be positioned outside the arrangement of magnets. The sensor plane can be positioned between a first magnet in a column and a second magnet in a column. The sensor plane can be positioned between a first magnet in a first column and a second magnet in a second column.

[0147] One or more magnets of the magnetic sensing system may be positioned substantially at a peripheral edge of the robot joint. One or more sensors may be positioned substantially away from a center position of the robot joint. One or more sensors of the magnetic sensing system may be positioned substantially at a peripheral edge of the robot joint. One or more magnets may be positioned substantially away from a center position of the robot joint.

[0148] The arrangement of magnets and sensors of the magnetic sensing system can provide measurements of robot joint displacement at a higher resolution than a comparable robot joint lacking the arrangement. The higher resolution can be about 1.1x, 1.2x, 1.3x, 1.4x, 1.5x, 1.6x, 1.7x, 1.8x, 1.9x, 2.0x, or greater.

[0149] The arrangement of magnets and sensors of the magnetic sensing system can provide a measurement of robot joint displacement with greater accuracy than a comparable robot joint lacking the arrangement. The accuracy of the measurement can be at least about 70%, 80%, 85%, 90%, 95%, 96%, 97%, 98%, 99%, or more.

[0150] According to some embodiments, the virtual diameter magnet system disclosed herein can be designed to be combined with and / or utilized with a robotic arm disclosed in U.S. Patent No. 10,285,765 B2, entitled "Virtual Reality Surgical Device," and / or a wrist assembly disclosed in International Patent Application No. PCT / US2018 / 60656 (published as International Patent Application No. WO2019094896A1), entitled "Virtual Reality Wrist Assembly." Both references are attached as appendixes and are incorporated herein in their entirety. In some embodiments, the virtual diameter magnet system can also be implemented and utilized by other existing and future surgical robotic systems or devices.

[0151] As used herein, a magnet includes at least an object or collection of objects capable of generating a magnetic field, including but not limited to neodymium, iron, and other forms of permanent magnets, electromagnets, and / or any other object capable of generating a magnetic field.

[0152] As used herein, a sensor includes an object or collection of objects capable of measuring magnetic field strength or capable of measuring some quantity from which magnetic field strength can be derived, including but not limited to integrated circuits (ICs), MEMS systems, discrete electronic components, mechanical transducers, purely mechanical computing machines, and / or any other object known in the art capable of measuring or converting a magnetic field.

[0153] As used herein, a joint includes an object or a group of objects capable of relative displacement (translation or angle).

[0154] As used herein, a sensor array includes a single sensor or a collection of sensors positioned relative to the magnet and each other such that the sensors are positioned to measure one or more components of the magnetic field that vary with joint displacement.

[0155] As described above, according to some embodiments, the system disclosed herein is designed to be used in conjunction with and with the robotic arm disclosed in US Pat. No. 10,285,765 B2. Figure 28 A robotic joint 301 is shown according to some embodiments. Figure 28 The illustrated robotic joint 301 is a cable-actuated joint. Figure 28 The illustration shows areas of the robotic joint 301 that are reserved for other components of the joint and therefore cannot be used for sensing components. Figure 28The shaded area shown is used by the drive cables of the distal joint, or by bearings that carry the cable loads to provide smooth motion of the robotic arm. Due to the constraints imposed by the cable-driven robotic joints, there is not enough free space to implement any of the previously discussed standard magnetic sensing solutions. Figure 28 In FIG, the available space in the center of the joint 301 is less than about 1 millimeter (mm) thick and about 5 mm in diameter, which is insufficient to generate a magnetic field of acceptable strength using currently available magnets. Figure 26 As shown, placing one or more sensors 302 in the interior space and positioning the magnets outside the interior space would also not work due to the constraints of the robot joint design. A set of bearings on the rotational axis at the outer end of the joint precludes the use of sufficiently large disc magnets. Furthermore, the bearings can be structurally supported at approximately 360 degrees and have large unidirectional loads, which precludes the use of large ring magnets.

[0156] Figure 26 302 is an isometric view of a system in which a sensor array 303 is placed at the axis of rotating magnets 304 axially spaced apart. The sensor array 303 may include one or more sensors 302 . Figure 27 is an isometric view of a system in which the sensor array 303 is placed on or near a plane passing through the center of the magnet 304 and perpendicular to the axis of rotation. Figure 26 and Figure 27 The arrangement of sensors 302 and magnets 304 shown in FIG may be limited in where they can be placed in a robotic joint due to the volume of space these arrangements may require, and thus may limit the design of the joint. The system may also include a flexible printed circuit board (PCB) 305 that extends around a portion of the circumference of the system.

[0157] System disclosed herein generally relates to the arrangement of magnets and sensor arrays so that their spacing and relative position provide enough space for a large number of cables to pass through the center of a joint, while allowing accurate sensor readings of the orientation and actuation of the joint. According to certain embodiments, the arrangement of magnets and sensor arrays of system disclosed herein allows magnetic energy to be distributed throughout the available space in the joint. To some extent, the arrangement provides a simple and repeatable way of recovering joint displacement information with high resolution.

[0158] Figure 29 is a cross-sectional view of an arrangement of magnets 311, 312, 313, 314 of a system according to some embodiments. Figure 29In the embodiment, there are two columns of magnets 320-1 and 320-2. Column 1 (320-1) consists of magnet 1 (311) and magnet 4 (314), and column 2 (320-2) consists of magnet 2 (312) and magnet 3 (313). Column 1 (320-1) and column 2 (320-2) are a fixed distance apart from each other, and each column is divided into two parts to create four quadrants. As seen in these embodiments, instead of using a single magnet near the sensor, a group of four magnets are arranged in quadrants with the magnetization direction aligned between magnet 1 (311) and magnet 4 (314), and the magnetization direction aligned between magnet 2 (312) and magnet 3 (313). Additionally, in this embodiment, the magnetization direction between magnet 1 (311) and magnet 4 (314) is opposite to the magnetization direction between magnet 2 (312) and magnet 3 (313). Figure 30 The diagram shows Figure 29 Simulation of the resultant field produced by the illustrated arrangement.In some embodiments, the set of four magnets 311, 312, 313, 314 are neodymium permanent magnets.

[0159] like Figure 32 As shown, according to certain embodiments, a sensor array 303 in a plane perpendicular to column 1 (320-1) and column 2 (320-2) occupies the space separating each column, sensing the field flowing from one magnet in one column to the corresponding magnet in the same column. In some embodiments, the components of the magnetic field sensed by the sensor array 303 can be orthogonal field components at a given point in space, separate parallel or non-parallel field components at a changing point in space, or any combination thereof. The data collected by the sensor array 303 can then be used to infer joint displacement via one or more sensors 302 or via remote calculation. The one or more sensors 302 can be disposed on the surface of a printed circuit board (PCB) substrate 330. According to certain embodiments, the calculation results are the same if the magnet is considered to be fixed and the sensor array 303 is moving, or vice versa.

[0160] Return Reference Figure 32 , the sensor 302 closer to column 1 (320-1) senses the magnetic field generated by magnets 311 and 314 (Magnet 1 and Magnet 4) of column 1, while the sensor 302 closer to column 2 (320-2) senses the magnetic field generated by magnets 312 and 313 (Magnet 2 and Magnet 3) of column 2. Figure 31 The sensing readings for this arrangement are illustrated in the simulation results shown. Figure 31The vertical component of the magnetic field at the plane of the sensor array 303 between column 1 (320-1) and column 2 (320-2) is shown. As described above, the sensor array can include one or more sensors 302. In some embodiments, the exact spacing of the columns and the spacing between the magnets 311, 312, 313, 314 that make up the columns can vary significantly based on the strength of the magnets and / or the geometry and design specifications of the connector. Figure 32 The illustrated arrangement allows a relatively thin planar surface of the sensor 302 to be located at or near the center of the joint while providing ample usable space within the overall central volume of the joint by the magnets located at the periphery of the joint. Figure 33 An illustrative embodiment of a sensing system implemented in connector 301 is shown. Figure 33 As seen in FIG, the available volume for the sensing system is limited, so one or more magnets 315 are located at the end of the joint 301, and the sensor 302 is located in the center. With this arrangement, many of the cables driving the distal joint can be passed through the joint 301, allowing smooth motion by incorporating space for rolling element bearings 340, and providing accurate sensing for closed-loop control of the joint's angular displacement.

[0161] The various aspects of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware or hardware (including the structural devices disclosed in this specification and their structural equivalents), or in a combination thereof. In addition, the various aspects of the subject matter described herein may be implemented using one or more computer program products (such as one or more computer programs tangibly implemented in an information carrier (e.g., a machine-readable storage device) or implemented in a propagation signal) for execution or control of its operation by a data processing device (e.g., a programmable processor, a computer or multiple computers). A computer program (also referred to as a program, software, software application or code) may be written in any form of programming language (including compiled or interpreted languages), and it may be deployed in any form (including as a standalone program suitable for use in a computing environment or as a module, component, subroutine or other unit). A computer program does not necessarily correspond to a file. A program may be stored in a portion of a file that holds other programs or data, in a single file dedicated to the program in question, or in multiple collaborative files (e.g., files that store one or more modules, subroutines or partial codes).

[0162] The processes and logic flows described in this specification, including the method steps of the subject matter described herein, can be performed by one or more programmable processors executing one or more computer programs to perform the functions of the subject matter described herein by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, and the apparatus of the subject matter described herein can be implemented as special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0163] Processors suitable for executing a computer program include, by way of example, general-purpose and special-purpose microprocessors, and any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from a read-only memory or a random access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include, or be operatively coupled to, one or more mass storage devices (e.g., magnetic, magneto-optical, or optical disks) for storing data, to receive data from or transfer data to, or both. Suitable information carriers for containing computer program instructions and data include all forms of non-volatile memory, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CD and DVD disks). The processor and memory may be supplemented by, or incorporated into, special-purpose logic circuitry.

[0164] It is contemplated that the systems, devices, methods, and processes disclosed herein include variations and modifications developed using information from the embodiments described herein. Persons skilled in the relevant art may make adjustments and / or modifications to the systems, devices, methods, and processes described herein.

[0165] Throughout this specification, when articles, apparatuses, and systems are described as having, including, or comprising particular components, or when processes and methods are described as having, including, or comprising particular steps, it is contemplated that there are additionally articles, apparatuses, and systems of the present disclosure consisting essentially of, or consisting of, the components, and processes and methods according to the present disclosure consisting essentially of, or consisting of, the process steps.

[0166] It should be understood that the order of steps or the order in which certain actions are performed may not be important as long as the disclosure remains operable. Additionally, two or more steps or actions may be performed simultaneously.

[0167] It should be understood that the disclosed subject matter may not be limited in its application to the configuration details and arrangements of components set forth above or shown in the accompanying drawings. The disclosed subject matter may have other embodiments and can be practiced and executed in various ways. In addition, it should be understood that the wording and terminology employed herein are for descriptive purposes and should not be considered restrictive. Therefore, those skilled in the art will understand that the concepts upon which this disclosure is based can be easily used as a basis for designing other structures, methods, and systems for achieving the several purposes of the disclosed subject matter.

[0168] Positioning of electrical communication components in connectors

[0169] In the following description, numerous specific details are set forth regarding the systems and methods of the disclosed subject matter and the environments in which such systems and methods may operate in order to provide a thorough understanding of the disclosed subject matter. However, it will be apparent to one skilled in the art that the disclosed subject matter may be practiced without these specific details, and to avoid complexity in the disclosed subject matter, certain features well known in the art have not been described in detail. Furthermore, it should be understood that the examples provided below are illustrative, and it is contemplated that other systems, devices, and / or methods exist within the scope of the disclosed subject matter.

[0170] Although the present system / method is designed for routing electrical communication components through joints of a multi-degree-of-freedom miniaturized surgical robotic device, the system / method may be implemented in any device where it is desired to accurately sense joint position and orientation without restricting joint motion.

[0171] According to some embodiments, the systems / methods disclosed herein can be combined and utilized with the robotic arm disclosed in U.S. Patent No. 10,285,765 B2, entitled "Virtual Reality Surgical Device," or with the wrist assembly disclosed in International Patent Application No. PCT / US2018 / 60656 (published as International Patent Application No. WO2019094896A1), entitled "Virtual Reality Wrist Assembly," or with the camera system disclosed in U.S. Patent Application No. 16 / 130,734, entitled "Virtual Reality Surgical Camera System." The aforementioned references are all attached as appendices and are incorporated herein in their entirety. In some embodiments, the systems / methods disclosed herein can be implemented and utilized by other existing and future surgical robotic systems or devices.

[0172] In complex, multi-degree-of-freedom systems, having continuous electrical communication components is not always feasible from an assembly or manufacturing perspective. In some cases, to address space constraints, multiple electrical communication components are utilized, where the components are operably coupled to each other. Each communication component is designed to be placed in the device regardless of whether it has already been assembled. This facilitates repairs in the event of a malfunction or during post-operative repurposing. As the number of degrees of freedom increases, the amount of data also increases, as each connection is sensed independently. Microcontrollers along the electrical communication components allow the data collected at each sensor to be processed and retransmitted in a manner that reduces the number of electrical conductors per component. This allows many sensors to be placed in a chain of electrical communication components with a smaller number of conductors. As a result, the width or thickness of the electrical communication components does not need to be excessive.

[0173] According to some embodiments, the systems disclosed herein are used to deploy electrical communication components through an eight-degree-of-freedom surgical robotic device having position sensing elements to provide closed-loop control of each joint of the robotic device. These systems are configured to ensure that control inputs from the control system are accurately and precisely implemented. In some embodiments, various electrical communication components may be used, including but not limited to flexible printed circuit boards ("FPCBs") capable of transmitting and receiving electrical signals, fiber optic cables, and / or other communication components known in the art.

[0174] Disclosed herein are various methods for routing electrical communication components through different types of robotic joints and actuators. Examples of robotic joints, including but not limited to hinged joints / actuators and rotary joints / actuators, are described in the aforementioned patents and patent applications. According to some embodiments, the disclosed routing methods allow electrical signals and communications, such as Hall-effect sensor readings and camera sensor readings, to be transmitted from a distal portion of the device to a control system, or vice versa. In some embodiments, the electrical communication component has one or more moving segments designed to move relative to the motion of one or more robotic joints. To avoid fatigue of the electrical communication component as it passes through each joint, the moving segments of the electrical communication component are designed to have as large a radius of curvature as possible, with any bending occurring in multiple areas rather than at a single point. In some embodiments, the moving segments are configured as coils of a flexible circuit that wrap around the axis of the joint or wrap around another point. In some embodiments, the moving segments can fold in half in a linear motion, with the ends of the electrical communication component fixed to two different bodies and the folded (or bent) portion moving relative to the fixed end. In some embodiments, the moving section is configured as a coil with a foldable moving section as described above.The disclosed systems / methods facilitate transferring data out of a dynamic system without affecting the rest of the system.

[0175] A robotic arm of a robotic system may include one or more joints. A joint of the robotic arm may include at least a portion of an electrical communication component. The electrical communication component may include portions thereof that pass through the joint and operably terminate at two endpoints, such as to operably connect an end effector to an origin of the robotic arm, or to operably connect an end effector (such as a surgical tool) to a control system. The electrical communication component may be configured to transmit one or more electrical signals to or from a portion of the robotic arm. The electrical communication component may be configured to transmit one or more electrical signals to or from the joint of the robotic arm. The portion of the electrical communication component may move during actuation or movement of the joint to permit a range of motion of the joint, thereby substantially preventing the portion from bending, collapsing, or being damaged, or a combination thereof. When the joint moves, the arrangement of the portion that permits movement of the portion may maintain the range of motion of the joint and protect the portion from bending or deformation that could damage the electrical component. During movement of the portion of the joint, the arrangement of the portion of the electrical communication component may be configured to substantially maintain a radius of curvature, such as by wrapping around or forming a moving bend. One arrangement may include a wrapping arrangement, a moving bend arrangement, or other arrangements. Additional elements that can assist in preventing damage to a portion of the electrical communication component can include incorporating a stop element into a portion of the robotic arm to limit the range of motion of at least a portion of the robotic arm. The stop element can at least partially limit overextension or overcompression of the portion of the electrical communication component. Incorporating a coating or film covering at least a portion of the electrical communication component can prevent damage to at least a portion of the electrical communication component. The coating or film can include a lubricant.

[0176] At least a portion of the electrical communication component within the connector can be wound around the axis of the connector (such as a rotary connector) to form at least a partial spiral winding or at least a partial coil. Multiple windings can be positioned within the housing of the connector. The multiple windings can be positioned outside the shaft of the connector. The multiple windings can be positioned between the inner wall of the housing and the outer wall of the shaft of the connector. The number of windings in the portion can change as the connector moves. The number of windings in the portion can change proportionally with the range of motion of the connector. In a first range of motion of the connector, the number of windings can be maximized. In a second range of motion of the connector, the number of windings can be minimized. The multiple windings can be tightly wound around the axis of the connector (such as a shaft). The number of windings can expand outward toward the inner wall of the housing and be loosely wound around the shaft. During movement of the connector, the windings of the electrical component can be maintained as the number of windings changes. The connector with windings of the electrical component can be a rotary joint or a hinge joint. The connector with windings can be a rotary joint.

[0177] At least a portion of the electrical communication component may extend within a joint, such as a hinge joint, to form a movable bend. During actuation of the joint, at least a portion of the movable bend may move. During actuation of the joint, at least a portion of the movable bend may move in proportion to the range of motion of the joint. The joint having the movable bend may be a rotary joint or a hinge joint. The joint having the movable bend may be a hinge joint.

[0178] The moving bend can be positioned outside the joint. The moving bend can be positioned within a portion of the joint (such as, a housing). The moving bend can be positioned within a channel of the housing. At least a portion of the channel can be physically separated from the joint. The channel can be positioned outside the central axis of the joint. During movement of the joint, the amount of the moving bend positioned within the channel can vary. The amount of the moving bend positioned within the channel can vary proportionally to the range of movement of the joint. For example, in a first range of motion of the joint, a minimum amount of the moving bend can be positioned within the channel. In a second range of motion of the joint, a maximum amount of the moving bend can be positioned within the channel. The moving bend can fold upon itself and extend to accommodate different amounts of moving bend within the channel.

[0179] Electrical communication components can be routed through different types of robotic connectors using different methods. Figures 34 to 35 An embodiment of a rotary joint 401 is shown, in which an FPCB 402 is wound around the axis of the joint 401. In this embodiment, the FPCB 402 (or electrical communication component) is manufactured with a long section (also called a rotating coil section 403) and two shorter sections perpendicular to the long section. During device actuation, the long section is coiled around the axis of the joint 401, with the number of windings of the long section depending on the desired movement of the joint 401. The two short sections protrude into the distal and proximal sections of the joint 401, where they are held as fixed sections 404 relative to their respective housings 405 (distal or proximal). At each end, the two short sections expose solder pads for connecting to another FPCB, allowing the FPCBs to be connected to form a chain to increase the length of data transmission and facilitate assembly. In this embodiment, the rotating coil section 403 of the FPCB 402 is located between two sections, one serving as the shaft 406 and the other as the housing 405. When the joint 401 is at one end of its range of motion, the rotating coil 403 is tightly wound around the shaft 406 with a maximum number of windings ( Figure 34 ), and at the other end of its range of motion, the rotating coil 403 expands as much as possible against the housing 405 with a minimum number of windings ( Figure 35). The range of motion can be as little or as much as desired. In some embodiments, the rotary joint 401 can include a hard stop 407 to limit the range of motion. In these embodiments, the hard stop 407 prevents the electrical communication components from being over- or under-wound around the axis 406 of the joint 401, thereby preventing the electrical communication components from tearing or bending. Additionally, in some embodiments, to reduce friction between the windings of the coil 403 and between the coil 403 and the housing 405, the coil 403 is coated with a lubricant, such as a dielectric grease. In some embodiments, Teflon TM The film is applied to the coil 403. In some embodiments, the housing 405 comprises Teflon TM coating or diamond-like coating to help reduce friction during actuation of the connector 401 and reduce the chance of only one portion or segment of the coil 403 expanding or contracting, thereby limiting the chance of bending and / or tearing of the electrical communication components.

[0180] Figures 38 to 39 , an embodiment of a hinge joint 410 is shown in which electrical communication components are routed through the hinge joint 410. The electrical communication components may include an FPCB 420. Unlike the rotary joints discussed above, where the mechanical drive cables are routed along / parallel to the axis of the joint, the mechanical drive cables in the hinge joint 410 extend perpendicular to the axis of the joint 410 and may therefore require different routing techniques. In this embodiment, the electrical communication components are not coiled around the axis of the hinge joint 410, but instead pass through the exterior of the hinge joint 410 and extend along a moving bend 412 located within a housing (channel) 414. During actuation of the joint 410, the moving bend 412 moves along the channel 414 so that at one end, the moving bend 412 is near the exit of the channel 414 (closer to the axis 415) where the amount of electrical communication components within the channel 414 is minimized ( Figure 38 At the other end, the mobile bend 412 moves toward the bottom of the channel 414 (away from the axis 415), where the channel 414 has the largest number of electrical communication components ( Figure 39 ). The hinge joint 410 may be configured to move the distal end 421 of the rotating FPCB relative to the proximal end 422 of the rotating FPCB. The proximal end 422 may be fixed during the movement of the distal end 421. The hinge joint 410 may be configured to move the distal end 421 of the rotating FPCB relative to the fixed portion 423 of the proximal end 422 of the rotating FPCB.

[0181] In some embodiments, passive and / or active retraction elements are used to ensure that the electrical communication component bends in the intended manner during retraction. In some embodiments, a resilient element with low stiffness is coupled to one end of the mechanical housing of the connector and to the electrical communication component. During bending of the connector, the moving curved portion 412 of the electrical communication component travels within the housing or channel 414, stretching the resilient element and creating a restoring force above the electrical communication component and the hinge connector 410, which is overcome by the connector 410. During extension of the connector 410, the resilient element exerts a pulling force on the electrical communication component, thereby overcoming any friction or bending forces and returning the communication component to its original position in the channel 414. In some embodiments, the resilient element is made of a rubber band or similar material. In some embodiments, a constant force spring or an actively controlled actuator is used.

[0182] In some embodiments, the movement of the connector itself determines the position of the electrical communication component. In these embodiments, the moving portion of the connector 410 acts as a cam, and the pin located on the connector 410 acts as a cam follower. When the connector 410 moves in a first direction, the electrical communication component is pulled out of its channel 414 or housing, pulling the pin. When the connector 410 moves in a second direction opposite to the first direction, the moving portion of the connector pushes the pin back into the electrical communication component, thereby forcing the component back into its housing or channel 414. These embodiments provide low forces on the electrical communication component, and the resistance to the connector movement is negligible compared to using the above-mentioned elastic elements.

[0183] In some embodiments, both the coil of the electrical communication component and the linear retraction mechanism of the electrical communication component are utilized. Figures 36 to 37 As shown, in some embodiments, the electrical communication component can include an FPCB 440. One or more Hall effect sensors 441 can be operably coupled to the FPCB 440. Figures 36 to 37 A camera arrangement 450 is shown where the primary joint is the axis of rotation, but due to the high range of motion of approximately 720 degrees and the limited space around the joint, a rotary and linear mechanism is used. The rotary and linear mechanism can be disposed within a housing 451. In these embodiments, when the joint is at one end, the rotary portion of the electrical communication component (rotating coil 452) is tightly wound around the axis of the joint, and the bend in the linear portion of the electrical communication component is close to the joint ( Figure 36). A constant force spring (not shown) is also wound around the axis of the connector, providing a force on the electrical communication component to prevent the electrical communication component from bending. The constant force spring ensures that the wrap around the connector stays is as small as possible to prevent uneven expansion of the wrap. As the connector is rotated to its other end, the coil 452 around the axis expands. Due to the limited radial space around it and the constant force applied by the spring, the expansion section of the coil 452 (the coil on the moving bend 453) is pulled into the linear retraction section (away from the connector), thereby preventing bending during coil expansion ( Figure 37 ).

[0184] According to some embodiments, to ensure that the wrap around the joint stays is as small as possible, a constant force spring is wrapped around the outside 454 of the rotating coil 452 (see Figure 37 In these embodiments, when the rotating coil 452 is in the retracted state (eg Figure 36 ), the constant force spring compresses the rotating coil 452 tightly against the joint. The length of the constant force spring can vary depending on the length of the rotating coil 452 configured to be compressed against the joint. In some embodiments, the constant force spring is embedded within the rotating coil 452. In some embodiments, the constant force spring is attached to the inner side 455 of the rotating coil 452 (see Figure 37 In these embodiments, the inner side of the constant force spring is wrapped around the joint in the retracted state (e.g. Figure 36 ), and the outside 454 of the spring is attached to the inside 455 of the rotating coil 452. When the joint is rotated to expand the rotating coil 452, the constant force spring is pulled away from the joint, which will cause the moving bend 453 to move away from the joint ( Figure 37 ). The rotating coil 452 may include a fixed portion 455.

[0185] The various aspects of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware or hardware (including the structural devices disclosed in this specification and their structural equivalents), or in a combination thereof. In addition, the various aspects of the subject matter described herein may be implemented using one or more computer program products (such as one or more computer programs tangibly implemented in an information carrier (e.g., a machine-readable storage device) or implemented in a propagation signal) for execution or control of its operation by a data processing device (e.g., a programmable processor, a computer or multiple computers). A computer program (also referred to as a program, software, software application or code) may be written in any form of programming language (including compiled or interpreted languages), and it may be deployed in any form (including as a standalone program suitable for use in a computing environment or as a module, component, subroutine or other unit). A computer program does not necessarily correspond to a file. A program may be stored in a portion of a file that holds other programs or data, in a single file dedicated to the program in question, or in multiple collaborative files (e.g., files that store one or more modules, subroutines or partial codes).

[0186] The processes and logic flows described in this specification, including the method steps of the subject matter described herein, can be performed by one or more programmable processors executing one or more computer programs to perform the functions of the subject matter described herein by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, and the apparatus of the subject matter described herein can be implemented as special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0187] Processors suitable for executing a computer program include, by way of example, general-purpose and special-purpose microprocessors, and any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from a read-only memory or a random access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include, or be operatively coupled to, one or more mass storage devices (e.g., magnetic, magneto-optical, or optical disks) for storing data, to receive data from or transfer data to, or both. Suitable information carriers for containing computer program instructions and data include all forms of non-volatile memory, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices); magnetic disks (e.g., internal hard disks or removable disks); magneto-optical disks; and optical disks (e.g., CD and DVD disks). The processor and memory may be supplemented by, or incorporated into, special-purpose logic circuitry.

[0188] It is contemplated that the systems, devices, methods, and processes disclosed herein include variations and modifications developed using information from the embodiments described herein. Persons skilled in the relevant art may make adjustments and / or modifications to the systems, devices, methods, and processes described herein.

[0189] Throughout this specification, when articles, apparatuses, and systems are described as having, including, or comprising particular components, or when processes and methods are described as having, including, or comprising particular steps, it is contemplated that there are additionally articles, apparatuses, and systems of the present disclosure consisting essentially of, or consisting of, the components, and processes and methods according to the present disclosure consisting essentially of, or consisting of, the process steps.

[0190] It should be understood that the order of steps or the order in which certain actions are performed is not important as long as the disclosure remains operable. Additionally, two or more steps or actions may be performed simultaneously.

[0191] It should be understood that the disclosed subject matter may not be limited in its application to the configuration details and arrangements of components set forth above or shown in the accompanying drawings. The disclosed subject matter may have other embodiments and can be practiced and executed in various ways. Likewise, it will be understood that the wording and terminology employed herein are for descriptive purposes and should not be considered restrictive. Therefore, it will be understood by those skilled in the art that the concepts upon which this disclosure is based can be easily used as the basis for designing other structures, methods, and systems for achieving the several purposes of the disclosed subject matter.

[0192] Combination of implementation methods

[0193] Any of the embodiments described herein may be used in combination with one another. For example, the arrangement of magnets and sensors of a magnetic sensing system may be used in combination with a winding or formation of a moving bend of an electrical communication component within a joint. For example, modifying the stiffness of a support tube coupled to the working end of a robotic system to include radially outward forces may be used in combination with a robotic arm having an elbow portion that moves independently of an end effector or origin (such as a shoulder).

[0194] Example

[0195] The following illustrative examples represent implementations of the stimulation, systems, and methods described herein and are not meant to be limiting in any way.

[0196] Example 1

[0197] The robotic assembly will include two robotic arms and a stereo camera. Each robotic arm and camera will be coupled to a corresponding motor unit. There will be three motor units. Under operating conditions, the working end and camera of each of the two robotic arms will be inserted into a trocar to access the body cavity of a patient undergoing surgery. The three working ends will be inserted sequentially, with the camera working end inserted first, followed by the working end of each robotic arm. Each working end will be coupled to a corresponding motor unit via a support tube, which will carry one or more electrical components and one or more mechanical components. The stiffness of each support tube will generate a force that drives the working end radially outward upon exiting the trocar and forces the portion of the support tube retained within the trocar's lumen against the trocar's inner wall. This movement of the support tube against the inner wall creates sufficient cross-sectional area for the next working end to be inserted through the trocar. Each of the two robotic arms will include three revolute joints and four hinge joints. From the origin to the end effector, the order will be revolute joint, hinge joint, revolute joint, hinge joint, revolute joint, hinge joint, and hinge joint. This joint configuration will allow each of the robotic arms to move with at least eight degrees of freedom. The effective elbow joint of the robotic arm will move independently of the end effector and origin (shoulder). At least one joint of the robotic arm will include a magnetic sensing system for at least partially measuring the joint displacement of the at least one joint. The magnetic sensing system will include an arrangement of four magnets and four sensors. The first and second magnets will be arranged in a first column, and the third and fourth magnets will be arranged in a second column. The sensors will be positioned in a plane substantially perpendicular to the column of magnets. The magnets and sensors will be positioned substantially near the peripheral edges of the joints, allowing other components of the robotic arm, such as cables, to be positioned in a centrally located space. One of the joints of the robotic arm will include a length of cable wrapped around the axis of the joint. As the joint moves, the number of wraps of the cable will change, from being tightly wrapped against the axis to being loosely wrapped against the housing of the joint. Another joint of the robotic arm will include a length of cable forming a moving bend. During joint movement, the moving bend will move, and the amount of the moving bend within a portion of the housing will change as the joint moves. The wrapping of the cable and the formation of a cable travel bend will maintain the integrity of the cable and prevent damage to the cable while permitting full movement of the connector.

[0198] Although preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that these embodiments are provided as examples only. The present invention is not intended to be limited by the specific examples provided in the specification. Although the present invention has been described with reference to the foregoing description, the description and illustration of the embodiments herein are not intended to be interpreted as limiting. Without departing from the present invention, many variations, changes, and substitutions will now occur to those skilled in the art. In addition, it will be understood that all aspects of the present invention are not limited to the specific description, configuration, or relative proportions set forth herein according to a variety of conditions and variables. It will be understood that, in practicing the present invention, various alternatives to the embodiments of the present invention described herein may be adopted. It is therefore contemplated that the present invention also encompasses any such substitutions, modifications, variations, or equivalents. The following claims are intended to define the scope of the present invention, and thus encompass methods and structures within the scope of these claims and their equivalents.

[0199] Although for the purpose of clarity and understanding, the aforementioned disclosure has been described in some detail, it will be clear to those skilled in the art that, by reading the present disclosure, various changes may be made in form and detail without departing from the true scope of the present disclosure. For example, all techniques and equipment described above may be used in various combinations. All publications, patents, patent applications and / or other documents cited in this application are incorporated by reference in their entirety for all purposes, as if each individual publication, patent, patent application and / or other document were individually and separately indicated as being incorporated by reference for all purposes.

Claims

1. A method for inserting multiple working ends of a robotic assembly, comprising: inserting a plurality of working ends of a robotic assembly through a trocar, wherein a support tube operably couples corresponding working ends of the plurality of working ends to a portion of the robotic assembly positioned external to the trocar, and a transition element is coupled to the corresponding working ends; as well as At least a portion of the support tube is inserted into the trocar, wherein at least a portion of the support tube moves radially outward toward a portion of an inner wall of the trocar as the corresponding working end exits the trocar. 2 . The method of claim 1 , wherein the proximal end of the transition element directs the corresponding working end radially outward upon exiting the trocar.

3. The method of claim 1 , wherein the stiffness of the support tube drives the support tube radially outward. 4 . The method of claim 1 , wherein the support tube is coupled to a spring element, and wherein the spring element drives the support tube radially outward. The method of claim 4 , wherein the elastic element comprises a spring.

6. The method of claim 1, wherein the plurality of working ends comprises at least two of: a working end of a camera, a working end of a first robotic arm, and a working end of a second robotic arm.

7. The method of claim 6, wherein the plurality of working ends include the working end of a camera, the working end of the first robotic arm, and the working end of the second robotic arm.

8. The method of claim 2, wherein at least a portion of the proximal end of the transition element includes curved sides along at least a portion of its length.

9. The method of claim 1, wherein at least a portion of the distal end of the transition element comprises a tapered end.

10. The method of claim 1, wherein the inserting of the plurality of working ends is sequential.

11. The method of claim 1 , wherein the order of inserting the plurality of working ends is based at least in part on the relative cross-sectional areas of each of the plurality of working ends.

12. The method of claim 1, wherein the inserting comprises individually inserting each of the plurality of working ends into the trocar.

13. The method of claim 1, wherein the inserting is performed by one or more motor units coupled to the robotic assembly.

14. The method of claim 13, wherein the one or more motor units include a motor, a drive train, electronics, or any combination thereof.

15. The method of claim 13, wherein the one or more motor units include a mounting member configured to translate the motor unit substantially parallel to an axis of insertion of the plurality of working ends.

16. The method of claim 13, wherein each of the plurality of working ends is coupled to a corresponding motor unit.

17. The method of claim 1, wherein the support tube comprises a mechanical power element, an electrical power element, or a combination thereof.

18. The method of claim 1, wherein the trocar maintains inflation of the body cavity while one or more working ends are inserted through the trocar into the body cavity.

19. The method of claim 7, further comprising positioning the working end of the camera between the working end of the first robotic arm and the working end of the second robotic arm.

20. The method of claim 19, wherein the working end of the camera is positioned substantially equidistantly between the working end of the first robotic arm and the working end of the second robotic arm.

21. The method of claim 19, wherein the positioning is performed by one or more motor units.

22. The method of claim 19, wherein the camera comprises a stereo camera.

23. The method of claim 1, wherein a portion of the robotic assembly is coupled to the trocar.

24. The method of claim 1, further comprising removing the plurality of working ends by re-entering the trocar.

25. The method of claim 24, wherein the transition element directs the corresponding working end radially inwardly upon re-entering the trocar.

26. The method of claim 1, further comprising independently adjusting the relative depth of one of the plurality of working ends.

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