Systems and methods for improving an external workspace in a robotic surgical system

Abstract

Certain aspects relate to systems and techniques for improving an external workspace in a robotic surgical system. These robotic surgical systems can include a table and at least one adjustable arm support that supports one or more robotic arms. The adjustable arm support can be capable of horizontal oscillation in the direction of the table. A board extension can extend outward from the adjustable arm support. An extender bar can be coupled to one or more of the robotic arms and a sleeve. A height difference can be provided between a first robotic arm and a second robotic arm supported on the adjustable arm support.

Description

Technical Field

[0001] The systems and methods disclosed herein relate to improving the external workspace in robotic surgical systems, and more specifically to optimizing triangulation and avoiding collisions between robotic system components. Background Technology

[0002] In robotic surgical procedures, one or more robotic arms are used to manipulate endoscopes, while one or more additional robotic arms are used to manipulate instruments. The robotic arms, endoscopes, and instruments may all occupy a portion of the patient's external environment or workspace.

[0003] In robotic systems utilizing multiple arms, reaching the desired surgical location with one or more arms can be challenging. Depending on the arm's configuration relative to the robotic system, the arms may be positioned in paths that collide with each other. If one or more arms fail to reach the desired surgical location, achieving triangulation between the robotic arm and its associated tool can also be challenging.

[0004] Therefore, there is a need for robotic systems and methods that optimize the external workspace to achieve appropriate reach of the robotic arm and optimized triangulation. Summary of the Invention

[0005] Robotic systems, devices, and methods are provided to enhance external surgical workspaces, optimize surgical triangulation, and improve robotic arm access to challenging surgical locations. In some embodiments, a robotic surgical system includes: a table for supporting a patient; an adjustable arm support coupled to the table; and one or more robotic arms coupled to the adjustable arm support.

[0006] In some embodiments, the adjustable arm support may be capable of having at least five degrees of freedom, including vertical translation, biceps curl, lateral translation, tilt, and horizontal swing. According to some embodiments, each adjustable arm support may support one or more robotic arms, wherein at least one robotic arm is coupled to an extender rod. At least one robotic arm is capable of translating the extender rod to move a sleeve attached to the extender rod on a pitch or yaw axis. In some embodiments, the adjustable arm support is curved or undulating. In some embodiments, the adjustable arm support includes a split guide rail comprising a first guide rail section and a second guide rail section that are independently movable.

[0007] In some embodiments, a robotic surgical system includes: a table for supporting a patient; an adjustable arm support coupled to the table; and one or more robotic arms coupled to the adjustable arm support. The adjustable arm support includes an extension plate projecting outward (e.g., towards the center or side) from the adjustable arm support. The robotic arms may be able to translate along the adjustable arm support and the extension plate.

[0008] In some embodiments, a robotic surgical system includes: a table for supporting a patient; an adjustable arm support coupled to the table; and a first robotic arm and a second robotic arm coupled to an adjacent arm support, wherein the first robotic arm has a height difference relative to the second robotic arm. In some embodiments, the first robotic arm includes a lifter that can be static or dynamic. In some embodiments, the first robotic arm includes a dynamic lifter in the form of an actuable joint such as a ball-and-socket joint, a prismatic joint, or a rotational joint. In some embodiments, the first robotic arm may have a height difference relative to the second robotic arm. Attached Figure Description

[0009] The disclosed aspects will be described below in conjunction with the accompanying drawings, which are provided to illustrate and not limit the disclosed aspects, wherein similar reference numerals denote similar elements.

[0010] Figure 1 An implementation scheme of a cart-based robotic system deployed for the diagnosis and / or treatment of bronchoscopy procedures is shown.

[0011] Figure 2 Depicting Figure 1 Another aspect of robotic systems.

[0012] Figure 3 The setup for ureteroscopy is shown. Figure 1 The implementation plan for the robot system.

[0013] Figure 4 The diagram shows the arrangement used for vascular procedures. Figure 1 The implementation plan for the robot system.

[0014] Figure 5 An implementation of a table-based robotic system deployed for bronchoscopy procedures is shown.

[0015] Figure 6 Provided Figure 5 An alternative view of the robot system.

[0016] Figure 7 An example system configured to retract a robotic arm is shown.

[0017] Figure 8 An implementation scheme of a table-based robotic system constructed for ureteroscopy procedures is shown.

[0018] Figure 9 An implementation scheme of a table-based robotic system constructed for laparoscopic procedures is shown.

[0019] Figure 10 It shows Figures 5 to 9 An implementation scheme for a platform-based robot system with pitch and tilt adjustment.

[0020] Figure 11 Provided Figures 5 to 10 A detailed diagram of the interface between the platform and the column of the platform-based robotic system.

[0021] Figure 12 An alternative implementation of a stage-based robotic system is shown.

[0022] Figure 13 It shows Figure 12 An end view of a platform-based robotic system.

[0023] Figure 14 An end view of a platform-based robotic system with a robotic arm attached is shown.

[0024] Figure 15 An exemplary device driver is shown.

[0025] Figure 16 An exemplary medical device with paired instrument drivers is shown.

[0026] Figure 17 An alternative design of the instrument actuator and the instrument is shown, wherein the axis of the actuator is parallel to the axis of the slender axis of the instrument.

[0027] Figure 18 An instrument with an instrument-based insertion architecture is shown.

[0028] Figure 19 An example controller is shown.

[0029] Figure 20 A block diagram is depicted according to an example implementation, illustrating the estimation. Figures 1 to 10 The location of one or more components of a robotic system (such as...) Figures 16 to 18 A positioning system for the location of instruments.

[0030] Figure 21 A top view of the abdomen, including a cannula positioned in a representative patient, is depicted.

[0031] Figure 22 A top schematic diagram of the robotic arm of a platform-based robotic system according to some implementation schemes is depicted.

[0032] Figure 23 A perspective view depicting a robot arm of a stage-based robotic system, including the plane formed between the proximal and distal links of the robot arm.

[0033] Figure 24 A perspective view of the robotic arms of a stage-based robotic system is depicted, with one arm sweeping into the other.

[0034] Figure 25 A table-based robotic system with an adjustable arm support that swings inward, according to some embodiments, is described.

[0035] Figure 26 A table-based robotic system with an adjustable arm support that swings inward and is coupled to a robotic arm, according to some embodiments, is described.

[0036] Figure 27 This is an end view of a stage-based robotic system with rotary joints for swing-adjustable arm supports.

[0037] Figure 28A A top view of a table-based robotic system with a bendable adjustable arm support is depicted according to some embodiments.

[0038] Figure 28B A top view of a table-based robotic system with an adjustable, undulating arm support, according to some implementation schemes, is depicted.

[0039] Figure 29 A top view of a table-based robotic system is depicted, including an extension for intermediate or lateral adjustment relative to an adjustable arm support.

[0040] Figure 30 A stage-based robotic system including a split-type guide rail is described according to some implementation schemes.

[0041] Figure 31 A stage-based robotic system including an extender rod is described according to some implementation schemes.

[0042] Figure 32 A platform-based robotic system according to some implementations is depicted, wherein one or more robotic arms include lifters.

[0043] Figure 33 A robotic arm including a ball-shaped shoulder joint lifter is depicted according to some implementation schemes.

[0044] Figure 34A robotic arm including a rotary joint lift is depicted according to some embodiments.

[0045] Figure 35 A robotic arm, including an optional rotary joint lifter, is depicted according to some embodiments.

[0046] Figure 36 A robotic arm including a prism joint lifter is depicted according to some implementation schemes.

[0047] Figure 37 A stage-based robotic system according to some embodiments is described, wherein one or more arms have different link lengths relative to one or more other arms.

[0048] Figure 38A and Figure 38B A robotic arm comprising a slender link member of variable length is depicted according to some embodiments. Detailed Implementation

[0049] 1. Overview .

[0050] The aspects of this disclosure can be integrated into robot-enabled medical systems capable of performing a variety of medical procedures, including minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. In endoscopic procedures, the system may be able to perform bronchoscopy, ureteroscopy, gastroscopy, etc.

[0051] In addition to performing a wide range of procedures, the system can provide additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system allows physicians to perform procedures from ergonomic positions without requiring cumbersome arm movements and positioning. Additionally, the system provides physicians with improved ease of use, enabling one or more instruments within the system to be controlled by a single user.

[0052] For illustrative purposes, various embodiments will be described below in conjunction with the accompanying drawings. It should be understood that many other specific embodiments of the disclosed concepts are possible, and various advantages can be achieved using the disclosed specific embodiments. Titles are included herein for reference and to aid in locating the various sections. These titled sections are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout the specification.

[0053] A. Robotic System – Trolley .

[0054] Robot-enabled medical systems can be configured in a variety of ways, depending on specific procedures. Figure 1An embodiment of a trolley-based, robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures is illustrated. During bronchoscopy, system 10 may include a trolley 11 having one or more robotic arms 12 to deliver medical instruments, such as a manipulable endoscope 13 (which may be a procedure-specific bronchoscope for bronchoscopy), to a natural orifice entry point (i.e., the patient's mouth positioned on the table in this example), to deliver diagnostic and / or therapeutic tools. As shown, trolley 11 may be positioned near the patient's upper torso to provide access to the entry point. Similarly, robotic arms 12 may be actuated to position the bronchoscope relative to the entry point. When performing GI procedures using a gastroscopy (a procedure-specific endoscope for gastrointestinal (GI) procedures), the same approach may be used. Figure 1 The layout within. Figure 2 An example implementation of the cart is described in more detail.

[0055] Continue to refer to Figure 1 Once the trolley 11 is correctly positioned, the robotic arm 12 can robotically, manually, or in combination thereof insert the maneuverable endoscope 13 into the patient. As shown, the maneuverable endoscope 13 may include at least two telescopic portions, such as an inner guide portion and an outer sheath portion, each portion being coupled to a separate instrument actuator from a set of instrument actuators 28, each instrument actuator being coupled to the distal end of a separate robotic arm. This linear arrangement of the instrument actuators 28, which facilitates coaxial alignment of the guide portion and the sheath portion, creates a “virtual rail” 29, which can be repositioned in space by maneuvering one or more robotic arms 12 to different angles and / or positions. The virtual rail described herein is depicted using dashed lines in the accompanying drawings, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument actuators 28 along the virtual rail 29 causes the inner guide portion to extend or retract relative to the outer sheath portion, or to advance or retract the endoscope 13 from the patient. The angle of the virtual rail 29 can be adjusted, translated, and pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual guide 29 shown in the figure represent a trade-off between providing the physician with access to the endoscope 13 and minimizing friction caused by the endoscope 13 bending into the patient's mouth.

[0056] After insertion, endoscope 13 can be guided downwards through the patient's trachea and lungs using precise commands from the robotic system until the target destination or surgical site is reached. To enhance navigation through the patient's lung network and / or reach the desired target, endoscope 13 can be manipulated to telescopically extend the inner guide portion from the outer sheath portion to achieve enhanced joint movement and a larger radius of flexion. The use of separate instrument actuators 28 also allows the guide portion and sheath portion to be driven independently of each other.

[0057] For example, endoscope 13 can be guided to deliver a biopsy needle to a target, such as a lesion or nodule in a patient's lung. The needle can be deployed downwards along the working channel, which extends the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological findings, additional tools can be deployed downwards along the working channel of the endoscope for additional biopsies. After the nodule is identified as malignant, endoscope 13 can be used to deliver endoscopic tools to remove the potential cancerous tissue. In some cases, diagnostic and therapeutic procedures can be delivered in a separate procedure. In these cases, endoscope 13 can also be used to deliver a reference point to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures can be delivered during the same procedure.

[0058] System 10 may also include a movable tower 30, which can be connected to the trolley 11 via support cables to provide control, electronic, fluid, optical, sensor, and / or electrical support to the trolley 11. Placing such functionality within the tower 30 allows for a smaller form factor trolley 11 that can be more easily adjusted and / or repositioned by the operating physician and his / her staff. Additionally, the division between the trolley / table and the support tower 30 reduces operating room clutter and facilitates improved clinical workflow. While the trolley 11 can be positioned close to the patient, the tower 30 can be stowed in a remote location to avoid obstructing the path during procedural procedures.

[0059] To support the aforementioned robotic system, tower 30 may include components of a computer-based control system that stores computer program instructions in a non-transitory computer-readable storage medium such as a permanent magnet memory drive, a solid-state drive, etc. Whether execution occurs within tower 30 or cart 11, the execution of these instructions can control the entire system or its subsystems. For example, when executed by the processor of the computer system, the instructions can cause components of the robotic system to actuate relevant brackets and arm mounts, actuate the robotic arm, and control medical devices. For instance, in response to receiving a control signal, motors in the joints of the robotic arm can position the arm into a specific posture.

[0060] Tower 30 may also include pumps, flow meters, valve controllers, and / or fluid passages to provide controlled flushing and suction capabilities to a system that can be deployed via endoscope 13. These components may also be controlled using a computer system of tower 30. In some embodiments, flushing and suction capabilities may be delivered directly to endoscope 13 via a separate cable.

[0061] Tower 30 may include voltage and surge protectors designed to provide filtered and protected power to trolley 11, thereby avoiding the need to place power transformers and other auxiliary power components in trolley 11, resulting in a smaller and more portable trolley 11.

[0062] Tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In conjunction with a control system, such optoelectronic equipment can be used to generate real-time images for display in any number of consoles deployed throughout the system (including displays within tower 30). Similarly, tower 30 may also include electronic subsystems for receiving and processing signals received from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors within or on top of medical devices.

[0063] In addition to other consoles available in the rest of the system (e.g., a console mounted on top of a cart), tower 30 may also include console 31. Console 31 may include a user interface and display, such as a touchscreen, for physician operators. Consoles in system 10 are generally designed to provide both robot control and preoperative and real-time information for procedures, such as navigation and positioning information for endoscope 13. When console 31 is not the only console available to the physician, it may be used by a second operator (such as a nurse) to monitor the patient's health or vital signs and system operation, as well as to provide procedure-specific data, such as navigation and positioning information. In other embodiments, console 30 is housed in a separate body from tower 30.

[0064] Tower 30 can be connected to cart 11 and endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functions from tower 30 can be provided to cart 11 via a single cable, thereby simplifying the operating room and eliminating clutter. In other embodiments, specific functions can be coupled in separate wiring and connections. For example, while power to the cart can be provided via a single cable, support for control, optics, fluid, and / or navigation can also be provided via separate cables.

[0065] Figure 2 Provided from Figure 1 The illustration shows a detailed implementation of a cart-based robot-enabled system. The cart 11 typically includes an elongated support structure 14 (often referred to as a "post"), a cart base 15, and a console 16 at the top of the post 14. The post 14 may include one or more brackets, such as those for supporting one or more robotic arms 12. Figure 2 The diagram shows a bracket 17 (or alternatively, an "arm support") for the deployment of three robotic arms. The bracket 17 may include individually configurable arm mounts that rotate along a vertical axis to adjust the base of the robotic arm 12 for better positioning relative to the patient. The bracket 17 also includes a bracket interface 19 that allows the bracket 17 to translate vertically along the post 14.

[0066] The bracket interface 19 is connected to the column 14 via slots such as slots 20, which are positioned on opposite sides of the column 14 to guide the vertical translation of the bracket 17. Slots 20 contain vertical translation interfaces to position and hold the bracket relative to the trolley base 15 at various vertical heights. The vertical translation of the bracket 17 allows the trolley 11 to adjust the reach of the robotic arm 12 to accommodate various table heights, patient sizes, and physician preferences. Similarly, separately configurable arm mounts on the bracket 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0067] In some embodiments, slot 20 may be supplemented with a slot cover flush and parallel to the slot surface to prevent dust and fluid from entering the internal cavity of column 14 and the vertical translation interface during the vertical translation of bracket 17. The slot cover can be deployed via a pair of spring reels positioned near the vertical top and bottom of slot 20. The cover is coiled within the reels until deployed, extending and retracting from its coiled state as bracket 17 translates vertically up and down. The spring load of the reels provides the force to retract the cover into the reels as bracket 17 translates toward the reels, while maintaining a tight seal as bracket 17 translates away from the reels. The cover can be attached to bracket 17 using, for example, a bracket in bracket interface 19, to ensure proper extension and retraction of the cover during the translation of bracket 17.

[0068] The column 14 may internally include mechanisms such as gears and motors, which are designed to mechanically translate the bracket 17 using vertically aligned lead screws in response to control signals generated in response to user input (e.g., input from the console 16).

[0069] A robotic arm 12 typically includes a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, and each actuator including an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm in the arm 12 has seven joints and thus provides seven degrees of freedom. Multiple joints result in multiple degrees of freedom, thus allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its corresponding end effector 22 at specific locations, orientations, and trajectories in space using different link positions and joint angles. This allows the system to locate and guide medical devices from desired points in space, while allowing physicians to move the arm joints to clinically advantageous positions away from the patient to achieve greater access while avoiding arm collisions.

[0070] The trolley base 15 balances the weight of the column 14, bracket 17, and arm 12 on the floor. Therefore, the trolley base 15 houses heavier components such as electronics, motors, power supplies, and components that enable the trolley to move and / or be stationary. For example, the trolley base 15 includes rollable wheel-shaped casters 25 that allow the trolley to move easily around the room before the procedure. Once in place, the casters 25 can be secured using wheel locks to hold the trolley 11 in place during the procedure.

[0071] The console 16, positioned at the vertical end of column 14, allows both a user interface for receiving user input and a display screen (or dual-purpose device, such as, for example, touchscreen 26) to provide both preoperative and intraoperative data to the physician user. Potential preoperative data on touchscreen 26 may include preoperative planning, navigation, and mapping data derived from preoperative computed tomography (CT) scans and / or records from preoperative patient interviews. Intraoperative data on the display screen may include optical information from tools and sensors, coordinate information from sensors, and important patient statistics such as respiration, heart rate, and / or pulse. The console 16 can be positioned and tilted to allow the physician to access it from the side of column 14 opposite to bracket 17. From this position, the physician can operate the console 16 from behind cart 11 while observing the console 16, robotic arm 12, and patient. As shown, the console 16 also includes a handle 27 for assisting in manipulation and stabilizing cart 11.

[0072] Figure 3 An embodiment of a robot-enabled system 10 arranged for ureteroscopy is shown. In a ureteroscopy procedure, a trolley 11 is positioned to deliver a ureteroscope 32 (a procedure-specific endoscope designed to traverse the patient's urethra and ureter) to the patient's lower abdominal region. During ureteroscopy, it is desirable to align the ureteroscope 32 directly with the patient's urethra to reduce friction and force on sensitive anatomical structures in that region. As shown, the trolley 11 can be aligned at the foot of the table to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access into the patient's urethra. The robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra from the foot of the table along a virtual guide rail 33.

[0073] After insertion into the urethra, using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be guided into the ureter and kidney to break up accumulated kidney stones using a laser or ultrasonic lithotripsy device deployed downwards along the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed downwards along the ureteroscope 32.

[0074] Figure 4A similar implementation of a robot-enabled system for vascular procedures is shown. In vascular procedures, system 10 can be configured such that a trolley 11 delivers a medical device 34 (such as a manipulable catheter) to an entry point in the femoral artery in the patient's leg. The femoral artery presents both a relatively large diameter for navigation and a relatively less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in ureteroscopy procedures, trolley 11 can be positioned toward the patient's leg and lower abdomen to allow robotic arm 12 to provide a virtual guide 35 for direct linear access to the femoral artery entry point in the patient's thigh / hip region. After insertion into the artery, the medical device 34 can be guided and inserted via translational device actuator 28. Alternatively, the trolley can be positioned around the patient's upper abdomen to reach alternative vascular entry points, such as the carotid and brachial arteries near the shoulder and wrist.

[0075] B. Robot System – Unit .

[0076] Implementation plans for robot-enabled medical systems can also incorporate patient tables. Integrating a patient table reduces the amount of capital equipment in the operating room by removing trolleys, allowing for greater accessibility to the patient. Figure 5 An embodiment of such a robot-enabled system arranged for a bronchoscopy procedure is shown. System 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") on a floor. Much like a trolley-based system, the end effector of the robotic arm 39 of system 36 includes an instrument actuator 42, which is designed to manipulate elongated medical instruments, such as… Figure 5 The bronchoscope 40 is used in the bronchoscopy. In practice, the C-arm used to provide fluorescence imaging can be positioned above the patient's upper abdominal region by placing the transmitter and detector around the stage 38.

[0077] Figure 6An alternative view of system 36 without a patient and medical devices is provided for discussion purposes. As shown, column 37 may include one or more brackets 43, shown as annular in system 36, upon which one or more robotic arms 39 may be based. The brackets 43 may translate along a vertical column interface 44 extending along the length of column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The brackets 43 may be rotated about column 37 using mechanical motors positioned within column 37 to allow the robotic arms 39 to access multiple sides of table 38, such as both sides of the patient. In embodiments with multiple brackets, the brackets may be individually positioned on the column and may translate and / or rotate independently of other brackets. While the brackets 43 need not be circular or even encircling column 37, the annular shape shown facilitates rotation of the brackets 43 about column 37 while maintaining structural balance. Rotation and translation of the brackets 43 allow the system to align medical devices such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient examination table or bed with an adjustable arm support, which takes the form of a rod or rail extending beside the patient examination table or bed. One or more robotic arms 39 (e.g., via a shoulder with an elbow joint) may be attached to the adjustable arm support, which can be vertically adjusted. By providing vertical adjustment, the robotic arms 39 are advantageously able to be compactly retracted under the patient examination table or bed and subsequently raised during the procedure.

[0078] Arm 39 can be mounted on a bracket via a set of arm mounts 45 comprising a series of joints that can be individually rotated and / or telescopically extended to provide additional constructability to the robotic arm 39. Additionally, the arm mounts 45 can be positioned on the bracket 43 such that, when the bracket 43 is properly rotated, the arm mounts 45 are positioned on the same side of the platform 38 (e.g., ...). Figure 6 As shown), on the opposite side of platform 38 (as shown) Figure 9 (as shown) or on the adjacent side of platform 38 (not shown).

[0079] Column 37 structurally supports platform 38 and provides a path for the vertical translation of the bracket. Internally, column 37 may be equipped with a lead screw for guiding the vertical translation of the bracket, and a motor for mechanizing the translation of the bracket based on the lead screw. Column 37 may also transmit power and control signals to bracket 43 and robotic arm 39 mounted thereon.

[0080] Platform base 46 has with Figure 2The trolley base 15 in the illustrated trolley 11 serves a similar function, accommodating heavier components to balance the table / bed 38, column 37, bracket 43, and robot arm 39. The table base 46 may also incorporate rigid casters to provide stability during operation. Casters, deployed from the bottom of the table base 46 on either side, can extend in opposite directions and retract when the system 36 needs to be moved.

[0081] continue Figure 6 System 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and volume of the table. As in previously disclosed embodiments, the tower may provide the table with various support functions such as processing, computing and control capabilities, electrical, fluid and / or optical, and sensor processing. The tower may also be movable to be positioned away from the patient, thereby improving physician accessibility and eliminating clutter in the operating room. Additionally, placing components in the tower allows for more storage space in the base of the table for potential retraction of the robotic arm. The tower may also include a main controller or console that provides a user interface such as a keyboard and / or a tower for user input, and a display screen (or touchscreen) for preoperative and intraoperative information such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for a gas canister to be used for inflatation.

[0082] In some implementations, the base can be retracted and stored when not in use. Figure 7 A system 47 for retracting a robotic arm is illustrated in an embodiment of a platform-based system. In system 47, a bracket 48 can be vertically translated into a base 49 to retract the robotic arm 50, arm mount 51, and bracket 48 within the base 49. A base cover 52 can be translated and retracted to open to deploy the bracket 48, arm mount 51, and arm 50 around a post 53, and to close to retract the bracket, arm mount, and arm for protection when not in use. The base cover 52 can be sealed along the edge of its opening using a membrane 54 to prevent dust and fluid from entering when closed.

[0083] Figure 8An embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure is illustrated. During ureteroscopy, table 38 may include a rotating portion 55 for positioning the patient at an angle to column 37 and table base 46. The rotating portion 55 may rotate or pivot about a pivot point (e.g., below the patient's head) to position the lower portion of the rotating portion 55 away from column 37. For example, pivoting of the rotating portion 55 allows a C-arm (not shown) to be positioned above the patient's lower abdomen without competing for space with the column (not shown) below table 38. By rotating a bracket 35 (not shown) about column 37, robotic arm 39 can insert a ureteroscope 56 directly into the patient's groin region along a virtual guide 57 to reach the urethra. During ureteroscopy, stirrups 58 may also be fixed to the rotating portion 55 of table 38 to support the patient's leg position during the procedure and allow full access to the patient's groin region.

[0084] In laparoscopic procedures, minimally invasive instruments are inserted into the patient's anatomical structures through one or more small incisions in the abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid components, such as axes, for accessing the anatomical structures within the patient. After the patient's abdominal cavity is inflated, the instruments can be guided to perform surgical or medical tasks, such as grasping, cutting, ablation, and suturing. In some embodiments, the instruments may include endoscopes, such as laparoscopes. Figure 9 An implementation of a table-based, robot-enabled system configured for laparoscopic procedures is shown. Figure 9 As shown, the bracket 43 of system 36 can be rotated and vertically adjusted to position the pair of robotic arms 39 on opposite sides of table 38, so that the instrument 59 can be positioned through the smallest incision on both sides of the patient to reach his / her abdominal cavity using arm mount 45.

[0085] To accommodate laparoscopic procedures, the robot-enabled platform system can also tilt the platform to the desired angle. Figure 10 An implementation scheme for a robot-enabled medical system with pitch or tilt adjustment is shown. For example... Figure 10 As shown, system 36 can adapt to the tilt of platform 38 to position one part of the platform at a greater distance from the base plate than the other part. Additionally, arm mount 45 is rotatable to match the tilt, ensuring that arm 39 maintains the same planar relationship with platform 38. To accommodate steeper angles, column 37 may also include a telescopic portion 60 that allows vertical extension of column 37 to prevent platform 38 from contacting the floor or colliding with base 46.

[0086] Figure 11Detailed illustrations are provided of the interface between platform 38 and column 37. The pitch-rotation mechanism 61 can be configured to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom. The pitch-rotation mechanism 61 can be implemented by positioning orthogonal axes 1, 2 at the column interface, each axis being actuated by separate motors 3, 4 in response to electrical pitch angle commands. Rotation along one screw 5 enables tilt adjustment along axis 1, while rotation along another screw 6 enables tilt adjustment along another axis 2. In some embodiments, ball joints can be used to change the pitch angle of platform 38 relative to column 37 in multiple degrees of freedom.

[0087] For example, pitch adjustment is particularly useful when attempting to position the table in the Trend-Lenberg position (i.e., positioning the patient's lower abdomen higher than the floor) for lower abdominal surgery. The Trend-Lenberg position causes the patient's internal organs to slide down to his / her upper abdomen by gravity, thereby clearing the abdominal cavity to allow minimally invasive instruments to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0088] Figure 12 and Figure 13 Isometric and end views of an alternative embodiment of a stage-based surgical robot system 100 are shown. The surgical robot system 100 includes one or more robotic arms (see, for example) that can be configured to support a stage 101 relative to it. Figure 14 One or more adjustable arm supports 105 are provided. In the illustrated embodiment, a single adjustable arm support 105 is shown, but additional arm supports may be positioned on opposite sides of the platform 101. The adjustable arm support 105 may be configured such that it is movable relative to the platform 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached to the adjustable arm support relative to the platform 101. For example, the adjustable arm support 105 may be adjusted with one or more degrees of freedom relative to the platform 101. The adjustable arm support 105 provides high flexibility to the system 100, including the ability to easily retract one or more adjustable arm supports 105 and any robotic arm attached to the one or more adjustable arm supports under the platform 101. The adjustable arm support 105 may be raised from a retracted position to a position below the upper surface of the platform 101. In other embodiments, the adjustable arm support 105 may be raised from a retracted position to a position above the upper surface of the platform 101.

[0089] The adjustable arm support 105 provides several degrees of freedom, including lifting, lateral translation, and tilting. Figure 12 and Figure 13 In the exemplary embodiment, the arm support 105 is configured to have four degrees of freedom, which are in Figure 12The arrows indicate the first degree of freedom, which allows adjustment of the adjustable arm support 105 in the z-direction (“Z-lift”). For example, the adjustable arm support 105 may include a bracket 109 configured to move up or down along or relative to the column 102 of the support platform 101. The second degree of freedom allows the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a rotary joint that allows the adjustable arm support 105 to be aligned with the bed in a Trendlemberg position. The third degree of freedom allows the adjustable arm support 105 to “pivot upwards”, which can be used to adjust the distance between one side of the platform 101 and the adjustable arm support 105. The fourth degree of freedom allows the adjustable arm support 105 to translate along the longitudinal length of the platform.

[0090] Figure 12 and Figure 13 The surgical robot system 100 may include a platform supported by a column 102 mounted to a base 103. The base 103 and the column 102 support the platform 101 relative to a support surface. A floor axis 131 and a support axis 133 are... Figure 13 As shown in the image.

[0091] The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the platform 101 or the base 103. The adjustable arm support 105 may include a bracket 109, a rod or rail connector 111, and a rod or rail 107. In some embodiments, one or more robot arms mounted to the rail 107 can translate and move relative to each other.

[0092] The bracket 109 can be attached to the post 102 via a first joint 113, which allows the bracket 109 to move relative to the post 102 (e.g., such as moving up or down along a first axis or vertical axis 123). The first joint 113 can provide a first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 may include a second joint 115, which provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third joint 117, which provides a third degree of freedom (“upward pivot”) to the adjustable arm support 105. An additional joint 119 may be provided (in... Figure 13 (As shown in the diagram), the additional joint mechanically constrains the third joint 117 to maintain the orientation of the guide rail 107 as the guide rail connector 111 rotates about the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide a fourth degree of freedom (translation) for the adjustable arm support 105 along a fourth axis 129.

[0093] Figure 14An end view of a surgical robot system 140A is shown, comprising two adjustable arm supports 105A and 105B mounted on opposite sides of a stage 101. A first robotic arm 142A is attached to a rod or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A for attachment to one or more robotic medical instruments or tools. Similarly, a second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B may be configured to attach to one or more robotic medical instruments or tools.

[0094] In some embodiments, one or more of the robotic arms 142A, 142B include an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B may include eight degrees of freedom, including an insertion axis (including one degree of freedom for insertion), a wrist (including three degrees of freedom for wrist pitch, yaw, and roll), an elbow (including one degree of freedom for elbow pitch), a shoulder (including two degrees of freedom for shoulder pitch and yaw), and a base 144A, 144B (including one degree of freedom for translation). In some embodiments, the insertion degree of freedom may be provided by the robotic arms 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.

[0095] C. Instrument drivers and interfaces .

[0096] The end effector of the system's robotic arm includes (i) an instrument actuator (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") incorporating electromechanical devices for actuating the medical device; and (ii) a removable or detachable medical device, which may not contain any electromechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical devices used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to its complex mechanical components and sensitive electronics. Therefore, the medical device can be designed to be detached, removed, and interchanged from the instrument actuator (and thus from the system) for individual sterilization or disposal by a physician or physician staff. In contrast, the instrument actuator does not need to be altered or sterilized and can be covered for protection.

[0097] Figure 15An example instrument actuator is shown. The instrument actuator 62, positioned at the distal end of a robotic arm, includes one or more drive units 63 arranged parallel to the axis to provide controlled torque to a medical device via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the device, a gear head 65 for converting motor shaft rotation into desired torque, a motor 66 for generating drive torque, an encoder 67 for measuring the speed of the motor shaft and providing feedback to control circuitry, and control circuitry 68 for receiving control signals and actuating the drive unit. Each drive unit 63 is independently controlled and motorized, and the instrument actuator 62 can provide multiple (e.g., ...) to the medical device. Figure 15 Four independent drive outputs are shown. In operation, the control circuit 68 receives control signals, transmits motor signals to the motor 66, compares the motor speed measured by the encoder 67 with the desired speed, and modulates the motor signals to generate the desired torque.

[0098] For procedures requiring a sterile environment, the robotic system can incorporate a drive interface, such as a sterile adapter connected to a sterile cover, positioned between the instrument actuator and the medical device. The primary purpose of the sterile adapter is to transmit angular motion from the drive shaft of the instrument actuator to the drive input of the device, while maintaining physical separation between the drive shaft and the drive input, and thus maintaining sterility. Therefore, an example sterile adapter may include a series of rotary inputs and rotary outputs designed to mate with the drive shaft of the instrument actuator and the drive input on the device. The sterile cover, composed of a thin, flexible material (such as transparent or translucent plastic), is connected to the sterile adapter and designed to cover capital equipment, such as the instrument actuator, robotic arm, and trolley (in trolley-based systems) or table (in table-based systems). The use of the cover allows the capital equipment to be positioned near the patient while still within an area that does not require sterilization (i.e., a non-sterile area). On the other side of the sterile cover, the medical device can dock with the patient in an area that requires sterilization (i.e., a sterile area).

[0099] D. Medical devices .

[0100] Figure 16An example medical device with paired instrument actuators is shown. Similar to other devices designed for use with robotic systems, the medical device 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as the “instrument handle” due to its intended design for manual interaction by a physician, typically includes a rotatable drive input 73 (e.g., a socket, pulley, or reel) designed to mate with a drive output 74 on a drive interface extending through the distal end of the robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 can share a rotational axis with the drive output 74 in the instrument driver 75 to allow torque to be transmitted from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include splines designed to mate with sockets on the drive input 73.

[0101] The elongated shaft 71 is designed to be delivered through an anatomical opening or cavity (e.g., as in endoscopy) or through a minimally invasive incision (e.g., as in laparoscopy). The elongated shaft 71 can be flexible (e.g., having endoscope-like properties) or rigid (e.g., having laparoscopy-like properties), or a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from an articulated wrist formed by a connecting fork having at least one degree of freedom and a surgical tool or medical instrument (such as, for example, a gripper or scissors), which can be actuated based on forces from a tendon when the drive input rotates in response to torque received from the drive output 74 of the instrument actuator 75. When designed for endoscopy, the distal end of the flexible elongated shaft can include a manipulable or controllable bending segment that articulates and bends based on torque received from the drive output 74 of the instrument actuator 75.

[0102] Torque from the instrument actuator 75 is transmitted downwards along shaft 71 to the elongated shaft 71 via tendons. These individual tendons (such as traction cables) may be individually anchored to various drive inputs 73 within the instrument handle 72. From the handle 72, the tendons are guided downwards along one or more traction cavities of the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or at the wrist at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopy, or hybrid procedures, these tendons may be coupled to distally mounted end effectors, such as wrists, grippers, or scissors. In such an arrangement, torque applied to the drive inputs 73 transmits tension to the tendons, thereby actuating the end effector in a certain way. In some embodiments, during surgical procedures, the tendons may cause the joint to rotate about the axis, thereby causing the end effector to move in one direction or the other. Alternatively, the tendons may be coupled to one or more jaws of a gripper at the distal end of the elongated shaft 71, wherein tension from the tendons causes the gripper to close.

[0103] During endoscopy, tendons can be attached via adhesives, control rings, or other mechanical fasteners to flexural or articulated segments positioned along an elongated axis 71 (e.g., at the distal end). When securely attached to the distal end of a flexural segment, torque applied to the drive input 73 is transmitted down the tendon, causing the softer flexural segment (sometimes referred to as an articulated segment or region) to flex or articulate. Along non-flexural segments, it can be advantageous to helve or coil individual traction cavities that guide individual tendons along the wall (or inside) of the endoscope axis to balance radial forces caused by tension in the traction lines. For specific purposes, the angle of the helices and / or the spacing between them can be varied or designed, with tighter helices exhibiting less axial compression under load, while lower helical amounts cause greater axial compression under load but also exhibit restricted flexion. Alternatively, traction cavities can be guided parallel to the longitudinal axis of the elongated axis 71 to allow controlled articulation within the desired flexural or articulated segment.

[0104] In endoscopic procedures, the elongated shaft 71 houses multiple components to assist in robotic procedures. The shaft may include a working channel for deploying surgical instruments (or medical devices), irrigation components, and / or suction components to an operating area at the distal end of the shaft 71. The shaft 71 may also house wires and / or optical fibers to transmit signals to / from optical components at the distal end, which may include an optical camera. The shaft 71 may also house optical fibers to carry light from a proximal light source (such as a light-emitting diode) to the distal end of the shaft.

[0105] At the distal end of the instrument 70, the distal end may also include an opening for delivering tools for diagnostic and / or treatment, irrigation, and aspiration to the surgical site. The distal end may also include a port for a camera (such as a fiberscope or digital camera) to capture images of the internal anatomical space. Relatedly, the distal end may also include a port for a light source used to illuminate the anatomical space when the camera is used.

[0106] exist Figure 16 In the example, the axis of the drive shaft, and therefore the axis of the drive input, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the rolling capability of the elongated shaft 71. Rolling the elongated shaft along its axis while keeping the drive input 73 stationary can cause undesirable tangling of the tendon as it extends from the drive input 73 and enters the traction cavity within the elongated shaft 71. Such tangling of the tendon can disrupt any control algorithms designed to predict the movement of the flexible elongated shaft during endoscopic procedures.

[0107] Figure 17 An alternative design of the instrument actuator and instrument is shown, wherein the axis of the drive unit is parallel to the axis of the slender axis of the instrument. As shown, the circular instrument actuator 80 includes four drive units whose drive outputs 81 are aligned parallel to each other at the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument actuator 80, driven by one of the drive units within assembly 83. In response to torque provided by the rotating drive unit, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the instrument actuator. Electrical and control signals can be transmitted from the non-rotating portion 84 of the instrument actuator 80 to the rotating assembly 83 via electrical contacts, which can be maintained by rotation of a brush slip ring connection (not shown). In other embodiments, the rotating assembly 83 may be responsive to a separate drive unit integrated into the non-rotating portion 84 and therefore not parallel to the other drive units. The rotation mechanism 83 allows the instrument actuator 80 to allow the drive units and their respective drive outputs 81 to rotate as a single unit about the instrument actuator axis 85.

[0108] Similar to previously disclosed embodiments, the device 86 may include an elongated shaft portion 88 and a device base 87 (shown as having a transparent outer surface for discussion purposes), the device base including a plurality of drive inputs 89 (such as sockets, pulleys, and reels) configured to receive drive outputs 81 in the device driver 80. Unlike previously disclosed embodiments, the device shaft 88 extends from the center of the device base 87, and the axis of the device base is substantially parallel to the axes of the drive inputs 89, rather than... Figure 16 It is orthogonal as in the design.

[0109] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates together with the rotating assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, it is coaxial with the instrument driver axis 85 when attached. Therefore, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Furthermore, as the instrument base 87 rotates together with the instrument shaft 88, any tendons connected to the drive input portion 89 in the instrument base 87 do not become entangled during rotation. Therefore, the parallelism of the axes of the drive output portion 81, the drive input portion 89, and the instrument shaft 88 allows the shaft to rotate without causing any control tendons to become entangled.

[0110] Figure 18 An instrument with an instrument-based insertion architecture according to some embodiments is shown. Instrument 150 is connectable to any of the instrument drivers described above. Instrument 150 includes an elongated shaft 152, an end effector 162 connected to the shaft 152, and a shank 170 connected to the shaft 152. The elongated shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through the grooves. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also pass through the elongated shaft 152. Manipulation of the one or more cables 180 (e.g., via an instrument driver) results in actuation of the end effector 162.

[0111] The instrument handle 170 (also referred to as the instrument base) typically includes an attachment interface 172 having one or more mechanical inputs 174, such as jacks, pulleys, or spools, which are designed to reciprocately engage with one or more torque couplers on the attachment surface of the instrument actuator.

[0112] In some embodiments, the instrument 150 includes a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself includes an instrument-based insertion architecture that adapts to the insertion of the instrument, thereby minimizing reliance on a robotic arm to provide the insertion of the instrument 150. In other embodiments, the robotic arm may be largely responsible for the instrument insertion.

[0113] E. Controller .

[0114] Any of the robotic systems described herein may include an input device or controller for manipulating a device attached to a robotic arm. In some embodiments, the controller may be coupled to the device (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) such that manipulation of the controller, for example via master-slave control, results in corresponding manipulation of the device.

[0115] Figure 19 This is a perspective view of an embodiment of controller 182. In this embodiment, controller 182 includes a hybrid controller that may have both impedance and admittance control. In other embodiments, controller 182 may utilize only impedance or passive control. In other embodiments, controller 182 may utilize only admittance control. By being a hybrid controller, controller 182 advantageously has lower perceived inertia during use.

[0116] In the illustrated embodiment, controller 182 is configured to allow manipulation of two medical devices and includes two handles 184. Each handle 184 is connected to a universal joint 186. Each universal joint 186 is connected to a positioning platform 188.

[0117] like Figure 19 As shown, each positioning platform 188 includes a SCARA arm (selective compliant assembly robot arm) 198 connected to a post 194 via a prism joint 196. The prism joint 196 is configured to translate along the post 194 (e.g., along a guide rail 197) to allow each handle 184 to translate in the z-direction, thus providing a first degree of freedom. The SCARA arm 198 is configured to allow the handle 184 to move in the xy-plane, thus providing two additional degrees of freedom.

[0118] In some embodiments, one or more load sensors are located within the controller. For example, in some embodiments, load sensors (not shown) are located within the body of each gimbal in gimbal 186. By providing load sensors, portions of controller 182 are capable of operating under admittance control, thereby advantageously reducing the sense inertia of the controller during use. In some embodiments, positioning platform 188 is configured for admittance control, while gimbal 186 is configured for impedance control. In other embodiments, gimbal 186 is configured for admittance control, while positioning platform 188 is configured for impedance control. Thus, for some embodiments, the translational or positional degrees of freedom of positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of gimbal 186 may depend on impedance control.

[0119] F. Navigation and Control .

[0120] Traditional endoscopy can involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic system envisioned in this disclosure can provide radiation-free navigation and positioning, reducing physician exposure to radiation and the amount of equipment required in the operating room. As used herein, the term "positioning" can refer to determining and / or monitoring the location of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free operating environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve upon information obtained solely through radiation-based imaging modalities.

[0121] Figure 20 This is a block diagram illustrating a positioning system 90 for estimating the position of one or more components of a robotic system (such as the position of a machine) according to an example embodiment. The positioning system 90 may be a group of one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by a processor (or multiple processors) and computer-readable storage among the components discussed above. By way of example and not limitation, the computer devices may be located in... Figure 1 Tower 30 shown Figures 1 to 4 The trolley shown Figures 5 to 14 The bed, etc. shown.

[0122] like Figure 20 As shown, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 for the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be relative to a patient's anatomy or a known object (such as an EM field generator) (see the discussion of EM field generators below).

[0123] The various input data are now described in more detail 91-94. Preoperative mapping can be accomplished using a collection of low-dose CT scans. The preoperative CT scans are reconstructed into three-dimensional images, which are visualized, for example, as “slices” of cross-sectional views of the patient’s internal anatomy. When analyzed in whole, image-based models of the anatomical cavities, spaces, and structures of the patient’s anatomical structures, such as the patient’s lung network, can be generated. Techniques such as centerline geometry can be determined and approximated from CT images to form a three-dimensional volume of the patient’s anatomy, which is referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of centerline geometry is discussed in U.S. Patent Application 14 / 523,760, the contents of which are incorporated herein by reference in their entirety. Network topology models can also be derived from CT images and are particularly well-suited for bronchoscopy.

[0124] In some implementations, the device may be equipped with a camera to provide visual data 92. The positioning module 95 can process the visual data to enable one or more vision-based position tracking methods. For example, preoperative model data can be used in conjunction with visual data 92 to enable computer vision-based tracking of a medical device (e.g., an endoscope or an instrument propelled through the working channel of an endoscope). For example, using preoperative model data 91, a robotic system can generate a library of expected endoscope images based on the model, with each image linked to a location within the model, based on the expected path of the endoscope's movement. In operation, the robotic system can refer to this library to compare real-time images captured at a camera (e.g., a camera at the distal end of the endoscope) with those images in the image library to aid in positioning.

[0125] Other computer vision-based tracking techniques use feature tracking to determine camera motion, and thus, endoscope motion. Some features of the localization module 95 can identify circular geometries in the preoperative model data 91 corresponding to anatomical cavities and track changes in those geometries to determine which anatomical cavity has been selected, as well as track the relative rotation and / or translational motion of the camera. The use of a topology map can further enhance vision-based algorithms or techniques.

[0126] Optical flow (another computer vision-based technique) can analyze the displacement and translation of image pixels in a video sequence within visual data 92 to infer camera movement. Examples of optical flow techniques can include motion detection, object segmentation calculation, brightness, motion compensation coding, stereo parallax measurement, and more. Through multiple iterations and comparisons of multiple frames, the movement and position of the camera (and therefore the endoscope) can be determined.

[0127] The positioning module 95 can use real-time EM tracking to generate the real-time position of the endoscope in a global coordinate system that can be registered to the patient's anatomy represented by a preoperative model. In EM tracking, an EM sensor (or tracker), including one or more sensor coils embedded in one or more locations and orientations within the medical instrument (e.g., an endoscopic tool), measures changes in the EM field generated by one or more static EM field generators positioned at known locations. The positional information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed close to the patient to generate a low-intensity magnetic field detectable by the embedded sensor. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "registered" to the patient's anatomy (e.g., a preoperative model) during surgery to determine the geometric transformations that align a single position in the coordinate system with its position in the preoperative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more locations on the medical device (e.g., the distal end of an endoscope) can provide real-time indication of the medical device’s progress through the patient’s anatomy.

[0128] Robot commands and kinematic data 94 can also be used by the positioning module 95 to provide position data 96 for the robotic system. Device pitch and yaw from joint movement commands can be determined during preoperative calibration. During surgery, these calibration measurements can be combined with known insertion depth information to estimate the instrument's position. Alternatively, these calculations can be combined with EM, vision, and / or topology modeling for analysis to estimate the medical device's position within the network.

[0129] like Figure 20 As shown, the positioning module 95 can use a variety of other input data. For example, although Figure 20 Not shown, but the device utilizing shape sensing fibers can provide shape data, which the positioning module 95 can use to determine the position and shape of the device.

[0130] The localization module 95 can use the input data 91-94 in combination. In some cases, such combination can use a probabilistic method, where the localization module 95 assigns confidence weights to the location determined based on each of the input data 91-94. Therefore, in cases where the EM data may be unreliable (e.g., in the presence of EM interference), the confidence of the location determined by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the visual data 92 and / or robot commands and kinematic data 94.

[0131] As discussed above, the robotic systems discussed in this paper can be designed as a combination of one or more of the technologies mentioned above. The computer-based control system of a robotic system located in a tower, bed, and / or trolley can store computer program instructions in, for example, a non-transitory computer-readable storage medium (such as a permanent magnetic storage drive, a solid-state drive, etc.). When executed, these computer program instructions cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and positioning data, such as the instrument's position in a global coordinate system, anatomical diagrams, etc.

[0132] 2. Introduction to systems and methods for improving external workspaces .

[0133] Embodiments of this disclosure relate to systems and methods for improving external workspaces. Advantageously, the systems and methods described herein help mitigate the risk of collisions between components of robotic surgical systems. Furthermore, the systems and methods can be optimized to provide the ability to perform surgical triangulation for different types of procedures.

[0134] Figure 21 A top view depicts a representative abdomen 200, including cannulas inserted into a representative patient, as part of a surgical procedure. In this embodiment, cannulas 202a, 202b, 202c, 202d, and 202e are positioned such that the central cannula 202a allows triangulation in four different quadrants of the patient. For example, triangulation is provided between cannulas 202a, 202b, and 202c. In this configuration, a speculum 205 can be inserted through the central cannula 202a, a first instrument (not shown) can be inserted through cannula 202b, and a second instrument (not shown) can be inserted through cannula 202c.

[0135] Depending on the type of surgical procedure performed, cannulas can be placed in different positions on the patient. In some surgeries, cannulas can be placed very close to each other in the same quadrant. For example, in... Figure 21 In the images, consider that cannula 202b can be positioned near cannula 202d in different surgical procedures. This is especially true when using a rail-based system where two or more arms can be positioned side-by-side on the same rail / arm support (e.g., Figure 12 As shown in the diagram, the robotic arm reaches the cannula and avoids collisions in the workspace, while optimizing triangulation can be challenging. Therefore, this application describes different systems and methods for modifying the architecture of a stage-based robotic system platform to enhance the external workspace and optimize triangulation for different types of surgical procedures.

[0136] Figures 22 to 24 Further details are provided regarding the challenges overcome by implementing the scheme of this application. Figure 22A top view of a platform-based robotic system is depicted. In some embodiments, the system includes a platform 100 for supporting a patient platform and a pair of adjustable arm supports 105 for supporting multiple robotic arms 142. In an illustrated embodiment, one adjustable arm support 105 supports a first robotic arm 142a, a second robotic arm 142b, and a third robotic arm 142c, while a second adjustable arm support 105 supports a fourth robotic arm 142d, a fifth robotic arm 142e, and a sixth robotic arm 142f. In some embodiments, each of the robotic arms 142 is identified by a specific color or label, as shown in the figure.

[0137] Figure 23 A perspective view depicting a robot arm of a stage-based robotic system includes a plane formed between the proximal and distal links of the robot arm. In this figure, a pair of adjacent adjustable robot arms 142a, 142b are supported on an adjustable arm support 105. Each of these adjustable robot arms includes a proximal link 232 and a distal link 234, and an elbow with one degree of freedom (DOF) therebetween. Therefore, the proximal link 232 and the distal link 234 reside in the same plane 143. In some embodiments, although the joints at the base of each robot arm 142a, 142b are capable of yawing the plane 143 to the left or right, the plane 143 can remain orthogonal to the top of the guide rails of the adjustable arm support 105. Despite having such... Figure 23 Some unique advantages of the robotic system described include the bilateral delivery of robotic arms relative to the patient; however, in some surgical settings, the system may encounter collisions between robotic arms and other robotic arms, the patient, bedside accessories, or bedside staff. Some of these collisions may originate from the wrist of the robotic arm, instrument actuators, or tools sweeping into the volume occupied by the proximal-distal linkage plane 143 of the adjacent robotic arm. Figure 24 A perspective view of the robotic arms of a stage-based robotic system is depicted, with one arm sweeping into the other, as noted in the paragraphs above.

[0138] The following are different implementations of robotic systems that can alleviate the challenges described above. Specifically, the systems and associated methods help reduce the risk of collisions between adjacent robotic arms, optimize surgical triangulation, and enhance the overall external surgical workspace.

[0139] A. Horizontal translation of the adjustable arm support

[0140] As mentioned above Figure 12The stage-based robotic system 100 discussed may include one or more adjustable arm supports 105 operatively coupled to a column of the stage. The one or more adjustable arm supports 105 are configured to support one or more robotic arms 142. Each adjustable arm support may include several degrees of freedom, including vertical translation along the column, biceps curl-up lifting (e.g., via connector 111), lateral translation along the length of the patient platform, and tilting.

[0141] In addition to these degrees of freedom, the adjustable arm support may also advantageously include another degree of freedom that allows the adjustable arm support 105 to swing in the direction of the patient platform supporting the patient, such as... Figure 25 As shown in the diagram. In other words, at least one end of the adjustable arm support is capable of horizontally swinging or moving toward the patient platform. When the adjustable arm support swings or moves horizontally toward the patient platform, one end of the adjustable arm support is positioned closer to the patient platform, while a second end of the adjustable arm support is positioned further away from the patient platform. Therefore, the adjustable arm support is positioned in a non-parallel position relative to the side of the patient platform.

[0142] Because the adjustable arm support can swing horizontally toward the patient (e.g., so that the adjustable arm support is not parallel to the side of the table), the robotic arm positioned on the adjustable arm support can be at an angle less than or greater than 90 degrees relative to the patient platform. For example, as Figure 25 As shown, the three robotic arms 142 in the background each have a base that can be considered perpendicular or at a 90-degree angle to the platform 101 of the patient platform, because these three robotic arms reside on straight or linear guide rails / adjustable arm supports. In contrast, in Figure 22 In the foreground, robotic arms 142 (not shown for emphasis on the horizontal swing of the arm support) residing on or supported on top of the guide rail / adjustable arm support may each have a base at a non-perpendicular angle relative to the platform 101 of the patient platform. With the arm support 105 in the horizontal swing position, the robotic arms 142, arranged side-by-side along the adjustable arm support 105, can advantageously extend toward hard-to-reach cannulas with a lower risk of collision and enhanced surgical triangulation.

[0143] Figure 26 A table-based robotic system with an adjustable arm support that swings inward and is coupled to a robotic arm, according to some embodiments, is depicted. In an illustrated embodiment, a pair of robotic arms 142a, 142b are attached to an adjustable arm support 105. The adjustable arm support 105 has been rolled inward toward a table 101 supporting a patient, allowing the robotic arm 142 coupled to the adjustable arm support to reach hard-to-reach cannulas, thereby optimizing triangulation and external workspace.

[0144] Figure 27 An end view of a table-based robotic system with one or more rotary joints for a swing-adjustable arm support is shown. (Except for...) Figure 14 In addition to the joints shown, the robotic arm 142 of the robotic surgical system may also include one or more rotary joints 148 that enable horizontal translation and swinging of the robotic arm. Figure 27 (As shown in the diagram). One or more rotary joints 148 may be positioned at or near the distal link of the robotic arm. The rotary joints 148 allow rotation or torsion of a portion of the connector / assembly joint that links the adjustable arm support to the column, thereby allowing horizontal translation of the adjustable arm support. In some embodiments, one end of the adjustable arm support is capable of horizontal swinging between 2 and 60 degrees, while in other embodiments, the adjustable arm support is capable of horizontal swinging between 2 and 45 degrees. The degree of horizontal swing may depend on the type of surgical procedure to be performed and the size and position of the patient.

[0145] Various features can be provided to enhance patient safety, even while simultaneously allowing the adjustable arm support to swing in the patient's direction. In some embodiments, one or more sensors may be positioned on the adjustable arm support to detect whether an object (e.g., a patient) is approaching and contacting the adjustable arm support. For example, the sensors may include position-based sensors or force-based sensors. In other embodiments, one or more sensors may be positioned on the adjustable arm support to assist in generating a mapping map for collision detection and avoidance. For example, one or more types of sensors (e.g., vision-based sensors including cameras or LiDAR) may be used to generate a representative model of the patient. By incorporating the representative model of the patient into the representative model or geometric representation of the adjustable arm support, the processor can then kinematically calculate an approximate distance between the adjustable arm support and the patient. If the processor detects via sensors and / or kinematic calculations that the patient will be in contact with the adjustable arm support, it can move the adjustable arm support in null space to avoid contact with the patient.

[0146] A. Bendable Adjustable Arm Support

[0147] Figure 28A A top view of a table-based robotic system with a bendable, adjustable arm support is depicted. The table-based robotic system 100 includes a table 101, which is connected via links or connectors (e.g., such as...). Figure 12The connector 111 shown is coupled to one or more adjustable arm supports 105. In this embodiment, each of the adjustable arm supports 105 is curved. This curvature allows one or more robotic arms 142 to translate along the curvature or radius of the adjustable arm support 105. This advantageously allows one arm 142 to be offset relative to another arm, such that one arm 142 on the arm support 105 forms a first angle relative to the platform 101, and a second arm 142 on the same arm support forms a second angle relative to the platform 101, wherein the first angle is different from the second angle. For example, in one embodiment, the robotic arm 142 may form a 90-degree angle relative to the platform 101, wherein the second robotic arm 142 may form an angle less than 90 degrees relative to the platform 101.

[0148] Each adjustable arm support in the adjustable arm support 105 may be bent at one or both of its ends. In some embodiments, the radius of curvature may be between 2 degrees and 45 degrees or between 2 degrees and 15 degrees. In some embodiments, each adjustable arm support in the adjustable arm support 105 is capable of movement in any of the five degrees of freedom discussed above, including vertical translation along the column, biceps curl-up lift (e.g., via connector 111), lateral translation along the length of the patient platform, tilting, and horizontal translation / swinging.

[0149] Figure 28B A top view of a table-based robotic system with an adjustable, undulating arm support is depicted. The table-based robotic system 100 includes a table 101, which is connected via links or connectors (e.g., such as...). Figure 22 The connector 111 shown is coupled to one or more adjustable arm supports 105. In this embodiment, each adjustable arm support 105 is undulating along a zigzag path. The undulations allow one or more robot arms 142 to translate along the radius of the adjustable arm support 105. This advantageously allows one arm 142 to be offset relative to another arm, such that one arm 142 on the arm support 105 forms a first angle relative to the platform 101, and a second arm 142 on the same arm support forms a second angle relative to the platform 101, wherein the first angle is different from the second angle.

[0150] Each adjustable arm support in the adjustable arm support 105 may bend at one or both of its ends. In some embodiments, the radius of curvature along the zigzag path may be between 2 degrees and 45 degrees or between 2 degrees and 15 degrees. In some embodiments, each adjustable arm support in the adjustable arm support 105 is capable of movement in any of the five degrees of freedom discussed above, including vertical translation along the column, biceps curl-up lift (e.g., via connector 111), lateral translation along the length of the patient platform, tilting, and horizontal translation / swinging (as discussed above). Figure 25 (As disclosed).

[0151] C. Plate / extension for intermediate or lateral adjustment

[0152] Figure 29 A top view of a stage-based robotic system is depicted, including an extension for intermediate or lateral adjustment of the robotic arm relative to an adjustable arm support. The stage-based robotic system includes a novel plate or extension 160 extending from the adjustable arm support 105. The extension 160 may be in the form of a pedal, rail, track, or cantilever beam allowing translation of the robotic arm 142 thereon. In some embodiments, the base of the robotic arm 142 includes a prism joint enabling translation along the adjustable arm support and / or the extension.

[0153] like Figure 29 As shown, the extension can be positioned centrally (see extension 160a) or laterally (see extension 160b) relative to the adjustable arm support 105. The extension advantageously serves as a cantilever for the robotic arm 142. This advantageously allows one robotic arm 142 to be laterally offset relative to the table. For example, in Figure 29 In the example shown, one robotic arm 142 is supported by a central extension 160a, while the other robotic arm 142 is supported by a lateral extension 160b. Therefore, the robotic arms 142 are staggered and offset relative to each other (and relative to the table), thus allowing the robotic arms 142 to access different locations within the surgical area with a low risk of collision between the robotic arms. In some embodiments, the extensions 160 may be fixed to an adjustable arm support 105, while in other embodiments, the extensions 160 may be removably attached to and detached from the adjustable arm support 105.

[0154] D. Adjustable arm support with split-type guide rails

[0155] Figure 30A table-based robotic system including adjustable arm supports comprising split guide rails is depicted. In this embodiment, the guide rails of the adjustable arm support are divided into two sections 165a and 165b. Each section 165a and 165b of the adjustable arm support can support one or more robotic arms. Each section 165a and 165b of the adjustable arm support can be coupled to independently adjustable linkages or connectors 111. Instead of viewing the table-based robotic system 100 as having an adjustable arm support with two sections 165a and 165b, the table-based robotic system 100 can be viewed as having two or more adjustable arm supports along one side of a patient bed. By providing two independently adjustable arm sections 165a and 165b, a robotic arm positioned on the first section 165a can be laterally offset from a second robotic arm positioned on the second section 165b, thereby optimizing the arm's position in the external workspace.

[0156] In some embodiments, segments 165a and 165b of the adjustable arm support can be aligned and assembled together to form a linear guide. In some embodiments, segments 165a and 165b can be mechanically connected to each other. In some embodiments, each segment of segments 165a and 165b is capable of movement in any of the five degrees of freedom discussed above, including vertical translation along the column, biceps curl-up lift (e.g., via connector 111), lateral translation along the length of the patient platform, tilting, and horizontal translation / swinging (as discussed above). Figure 25 (As disclosed).

[0157] E. Extension rod

[0158] Figure 31 A stage-based robotic system including an extender rod is depicted. In this embodiment, one or more of the robotic arms 142a, 142f are oriented such that the instrument actuator 80 (described above) of each robotic arm 142a, 142b Figure 17 The central opening (discussed in the middle) is oriented parallel to the stage and / or positioned on the patient's long access route. One or both robotic arms 142a, 142f are configured to receive the extender rod 190 therein.

[0159] like Figure 27As shown, the extender rod 190 may be coupled at a first end to one or both robotic arms 142a, 142f. Furthermore, the extender rod 190 may be coupled at a second end to a sleeve 202 (e.g., a central sleeve). In some embodiments, a joint 179 (e.g., a universal joint) is formed between the extender rod 190 and the sleeve 202. The second end of the extender rod 190 may include a hole or opening for receiving an instrument or endoscope passing through it. Figure 31 In the embodiment shown, the endoscope 205 is received via the extender rod 190 and the sleeve 202.

[0160] like Figure 27 As shown, one or both robotic arms 142a and 142f are capable of axially translating the extender rod 190. As the extender rod 190 translates in and out, this alters the joint between the extender rod 190 and the sleeve 202, thus causing the sleeve 202 to pivot on the pitch or yaw axis. When the endoscope 205 is received within the sleeve 202, the endoscope 205 will advantageously pivot together with the sleeve 202, thereby facilitating optimized triangulation between the endoscope and other instruments. In other words, one or both robotic arms 142a and 142f—albeit at the distal left end of the stage—are capable of controlling the pitch and yaw of the sleeve 202 and the endoscope 205 therein via the novel extender rod 190. Advantageously, by using the extender rod 190, the robot system is able to provide optimized triangulation while reducing the risk of collisions between adjacent robot arms (e.g., between robot arms 142a and 142b, or between robot arms 142f and 142e).

[0161] F. Lifter for robot arms

[0162] In some implementations, a height extender or lifter may be added at or near the base of one or more robotic arms. In some implementations, the lifter is a static component, while in others, it is a dynamic component comprising one or more active degrees of freedom. By providing lifters to one or more robotic arms, this helps to modify their reach and reduce the risk of collisions relative to adjacent arms, thereby optimizing external workspace and surgical triangulation.

[0163] Figure 32A table-based robotic system according to some embodiments is depicted, wherein one or more robotic arms include lifters. The table-based robotic system 100 includes a bed post, a base, and one or more robotic arms 142 retracted below the top of the table. In this embodiment, there are six robotic arms 142a, 142b, 142c, 142d, 142e, and 142f. As shown in the illustrative embodiment, two of the robotic arms 142c and 142f have lifter elements 220 disposed at or near their bases. The lifters 220 advantageously provide a height difference between the robotic arms 142c and 142f and adjacent robotic arms, thereby reducing the risk of collisions between adjacent robotic arms. An example embodiment of a dynamic lifter element according to some embodiments is described below.

[0164] Figure 33 A robotic arm comprising a dynamic lifter in the form of a ball-shaped shoulder joint lifter is depicted according to some embodiments. The ball-shaped shoulder joint 222 is positioned between the base 144 of the robotic arm 142 and the links of the robotic arm (proximal link 232 and distal link 234). In some embodiments, the base 144 includes a prism joint that allows the robotic arm 142 to translate over a guide rail of an adjustable arm support 105.

[0165] The ball joint 222 is a dynamic lifter capable of movement with one or more degrees of freedom. In some embodiments, the ball joint 222 advantageously adds one, two, or three degrees of freedom of movement. The ball joint 222 advantageously enables control over the take-off angle and orientation (planar orientation) of the proximal link 232.

[0166] Figure 34 A robotic arm, comprising a dynamic lifter in the form of a rotary joint lifter, is depicted according to some embodiments. The rotary joint lifter 224 is positioned between the base 144 of the robotic arm 142 and the links of the robotic arm (proximal link 232 and distal link 234). (See also: Regarding...) Figure 33 As indicated, the base 144 includes a prism joint that enables the robotic arm 142 to translate over the guide rails of the adjustable arm support 105.

[0167] The rotary joint lift 224 is a dynamic lifter capable of moving in one or more degrees of freedom. The rotary joint lift 224 includes a first lifter link 226 connected to a second lifter link 228, both lifter links having a rotation axis 230 extending therethrough. In the illustrated embodiment, the rotation axis 230 may be angled (e.g., substantially orthogonal) to the guide rails of the adjustable arm support 105. The rotary joint lift 224 advantageously allows the proximal-distal link plane 143 (… Figure 23(As shown in the diagram) it is reoriented with additional degrees of freedom, thereby helping to avoid collisions.

[0168] Figure 35 A robotic arm comprising a dynamic lifter in the form of an alternative rotary joint lifter, according to some embodiments, is depicted. Rotary joint lifter 234 and... Figure 34 The rotary joint lift 224 shown is similar in that it consists of a first lift linkage 234 and a second lift linkage 238, both of which have a rotation axis 240 extending therethrough. However, in this embodiment, the rotation axis 240 extends generally along / parallel to the guide rails of the adjustable arm support 105.

[0169] Figure 36 A robotic arm, comprising a dynamic lifter in the form of a prism-jointed lifter, is depicted according to some embodiments. The prism-jointed lifter 244 is positioned between the base 144 of the robotic arm 142 and the links of the robotic arm 142 (proximal link 232 and distal link 234). (See also: Regarding...) Figure 33 As indicated, the base 144 includes a prism joint that enables the robotic arm 142 to translate over the guide rails of the adjustable arm support 105.

[0170] The prism joint lifter 224 is a dynamic lifter capable of movement in at least one degree of freedom. The prism joint lifter 224 includes a vertical lifter link 246 that is telescopically received in an opening in the base 144. The vertical lifter link 246 is translatable in and out of the base 144, thereby forming a prism joint that allows for vertical adjustment of the height and reach of the robotic arm 142.

[0171] G. Robotic arm with variable-length links

[0172] In some embodiments, one or more robotic arms may include links having a length different from that of similar links in nearby or adjacent robotic arms. For example, in embodiments where both the first and second robotic arms are supported on an adjustable arm support, the first robotic arm may have a proximal link that is different in length from the proximal link of the second robotic arm. Alternatively, the first robotic arm may have a distal link that is different in length from the distal link of the second robotic arm. By providing robotic arms with one or more link length differences, this advantageously modifies the overall reachability of one arm relative to another and reduces the risk of collisions between adjacent arms. By modifying the reachability of a particular arm, this enables enhanced workspace optimization and surgical triangulation.

[0173] Figure 37A table-based robotic system is depicted according to some embodiments, wherein one or more arms have different link lengths relative to one or more other arms. The table-based robotic system includes a table 101 operably coupled to a column and a pair of adjustable arm supports 105. In this embodiment, each of the adjustable arm supports 105 supports three robotic arms—one adjustable arm support 105 supports robotic arms 142a, 142b, and 142c, and the other adjustable arm support 105 supports robotic arms 142d, 142e, and 142f. Figure 37 As indicated in the description, one robotic arm 142c is raised above the other robotic arms 142a and 142b, on which it shares the guide rail of the adjustable arm support 105, while another robotic arm 142f is raised above the other robotic arms 142d and 142e, on which it also shares the guide rail of the adjustable arm support 105. Figure 38 shows a robotic arm 142 with an extended linkage length.

[0174] Figure 38A and Figure 38B A robotic arm comprising a variable-length, elongated link member is depicted according to some embodiments. In some embodiments, the two robotic arms 142e, 142f may share the same adjustable arm support. Each of the robotic arms 142e, 142f includes a base link 236, a proximal link 232, and a distal link 234. However, as shown, one or more links of the link of robotic arm 142f may be elongated relative to the adjacent robotic arm 142e. For example, in this embodiment, both the base link 236 and the distal link 234 of robotic arm 142f may be increased in length relative to similar links of the adjacent robotic arm 142e. The base link 236 may be increased between 120 mm and 180 mm (or about 150 mm according to some embodiments), while the distal link may be increased between 40 mm and 90 mm (or about 70 mm according to some embodiments). The intermediate proximal link 232 may have the same or similar length as the proximal link of the adjacent robotic arm. By specifying that only certain links are slender, this helps to minimize manufacturing variations between different robotic arms while achieving the goals described above, including the range of extension, collision reduction, and optimized external workspace. In addition... Figure 38A and Figure 38B In addition to the images in the image, it should be noted that Figure 37 It is also shown that the base linkage of a robot arm 142c has a greater height than that of the adjacent robot arm 142b.

[0175] Any of the systems described above, such as cart-based robotic systems (e.g., in...), Figure 2 (as depicted in the text) or platform-based robotic systems (e.g., in...) Figure 25The devices (described herein) can be used alone or in combination to treat patients. In some embodiments, treatment may include the removal of underlying cancerous tissue. In some embodiments, the energy delivery device may be coupled to a robotic system to deliver energy (e.g., RF and microwave energy) to ablate underlying cancerous tissue. In other embodiments, one or more devices may be provided to deliver pharmacological agents to destroy cancerous tissue via a cart-based robotic system and / or a platform-based robotic system. In some embodiments, the pharmacological agents may include drugs used for chemotherapy or targeted tissue therapy. In some embodiments, monoclonal antibodies and immune checkpoint inhibitors may be delivered. Other types of cell therapies, anti-tumor vaccines, and advanced biotechnology drugs (e.g., for CAR-T cell therapy) may also be delivered via the robotic systems described herein.

[0176] 3. Implementation System and Terminology .

[0177] The specific implementations disclosed herein provide systems, methods, and apparatus for optimizing external workspaces to reduce collision risks and enhance surgical triangulation.

[0178] It should be noted that, as used herein, the terms “couple,” “coupling,” “coupled,” or other variations of the word “couple” can indicate an indirect or direct connection. For example, if a first component is “coupled” to a second component, the first component may be indirectly connected to the second component or directly connected to the second component via another component.

[0179] The functions described above regarding the stage-based robot system can be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium accessible by a computer or processor. By way of example, and not limitation, such media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disc storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. It should be noted that computer-readable media can be tangible and non-transitory. As used herein, the term "code" can refer to software, instructions, code, or data executable by a computing device or processor.

[0180] The methods disclosed herein include one or more steps or actions for implementing the methods. The method steps and / or actions may be interchanged without departing from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims unless proper operation of the described method requires a specific order of steps or actions.

[0181] As used herein, the term "multiple" means two or more. For example, multiple components indicates two or more components. The term "determine" encompasses a variety of actions, and therefore, "determine" can include calculation, operation, processing, derivation, investigation, lookup (e.g., searching in a table, database, or another data structure), ascertainment, etc. Additionally, "determine" can include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. Furthermore, "determine" can include parsing, selecting, picking, building, etc.

[0182] Unless otherwise explicitly stated, the phrase “based on” does not mean “based on only”. In other words, the phrase “based on” describes both “based on only” and “based on at least”.

[0183] The foregoing description of the disclosed specific embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these specific embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other specific embodiments without departing from the scope of the invention. For example, it should be understood that those skilled in the art will be able to employ numerous corresponding alternatives and equivalent structural details, such as equivalent means of fastening, mounting, connecting, or engaging tool components, equivalent mechanisms for generating specific actuating movements, and equivalent mechanisms for delivering electrical energy. Therefore, the invention is not intended to be limited to the specific embodiments shown herein, but is endowed with the broadest scope consistent with the principles and novel features disclosed herein.

[0184] The following clauses describe some implementation plans or specific implementations:

[0185] Clause 1. A robotic surgical system comprising:

[0186] The platform is used to support patients;

[0187] An adjustable boom support, which is connected to the platform; and

[0188] One or more robotic arms, which are connected to the adjustable arm support.

[0189] The adjustable arm support can have at least one degree of freedom, allowing it to swing at a non-parallel angle in the direction of the platform.

[0190] Clause 2. The robotic surgical system according to Clause 1, wherein the adjustable arm support is capable of having at least five degrees of freedom.

[0191] Clause 3. The robotic surgical system as described in Clause 2, wherein the at least five degrees of freedom include vertical translation, biceps curl, lateral translation, tilting, and horizontal oscillation.

[0192] Clause 4. The robotic surgical system according to any one of Clauses 1 to 3, wherein, when the adjustable arm support is oscillating horizontally in that direction of the table, a first end of the adjustable arm support is closer to the table and a second end of the adjustable arm support is further away from the table.

[0193] Clause 5. The robotic surgical system according to Clause 4, wherein the one or more robotic arms include a first robotic arm and a second robotic arm, wherein the first robotic arm is positioned closer to the first end of the adjustable arm support, and the second robotic arm is positioned closer to the second end of the adjustable arm support.

[0194] Clause 6. The robotic surgical system according to Clause 5, wherein the first robotic arm is coupled to a endoscopic endoscope and the second robotic arm is coupled to an instrument.

[0195] Clause 7. The robotic surgical system as described in Clause 5 or 6, wherein the first robotic arm is coupled to an extender rod.

[0196] Clause 8. The robotic surgical system according to Clause 7, wherein a first end of the extender rod is coupled to the first robotic arm, and a second end of the extender rod is coupled to a cannula.

[0197] Clause 9. The robotic surgical system of Clause 8, wherein the first robotic arm is capable of translating the extender rod to move the cannula on the pitch or yaw axis.

[0198] Clause 10. The robotic surgical system according to any one of Clauses 1 to 9, wherein the adjustable arm support is curved.

[0199] Clause 11. The robotic surgical system according to any one of Clauses 1 to 10, wherein the adjustable arm support is undulating.

[0200] Clause 12. The robotic surgical system according to any one of Clauses 1 to 11 further includes one or more sensors located on the adjustable arm support for detecting external objects.

[0201] Clause 13. The robotic surgical system as described in Clause 12, wherein the one or more sensors include vision-based sensors.

[0202] Clause 14. The robotic surgical system of Clause 13, wherein a mapping map of an external object is generated based on information from the vision-based sensor.

[0203] Clause 15. The robotic surgical system according to any one of Clauses 1 to 14, wherein the adjustable arm support includes a split guide rail, the split guide rail including a first guide rail section and a second guide rail section, wherein the first guide rail section is independently controllable relative to the second guide rail section.

[0204] Clause 16. A robotic surgical system comprising:

[0205] The platform is used to support patients;

[0206] An adjustable boom support, which is connected to the platform; and

[0207] One or more robotic arms, which are connected to the adjustable arm support.

[0208] The adjustable arm support includes an extension plate that protrudes outward from the adjustable arm support.

[0209] Clause 17. The robotic surgical system according to Clause 16, wherein the extension plate extends outward or laterally from the longitudinal axis of the extension plate.

[0210] Clause 18. The robotic surgical system according to Clause 16 or 17, wherein the one or more robotic arms include a first robotic arm capable of translating along the adjustable arm support and the extension plate.

[0211] Clause 19. The robotic surgical system according to any one of Clauses 16 to 18, wherein the extension plate includes a pedal.

[0212] Clause 20. The robotic surgical system according to any one of Clauses 16 to 19, wherein the extension plate is removably connected to the adjustable arm support.

[0213] Clause 21. A robotic surgical system comprising:

[0214] The platform is used to support patients;

[0215] An adjustable boom support, which is connected to the platform; and

[0216] A first robotic arm and a second robotic arm are connected to the adjustable arm support.

[0217] The first robotic arm has a height difference relative to the second robotic arm.

[0218] Clause 22. The robotic surgical system according to Clause 21, wherein the first robotic arm includes a lifter.

[0219] Clause 23. The robotic surgical system as described in Clause 22, wherein the lifter includes a static lifter.

[0220] Clause 24. The robotic surgical system according to Clause 22 or 23, wherein the lifter includes a dynamic lifter in the form of an actuable joint.

[0221] Clause 25. The robotic surgical system as described in Clause 24, wherein the dynamic lifter includes a ball-shaped shoulder joint.

[0222] Clause 26. The robotic surgical system described in Clause 24 or 25, wherein the dynamic lifter includes a prismatic joint.

[0223] Clause 27. The robotic surgical system according to any one of Clauses 24 to 26, wherein the dynamic lifter includes a rotary joint formed between the first lifter link and the second lifter link.

[0224] Clause 28. The robotic surgical system according to Clause 27, wherein the axis of rotation extends between the first lifter link and the second lifter link.

[0225] Clause 29. The robotic surgical system according to Clause 28, wherein the axis of rotation extends approximately along the length of the adjustable arm support.

[0226] Clause 30. The robotic surgical system according to Clause 28 or 29, wherein the axis of rotation extends substantially perpendicular to the length of the adjustable arm support.

[0227] Clause 31. The robotic surgical system according to any one of Clauses 21 to 30, wherein:

[0228] The first robotic arm includes a first base, a first proximal link, and a first distal link; and

[0229] The second robotic arm includes a second base, a second proximal link, and a second distal link.

[0230] Clause 32. The robotic surgical system according to Clause 31, wherein the first base has a height difference relative to the second base.

[0231] Clause 33. The robotic surgical system according to Clause 31 or 32, wherein the first distal link has a height difference relative to the second distal link.

Claims

1. A robotic surgical system, comprising: The platform is used to support the patient; An adjustable arm support is connected to the platform; and One or more robotic arms, the one or more robotic arms being coupled to the adjustable arm support, The adjustable arm support member is capable of having at least one degree of freedom, allowing it to swing at a non-parallel angle in the direction of the platform; and When the adjustable arm support is moved horizontally in the direction of the platform, one end of the adjustable arm support is positioned closer to the platform, while the second end of the adjustable arm support is positioned further away from the platform.

2. The robotic surgical system according to claim 1, wherein, The adjustable arm support can have at least five degrees of freedom.

3. The robotic surgical system according to claim 2, wherein, The at least five degrees of freedom include vertical translation, biceps curl, lateral translation, tilting, and horizontal swing.

4. The robotic surgical system according to claim 1, wherein, When the adjustable arm support swings horizontally in the direction of the platform, the first end of the adjustable arm support is closer to the platform and the second end of the adjustable arm support is further away from the platform.

5. The robotic surgical system according to claim 4, wherein, The one or more robotic arms include a first robotic arm and a second robotic arm, wherein the first robotic arm is positioned closer to the first end of the adjustable arm support, and the second robotic arm is positioned closer to the second end of the adjustable arm support.

6. The robotic surgical system according to claim 5, wherein, The first robotic arm is connected to the endoscope and the second robotic arm is connected to the instrument.

7. The robotic surgical system according to claim 5, wherein, The first robotic arm is connected to the extender rod.

8. The robotic surgical system according to claim 7, wherein, The first end of the extender rod is connected to the first robot arm, and the second end of the extender rod is connected to the sleeve.

9. The robotic surgical system according to claim 8, wherein, The first robotic arm is capable of translating the extender rod to move the sleeve on the pitch or yaw axis.

10. The robotic surgical system according to claim 1, wherein, The adjustable arm support is curved.

11. The robotic surgical system according to claim 1, wherein, The adjustable arm support is undulating.

12. The robotic surgical system of claim 1, further comprising one or more sensors located on the adjustable arm support for detecting external objects.

13. The robotic surgical system according to claim 12, wherein, The one or more sensors include vision-based sensors.

14. The robotic surgical system of claim 13, wherein, A mapping map of an external object is generated based on information from the vision-based sensor.

15. The robotic surgical system according to claim 1, wherein, The adjustable arm support includes a split guide rail, which includes a first guide rail section and a second guide rail section, wherein the first guide rail section is independently controllable relative to the second guide rail section.

16. A robotic surgical system, comprising: The platform is used to support the patient; An adjustable arm support is connected to the platform; and One or more robotic arms, the one or more robotic arms being coupled to the adjustable arm support, The adjustable arm support includes an extension plate protruding outward from the adjustable arm support; The adjustable arm support member is capable of having at least one degree of freedom, allowing it to swing at a non-parallel angle in the direction of the platform; and When the adjustable arm support is moved horizontally in the direction of the platform, one end of the adjustable arm support is positioned closer to the platform, while the second end of the adjustable arm support is positioned further away from the platform.

17. The robotic surgical system of claim 16, wherein, The extension plate extends outward or toward the center from the longitudinal axis of the extension plate.

18. The robotic surgical system of claim 16, wherein, The one or more robotic arms include a first robotic arm capable of translating along the adjustable arm support and the extension plate.

19. The robotic surgical system of claim 16, wherein, The extension plate includes a pedal.

20. The robotic surgical system of claim 16, wherein, The extension plate is removably connected to the adjustable arm support.

21. A robotic surgical system, comprising: The platform is used to support the patient; An adjustable arm support is connected to the platform; and A first robotic arm and a second robotic arm, both connected to the adjustable arm support, are also connected. The first robot arm has a height difference relative to the second robot arm; The adjustable arm support member is capable of having at least one degree of freedom, allowing it to swing at a non-parallel angle in the direction of the platform; and When the adjustable arm support is moved horizontally in the direction of the platform, one end of the adjustable arm support is positioned closer to the platform, while the second end of the adjustable arm support is positioned further away from the platform.

22. The robotic surgical system of claim 21, wherein, The first robotic arm includes a lifter.

23. The robotic surgical system of claim 22, wherein, The lifting device includes a static lifting device.

24. The robotic surgical system of claim 22, wherein, The lifter includes a dynamic lifter in the form of an actuable joint.

25. The robotic surgical system of claim 24, wherein, The dynamic lifter includes a ball-shaped shoulder joint.

26. The robotic surgical system of claim 24, wherein, The dynamic lifter includes a prism joint.

27. The robotic surgical system of claim 24, wherein, The dynamic lifter includes a rotary joint formed between the first lifter link and the second lifter link.

28. The robotic surgical system of claim 27, wherein, The axis of rotation extends between the first lifting linkage and the second lifting linkage.

29. The robotic surgical system of claim 28, wherein, The axis of rotation extends approximately along the length of the adjustable arm support.

30. The robotic surgical system of claim 28, wherein, The axis of rotation extends approximately perpendicular to the length of the adjustable arm support.

31. The robotic surgical system of claim 21, wherein: The first robotic arm includes a first base, a first proximal link, and a first distal link; and The second robotic arm includes a second base, a second proximal link, and a second distal link.

32. The robotic surgical system of claim 31, wherein the first base has a height difference relative to the second base.

33. The robotic surgical system according to claim 31, wherein, The first distal connecting rod has a height difference relative to the second distal connecting rod.

Images