Ultrasound aspirator apparatus and manipulation

Abstract

A surgical apparatus includes a robotic system having a plurality of arm members. Each arm member of the plurality of arm members is coupled to each adjacent arm member, and at least one arm member of the plurality of arm members includes a first receiver and a second receiver. The apparatus also includes an aspirator having a handpiece, a connector extending from the handpiece, a horn coupled to the handpiece, and a flow channel disposed coaxially about the horn. The handpiece is received by the first receiver and the flow channel is received by the second receiver such that the aspirator remains axially aligned relative to at least one of the plurality of arm members when the robotic system is manipulated.

Description

Technical Field

[0001] The present disclosure relates generally to surgical devices and methods of performing surgical procedures, and more particularly to robotically controlled surgical devices and methods of performing surgical procedures using robotic systems. Background Art

[0002] Common surgical procedures, including minimally invasive surgery ("MIS"), such as laparoscopy, are generally considered safe and effective procedures for treating a variety of diseases. However, these procedures often require at least one surgical assistant to help manipulate instruments during the procedure. In addition, these types of procedures can be physically demanding for the surgeon, especially for procedures that involve a great deal of time, precision, and control. Thus, there is a need for a surgical device that can allow a single individual to perform the procedure while minimizing the risks commonly caused by user errors caused by fatigue and / or other problems with instrument manipulation. Summary of the invention

[0003] In one embodiment, a surgical device is disclosed. The surgical device includes a robotic system having a plurality of arm members, wherein each of the plurality of arm members is connected to each adjacent arm member via a joint, and at least one of the plurality of arm members includes a first receiver and a second receiver. The surgical device also includes an aspirator, which has a handpiece, a connector extending from the handpiece, a horn connected to the handpiece via the connector, and a flow channel coaxially arranged around the horn and connected to the handpiece via the connector. The handpiece of the aspirator is received by a first receiver of at least one of the plurality of arm members, and the flow channel of the aspirator is received by a second receiver of at least one of the plurality of arm members, so that when the robotic system is manipulated, the aspirator maintains axial alignment relative to at least one of the plurality of arm members.

[0004] In another embodiment, a surgical device is disclosed. The surgical device includes a robotic system having a plurality of arm members, wherein each of the plurality of arm members is connected to each adjacent arm member via a joint, and at least one of the plurality of arm members includes a first receiver and a second receiver. The surgical device also includes an aspirator having a handpiece and a connector extending from the handpiece. The handpiece is received by the first receiver so that the connector extends from the first receiver. The aspirator also includes an horn and a flow channel, the horn is connected to the handpiece via a connector, the horn has a distal end, a proximal end, and a main body extending between the distal end and the proximal end, and the flow channel is coaxially arranged around the horn and connected to the handpiece via a connector, wherein the flow channel has a distal end, a proximal end, and a main body extending between the distal end and the proximal end, and the distal end of the flow channel is received by the second receiver so that the distal end of the horn extends beyond the distal end of the flow channel and the second receiver. The surgical device also includes a console, which includes an irrigation source that provides irrigation fluid to the aspirator via the irrigation tube, a suction source that provides suction force to the aspirator via the suction tube, and a power source that provides power to the aspirator and the plurality of arm members. The connector also includes a vent that is used to vent the irrigation tube to the atmosphere when the irrigation source provides irrigation fluid to the aspirator.

[0005] In yet another embodiment, a method for performing a surgical procedure is disclosed. The method includes coupling an aspirator to a robotic system having a plurality of arm members, wherein at least one of the plurality of arm members includes a first receiver and a second receiver for receiving the aspirator; manipulating the position and orientation of the plurality of arm members via a console so that the aspirator is moved to an entry position and an entry orientation relative to a target site; inserting the aspirator into the target site at the entry position and the entry orientation using the plurality of arm members of the robotic system; activating the horn of the aspirator using the console so that the horn vibrates at a predetermined frequency within the target site; flushing the target site via the console by supplying a flushing fluid through a flushing tube extending from the console to the aspirator; creating a vacuum within the aspirator using a suction tube extending from the console to the aspirator, and sucking the target site via the console; and removing the aspirator from the target site using the plurality of arm members of the robotic system.

[0006] These and other features provided by the embodiments described herein will be more fully understood from the following detailed description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The embodiments illustrated in the accompanying drawings are illustrative and exemplary in nature and are not intended to limit the subject matter defined in the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, in which like structures are represented by like reference numerals, and in which:

[0008] Figure 1 depicts a schematic diagram of a surgical apparatus including a robotic system and an aspirator according to one or more embodiments shown and described herein;

[0009] Figure 2 Depicts an embodiment according to one or more embodiments shown and described herein. Figure 1 A partially exploded perspective view of the attractor;

[0010] Figure 3 Depicts an embodiment according to one or more embodiments shown and described herein. Figure 2 A partial cross-sectional view of the assembled attractor;

[0011] Figure 4 Depicted is a method for controlling a Figure 1 A schematic diagram of a control console of a surgical device; and

[0012] Figure 5 Depicted is an illustrative flow chart of a method of performing a surgical procedure in accordance with one or more embodiments shown and described herein. DETAILED DESCRIPTION

[0013] Embodiments disclosed herein relate to surgical devices and methods for performing surgical operations. More specifically, the present disclosure relates to a surgical device comprising a robotic system and an aspirator (such as an ultrasonic surgical aspirator), the aspirator being coupled to the robotic system so that the robotic system can manipulate the aspirator during a surgical operation. In embodiments described herein, the aspirator may include an horn (such as an ultrasonic horn), a flow channel coaxially arranged around the horn, and a handpiece for fixing the flow channel around the horn in an appropriate position. The aspirator may also include a suction tube, a flushing tube, and a power line for operating the aspirator during a surgical operation.

[0014] The robot system described herein also includes a plurality of arm members, and a plurality of arm members can be connected via a plurality of joints so that a plurality of arm members can rotate and / or move through a plurality of planes, so as to adjust the position of the aspirator during a surgical operation. In addition, the robot system may include a first receiver (such as a handpiece receiver) and a second receiver (such as a flow channel receiver), which may be used to fix the aspirator to the robot system. In these embodiments, the first receiver may include at least one first receiver port, which may be axially aligned with at least one second receiver port located in the second receiver. The handpiece of the aspirator may be coupled to the first receiver of the robot system so that the connector formed on the handpiece may extend through at least one first receiver port of the first receiver and engage the proximal end and the horn of the flow channel. The aspirator may extend through and beyond at least one second receiver port so that the distal end of the flow channel is received by the second receiver, and the horn extends through the second receiver, thereby allowing the horn to be inserted into the target site (e.g., patient, etc.). In these embodiments, the first receiver and the second receiver may align the aspirator in a specific orientation, and it may be ensured that the aspirator remains aligned throughout the surgical operation.

[0015] As noted herein, the disclosed surgical apparatus is intended to simplify various minimally invasive surgical procedures ("MIS"), including laparoscopy, so that the procedure can be used by residents, fellows, surgeons, and other individuals trained to perform the procedure. For example, an obstacle in performing current laparoscopic surgery is the ability of surgeons and / or other individuals to provide an ultrasonic aspirator with stability (e.g., positional and / or rotational stability) and manage the retraction and positioning of tissue around the target site throughout the operation. During current surgery, an unstable aspirator (or other surgical instrument) may cause trauma, morbidity, blood loss, and other surgical complications. In addition, during laparoscopic surgery, multiple individuals are often required to control the various functions of the aspirator. For example, during surgery, it may be necessary to provide ultrasonic aspiration and electrosurgical coagulation to the target site simultaneously. Thus, traditional laparoscopic surgery requires multiple trained individuals to control the various functions of the ultrasonic aspirator and ensure that the aspirator remains stable throughout the operation.

[0016] In contrast, the disclosed surgical device eliminates the need for multiple users by providing a robotic system for manipulating an ultrasonic aspirator. In these embodiments, the robotic system can be utilized to position and / or stabilize the ultrasonic aspirator while a single individual (e.g., a surgeon) performs laparoscopic surgery. In addition, the robotic system can allow the user to control multiple functions of the aspirator using a single control element. As will be described in more detail herein, the user performing the surgery may be able to control the robotic system (e.g., via a foot pedal, etc.) throughout the operation so that laparoscopy can be performed by a single user.

[0017] As defined herein, the terms "ultrasonic horn," "ultrasonic tip," "ultrasonic aspiration tip," "ultrasonic surgical aspiration tip," "aspiration tip," "ultrasonic surgical tip," "surgical tip," and "tip" may be used interchangeably. Additionally, it should be further understood that the term "ultrasonic" may also include radio frequency ("RF"). Similarly, the terms "flow channel," "irrigation flow channel," "sleeve," "irrigation manifold," and "manifold" may be used interchangeably herein. The terms "tip extender" and "horn extender" may also be used interchangeably herein.

[0018] As defined herein, the term "non-disposable" is used to refer to a device that is intended for use on multiple subjects during its useful life, while the term "disposable" is used to refer to a device that is intended to be discarded after use on a single subject.

[0019] Embodiments of surgical devices and methods of performing surgical procedures will now be described in greater detail herein.These surgical devices and methods will now be described below with reference to the accompanying drawings, wherein like numerals refer to like structures.

[0020] Reference now Figure 1 , which depicts a schematic diagram of a surgical device 10. In these embodiments, the surgical device 10 may include a robotic system 100 and an aspirator 200 (such as an ultrasonic aspirator) that may be coupled to the robotic system 100. The ultrasonic aspirator 200 may be particularly suitable for ultrasonically disrupting and aspirating tissue during a surgical procedure, as will be described in greater detail herein. Figure 1 The surgical device 10 is depicted as including an aspirator 200 , but it should be understood that the aspirator is used for illustrative purposes only and that the surgical device 10 may include any surgical instrument that may be coupled to and manipulated by the robotic system 100 .

[0021] like Figure 1As further depicted, the aspirator 200 may include a hand piece 210, an horn 230 (such as an ultrasonic horn), a flow channel 260 coaxially disposed around the horn 230, and a connector 220 for fixing the horn 230 and the flow channel 260 to the hand piece 210. In these embodiments, the connector 220 may extend from the proximal end 222 of the hand piece 210 and may be used to connect the horn 230 and the flow channel 260 to the hand piece 210. In some embodiments, the horn 230 and the flow channel 260 may be directly connected to the connector 220 (e.g., via threaded engagement, snap fit, press fit, etc.). In other embodiments, the horn 230 and the flow channel 260 may also include pipes and / or fittings for fixing the horn 230 and the flow channel 260 to the connector 220, as will be described in more detail herein.

[0022] In the embodiments described herein, the hand piece 210, the connector 220, the horn 230, and the flow channel 260 can be received by the robotic system 100, so that the robotic system 100 can position, manipulate, and / or stabilize the aspirator 200 during a surgical procedure. Once the horn 230 is positioned within the target site, it is activated to ultrasonically disrupt tissue located at the target site and to aspirate effluent generated during surgery away from the target site. Figure 2 and Figure 3 The attractor 200 is described in more detail.

[0023] Still refer to Figure 1 , the robotic system 100 may include a plurality of arm members 112, which may be used to manipulate (e.g., move, rotate, etc.) the attractor 200 through multiple planes (e.g., three-dimensional space). For example, the robotic system 100 may include a first arm member 112a, a second arm member 112b, a third arm member 112c, and a fourth arm member 112d, wherein each of the plurality of arm members 112a to 112d is hingedly connected to each adjacent arm member 112a to 112d via a plurality of joints 14, so that the plurality of arm members 112a to 112d can extend, retract, and / or rotate around the plurality of joints 14 (e.g., in a manner such as Figure 1 Although not depicted, it should be understood that in other embodiments, the plurality of arm members 112a to 112d may be coupled such that each of the arm members 112a to 112d is also capable of three-dimensional rotation (e.g., about a circle such as Figure 1 ). These embodiments may be particularly useful for adjusting the angle of the attractor 200 relative to the target site, as will be described in more detail herein.

[0024] Although not depicted, it should also be understood that in some embodiments, the robotic system 100 may also include a base to which at least one of the plurality of arm members 112a to 112d is attached. In these embodiments, the base may be a fixed base or a movable base (e.g., movable via wheels, etc.). For example, in embodiments where the base is a movable base, the robotic system 100 of the surgical device 10 may be moved between locations (e.g., operating rooms), thereby allowing the robotic system 100 to be used in connection with multiple surgical devices 10 and / or patients in a short period of time. In addition, by allowing the robotic system 100 to operate with a variety of surgical devices, it is possible to reduce the costs associated with utilizing the robotic system during a particular surgery.

[0025] Still refer to Figure 1 The robotic system 100 may also include a first receiver 120 (e.g., a handpiece receiver) and a second receiver 160 (e.g., a flow channel receiver) that can be used to connect the aspirator 200 to the robotic system 100. Figure 1 In the depicted embodiment, at least one of the plurality of arm members 112a to 112d may be an alignment arm member (eg, Figure 1 The arm member 112d in the robot system 100 may include a first receiver 120 and a second receiver 160. Thus, when the aspirator 200 is fixed to the robot system 100, the alignment arm member, the first receiver 120 and the second receiver 160 may align the aspirator 200 in a desired orientation before the aspirator 200 is inserted into the target site. In addition, once the aspirator 200 is positioned in the desired orientation, the robot system 100 may ensure that the aspirator 200 remains axially aligned throughout the surgical procedure.

[0026] To accommodate the aspirator 200, the first receiver 120 may include at least one first receiver port 122, and the second receiver 160 may include at least one second receiver port 162. In these embodiments, the at least one first receiver port 122 and the at least one second receiver port 162 may be axially aligned so that the aspirator 200 may be linearly inserted through the first receiver 120 and the second receiver 160 simultaneously without disassembling the aspirator 200. For example, Figure 1 As depicted, the handpiece 210 of the aspirator 200 may be inserted into the first receiver 120 such that the connector 220 , the horn 230 , and the flow channel 260 extend through the at least one first receiver port 122 of the first receiver 120 .

[0027] like Figure 1As further depicted, when the handpiece 210 is positioned within the first receiver 120, the flow channel 260 can extend into at least one second receiver port 162 of the second receiver 160. In these embodiments, the flow channel 260 can include a tapered distal end (e.g., Figure 2 and Figure 3 160 ), such that the flow channel 260 is confined within the at least one second receiver port 162 and does not extend beyond the second receiver 160. The horn 230 can extend through the flow channel 260 and the second receiver 160 so that the horn 230 can be disposed within the target site. Because the at least one first receiver port 122 and the at least one second receiver port 162 are axially aligned, inserting the aspirator 200 through both the first receiver 120 and the second receiver 160 can ensure that the aspirator 200 is aligned with the alignment arm member (e.g., as shown) when the robotic system 100 is actuated. Figure 1 The depicted arm members 12d) remain aligned. Thus, in these embodiments, the attractor 200 can be manipulated (eg, positioned, extended, retracted, rotated, etc.) by manipulating the aligned arm members.

[0028] In the embodiments described herein, the handpiece 210 of the aspirator 200 can be inserted into the first receiver 120 so that the handpiece 210 is retained within the first receiver 120 when the robotic system 100 is actuated. For example, the first receiver 120 can include a plurality of slots that are engaged by a plurality of rails positioned on the handpiece so that the handpiece 210 can be slidably engaged with the first receiver 120. In other embodiments, the first receiver 120 can include a snap and / or latch mechanism that engages the handpiece 210 when the handpiece 210 is fully inserted into the first receiver 120 (e.g., when the connector 220 extends through at least one first receiver port 122). In other embodiments, the first receiver 120 can include a band or other similar restraining mechanism that is secured around the distal end 224 of the handpiece 210 once the handpiece 210 is inserted into the first receiver 120. It should be understood that the examples provided herein are intended to be illustrative in nature, and any mechanism may be used to secure the handpiece 210 to the first receptacle 120 so long as the mechanism effectively secures the handpiece 210 within the first receptacle 120 when the robotic system 100 is actuated and / or manipulated.

[0029] Although the aspirator 200 is described as being inserted into the first receiver 120 and the second receiver 160 simultaneously, it should be understood that the various components of the aspirator 200 can be coupled to the robotic system 100 separately. For example, the handpiece 210 can be inserted into the first receiver 120 so that the connector 220 extends from the at least one first receiver port 122 of the first receiver 120. Once the handpiece 210 is secured, the horn 230 and the flow channel 260 can be coupled to the connector 220, at which point the aspirator 200 can be repositioned so that the flow channel extends into the at least one second receiver port 162, as already described herein.

[0030] Still refer to Figure 1 The surgical device 10 may further include a console 300, which may be used to control the robot system 100 and the suction device 200. Figure 1 As depicted, the surgical device 10 includes a power cord 202, a suction tube 204, and an irrigation tube 206, all of which can be used to connect the aspirator 200 to the console 300. In these embodiments, the power cord 202 can supply power to the aspirator 200, while the suction tube 204 provides suction force and a suction path from the target site to a collection tank (not depicted). During surgery, the irrigation tube 206 can also provide irrigation fluid through the flow channel 260 and reach the target site. In addition, although Figure 1 Not depicted, but the console 300 may also include a plurality of control inputs for operating the robotic system, such as manual inputs, foot pedals, and other similar components.

[0031] In addition to controlling the suction tube 204 and the irrigation tube 206 of the surgical device, it should be noted that in some embodiments, the console 300 can also be configured to control the RF energy supplied to the horn 230 from the handpiece 210 of the aspirator 200. In these embodiments, the RF energy supplied to the horn 230 can be used to assist in coagulation at the target site where the aspirator 200 is inserted. In addition, the handpiece 210 can also include a force sensing element (such as a piezoelectric ceramic force sensing element), which can achieve enhanced tissue selectivity within the target site during surgery. Various tissue selective mechanisms can be used for ultrasonic aspiration, as described in U.S. Patent No. 10,687,840 issued to Cotter et al., the entire contents of which are incorporated herein by reference. In these embodiments, tissue selective mechanisms (e.g., force sensing elements, etc.) can be further operated via the console 300. It should be understood that by configuring the console 300 to control the aspiration, irrigation, RF coagulation and tissue selective components and mechanisms of the aspirator 200, the aspirator 200 can be more suitable for connection with the disclosed robotic system 100. This article will refer to Figure 4 The console 300 is described in more detail.

[0032] Reference now Figures 1 to 3 , wherein the attractor 200 is depicted in more detail. Figure 2 and Figure 3 As most clearly shown in the handpiece 210, the handpiece 210 may include a transducer (not depicted) to which an horn 230 (e.g., an ultrasonic horn) is fastened. The horn 230 may be powered by the transducer and may be ultrasonically actuated to break up tissue and aspirate effluent via the suction tube 204. In operation, the transducer may convert electrical energy into mechanical energy to convert energy at ultrasonic frequencies so as to vibrate the horn 230 for breaking up tissue located at a target site. In addition, in these embodiments, the handpiece 210 may also include a connection for radio frequency ("RF") energy to support coagulation within the target site, which may occur by conducting an electric current in the tissue at the target site. It should be further understood that the suction tube 204 may extend through the handpiece 210 so that the suction tube 204 may be directly connected to the horn 230, thereby allowing effluent generated during surgery to be removed from the target site via the suction tube 204.

[0033] Still refer to Figures 1 to 3 The horn 230 has a proximal end 231, a distal end 232, and a body 233, the body 233 extending from the proximal end 231 to the distal end 232 and may be defined by a plurality of horn members 234. For example, Figure 2 and Figure 3 As depicted, the plurality of horn members 234 may include a first horn member 234a, a second horn member 234b extending distally from the first horn member 234a, and a third horn member 234c extending distally from the second horn member 234b. In these embodiments, the horn members 234a to 234c may be coupled / connected via a threaded coupling or any other similar coupling (e.g., torqueing, laser welding, pins, etc.) capable of securing the horn members 234a to 234c.

[0034] Although in Figure 2 and Figure 3In the illustrated embodiment, the horn 230 is depicted as including three horn members 234, but it should be understood that the horn 230 may include any number of horn members 234 without departing from the scope of the present disclosure. In these embodiments, a plurality of horn members 234 may be used to change the length (e.g., total length) of the body 233 of the horn 230 for one or more applications. In addition, the length (e.g., total length) of the body 233 of the horn 230 may be determined based on the size of the flow channel 260 used in conjunction with the horn 230 and / or the size of the robot system 100 used to control the aspirator 200. For example, in order to effectively fix the aspirator 200 in the robot system 100, the length (e.g., total length) of the aspirator 200 may be longer than the length between the first receiver 120 and the second receiver 160, so that the first receiver 120 and the second receiver 160 may stabilize the aspirator 200 during surgery.

[0035] like Figures 1 to 3 As further depicted, the horn 230 may also include a surgical tip 236 that may be inserted into the target site so that the ultrasonic vibrations of the horn 230 are transmitted to the target site. In these embodiments, the number of the plurality of horn members 234 included in the horn 230 may be further determined based on the wavelength of the resonant frequency to be supplied to the target site. For example, in some embodiments, the horn 230 may be activated to vibrate within an ultrasonic frequency range with a longitudinal amplitude between approximately 5 mm (0.005 m) and 14 mm (0.014 m).

[0036] In these embodiments, the surgical tip 236 can have an open end and can be coupled to the distal-most horn member 234 of the plurality of horn members 234. Thus, when the aspirator 200 is inserted into the target site and a vacuum is applied to the aspiration tube, effluent can be drawn into the aspirator via the surgical tip 236 of the horn 230 and transported away from the target site.

[0037] Still refer to Figures 1 to 3 , the cross-section of the horn 230 can be substantially circular and can be coaxially disposed within the flow channel 260 (e.g., as Figure 3 In these embodiments, the flow channel 260 and the horn 230 can define an annular lumen 240 therebetween, such that an irrigation fluid can be supplied through the annular lumen 240 and into the target site via the surgical tip 236, as will be described in greater detail herein.

[0038] The flow channel 260 may include a proximal end 262, a distal end 264, and a body 263 extending between the distal end 264 of the flow channel 260 and the proximal end 262 of the flow channel. The distal end 264 may also include a flow channel tip 266, which may be inserted into the second receiver 160 of the robotic system 100. In these embodiments, when the aspirator 200 is coupled to the robotic system 100, the surgical tip 236 positioned on the horn 230 may extend through the flow channel tip 266 and the second receiver 160 so that the surgical tip 236 may be inserted into the target site.

[0039] In these embodiments, flow channel 260 can be configured to deliver irrigation fluid to the target site and further isolate the ultrasonically activated horn 230 and surgical tip 236 when the horn 230 is inserted into the target site. In addition, flow channel 260 can provide a dielectric boundary between the energized horn 230 and the tissue positioned outside the target site. In order to provide a dielectric boundary between the horn 230 and the tissue positioned outside the target site, in some embodiments, the flow channel tip 266 can be made of silicone or any other similar material capable of forming the boundary. In addition, the body 263 can be formed of a rigid material (e.g., a material with a rigidity between about 100,000psi and 350,000psi) to ensure that the horn 230 and the aspirator 200 remain stable when the horn 230 is activated.

[0040] Reference again Figures 1 to 3 , the aspirator 200 may also include a cooling and irrigation system that can provide cooling fluid and irrigation fluid to the horn 230 to maintain the temperature of the horn 230 within an acceptable range and remove effluent from the target site. In these embodiments, the irrigation tube 206 of the aspirator 200 can be connected to the flow channel tube 268 to provide irrigation fluid, such as saline, through the annular cavity 240 defined between the flow channel 260 and the horn 230. As in Figure 1 As most clearly shown in FIG. 1 , the irrigation tube 206 can be coupled to the console 300, which can be configured to supply an irrigation fluid. For example, the console 300 can include a pump (such as a peristaltic pump) that can provide irrigation fluid to the flow channel 260 at a specific pumping rate. In some embodiments, the peristaltic pumping rate can be as low as 2-3 mL / minute.

[0041] like Figures 1 to 3As further depicted, irrigation fluid supplied to the target site can be removed via the suction tube 204 so that a desired amount of irrigation fluid is available at the target site in a continuous fluid loop. In these embodiments, the irrigation fluid can help prevent and / or reduce immediate clotting of blood that could clog the surgical tip 236 and / or the suction tube 204. In addition, irrigation fluid collected near the surgical tip 236 (e.g., before being removed via the suction tube 204) can be used to cool the surgical tip 236 and the target site.

[0042] While the supply of irrigation fluid to the target site may provide the benefits described herein, in some embodiments, the capillary action of the irrigation fluid may cause the irrigation fluid to pool or "dam" at the surgical tip 236. In these embodiments, the damming of the irrigation fluid may cause the aspirator 200 and / or the annular cavity 240 to at least partially block, which may reduce the irrigation continuity loop described herein. This problem may be exacerbated in embodiments where the diameter of the annular cavity 240 is reduced, either due to the diameter of the flow channel 260 or the horn 230, or both.

[0043] As in Figure 2 and Figure 3 As most clearly depicted in the drawings, by providing a venting mechanism (such as a vent 226) between the irrigation tube 206 and the console 300 (e.g., having a pump or other similar mechanism that provides irrigation fluid to the aspirator), the pooling of irrigation fluid near the surgical tip 236 can be alleviated. In these embodiments, the vent 226 can be an atmospheric vent that exposes the annular cavity 240 to the atmosphere, which in turn can alleviate pressure from around the surgical tip 236 that may cause the irrigation fluid to pool. For example, in the embodiments described herein, pumping irrigation fluid into the aspirator 200 causes a small vacuum to form near the surgical tip 236 of the aspirator 200. However, by exposing the annular cavity 240 to the atmosphere via the vent 226, it is possible to ensure that the pressure within the aspirator 200 is released to the external atmosphere, thereby preventing the irrigation fluid from pooling in the aspirator 200.

[0044] like Figure 2 and Figure 3As depicted, the vent 226 is disposed on the connector 220 of the handpiece 210. In these embodiments, irrigation fluid can flow from the console 300 through the irrigation tube 206 and into the flow channel tube 268, at which time the irrigation fluid may be deposited in the annular cavity 240 of the aspirator 200. Because the flow channel tube 268 can be fluidically coupled to the connector 220, providing the vent 226 in a portion of the connector 220 can further serve to ventilate the annular cavity 240 of the aspirator 200, as has been described herein. Although the vent 226 is depicted as being formed in the connector 220, it should be understood that the vent 226 can be positioned at any point between the console 300 and the flow channel 260, so that the vent 226 can expose the annular cavity 240 to the atmosphere.

[0045] Now go to Figure 4 , which depicts a schematic diagram of a console 300. As will be described in greater detail herein, the console 300 can be configured to control the operation of both the robotic system 100 (e.g., the orientation and / or position of the plurality of arm members 112a to 112d, and thus the aspirator 200) and the aspirator 200 (e.g., activation of the horn 230, the aspiration tube 204, and / or the irrigation tube 206). As will be appreciated in light of the foregoing, a human user (e.g., a surgeon or other technician) can control the various components of the robotic system 100 and the aspirator 200 by manipulating the console, and can perform MIS, such as laparoscopy, without assistance.

[0046] like Figure 4 As further depicted, the console 300 may include a console circuit 318, a power source 320, a suction source 330, and an irrigation source 340. The console 300 may also include a console input 328 (such as a computer) that may allow a user to operate the console 300. In these embodiments, the console input 328 may be configured to provide automatic control of the console 300 via a software program, or may be manually controlled via a user manipulating a user interface and / or its controls.

[0047] Still refer to Figure 4The console input 328 may include a user interface (e.g., control buttons and visual / audio indicators, such as a display and / or a speaker, wherein the control buttons provide user control of various functions of the console 300 and the visual / audio indicators provide visual / audio feedback of the status of one or more conditions and / or positions of components of the console 300). The control buttons may include one or more buttons for adjusting the position and / or orientation of each of the plurality of arm members 112 of the robotic system 100, activating the horn 230 and controlling the frequency at which the horn 230 vibrates, activating a vacuum within the suction tube 204, and / or supplying irrigation fluid to the suction via the irrigation tube 206, activating the mechanism(s). For example, the console input 328 may include one or more buttons and / or knobs 328a, 328b for adjusting the position and orientation of each of the plurality of arm members 112, and one or more buttons (e.g., foot pedals) and / or knobs 328c, 328d for activating the horn 230, the suction source 330, the irrigation source 340, and / or adjusting control parameters of any of these components.

[0048] In addition, it should be appreciated that in some embodiments, the plurality of buttons and / or knobs of the console input 328 can be used to control various components of the surgical device. For example, in some embodiments, the console input 328 can include a foot pedal that can include one or more buttons and / or knobs for controlling the irrigation source 340 and the suction source 330, as will be described in greater detail herein.

[0049] Still refer to Figure 4 In these embodiments, console circuit 318 is electrically and communicatively coupled to power source 320, suction source 330, and irrigation source 340, such as by one or more wires or circuit traces. Console circuit 318 may be assembled on a circuit and may include, for example, processor circuit 318a and memory circuit 318b.

[0050] The processor circuit 318a has one or more programmable microprocessors and associated circuits, such as input / output interfaces, buffers, memory, etc. The memory circuit 318b is communicatively coupled to the processor circuit 318a, for example, via a bus circuit, and is a non-transitory electronic memory that may include volatile memory circuits such as random access memory (RAM), and non-volatile memory circuits such as read-only memory (ROM), electronically erasable programmable ROM (EEPROM), flash memory, etc. The console circuit 118 may be formed as one or more application specific integrated circuits (ASICs).

[0051] The console circuit 318 is configured to execute program instructions via software and / or firmware resident in the memory circuit 318 b to perform functions associated with the surgical device 10. For example, the console circuit 318 may adjust the position and / or orientation of each of the plurality of arm members 112 of the robotic system, activate the horn 230, the suction source 330, and / or the irrigation source 340, adjust the frequency at which the horn 230 vibrates, and / or adjust the amount of irrigation fluid supplied to the irrigation tube 206.

[0052] Still refer to Figure 4 , the power source 320 can include, for example, an arm member module 322 and an horn module 324. In these embodiments, each of the arm member module 322 and the horn module 324 can be electrically coupled and controllably coupled to the console circuit 318. As provided herein, the arm member module 322 and the horn module 324 can be electrically coupled to the console circuit 318 by electrical wiring or any other suitable electrical connection, so that user input on the console input 328 can be communicated to the console circuit 318 and used to control the power delivered by the power source 320 to the arm member module 322 and the horn module 324.

[0053] In these embodiments, the arm member module 322 may include a power source 322a to which an electrical lead 322b is attached. For example, the power source 322a may be connected to each of the plurality of arm members 112 such that the power source 322a may be used to adjust the position and orientation of each of the plurality of arm members 112. Similarly, the horn module 324 may include a power source (such as a generator 324a) to which an electrical lead 324b is attached. In these embodiments, the generator may be utilized to control the power supplied to the horn 230 such that once the horn 230 is activated, the horn module 324 is able to control the frequency at which the horn 230 vibrates.

[0054] Still refer to Figure 4 , the suction source 330 may include a suction module 332. The suction module may include, for example, a power source 332a, which may be used to activate a vacuum assembly (not depicted) and generate suction force within the suction tube 204 via an electrical lead 332b. In these embodiments, the power source 332a may also be utilized to change the strength of the suction force generated within the suction tube 204 to meet the suction requirements of a particular surgical procedure.

[0055] As noted herein, the console 300 may also include an irrigation source 340. In these embodiments, the irrigation source 340 may include an irrigation module 342 that may be controlled via the console to supply irrigation fluid to the aspirator 200. The irrigation source 340 may include a fluid source 334a that may be coupled to the irrigation tube 206 via a fluid coupling 334b ​​such that irrigation fluid may reach the aspirator 200 from the console 300 when the irrigation source 340 is activated.

[0056] Still refer to Figure 4 In the embodiments described herein, the console 300 can be electrically connected and operably connected to the robotic system 100 and the aspirator 200, so that the console 300 can simultaneously control and / or manipulate the robotic system 100 and the aspirator 200 during a surgical operation. For example, once the aspirator 200 is connected to the robotic system, the arm member module 322 can be activated to adjust the position and / or orientation of the plurality of arm members 112, thereby adjusting the aspirator 200 so that the aspirator is positioned in an entry position and an entry orientation. It should be understood that, depending on the surgical operation being performed, the aspirator 200 can be positioned at various positions and various angles relative to the target site. For example, during some laparoscopic surgeries, the surgical tip of the horn 230 can be at an angle of approximately 30-45 degrees relative to the target site before being inserted into the target site.

[0057] Once the arm component module 322 has positioned the aspirator 200 relative to the target site at a specific position and angle, the arm component module 322 can be further controlled to insert the aspirator into the target site with the entry position and the entry orientation. In addition, it should be understood that in these embodiments, the arm component module 322 can be deactivated so that the aspirator 200 remains stable in the desired position and orientation during the surgical operation. If the aspirator 200 needs to be adjusted during the operation, the arm component module 322 can be reactivated so that the aspirator 200 is repositioned and / or rotated.

[0058] With the aspirator 200 positioned at the target site, the console 300 can be used to activate the horn module 324, which in turn can provide power to the horn 230 via the generator 324a. In these embodiments, the user can adjust the power delivered to the horn 230 to control the frequency at which the horn 230 vibrates.

[0059] While the horn 230 is vibrating, the console 300 can further be utilized to operate the suction source 330 and the irrigation source 340. For example, and as already described herein, the suction source 330 and the irrigation source 340 can be controlled via a common control mechanism (such as a foot pedal). Thus, each of the suction module 330 and the irrigation source 340 can be separately activated as needed throughout the surgical procedure to suction effluent from the target site and / or provide irrigation fluid to the target site.

[0060] Now go to Figure 5 , wherein an illustrative method 500 for performing a surgical procedure is depicted. In the embodiments described herein, the method 500 may be particularly suitable for providing suction during MIS (such as laparoscopy). However, it should be understood that the embodiments described herein are for illustrative purposes only, and that the method 500 may be used to perform any surgical procedure without departing from the scope of the present disclosure.

[0061] As depicted in block 510, method 500 may first involve coupling a surgical instrument, such as an aspirator, to a robotic system having a plurality of arm members. Once the surgical instrument is coupled to the plurality of arm members, the method may proceed to block 520, which may involve manipulating the position and orientation of the plurality of arm members using a console so that the aspirator is moved to a desired position and orientation relative to a target site.

[0062] When the aspirator is moved to the desired position and orientation, the method can move to block 530, which can involve inserting the aspirator into the target site using multiple arm members of the robotic system. When the aspirator enters the target site, the horn of the aspirator can be activated so that the horn vibrates at a predetermined frequency in the target site and breaks up the tissue at the target site, as depicted by block 540.

[0063] When the horn vibrates, the user can simultaneously provide irrigation fluid to the target site and attract the target site, as depicted in blocks 550 and 560, respectively. In these embodiments, the console may include an irrigation source and an attraction source, which may be controlled separately via a single control input (such as a foot pedal), which allows the user to selectively operate each of the irrigation source and the attraction source during the surgical procedure. The irrigation source and the attraction source can be selectively operated as needed until the surgical procedure is completed. Once the surgery is completed, the method can move to block 570, which may include removing the aspirator from the target site using multiple arm members of the robotic system.

[0064] As should be understood in accordance with the foregoing, a surgical device is disclosed herein. The surgical device may include a surgical device (such as an aspirator) and a robotic system that can be used to manipulate the surgical device. The surgical device may also include a console that can be configured to control the operation of the robotic system and the surgical device, respectively. In these embodiments, the user performing the operation can control the robotic system (e.g., via a foot pedal, etc.) throughout the entire surgical procedure so that the surgical procedure can be performed by a single user.

[0065] The terms used herein are only used to describe specific aspects and are not intended to be restrictive. As used herein, the singular forms "one", "an" and "the" are intended to include plural forms, including "at least one", unless the content clearly indicates otherwise. "Or" means "and / or". As used herein, the term "and / or" includes any and all combinations of one or more items in the associated listed items. It should also be understood that the terms "include" or "comprise" when used in this specification specify the presence of the features, regions, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components and / or groups thereof. The term "or a combination thereof" means a combination including at least one of the aforementioned elements.

[0066] It should be noted that the terms "substantially" and "about" may be used herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement or other characterization. These terms are also used herein to represent the degree to which a quantitative characterization may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.

[0067] Although specific embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. In addition, although various aspects of the claimed subject matter have been described herein, these aspects need not be used in combination. Therefore, the appended claims are intended to cover all such changes and modifications within the scope of the claimed subject matter.

Claims

1. A surgical device, the surgical device include: A robot system, the robot system comprising: a plurality of arm members, each arm member of the plurality of arm members coupled to each adjacent arm member via a joint, and at least one arm member of the plurality of arm members comprising a first receiver and a second receiver; An attractor, the attractor comprising: Handpiece; a connector extending from the handpiece; a horn coupled to the handpiece via the connector; and a flow channel coaxially disposed about the horn and coupled to the handpiece via the connector; Wherein, the handpiece of the suction device is received by the first receiver of at least one arm member among the multiple arm members, and the flow channel of the suction device is received by the second receiver of at least one arm member among the multiple arm members, so that when the robotic system is manipulated, the suction device maintains axial alignment relative to the at least one arm member among the multiple arm members.

2. The surgical device according to claim 1, in, The flow channel also includes a distal end and a proximal end, and the distal end of the flow channel is received by the second receiver.

3. The surgical device according to claim 2, in, The horn also includes a distal end and a proximal end, and when the flow channel is received by the second receiver, the distal end of the horn extends beyond the distal end of the flow channel and the second receiver.

4. The surgical device according to claim 3, in, The hand piece also includes a transducer that causes the horn to vibrate at a predetermined frequency when the horn is coupled to the connector of the hand piece.

5. The surgical apparatus of claim 1, further comprising a console for controlling the robotic system and the suction device, respectively.

6. The surgical device of claim 5, further comprising a suction tube for providing a vacuum to the horn, in, The suction tube extends between the handpiece of the aspirator and the console.

7. The surgical device of claim 6, further comprising an annular cavity defined by a space between the horn and the flow channel when the flow channel is coaxially disposed about the horn.

8. The surgical device of claim 7, further comprising an irrigation tube for supplying irrigation fluid to the annular cavity, in, The irrigation tube extends between the aspirator and the console.

9. The surgical device according to claim 8, in, The connector of the handpiece also includes a vent for venting the irrigation tube to atmosphere.

10. The surgical device according to claim 9, in, The console is configured to selectively control supply of the irrigation fluid to the annular lumen and provision of the vacuum to the horn via a foot pedal.

11. The surgical device according to claim 1, in, Each arm member of the plurality of arm members is coupled to each adjacent arm member such that each arm member of the plurality of arm members is capable of three-dimensional movement.

12. A surgical device, the surgical device include: A robot system, the robot system comprising: a plurality of arm members, each arm member of the plurality of arm members coupled to each adjacent arm member via a joint, and at least one arm member of the plurality of arm members comprising a first receiver and a second receiver; An attractor, the attractor comprising: Handpiece; a connector extending from the hand piece, the hand piece being received by the first receiver such that the connector extends from the first receiver; a horn coupled to the handpiece via the connector, the horn having a distal end, a proximal end, and a body extending between the distal and proximal ends of the horn; and a flow channel coaxially disposed about the horn and coupled to the handpiece via the connector, the flow channel having a distal end, a proximal end, and a body extending between the distal and proximal ends of the flow channel, the distal end of the flow channel being received by the second receiver such that the distal end of the horn extends beyond the distal end of the flow channel and the second receiver; and A console, the console comprising: an irrigation source that provides irrigation fluid to the aspirator via an irrigation tube; a suction source, the suction source providing suction force to the suction device via a suction tube; and A power source provides power to the aspirator and the plurality of arm members; wherein the connector further comprises a vent for venting the irrigation tube to the atmosphere when the irrigation source provides the irrigation fluid to the aspirator.

13. The surgical device according to claim 12, in, The console is configured to selectively control supplying the irrigation fluid to the aspirator and providing the suction force to the aspirator via a foot pedal.

14. The surgical device according to claim 12, in, The hand piece also includes a transducer that causes the horn to vibrate at a predetermined frequency when the horn is coupled to the connector of the hand piece.

15. The surgical device according to claim 12, in, Each arm member of the plurality of arm members is coupled to each adjacent arm member such that each arm member of the plurality of arm members is capable of three-dimensional movement.

16. The surgical device of claim 12, in, The attractor maintains axial alignment relative to the at least one arm member of the plurality of arm members when the robotic system is manipulated.

17. A method of performing a surgical procedure, the method include: coupling the attractor to a robotic system having a plurality of arm members, wherein at least one arm member of the plurality of arm members comprises a first receiver and a second receiver for receiving the attractor; manipulating the position and orientation of the plurality of arm members via a console so that the aspirator moves to an entry position and an entry orientation relative to a target site; inserting the aspirator into the target site using the plurality of arm members of the robotic system at the entry position and the entry orientation; activating the horn of the aspirator using the console so that the horn vibrates at a predetermined frequency within the target site; irrigating the target site via the console by supplying an irrigation fluid through an irrigation tube extending from the console to the aspirator; suctioning the target site via the console by creating a vacuum within the suction device using a suction tube extending from the console to the suction device; and The suction device is removed from the target site using the plurality of arm members of the robotic system.

18. The method according to claim 17, in, The method steps of irrigating the target site and aspirating the target site can be selectively controlled by the console using a foot pedal.

19. The method according to claim 17, in, Each arm member of the plurality of arm members is coupled to each adjacent arm member such that each arm member of the plurality of arm members is capable of three-dimensional movement.

20. The method according to claim 17, in, The entry orientation of the aspirator is at an angle of 30 to 45 degrees relative to the target site.

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