Surgical robotic system and method for deploying probe of multifunctional surgical instrument

Abstract

The invention relates to a surgical robotic system and a method for deploying a probe of a multifunctional surgical instrument, and particularly discloses a surgical system comprising a surgical instrument comprising a first jaw member and a second jaw member, at least one of the first jaw member or the second jaw member is movable relative to the other of the first jaw member or the second jaw member from a spaced-apart position to an approximated position. At least one of the first jaw member or the second jaw member is further adapted to be connected to an energy source for conducting energy through the tissue clamped therebetween to treat the tissue. The surgical instrument also includes a probe adapted to be connected to an energy source for conducting energy through tissue in contact with the probe to treat the tissue. The system also includes a camera configured to capture a video of the tissue and the surgical instrument; and a monitor configured to display a video of the tissue and the surgical instrument and a virtual representation of the probe in the deployed position.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application Serial No. 63 / 517,376, filed on August 3, 2023. The entire contents of the foregoing application are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to surgical instruments and systems, and more particularly to multifunctional surgical instruments such as for use in surgical robotic systems. Background Art

[0004] Robotic surgical systems are increasingly used in a variety of surgical procedures. Some robotic surgical systems include a console that supports a robotic arm. One or more different surgical instruments may be configured for use with the robotic surgical system and may be selectively mounted to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable operation of the mounted surgical instrument, such as rotation, articulation, and / or actuation of the mounted surgical instrument.

[0005] It is understood that as additional functional components are added to surgical instruments for use in surgical robotic systems, additional actuation structures, deployable components, and / or electrical connectors are required. These additional structures, components, and / or connectors may pose challenges to the spatial constraints and / or mechanical features of the surgical instruments. Summary of the invention

[0006] As used herein, the term "distal" refers to the portion of the description that is further away from the operator (whether a surgeon or a surgical robot), while the term "proximal" refers to the portion of the description that is closer to the operator. As used herein, terms including "generally," "about," "substantially," etc. are meant to cover up to and include variations of plus or minus 10% (e.g., manufacturing tolerances, material tolerances, usage tolerances, and environmental tolerances, measurement variations, design variations, and / or other variations). In addition, within the scope of consistency, any or all aspects described herein may be used in combination with any or all other aspects described herein.

[0007] According to one embodiment of the present disclosure, a surgical system is disclosed. The surgical system includes a surgical instrument, which includes a first jaw member and a second jaw member, wherein at least one of the first jaw member or the second jaw member can be moved from a spaced apart position to a close position relative to the other of the first jaw member or the second jaw member to clamp the tissue between the first jaw member and the second jaw member. At least one of the first jaw member or the second jaw member is also suitable for connecting to an energy source for conducting energy through the tissue clamped between the first jaw member and the second jaw member to treat the tissue. The surgical instrument also includes a probe suitable for connecting to the energy source. The probe can be moved from a retracted position to a deployed position. The system also includes a camera configured to capture a video of the tissue and the surgical instrument. The system further includes: a controller configured to generate a virtual representation of the probe based on the video of the surgical instrument; and a monitor configured to display a video of the tissue and the surgical instrument and a virtual representation of the probe in the deployed position.

[0008] Implementations of the above embodiments may include one or more of the following features. According to one aspect of the above embodiments, the surgical system may further include a switch that is operable in a first stage, and the probe moves to a deployed position in response to the first stage. The switch may also be operated in a second stage, and the probe is stimulated in response to the second stage. The controller may be further configured to analyze the video to identify key structures of the tissue. The controller may be further configured to output a virtual representation of the probe based on the distance of the probe to the key structure. The controller may be further configured to highlight the key structure. The monitor may also be configured to display the virtual representation in response to a user command.

[0009] According to another embodiment of the present disclosure, a surgical robot system is disclosed. The surgical robot system includes a first mechanical arm controlling a surgical instrument, the surgical instrument including a first jaw member and a second jaw member, wherein at least one of the first jaw member or the second jaw member can be moved from a spaced apart position to a close position relative to the other of the first jaw member or the second jaw member to clamp the tissue between the first jaw member and the second jaw member. At least one of the first jaw member or the second jaw member is also suitable for connecting to an energy source for conducting energy through the tissue clamped between the first jaw member and the second jaw member to treat the tissue. The surgical instrument also includes a probe suitable for connecting to the energy source. The probe can be moved from a retracted position to a deployed position. The system also includes a second mechanical arm, which controls a camera configured to capture a video of the tissue and the surgical instrument. The system further includes: a controller configured to generate a virtual representation of the probe based on the video of the surgical instrument; and a monitor configured to display a video of the tissue and the surgical instrument and a virtual representation of the probe in the deployed position.

[0010] The implementation of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the surgical robot system may further include a surgical console having a foot pedal that can be operated in the first stage, and the probe moves to the deployment position in response to the first stage. The foot pedal can be operated in the second stage, and the probe is stimulated in response to the second stage. The foot pedal may include at least one of a distance sensor or a contact sensor to operate in the first stage. The controller may be further configured to analyze the video to identify the key structure of the tissue. The controller may be further configured to output a virtual representation of the probe based on the distance from the probe to the key structure. The controller may also be configured to determine the distance from the probe to the key structure based on at least one of the video or kinematic data of the first and second mechanical arms. The controller may be additionally configured to highlight the key structure. The monitor may also be configured to display the virtual representation in response to a user command.

[0011] According to another embodiment of the present disclosure, a method for controlling the deployment of a probe of a surgical instrument is disclosed. The method includes capturing a video of tissue and a surgical instrument, the surgical instrument including an end effector assembly configured to treat the tissue. The surgical instrument also includes a probe adapted to be connected to an energy source. The probe is movable from a retracted position to a deployed position relative to the end effector assembly. The method also includes: displaying a video of the tissue and the surgical instrument on a monitor; analyzing the video at a controller to identify a critical structure of the tissue; and displaying a virtual representation of the probe in a deployed position on a monitor based on a distance of the probe to the critical structure.

[0012] Implementations of the above embodiments may include one or more of the following features. According to one aspect of the above embodiments, the method may further include receiving a first input from a switch to move the probe to a deployed position. The method may also include receiving a second input from a switch to excite the probe. The method may further include: based on the identification of the critical structure, displaying a prompt to a user on a monitor that the probe is deployed or excited. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Various aspects and features of the present disclosure are described below with reference to the drawings, wherein like reference numerals represent identical or corresponding elements in each of the several views.

[0014] Figure 1 is a schematic diagram of a surgical robotic system according to aspects of the present disclosure, the surgical robotic system comprising a control tower, a console, and one or more surgical robotic arms;

[0015] Figure 2 According to the various aspects of this disclosure Figure 1A three-dimensional diagram of a surgical robot arm of a surgical robot system;

[0016] Figure 3 is a perspective view of a mounting arm according to aspects of the present disclosure, the mounting arm having Figure 1 The surgical robot arm of the surgical robot system;

[0017] Figure 4 According to the various aspects of this disclosure Figure 1 A schematic diagram of the computer architecture of a surgical robot system;

[0018] Figure 5 is a front perspective view of a proximal portion of a multifunctional surgical instrument according to the present disclosure, the multifunctional surgical instrument being configured to be mounted on a surgical robot system (e.g., Figure 1 On the robotic arm of a surgical robot system;

[0019] Figure 6 yes Figure 5 A rear perspective view of a proximal portion of the multifunctional surgical instrument;

[0020] Fig. 7A and Figure 7B yes Figure 5 A perspective view of a distal portion of a multifunctional surgical instrument, wherein an end effector assembly of the multifunctional surgical instrument is arranged in an aligned position and an articulated position, respectively;

[0021] Figure 7C yes Figure 5 A perspective view of a distal portion of the multifunctional surgical instrument, wherein the end effector assembly is configured in an aligned position and the probe is configured in a deployed position;

[0022] Fig. 8A and Figure 8B They are FIG. 7A to FIG. 7C A top perspective view and a bottom perspective view of a portion of one of the jaw members of the end effector assembly;

[0023] Fig. 9 yes Figure 5 A longitudinal cross-sectional view of a proximal portion of a multifunctional surgical instrument;

[0024] Fig.10 yes Figure 5 A perspective view of a portion of an actuation assembly of a multifunctional surgical instrument;

[0025] FIG. 11A to FIG. 11D is constructed with 7A to 7C side views of various probes for use with an end effector assembly;

[0026] Figures 12 to 16 yes 7A to 7Ca longitudinal cross-sectional view of an end effector assembly of , wherein a jaw member of the end effector assembly is disposed in an approximated position, and wherein a probe of the end effector assembly is shown progressively advanced from a retracted position to an extended position to a deployed position;

[0027] Fig.17 is a flow chart of a method for deploying a probe according to an embodiment of the present disclosure;

[0028] Fig.18 is a schematic diagram of a system for determining stages of a surgical procedure according to an embodiment of the present disclosure; and

[0029] Fig.19 is an augmented image of a surgical site and a graphical user interface (GUI) including a virtual projection of a probe according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The present disclosure provides a multifunctional surgical instrument. As described in detail below, the multifunctional surgical instrument of the present disclosure can be constructed for use with a surgical robot system, which can include, for example, a surgical console, a control tower, and one or more movable carts, and the one or more movable carts have a surgical manipulator connected to a mounting arm. The surgical console receives user inputs through one or more interface devices, and these user inputs are interpreted by the control tower as movement commands for moving the surgical manipulator. The surgical manipulator includes a controller configured to process movement commands and generate torque commands for starting one or more actuators of the manipulator, and the one or more actuators then move the manipulator in response to the movement commands. Although described below in conjunction with a surgical robot system, the aspects and features of the present disclosure can also be suitable for use with a handheld multifunctional surgical instrument (e.g., endoscopic instruments and / or open instruments).

[0031] refer to Figure 1 The surgical robot system 10 includes a control tower 20 connected to components of the surgical robot system 10, including a surgical console 30 and one or more robotic arms 40. Each robotic arm 40 includes a surgical instrument 50 removably coupled thereto. Each robotic arm 40 is also coupled to a movable cart 60.

[0032] One or more surgical instruments 50 can be configured to be used in minimally invasive surgery and / or open surgery. In various aspects, one of the surgical instruments 50 can be an endoscope (such as an endoscopic camera 51) configured to provide a video feed to a clinician. In other aspects, one of the surgical instruments 50 can be an energy-based surgical instrument, such as an electrosurgical forceps or an ultrasonic sealing and cutting instrument, which is configured to close the tissue by clamping the tissue between the relative structures and applying electrosurgical energy or ultrasonic energy to it accordingly. In some other aspects, one of the surgical instruments 50 can be a surgical stapler, which includes a pair of jaws, which are configured to clamp tissue, deploy multiple tissue fasteners (e.g., staples) through the clamped tissue, and / or cut the sutured tissue. In some other aspects, one of the surgical instruments 50 can include an excitable element (e.g., a monopolar element, a bipolar element, a thermal element, a microwave element, etc.) configured to treat tissue. It is also contemplated that suction and / or flushing surgical instruments 50. Other suitable surgical instruments 50 include multi-function surgical instruments provided in accordance with the present disclosure and described in detail below.

[0033] As described above, the endoscopic camera 51 can be configured to capture a video of the surgical site. In these aspects, the surgical console 30 includes a first display 32 that displays a video feed of the surgical site provided by the endoscopic camera 51 and a second display 34 that displays a user interface for controlling the surgical robotic system 10. The first display 32 and the second display 34 can be touch screen graphical user interface (GUI) displays that allow for receiving a variety of user inputs.

[0034] The surgical console 30 also includes a plurality of user interface devices, such as a foot pedal 36 and a pair of handle controllers 38a and 38b, which are used by the clinician to remotely control the robotic arm 40. The surgical console further includes an armrest 33 for supporting the clinician's arms when operating the handle controllers 38a and 38b.

[0035] The control tower 20 includes a display 23, which may be a touch screen GUI, and provides outputs to various GUIs. The control tower 20 also serves as an interface between the surgical console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and corresponding surgical instruments 50 based on a set of programmable instructions and / or input commands from the surgical console 30, in a manner such that the robotic arms 40 and surgical instruments 50 perform a desired sequence of movements in response to inputs from the foot pedals 36 and / or handle controllers 38a and 38b.

[0036] Each of the control tower 20, surgical console 30 and robotic arm 40 includes a corresponding computer 21, 31, 41. The computers 21, 31, 41 are interconnected with each other using any suitable communication network based on wired or wireless communication protocols. As used herein, the term "network", whether plural or singular, refers to a data network, including but not limited to the Internet, an intranet, a wide area network or a local area network, and is not limited to the full scope of the definition of communication networks as covered by the present disclosure. Suitable protocols include but are not limited to the Transmission Control Protocol / Internet Protocol (TCP / IP), the Datagram Protocol / Internet Protocol (UDP / IP) and / or the Datagram Congestion Control Protocol (DCCP). Wireless communication can be achieved via one or more wireless configurations, such as radio frequency, optical, Wi-Fi, (an open wireless protocol for exchanging data from fixed and mobile devices over short distances using short-length radio waves, creating a Personal Area Network (PAN)), and / or (A set of specifications for advanced communications protocols using small, low-power digital radios based on the IEEE 122.15.4-2003 standard for Wireless Personal Area Networks (WPANs).

[0037] Computers 21, 31, 41 may include any suitable processors operably connected to a memory that may include one or more of a volatile, non-volatile, magnetic, optical, quantum or electrical medium, such as a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable ROM (EEPROM), a non-volatile RAM (NVRAM) or flash memory. The processor may be any suitable processor (e.g., a control circuit) suitable for performing operations, calculations and / or instruction sets, including but not limited to hardware processors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), central processing units (CPUs), microprocessors, quantum processors and combinations thereof. Those skilled in the art will appreciate that the processor may be replaced by using any logical processor (e.g., a control circuit) suitable for performing algorithms, calculations and / or instruction sets.

[0038] refer to Figure 2 Each robot arm 40 may include a plurality of links 42a, 42b, 42c that are interconnected at joints 44a, 44b, 44c, respectively. The joint 44a is configured to secure the robot arm 40 to the movable cart 60 and defines a first longitudinal axis. Figure 3, the movable cart 60 includes a lift 61 and a mounting arm 62, which provides a base for mounting the robot arm 40. The lift 61 allows the mounting arm 62 to move vertically. The movable cart 60 also includes a display 69, which is used to display information about the robot arm 40. The mounting arm 62 includes a first link 62a, a second link 62b, and a third link 62c, which provide lateral maneuverability of the robot arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, and each joint may include an actuator (not shown) for rotating the links 62a and 62b relative to each other and relative to the link 62c. In particular, the links 62a, 62b, 62c can move in their corresponding lateral planes parallel to each other, thereby allowing the robot arm 40 to extend relative to the patient (e.g., an operating table). In various aspects, the robot arm 40 can be connected to an operating table (not shown). The mounting arm 62 may include a control device (not shown) for regulating the movement of the links 62 a , 62 b , 62 c and the elevator 61 .

[0039] The third link 62c includes a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a can rotate around a first fixed arm axis perpendicular to the plane defined by the third link 62c, and the second actuator 64b can rotate around a second fixed arm axis transverse to the first fixed arm axis. The first actuator 64a and the second actuator 64b allow the robot 40 to achieve full three-dimensional orientation.

[0040] Also refer to Figure 2 The robot arm 40 also includes a holder 46 that defines a second longitudinal axis and is configured to receive an instrument drive unit (IDU) 52 ( Figure 1 ). The IDU 52 is configured to be coupled to an actuation mechanism of the surgical instrument 50 and / or the camera 51, and is configured to move (e.g., rotate) and actuate the instrument 50 and / or the camera 51. The IDU 52 transmits the actuation force from its actuator to the surgical instrument 50 to actuate a component (e.g., an end effector) of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a configured to move the IDU 52 along a second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b that rotates the holder 46 relative to the link 42c.

[0041] Temporary reference Figure 3 The robot arm 40 further includes a plurality of manual override buttons 53, which are disposed on the IDU 52 and the mounting arm 62 and can be used in a manual mode. For example, a clinician can press one of the buttons 53 to move the component associated with the button 53.

[0042] Return to reference Figure 2 , joints 44a and 44b include actuators 48a and 48b, which are configured to drive joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as drive rods, cables, levers, etc. In particular, actuator 48a is configured to rotate the robot arm 40 about the longitudinal axis defined by link 42a.

[0043] The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46c via the belt 45b. The joint 44c may include a transfer case coupling the belts 45a and 45b, so that the actuator 48b is configured to rotate each of the links 42b, 42c and the holder 46 relative to each other. More specifically, the links 42b, 42c and the holder 46 are passively coupled to the actuator 48b, which forces rotation about a distal center point "P" located at the intersection of a first axis defined by the link 42a and a second axis defined by the holder 46. Thus, the actuator 48b controls the angle "θ" between the first axis and the second axis, thereby allowing the surgical instrument 50 to be oriented. Due to the interconnection of the links 42a, 42b, 42c and the retainer 46 via belts 45a and 45b, the angle between the links 42a, 42b, 42c and the retainer 46 is also adjusted to achieve the desired angle "θ". In various aspects, some or all of the joints 44a, 44b, 44c may include actuators to eliminate the need for mechanical linkages.

[0044] refer to Figure 4 , combined with Figure 1, each of the computers 21, 31, 41 of the surgical robot system 10 may include multiple controllers, which may be implemented in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and a safety viewer 21b. The controller 21a receives data from the computer 31 of the surgical console 30 about the current position and / or orientation of the handle controllers 38a and 38b and the status of the foot pedal 36 and / or other inputs. The controller 21a processes these input positions to determine the desired drive commands for each joint and / or IDU 52 of the robotic arm 40, and transmits these commands to the computer 41 of the robotic arm 40. The controller 21a also receives the actual angles of the joints and uses this information to determine force feedback commands, which are transmitted back to the computer 31 of the surgical console 30 to provide tactile feedback or other feedback through the handle controllers 38a and 38b. The handle controllers 38a and 38b include one or more tactile feedback vibration devices that output tactile feedback, but visual feedback, auditory feedback, and / or other feedback are also contemplated. The safety observer 21b performs validity checks on data entering and exiting the controller 21a and, if an error in data transmission is detected, notifies the system fault handler to place the computer 21 and / or surgical robot system 10 into a safe state.

[0045] The computer 41 includes a plurality of controllers, namely, a cart main controller 41a, a mounting arm controller 41b, a robot arm controller 41c, and an IDU controller 41d. The cart main controller 41a receives and processes joint commands from the controller 21a of the computer 21, and transmits them to the mounting arm controller 41b, the robot arm controller 41c, and the IDU controller 41d. The cart main controller 41a also manages instrument exchange and the overall status of the movable cart 60, the robot arm 40, and the IDU 52. The cart main controller 41a transmits the actual joint angles back to the controller 21a.

[0046] The arm controller 41b controls each of the joints 63a and 63b, and the rotatable base 64 of the arm 62, and calculates the desired motor movement command (e.g., motor torque) of the pitch axis. The arm controller 41b also controls the brakes. The manipulator controller 41c controls each joint 44a and 44b of the manipulator 40, and calculates the desired motor torque required for gravity compensation, friction compensation, and closed-loop position control of the manipulator 40. The manipulator controller 41c calculates the movement command based on the calculated torque. The calculated motor command is then transmitted to one or more of the actuators 48a and 48b in the manipulator 40. The actual joint position is transmitted back to the manipulator controller 41c by the actuators 48a and 48b.

[0047] The IDU controller 41d receives the desired joint angles (such as wrist angle and jaw angle) of the surgical instrument 50 and calculates the desired current for the motors in the IDU 52. The IDU controller 41d calculates the actual angle based on the motor position and transmits the actual angle back to the cart main controller 41a.

[0048] Regarding the control of the robotic arm 40, first, the posture of the handle controller (e.g., the handle controller 38a) controlling the robotic arm 40 is transformed into the desired posture of the robotic arm 40 through the hand-eye transformation function performed by the controller 21a. The hand-eye function is implemented in software that can be executed by the controller 21a or any other suitable controller of the surgical robot system 10. The posture of the handle controller 38a can be implemented as a coordinate position and roll-pitch-yaw ("RPY") orientation relative to a coordinate reference system (which is fixed to the surgical console 30). The desired posture of the instrument 50 is relative to the fixed system on the robotic arm 40. The posture of the handle controller 38a is then scaled by the scaling function performed by the controller 21a. In various aspects, the coordinate position is reduced and the orientation is enlarged by the scaling function. In addition, the controller 21a also performs a clutch function, which disengages the handle controller 38a from the robotic arm 40. In particular, if certain movement limits or other thresholds are exceeded, the controller 21a will stop transmitting movement commands from the handle controller 38a to the robotic arm 40 and essentially act like a virtual clutch mechanism, eg, limiting the mechanical input from affecting the mechanical output.

[0049] The desired pose of the manipulator 40 is based on the pose of the handle controller 38a and then communicated through the inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates the angles of the joints 44a, 44b, 44c of the manipulator 40 that will achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then communicated to the manipulator controller 41c, which includes a joint axis controller with a proportional-derivative (PD) controller, a friction estimator module, a gravity compensator module, and a double-sided saturation block that is constructed to limit the command torque of the motors of the joints 44a, 44b, 44c.

[0050] Go to Figures 5 to 7C The surgical instrument 50 provided according to the present disclosure generally includes a housing 120, a shaft assembly 130 extending distally from the housing 120, an end effector assembly 500 extending distally from the shaft assembly 130, and an actuation assembly 190 disposed within the housing 120 and operably associated with the end effector assembly 500. The instrument 50 is described herein as being configured to be operated with a surgical robot system (e.g., the surgical robot system 10 ( Figure 1)) is an articulated multifunctional surgical instrument for use with the housing 120. However, the aspects and features of the instrument 50 provided in accordance with the present disclosure described in detail below are also applicable for use with other suitable surgical instruments and / or for use in other suitable surgical systems (e.g., motorized systems, other power-driven systems, and / or manually actuated surgical systems (including handheld instruments)). Further, as an alternative to or in addition to articulation, the instrument 50 may include a fixed axis assembly 130, a rotatable axis assembly 130, an extendable axis assembly 130, a combination thereof, or any other suitable configuration to facilitate positioning the end effector assembly 500 relative to the housing 120 in a desired position and / or orientation.

[0051] The housing 120 of the instrument 50 includes a body 122 and a proximal panel 124 that cooperate to enclose the actuation assembly 190 therein. The proximal panel 124 includes through-holes defined therein through which four input actuators or couplers 191-194 of the actuation assembly 190 extend. The proximal panel 124 further has a plurality of electrical connectors 196 mounted thereon to enable the instrument 50 to communicate with a surgical robotic system (e.g., system 10 ( Figure 1 )) make electrical connections, for example, to enable data, power, and / or control signals to be transmitted therebetween.

[0052] The shaft assembly 130 of the instrument 50 includes a proximal shaft 134 and an articulation section 136 disposed between and interconnecting the proximal section 134 and the end effector assembly 500. The articulation section 136 includes one or more articulation components, such as one or more links, pivots, joints, flexible bodies, etc. A plurality of articulation cables 138 ( Fig. 9 ) or other suitable articulation actuator extends through the articulation section 136. More specifically, the articulation cable 138 ( Fig. 9 ) can be operably coupled to the end effector assembly at the distal end of the end effector assembly 500 and extend proximally through the articulation section 136 of the shaft assembly 130, the proximal shaft 134 of the shaft assembly 130, and into the housing 120, wherein the articulation cable 138 ( Fig. 9 ) is operably connected to the articulation subassembly 200 of the actuation assembly 190 so that the end effector assembly 500 can be selectively articulated relative to the proximal axis 134 and the housing 120, for example, about at least one articulation axis (e.g., a yaw articulation, a pitch articulation, or both a yaw articulation and a pitch articulation).

[0053] The end effector assembly 500 includes a proximal body 530 that is operably engaged with the articulation section 136 of the shaft assembly 130. The end effector assembly 500 further includes a first jaw member 542 and a second jaw member 544 that are pivotally coupled to each other about a pivot 550, respectively. The second jaw member 544 is fixed relative to the proximal body 530, while the first jaw member 542 can be in a spaced apart position (e.g., an open position of the jaw members 542, 544) relative to the second jaw member 544 and the proximal body 530 (e.g., an open position of the jaw members 542, 544) ( FIG. 7A to FIG. 7C ) and the close position (e.g., the closed position of the jaw members 542, 544) ( Figures 12 to 16 ) for clamping tissue between the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544. As an alternative to this single-sided configuration, a double-sided configuration can be provided in which the two jaw members 542, 544 can pivot relative to each other and relative to the proximal body 530.

[0054] Gripper actuator 484 ( Fig. 9 and Fig.10 ) (e.g., via a cam slot mechanism, one or more pulleys, a closure beam, etc.) operably coupled to the jaw members 542, 544 such that the jaw actuator 484 ( Fig. 9 and Fig.10 ) relative to the longitudinal translation of the jaw members 542, 544 causes the jaw member 542 to pivot between the spaced apart position and the approximated position. The jaw actuator 484 extends proximally from the end effector assembly 500 through the shaft assembly 130 and into the housing 120, wherein the jaw actuator 484 ( Fig. 9 and Fig.10 ) is operably connected to the jaw drive subassembly 400 of the actuation assembly 190 so that the jaw members 542, 544 can be selectively actuated between the spaced-apart position and the approximate position to clamp tissue therebetween and apply a jaw force within an appropriate jaw force range, as described in detail below.

[0055] refer to FIG. 7A to FIG. 7C, the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544 are at least partially formed of a conductive material and can be energized to different electrical potentials to enable bipolar radio frequency (RF) electrical energy to be conducted through the tissue clamped therebetween, although the tissue contacting surfaces 546, 548 can alternatively be constructed to supply any suitable energy (e.g., heat, microwaves, light, ultrasound, ultrasonic, etc.) through the tissue clamped therebetween for energy-based tissue treatment. The instrument 50 defines a passage (not shown) for a conductor to pass through, along and / or form a portion of the housing 120 and the shaft 130 to the end effector assembly 500, which can include leads, contacts and / or conductive components to enable the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544 to be electrically connected to an energy source, such as an electrosurgical generator 57 ( Figure 1 ) for supplying energy to the tissue contact surfaces 546, 548 to treat (e.g., seal) the tissue clamped between the tissue contact surfaces 546, 548.

[0056] A longitudinally extending channel 549 is defined through the tissue contacting surface 548 of the jaw member 544. In various aspects, a corresponding longitudinally extending channel (not shown) is defined through the tissue contacting surface 546 of the jaw member 542. The channel 549 is configured to permit translation of the probe 562 therethrough. More specifically, the probe 562 is positioned from the housing 120 (see Fig. 9 and Fig.10 ) A probe actuator 560 extending through the shaft 130 to the end effector assembly 500 is coupled to the probe 562 so that the probe 562 can be moved from a retracted position ( 7A to 7C and Fig.12 ) (wherein the probe 562 is disposed proximal to or at the proximal end of the tissue contacting surfaces 546, 548 of the jaw members 542, 544) and the extended position ( Fig.14 ) (wherein the probe 562 extends through the channel 549 and between the jaw members 542, 544 to cut (and / or otherwise treat) tissue clamped between the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544) is selectively translated. The probe actuator 560 is operably coupled at its proximal end to the probe drive subassembly 300 of the actuation assembly 190 (see Fig. 9 and Fig.10 ), and is coupled to the probe 562 at its distal end so that the probe actuator 560 can be selectively actuated (e.g., translated) to translate the probe 562 between the retracted position and the extended position. The probe 562 can further be moved from the extended position ( Fig.14 )Move to the deployment location( Figure 7C and Fig.16 ), wherein at least a portion of the probe 562 extends distally from the jaw member 544 to enable the probe 562 to cut (and / or otherwise treat) tissue positioned distal to the jaw member 544. The probe actuator 560 can be coupled to the probe 562 in any suitable manner (e.g., via welding or crimping), and in various aspects, a collar 561 can be disposed at the interface between the probe actuator 560 and the probe 562 to facilitate coupling of the probe actuator 560 with the probe 562.

[0057] refer to Fig. 8A and Figure 8B , combined with FIG. 7A to FIG. 7C , the longitudinally extending channel 549 of the tissue contact surface 548 of the jaw member 544 includes an open proximal end 552a and a closed distal end 552b, so that the tissue contact surface 548 defines a generally U-shaped configuration. In various aspects, the jaw member 544 includes a tissue contact plate 554 defining the tissue contact surface 548 and an insert 556 supporting the tissue contact plate 554. In these aspects, the insert 556 can be formed of an electrically insulating material, while the tissue contact plate 554 is formed of an electrically conductive material. The insert 556 can be supported on a structural body 557 of the jaw member 544, and in various aspects, the insert 556, the structural body 557, and a portion of the tissue contact plate 554 can be surrounded by a jaw housing 559, which is, for example, overmolded or otherwise disposed around these components to hold these components of the jaw member 544 in place relative to each other.

[0058] In other aspects, the tissue contact plate 554 and the insert 556 are integrally formed as a single component, such as formed of a conductive material. In these aspects, the tissue contact plate 554 and the insert 556 can serve as the structural body 557 of the jaw member 544, or the jaw member 544 can include a separate structural body 557 that supports the tissue contact plate 554 and the insert 556 thereon. In either configuration, a jaw housing 559 can also be provided, similar to that detailed above.

[0059] Continue to refer Fig. 8A and Figure 8B , combined with FIG. 7A to FIG. 7C , the tissue contacting plate 554 and / or the insert 556 define a ramp 570 on its underside (e.g., opposite the tissue contacting surface 548). The ramp 570 may include one or more angled surfaces, one or more curved surfaces, and / or a plurality of surfaces that facilitate the insertion of the probe 562 from the extended position ( Fig.14 ) to the deployment location ( Fig.16 More specifically, the ramp 570 is configured to extend from the extended position ( Fig.14 ) towards the deployment location ( Fig.16 ) deflects the probe 562 as it advances, causing the probe 562 to sink away from the closed distal end 552b of the tissue contact surface 548 and extend through the passage 572 defined at the distal end of the jaw member 544 (see also FIG. 7A to FIG. 7C ) and is deployed distally from the distal end of the passage 572 and the jaw member 544 to the deployment position ( Fig.16 ). The passage 572 can be defined by the insert 556, the structural body 557 and / or the jaw housing 559. The passage 572 can define a tunnel extending from the longitudinally extending channel 549 to the orifice at the distal end of the jaw member 544, and can define any suitable cross-sectional configuration, such as rectangular (or other polygonal shapes), circular, elliptical, etc. In various aspects where the collar 561 is disposed at the interface between the probe actuator 560 and the probe 562, the collar 561 can be configured to be disposed in the deployed position ( Fig.16 ) is adjacent to or at least partially received within the passageway 572 in a complementary mating engagement to provide additional structural support and resistance to expansion of the deployed probe 562.

[0060] refer to Figures 5 to 7C , Fig. 9 and Fig.10 The actuation assembly 190 is configured to actuate the instrument 50 when the instrument 50 is mounted on a surgical robot system (e.g., system 10 ( Figure 1 )) is operably connected to the surgical robot system so that the robotic operation of the actuation assembly 190 can provide some or all of the functions detailed above. That is, the surgical robot system 10 ( Figure 1 ) selectively provides input (e.g., rotational input) to the input actuator or connector 191-194 of the actuation assembly 190 to: actuate the articulation subassembly 200 to articulate the end effector assembly 500 about at least one axis; actuate the jaw drive subassembly 400 to manipulate the jaw members 542, 544; actuate the probe drive subassembly 300 to advance the probe 562 between the jaw members 542, 544; and / or further actuate the probe drive subassembly 300 to deploy the probe 562 from the jaw member 544.

[0061] The five (5) functions described above are enabled by only four (4) inputs to the instrument 50: a first input actuator or coupling 191 of the input actuators or couplings enables the end effector assembly 500 to articulate about a first articulation (e.g., pitch articulation) axis so as to orient the end effector assembly 500 in a first manner; a second input actuator or coupling 192 of the input actuators or couplings enables the end effector assembly 500 to articulate about a second articulation (e.g., yaw articulation) axis (e.g., perpendicular to the first axis) so as to orient the end effector assembly 500 in a second manner; and A third input actuator or connector 193 in the input actuator or connector enables the probe drive subassembly 300 to be actuated so as to perform both of the following: translate the probe 562 between the jaw members 542, 544 to treat tissue clamped between the jaw members 542, 544; and deploy the probe 562 from the jaw member 544 to treat tissue disposed distal to the jaw member 544; and a fourth input actuator or connector 194 in the input actuator or connector enables the jaw drive subassembly 400 to be actuated to open and close the jaw members 542, 544 to release and clamp tissue.

[0062] Special reference Fig. 9 and Fig.10 In various aspects, the jaw drive subassembly 400 includes: a lead screw 410 operably coupled to the fourth input actuator or coupler 194 and configured to rotate in response to a rotational input received at the fourth input 194; a collar 412 threadedly engaged about the lead screw 410 such that rotation of the lead screw 410 translates the collar 412 along the lead screw 410; a first drive body 414 attached to the collar 412 (e.g., formed by, fixed to, or otherwise attached to the collar); The invention also provides a first drive body 414 that is mechanically engaged with the collar 412, such that translation of the collar 412 similarly translates the first drive body 414; a second drive body 416 that is attached to the jaw actuator 484 (e.g., formed by the jaw actuator, fixed to the jaw actuator, or otherwise mechanically engaged with the jaw actuator), such that translation of the second drive body 416 similarly translates the jaw actuator 484; and a spring 418 (e.g., a compression coil spring) disposed between the first drive body 414 and the second drive body 416.

[0063] Due to the above-detailed configuration of the jaw drive subassembly 400, a force limiting feature is achieved, whereby the force applied to the tissue clamped between the jaw members 542, 544 is regulated. More specifically, during the initial movement of the jaw member 542 toward the jaw member 544 from the spaced apart position toward the approximated position to clamp the tissue between the tissue contacting surfaces 546, 548, the rotational input received at the fourth input 194 rotates the lead screw 410 to translate the collar 412, thereby translating the first drive body 414 toward the spring 418, which in turn pushes the spring 418 into the second drive body 416 to move the second drive body 416, thereby translating the jaw actuator 484 to pivot the jaw member 542 toward the jaw member 544. However, when the force applied to the tissue clamped between the jaw members 542, 544 exceeds a threshold, rather than the spring 418 imparting motion to the second drive body 416, the spring 418 is compressed, thereby allowing the second drive body 416 to remain stationary (and therefore, the force applied to the clamped tissue does not exceed the threshold), despite further rotational input received at the fourth input 194 rotating the lead screw 410, translating the collar 412, and translating the first drive body 414. That is, the spring 418 compresses to absorb the translation of the first drive body 414, rather than imparting motion to the second drive body 416. Accordingly, before the jaw force limit is reached, the first drive body 414, the spring 418, the second drive body 416, and the jaw actuator 484 move substantially in unison with one another, and after the jaw force limit is reached, the second drive body 416 and the jaw actuator 484 remain substantially stationary despite further movement of the first drive body 414 and the resulting compression of the spring 418.

[0064] Continue to refer Fig. 9 and Fig.10, the probe drive subassembly 300 includes a shaft 310 operably coupled to a third input actuator or coupling 193 toward a first end of the shaft 310, such that the shaft 310 is configured to rotate in response to a rotational input to the third input actuator or coupling 193. The probe drive subassembly 300 further includes a spur gear 320 fixed around the shaft 310 toward a second end of the shaft 310, such that rotation of the shaft 310 causes the spur gear 320 to rotate in the same manner. The spur gear 320 is disposed in meshing engagement with an outer spur gear 332 of a compound gear 330. The compound gear 330 further includes an inner lead nut 334 disposed around and meshingly engaged with a lead screw 340. The lead screw 340, in turn, engages with the probe actuator 560. Due to the configuration detailed above, the rotational input to the third input actuator or coupling 193 rotates the shaft 310 and the spur gear 320, thereby rotating the compound gear 330, causing the lead screw 340 to translate through and relative to the compound gear 330, thereby moving the probe actuator 560 proximally or distally. As described above, the probe actuator 560 is coupled to the probe 562 ( 7A to 7C ). Thus, the probe 562 may be translated between the jaw members 542, 544 using appropriate input to the third input actuator or coupler 193 (see Figure 12 to Figure 14 ) and deploying the probe 562 from the jaw member 544 (see Figures 14 to 16 ). The probe actuator 560 may include any component or combination of components (eg, an axis cable, a linkage, etc.) for operably coupling the lead screw 340 and the probe 562 to each other.

[0065] Go to FIG. 11A to FIG. 11D , combined with FIG. 7A to FIG. 7C , showing a device configured to be used with a surgical instrument 50 ( Figure 5 ) are used together with a variety of probes 562, 662, 762, 862 (respectively FIG. 11A to FIG. 11D ) and in particular its end effector assembly 500 ( 7A to 7C). The probe 562, 662, 762, 862 is configured to be excited with any suitable energy (e.g., RF (monopolar or bipolar), ultrasound, heat, light energy, etc.). For example, the probe 562, 662, 762, 862 can be connected to the electrosurgical generator 57 so that monopolar RF energy can be conducted from the probe 562, 662, 762, 862 to the tissue to treat the tissue, while the energy is returned to the electrosurgical generator 57 to complete the electrosurgical circuit via a remote return device (not shown) (e.g., a return pad). Additionally or alternatively, the probes 562, 662, 762, 862 can be connected to the electrosurgical generator 57 so that the probes 562, 662, 762, 862 can be charged to a first electrical potential while the tissue contacting surfaces 546, 548 of either or both of the jaw members 542, 544 are correspondingly charged to a second, different electrical potential to establish an electrical potential gradient for conducting RF energy between the probes 562, 662, 762, 862 and either or both of the jaw members 542, 544 and through tissue disposed therebetween to treat tissue with bipolar RF energy.

[0066] Initial reference Fig.11A , combined with 7A to 7C , the probe 562 is shown as defining a question mark or hook configuration, wherein the inner portion or recessed portion of the hook faces downward and the closed portion or protruding portion of the hook faces upward. The probe 562 includes a first portion 564 and a second portion 566, wherein the first portion is configured to treat tissue clamped between the jaw members 542, 544 and the second portion is configured to treat tissue positioned distal to the jaw members 542, 544. For example, the first portion 564 can be a feature of or disposed on the closed portion or protruding portion of the hook. More specifically, as shown in FIG. Fig.11A As shown, the probe 562 includes a fin 565 extending along a portion of the closed portion or the protruding portion of the hook and protruding upward from the closed portion or the protruding portion of the hook. Figure 12 to Figure 14 When the probe 562 passes through the longitudinally extending passage 549 and translates along the tissue contacting surface 548 of the jaw member 544, the fin 565 is positioned so that the fin 565 at least partially protrudes from the tissue contacting surface 548 of the jaw member 544 toward the tissue contacting surface 546 of the jaw member 542, thereby enabling the fin 565 to contact the tissue clamped between the jaw members 542, 544. Fig.12 ) toward the extended position ( Fig.14) translation, the fins 565 are pushed through the tissue to electromechanically cut the tissue (via mechanical movement of the fins 565 relative to the tissue and activation of the probe 562). In various aspects, the tissue clamped between the jaw members 542, 544 is first sealed via conduction of bipolar RF energy between the tissue contacting surfaces 546, 548 and through the clamped tissue, and then via activation of the probe 562 (in either a monopolar or bipolar RF configuration) and the probe from a retracted position ( Fig.12 ) toward the extended position ( Fig.14 ) and cut by translation of (previously sealed) tissue. In other aspects, previously unsealed tissue clamped between the jaw members 542, 544 can be coagulated (or sealed) and cut simultaneously or nearly simultaneously via activation and translation of the probe 562 described above. In other configurations, the probe 562 can be used to only cut (or otherwise treat) tissue, for example, in the absence of tissue sealing. The fins 565 can define a blunt configuration (e.g., a rounded surface) to inhibit or reduce mechanical tissue cutting and reduce current concentration, although other configurations are also contemplated, including angled or pointed surfaces to promote mechanical cutting and / or focus energy.

[0067] Continue to refer Fig.11A , combined with FIG. 7A to FIG. 7C , the second portion 566 is configured to be configured to be in a position to deploy when the probe 562 is disposed in the deployed position (see Figure 7C and Fig.16 ), tissue treatment is achieved via activation of probe 562 (and, in various aspects, movement of end effector assembly 500 relative to tissue). More specifically, with probe 562 activated, second portion 566 can move relative to tissue (e.g., via movement of end effector assembly 500 relative to tissue) to cut tissue, score tissue, coagulate tissue points, separate tissue, perform incisions, etc. In various aspects, probe 562 is in a deployed position (see Figure 7C and Fig.16 ) for monopolar RF configuration, when moving between the retracted and extended positions (see Figure 12 to Figure 14 ) together with one or both of the tissue contacting surfaces 546, 548 for use in a bipolar RF configuration.

[0068] Go to Fig. 11B , combined with FIG. 7A to FIG. 7C , showing another probe 662 provided according to the present disclosure. Probe 662 is similar to probe 562 ( Fig.11A ) and may include any of its features; therefore, only probe 662 and probe 562 ( Fig.11A ) and omit or only briefly describe the similarities.

[0069] The probe 662 defines a question mark or hook configuration, wherein the inner portion or recessed portion of the hook faces downward and the closed portion or protruding portion of the hook faces upward. The probe 662 includes a first portion 664 and a second portion 666. The first portion 664 is configured as an upwardly projecting protrusion 665, which is defined by an offset that protrudes upward from the closed portion or protruding portion of the hook of the probe 662. When the probe 662 passes through the longitudinally extending channel 549 and translates along the tissue contacting surface 548 of the jaw member 544, the protrusion 665 is positioned so that the protrusion 665 at least partially protrudes from the tissue contacting surface 548 of the jaw member 544 toward the tissue contacting surface 546 of the jaw member 542, thereby enabling the protrusion 665 to contact and treat the tissue clamped between the jaw members 542, 544 (see Fig. 7A and Figure 12 to Figure 14 ). Although protuberance 665 is shown as defining a semicircular configuration, other suitable configurations of protuberance 665 including one or more curvatures and / or angles are also contemplated.

[0070] Fig. 11C Another probe 762 provided in accordance with the present disclosure is shown. Probe 762 is similar to probe 562 ( Fig.11A ) and may include any of the features thereof, except that probe 762 defines a question mark or hook configuration, wherein the inner portion or concave portion of the hook faces upward and the closed portion or convex portion of the hook faces downward. Probe 762 is similar to probe 562 ( Fig.11A ) is also different in that the fin 765 of the probe 762 is positioned proximal to the hook portion of the probe 762. As an alternative to providing the fin 765 or in addition to providing the fin, the probe 762 can be constructed so that the free distal end of the hook configuration is elongated to protrude from the tissue contact surface 548 of the jaw member 544 toward the tissue contact surface 546 of the jaw member 542, so that the free distal end can be used to contact and treat the tissue clamped between the jaw members 542, 544 (see Fig. 7A and Figure 12 to Figure 14 ).

[0071] Fig.11D Another probe 862 provided according to the present disclosure is shown. Probe 862 is similar to probes 562, 662, 762 ( FIG. 11A to FIG. 11C) and may include any of their features, except where expressly contradicted below. The probe 862 includes a first portion 864 defined as a protuberance 865 (although other configurations are contemplated) and a second portion 866. The second portion 866 may define a ball end (as shown) or any other suitable configuration to facilitate tissue treatment, such as a tip, a straight probe, an angled probe, a scraper, an S-shaped curved element, a U-shaped element, etc. Alternatively or additionally, the probe 862 (including the first portion 864 and the second portion 866) may define any suitable configuration, such as a hook, a tip, a straight probe, an angled probe, a scraper, an S-shaped curved element, a U-shape, a D-shape, a loop, etc.

[0072] Go to Figures 12 to 16 , details the use of the probe 562 of the end effector assembly 500, and more specifically, the probe 562 from the retracted position ( Fig.12 ) to the extended position ( Fig.14 ) and then to the deployment location ( Fig.16 ) movement. Initially, Fig.12 As shown, the probe 562 is disposed in a retracted position, wherein the probe 562 does not protrude between the tissue contacting surfaces 546, 548 or minimally protrudes between the tissue contacting surfaces 546, 548 of the jaw members 542, 544 (in either the spaced apart position or the close position) (e.g., less than 10% of the length of the tissue contacting surface 548). In this position of the probe 562, the jaw members 542, 544 can be used to clamp and seal tissue, similar to that described in detail above. In various aspects, the probe 562 can be moved from the retracted position only when the jaw members 542, 544 (e.g., via mechanical stops and / or software stops) are disposed in the close position; in other aspects, the probe 562 can be moved from the retracted position regardless of the position of the jaw members 542, 544.

[0073] refer to Figure 12 to Figure 14 , in order to move the probe 562 from the retracted position ( Fig.12 ) moves to the extended position ( Fig.14 ), for example via to the third input actuator 193 ( Figure 6 ) to actuate the probe drive subassembly 300 ( Figure 5 , Figure 6 , Fig. 9 and Fig.10 ), thereby advancing the probe actuator 560 distally. Figure 5 , Figure 6 , Fig. 9 and Fig.10), energy is supplied to the probe 562 (and in the bipolar configuration, the tissue contacting surface 546 and / or the tissue contacting surface 548) to energize the probe 562. As the probe actuator 560 advances distally, the energized probe 562 is moved into the open proximal end 552a of the longitudinally extending channel 549 of the tissue contacting surface 548 of the jaw member 542 (if not already partially disposed within the longitudinally extending channel 549) and passes distally through the longitudinally extending channel 549. As described above, during such movement of the probe 562 through the longitudinally extending channel 549, the fin 565 protrudes above the tissue contacting surface 548, causing the fin 565 to move into contact with and through the tissue clamped between the tissue contacting surface 546 of the jaw member 542 and the tissue contacting surface 548 of the jaw member 544, thereby cutting (and / or otherwise treating) the tissue. In the extended position ( Fig.14 ), in various aspects, the fin 565 extends into close proximity with the closed distal end 552b of the longitudinally extending channel 549 (e.g., within 10% of the length of the longitudinally extending channel 549), thereby enabling tissue to be cut along substantially the entire length of the longitudinally extending channel 549.

[0074] refer to Figures 14 to 16 , in order to move the probe 562 from the extended position ( Fig.14 )Move to the deployment location( Fig.16 ), for example, via to the third input actuator 193 ( Figure 6 )'s rotational input further actuates the probe drive subassembly 300 ( Figure 5 , Figure 6 , Fig. 9 and Fig.10 ), thereby causing the probe actuator 560 to advance further distally to further push the probe 562 distally. When the probe 562 is pushed further distally, instead of the fin 565 contacting the closed distal end 522b of the longitudinally extending channel 549, the probe 562 contacts the ramp 570 in the jaw member 544, so that the ramp 570 deflects the probe 562 and guides the probe 562 to sink away from the closed distal end 552b of the tissue contact surface 548, extending through the passage 572 defined at the distal end of the jaw member 544 (see also FIG. 7A to FIG. 7C ) and from passage 572 (see also 7A to 7C ) and the distal end of the jaw member 544 is deployed distally to the deployment position ( Fig.16 ). In the deployed position, the probe 562 can be energized (if not previously energized) for treating tissue, similar to that detailed above. Further, in the deployed position, the collar 561 (if so provided) can be positioned adjacent to the passage 572 or at least partially positioned within it to provide structural support to the deployed probe 562.

[0075] refer to Fig.17 , the flowchart of the method for deploying the probe 562 can be implemented as a software instruction stored in a non-transitory storage medium (e.g., a local storage device, a cloud storage device, etc.) that can be executed by one or more processors (e.g., a controller 21a or any other suitable CPU, GPU, etc.). The method provides some or all aspects of the deployment of the probe 562 based on a specific stage of the surgical operation to be automated. The surgical operation may include multiple stages, and each stage may include one or more surgical actions. As used herein, the term "stage" means a surgical event (e.g., closure) consisting of a series of steps. "Surgical action" may include incision, compression, anastomosis, clamping, suturing, cauterization, closure, dissection, or any other such action performed to complete a certain stage in the surgical operation. "Step" refers to the completion of a specified surgical goal (e.g., hemostasis). During each step, certain surgical instruments 50 (e.g., tweezers) are used to achieve a specific goal by performing one or more surgical actions.

[0076] refer to Fig.18 , the surgical robot system 10 may include a machine learning (ML) processing system 610 that processes surgical data using one or more ML models to identify one or more features in the surgical data, such as surgical stages, instruments, anatomical structures, etc. The ML processing system 610 includes an ML training system 625, which may be a separate device (e.g., a server) that stores its output as one or more trained ML models 660. The ML models 660 may be accessed by an ML execution system 640. The ML execution system 640 may be separate from the ML training system 625, i.e., the device that “trains” the model is separate from the device that “infers”, i.e., uses the trained ML model 660 to process the surgical data in real time.

[0077] System 10 includes a data receiving system 605 that collects surgical data, including video data and surgical instrument data. Data receiving system 605 may include one or more devices (e.g., one or more user devices and / or servers) located in and / or associated with a surgical operating room and / or a control center. Data receiving system 605 may receive surgical data in real time, i.e., receive surgical data while a surgical procedure is being performed.

[0078] In some examples, the ML processing system 610 may further include a data generator 615 for generating simulated surgical data (e.g., a virtual image set) or recording video data from the video processing device 56 to train the ML model 660 and other data sources, such as user input, arm movement, etc. The data generator 615 may access (read / write) the data storage device 620 to record data, including multiple images and / or multiple videos.

[0079] The ML processing system 610 also includes a phase detector 650 that uses an ML model to identify phases within a surgical procedure ("operation"). The phase detector 650 uses a particular surgery tracking data structure 655 from the list of surgery tracking data structures. The phase detector 650 selects the surgery tracking data structure 655 based on the type of surgical procedure being performed. In one or more examples, the type of surgical procedure is predetermined or input by a user. The surgery tracking data structure 655 identifies a set of potential phases that may correspond to a portion of a particular type of surgery.

[0080] In some examples, the surgical tracking data structure 655 can be a graph including a set of nodes and a set of edges, where each node corresponds to a potential stage. These edges can provide directional connections between nodes, and these directional connections (via directions) indicate the expected order in which the stages will be encountered throughout the surgical iteration. The surgical tracking data structure 655 may include one or more branch nodes that feed into multiple next nodes and / or may include one or more divergence points and / or convergence points between nodes. In some instances, the stage indicates a surgical action (e.g., surgical action) being performed or already performed and / or indicates a combination of actions that have been performed. In some instances, the stage is related to the biological state of the patient undergoing surgery. For example, the biological state can indicate complications (e.g., blood clots, arterial / venous obstruction, etc.), prerequisites (e.g., lesions, polyps, etc.). In some examples, the ML model 660 is trained to detect "abnormal conditions" such as bleeding, arrhythmias, vascular abnormalities, etc.

[0081] The stage detector 650 outputs a stage prediction associated with the portion of the video data analyzed by the ML processing system 610. The stage prediction is associated with the portion of the video data analyzed by the ML execution system 640 by identifying the start time and the end time of the video portion. The output stage prediction may include an identification of the surgical stage as detected by the stage detector 650 based on the output of the ML execution system 640. Further, in one or more examples, the stage prediction may include an identification of structures (e.g., instruments, anatomical structures, etc.) identified by the ML execution system 640 in the analyzed video portion. The stage prediction may also include a confidence score for the prediction. Other examples may include various other types of information in the output stage prediction. The controller 21a may use the predicted stage to determine critical structures and whether to display various augmented or virtual reality representations to assist the surgeon. Critical structures include any living tissue (e.g., arteries, catheters, etc.) whose dissection may cause harm to the patient.

[0082] At step 700, the controller 21a determines, via the ML processing system 610, the various stages of the surgical procedure, in particular, the stage at which the probe 562 will be used. As described above, the probe 562 can be used to cut tissue, score tissue, coagulate tissue points, separate tissue, perform incisions, etc. Laparoscopic cholecystectomy is an example of a surgical procedure during which the probe 562 can be used. This surgical procedure involves multiple dissection steps, for example, cutting the peritoneum along the edges of both sides of the gallbladder to open the hepatobiliary trigone, dissecting the cystic duct, cystic artery, etc. Laparoscopic cholecystectomy and other surgical procedures can have multiple stages during which the probe 562 can be used, and therefore, the method can be run continuously to determine the dissection stage and the resection stage.

[0083] At step 702, the controller 21a uses computer vision and machine learning algorithms via the ML processing system 610 to identify key structures. In particular, the ML processing system 610 is configured to identify and optionally highlight key structures. Referring to the exemplary surgical procedure, namely cholecystectomy, the key structures identified include the cystic duct, the cystic artery, the gallbladder, etc. The key structures can be highlighted during the entire time that the surgical site is visible to the camera 51 (i.e., from the very early stages of the surgery, before full exposure, until full exposure, etc.). This has the potential to assist and guide the surgeon by maintaining focus on the hepatobiliary trigone throughout the surgery (where key structures are found and where dissection is performed). As Fig.19 As shown, the cystic duct and cystic artery may be displayed using indicators 800, which may be color shading, confidence maps, pins, borders outlining the structures, labels, and the like.

[0084] At step 704, the controller 21a is configured to output a virtual representation 802 of the probe 562 to assist the surgeon in positioning the instrument 50 prior to performing dissection using the probe 562, such as Fig.19 As shown. The virtual representation 802 may look the same as the probe 562 (e.g., the same size and shape) and may be transparent, thereby allowing unobstructed visualization of tissues and key structures. The virtual representation 802 may be automatically shown based on detection of the stage and position of the instrument 50 relative to the key structure. The distance (i.e., proximity) to the key structure may be determined by the controller 21a using computer vision and machine learning algorithms of the video captured by the camera 51 and / or kinematic data of one or more of the mechanical arms 40 holding the instrument 50 and the camera 51. In an embodiment, the visual representation 802 may be shown in response to a manual user input, which may be one of the foot pedals 36 or a button on the handle controller 38a or 38b. The virtual representation 802 may be generated by the controller 21a based on a 3D (e.g., CAD) model of the probe 562 and a reference point of the end effector assembly 500.

[0085] The foot pedal 36 or button may include a two-stage mechanical switch, a proximity sensor, or a contact sensor to achieve two-stage actuation. In an embodiment using a two-stage mechanical switch, the first stage may be to press the switch down to a first distance, and the second stage may be to further press down to a second distance exceeding the first distance. In an embodiment in which a contact sensor is used, the first stage may be to detect contact of the switch without pressing down, which may be detected via a capacitive sensor, and the second stage may be to press down the switch. In an embodiment in which a proximity sensor is used, the first stage may be to hover an appendage or finger of the user over the switch, which may be detected via a proximity (e.g., optical) sensor, and the second stage may be to press down the switch. The first stage activation may be used to control the deployment of the probe 562, and the second stage activation may be used to excite the probe 562 to achieve cutting.

[0086] At step 706, the controller 21a monitors for engagement with the foot pedal 36 and / or hand controller 38a or 38b. If there is no engagement, the method returns to any of the previous steps 700-704. If there is a first-level engagement, the controller 21a deploys the probe 562 at step 708, and then continues to monitor whether the activation switch is engaged in the second level at step 710. If there is a second-level engagement, the controller 21a energizes the probe 562 at step 712. If there is no second-level engagement, the controller 21a returns to step 706 to check whether there is a first-level engagement to determine whether to continue to deploy the probe 562. The second-level verification of step 710 can have a timer so that if the second-level engagement does not occur within a predetermined time period of the first-level engagement, the controller 21a retracts the probe 562.

[0087] In embodiments, the foot pedal input may be replaced or supplemented by GUI prompts that require the surgeon to display the virtual representation 802, deploy the probe 562, and then actuate the probe 562. The prompts may be based on proximity to and identification of critical structures, as described above with respect to the automatic display of the virtual representation 802. When prompts to display, deploy, actuate, etc. are answered affirmatively, the corresponding functions are activated by the system 10.

[0088] It should be understood that various modifications may be made to the aspects and features disclosed herein. Therefore, the above description should not be interpreted as limiting, but only as an illustration of various configurations. Those skilled in the art will envision other modifications within the scope and spirit of the appended claims.

Claims

1. A surgical system, comprising: A surgical instrument, comprising: a first jaw member and a second jaw member, at least one of the first jaw member or the second jaw member being movable from a spaced apart position to a proximate position relative to the other of the first jaw member or the second jaw member to clamp tissue therebetween, at least one of the first jaw member or the second jaw member being adapted to be connected to an energy source for conducting energy through the tissue clamped therebetween to treat the tissue; and a probe adapted to be connected to an energy source and movable from a retracted position to a deployed position; a camera configured to capture video of the tissue and the surgical instrument; a controller configured to generate a virtual representation of the probe based on the video of the surgical instrument; and A monitor is configured to display video of the tissue and the surgical instrument and a virtual representation of the probe in the deployed position.

2. The surgical system of claim 1, further comprising a switch operable in a first stage, the probe moving to the deployed position in response to the first stage.

3. The surgical system according to claim 2, wherein: The switch is operable in a second stage, the probe being energized in response to the second stage.

4. The surgical system according to claim 1, wherein: The controller is further configured to analyze the video to identify key structures of the tissue.

5. The surgical system according to claim 4, wherein: The controller is further configured to output a virtual representation of the probe based on the distance of the probe to the critical structure.

6. The surgical system according to claim 4, wherein: The controller is further configured to highlight the critical structure.

7. The surgical system according to claim 1, wherein: The monitor is configured to display the virtual representation in response to a user command.

8. A surgical robot system, comprising: A first robotic arm, the first robotic arm controls a surgical instrument, the surgical instrument comprising: a first jaw member and a second jaw member, at least one of the first jaw member or the second jaw member being movable from a spaced apart position to a proximate position relative to the other of the first jaw member or the second jaw member to clamp tissue therebetween, at least one of the first jaw member or the second jaw member being adapted to be connected to an energy source for conducting energy through the tissue clamped therebetween to treat the tissue; and a probe adapted to be connected to an energy source, the probe being movable from a retracted position to a deployed position; a second robotic arm controlling a camera configured to capture video of the tissue and the surgical instrument; a controller configured to generate a virtual representation of the probe based on the video of the surgical instrument; and A monitor is configured to display video of the tissue and the surgical instrument and a virtual representation of the probe in the deployed position.

9. The surgical robotic system of claim 8, further comprising a surgical console including a foot pedal operable in the first stage, the probe moving to the deployed position in response to the first stage.

10. The surgical robot system according to claim 9, wherein: The foot pedal is operable in a second stage, the probe being energized in response to the second stage.

11. The surgical robot system according to claim 9, wherein: The foot pedal includes at least one of a distance sensor or a contact sensor to operate in the first stage.

12. The surgical robot system according to claim 8, wherein: The controller is further configured to analyze the video to identify key structures of the tissue.

13. The surgical robot system according to claim 12, wherein: The controller is further configured to output a virtual representation of the probe based on the distance of the probe to the critical structure.

14. The surgical robot system according to claim 13, wherein: The controller is further configured to determine a distance of the probe to the critical structure based on at least one of video or kinematic data of the first robot and the second robot.

15. The surgical robot system according to claim 12, wherein: The controller is further configured to highlight the critical structure.

16. The surgical robot system according to claim 8, wherein: The monitor is configured to display the virtual representation in response to a user command.

17. A method for controlling deployment of a probe of a surgical instrument, the method comprising: capturing a video of tissue and a surgical instrument including an end effector assembly and a probe adapted to be connected to an energy source, the probe being movable relative to the end effector assembly from a retracted position to a deployed position; generating, at a controller, a virtual representation of the probe based on the video of the surgical instrument; displaying a video of the tissue and the surgical instrument on a monitor; analyzing the video at the controller to identify key structures of the tissue; as well as A virtual representation of the probe in the deployed position is displayed on the monitor based on the distance of the probe to the critical structure.

18. The method of claim 17, further comprising receiving a first input from a switch to move the probe to the deployed position.

19. The method of claim 17, further comprising receiving a second input from a switch to activate the probe.

20. The method of claim 17, further comprising: Based on the identification of the critical structure, a prompt is displayed to the user on the monitor that the probe is at least one of deployed or activated.

Images