Attachment mechanism for using endoscope with surgical robot

Abstract

A surgical system for use with a surgical robot may include an endoscope including a handle and an elongate shaft extending distally from the handle, an attachment mechanism, a motorized introducer device, and an input device, the attachment mechanism includes a fixture configured to receive a handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, the motorized introducer device is spaced from the surgical robot and configured to translate an elongate shaft of the endoscope relative to the patient, and the input device is configured to be operated using only one hand. The input device may include a plurality of haptic buttons operable with one hand and a joystick configured to be operated by a thumb of the one hand. The input device may include a plurality of motion sensors configured to determine a position and orientation of the input device in space.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 345,532, filed on May 25, 2022, which is incorporated herein by reference. Technical Field

[0002] The present disclosure relates to medical devices and systems, and methods for making and using the medical devices and systems. More specifically, the present disclosure relates to surgical systems and endoscopic devices for use with surgical robots. Background Art

[0003] Endoscopic devices are used for various diagnostic and surgical procedures. For example, flexible ureteroscopes are used for inspection and treatment of the kidneys, and may generally include structures that improve accessibility to the treatment site and patient comfort. Flexible endoscopic devices may be provided with a flexible shaft and / or a flexible tip portion that is controlled by a doctor via manipulation of various components attached to the handle of the endoscope. This manipulation enables the doctor to manipulate the tip of the endoscope to various locations inside the body (e.g., various locations inside the kidney). In addition, endoscopes are typically used in conjunction with other medical devices during medical procedures. For example, a urologist may use a flexible ureteroscope in combination with a laser fiber and a retrieval device (e.g., a retrieval basket) to crush kidney stones and / or remove debris from the body. Therefore, these procedures may require not only manipulation of the various structures of the endoscope to control the tip of the endoscope, but also the introduction and manipulation of auxiliary devices used in conjunction with the endoscope.

[0004] Additionally, the field of medical robotics has been rapidly evolving, with innovations focused on simplifying procedures, improving patient outcomes, and reducing costs. Surgical robots can provide stable and precise movement. In some areas, integrating robotic control into surgical procedures can reduce the learning curve and skill level required to perform various surgeries, allowing more physicians to successfully treat patients. Surgical robots can enhance precision, dexterity, and control during surgical procedures, and can allow surgeons to improve visibility of the surgical site via integrated and / or associated camera systems compared to traditional techniques. In some cases, surgical robots can make minimally invasive surgery possible, thereby reducing complications, patient pain, recovery time, and / or scarring.

[0005] During endoscopy and urological surgery, flexible endoscopes and attachments can be used to enter anatomical structures. It may be challenging to navigate a flexible endoscope into and / or through an anatomical structure. Typically, a handle cannot be used alone to insert and / or advance the shaft because the shaft tends to bend when encountering opposing forces (such as obstacles) or when encountering tortuous anatomical structures. Typically, practitioners can use two hands to operate the endoscope--one hand controls the shaft rotation and tip deflection via the handle, and the other hand controls the flexible shaft and inserts it into the anatomical structure. In addition, the repeatability of various actions may be difficult and / or may cause a physical burden on the user. The manual manipulation of the endoscope may introduce the opportunity of transmitting undesirable hand motion to the patient's anatomical structure. If the surgical robot can be adapted for use with a manual endoscope, they can provide various opportunities for improvement.

[0006] The present disclosure relates to devices and / or methods for using an endoscope with a surgical robot. In known medical devices, systems and methods, each has certain advantages and disadvantages. There is a need to provide alternative medical devices and systems and alternative methods for making and using medical devices and systems. Summary of the invention

[0007] In one example, a surgical system for use with a surgical robot may include an endoscope, an attachment mechanism, a motorized introducer device, and an input device, the endoscope including a handle and an elongated shaft extending distally from the handle, the attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, the motorized introducer device is spaced apart from the surgical robot and configured to translate the elongated shaft of the endoscope relative to a patient, and the input device is configured to be operated using only one hand. The input device may include a plurality of tactile buttons operable using one hand and a joystick configured to be operated by the thumb of one hand.

[0008] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a set origin button and a return to origin button.

[0009] In addition to or alternatively to any examples described herein, the plurality of tactile buttons include an extend button configured to advance the shaft of the endoscope through the motorized introducer device and a retract button configured to retract the shaft of the endoscope through the motorized introducer device.

[0010] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a lock mode button configured to lock the surgical robot and the attachment mechanism in their current configuration.

[0011] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes an operating mode button configured to enable all movement functions of the surgical robot and attachment mechanism.

[0012] Additionally or alternatively to any of the examples described herein, the fixture includes a first motor operably coupled to a first drive mechanism configured to engage a handle of the endoscope to operate a deflection mechanism of the endoscope, and the mounting structure includes a second motor operably coupled to a second drive mechanism configured to rotate the fixture relative to the mounting structure.

[0013] Additionally or alternatively to any examples described herein, a joystick is configured to control the first motor and the second motor.

[0014] Additionally or alternatively to any of the examples described herein, the plurality of tactile buttons includes a manual positioning mode button configured to allow manual movement of the surgical robot without any other input from the input device.

[0015] Additionally or alternatively to any of the examples described herein, the input device includes at least one feedback element, each feedback element being operably connected to a corresponding sensor disposed at a distal tip of the elongated shaft of the endoscope.

[0016] In addition to or in lieu of any of the examples described herein, a surgical system for use with a surgical robot may include an endoscope, an attachment mechanism, a motorized guide device, and an input device, the endoscope including a handle and an elongated shaft extending distally from the handle, the attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, the motorized guide device is spaced apart from the surgical robot and configured to translate the elongated shaft of the endoscope relative to the patient, and the input device is configured to be operated using only one hand. The input device may include a plurality of tactile buttons that can be operated using one hand, a joystick, and a plurality of motion sensors, the plurality of tactile buttons including a clutch button, the joystick configured to be operated by the thumb of one hand, and the plurality of motion sensors configured to determine the position and orientation of the input device in space. When the clutch button is pressed, the movement of the input device in space can control the movement of at least some joints of the surgical robot. When the clutch button is released, the movement of the surgical robot can be blocked.

[0017] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a set origin button and a return to origin button.

[0018] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a calibration button.

[0019] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a speed mode button.

[0020] In addition to or alternatively to any of the examples described herein, the plurality of tactile buttons include at least one of: a flush button configured to activate fluid flushing through the endoscope; an image capture button configured to capture an image seen via a camera disposed inside the endoscope; and a memory button configured to save a second storage position of the surgical robot.

[0021] Additionally or alternatively to any of the examples described herein, the fixture includes a first motor operably coupled to a first drive mechanism configured to engage a handle of the endoscope to operate a deflection mechanism of the endoscope, and the mounting structure includes a second motor operably coupled to a second drive mechanism configured to rotate the fixture relative to the mounting structure.

[0022] Additionally or alternatively to any examples described herein, the joystick is configured to control the second motor and the motorized introducer device.

[0023] Additionally or alternatively to any examples described herein, the plurality of tactile buttons includes a deflection button configured to control the first motor.

[0024] Additionally or alternatively to any examples described herein, when the clutch button is depressed, movement of the input device about the first axis causes movement of a first joint of the surgical robot about the first robot axis.

[0025] Additionally or alternatively to any examples described herein, when the clutch button is depressed, movement of the input device about the second axis causes movement of a second joint of the surgical robot about the second robot axis.

[0026] In addition to or alternatively to any of the examples described herein, a surgical system for use with a surgical robot may include an endoscope, an attachment mechanism, a motorized guide device, and an input device, wherein the endoscope includes a handle and a slender shaft extending distally from the handle, the attachment mechanism includes a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, the motorized guide device is spaced apart from the surgical robot and is configured to translate the slender shaft of the endoscope relative to the patient, and the input device is configured to control the movement of the surgical robot and / or the motorized guide device using only one hand.

[0027] The above description of some embodiments, aspects and / or examples is not intended to describe each disclosed embodiment or every implementation of the present disclosure. The following figures and detailed description more particularly exemplify these embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present disclosure may be more fully understood by considering the following detailed description taken in conjunction with the accompanying drawings, in which:

[0029] FIG1 is a schematic diagram of an endoscope;

[0030] Figure 2 is a schematic diagram of a surgical robot;

[0031] Figure 3 is a schematic diagram of a surgical robot;

[0032] Figure 4-5 is a partially exploded view of a fixture configured to receive a handle of an endoscope;

[0033] Figure 6 Depicts the setting Figure 4-5 A fixing member inside the handle of the endoscope;

[0034] Figure 7 is attached to Figure 3 Surgical Robot Figure 6 Schematic diagram of the endoscope and the fixing parts;

[0035] Figure 8 Depicted are selected aspects of an attachment mechanism for use of an endoscope with a surgical robot;

[0036] Fig. 9 Depicted are selected aspects of an attachment mechanism for use of an endoscope with a surgical robot;

[0037] Fig.10 Depicted are selected aspects of an attachment mechanism for use of an endoscope with a surgical robot;

[0038] Fig.11 It is depicted Figure 9-10 A partially exploded view of selected aspects of the attachment mechanism;

[0039] Fig.12 is a schematic diagram of selected aspects of an alternative configuration of an attachment mechanism for use of an endoscope with a surgical robot;

[0040] Fig.13 is a schematic diagram of selected aspects of an alternative configuration of an attachment mechanism for use of an endoscope with a surgical robot;

[0041] Figures 14A-14Dschematically depicts a universal attachment mechanism for use with any of a plurality of endoscopes with a surgical robot;

[0042] Figures 15A-15C schematically depicts additional examples of endoscopes in the plurality of endoscopes of FIG. 14 ;

[0043] Fig.16 is a schematic diagram of selected aspects of an alternative configuration of an attachment mechanism for use of an endoscope with a surgical robot and / or a linear advancement device;

[0044] Fig.17 Selected aspects of the motorized introducer device are described;

[0045] Fig.18 Selected aspects of the motorized introducer device are described;

[0046] Figure 19-21 Depicted Fig.18 selected aspects of a configuration of a motorized introducer device;

[0047] Figure 22-24 Depicted Fig.18 selected aspects of a configuration of a motorized introducer device;

[0048] Figure 25-27 Depicted Fig.18 selected aspects of a configuration of a motorized introducer device;

[0049] Fig.28 depicts selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0050] Fig.29 depicts selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0051] Fig.30 depicts selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0052] Fig.31 Depicting selected aspects of a surgical system including a linear advancement device and a motorized introducer device; and

[0053] Figure 32-36 Selected aspects of a surgical system for use with a surgical robot are depicted.

[0054] Although various aspects of the present disclosure are susceptible to various modifications and alternative forms, the details thereof have been shown in the drawings by way of example and will be described in detail. Nevertheless, it should be understood that the various aspects of the present disclosure are not limited to the specific embodiments described. On the contrary, it is intended to cover all modifications, equivalents and substitutes that fall within the spirit and scope of the present disclosure. DETAILED DESCRIPTION

[0055] The following description should be read with reference to the accompanying drawings, which are not necessarily drawn to scale, wherein the same reference numerals indicate the same elements throughout the several views. The detailed description (specific embodiments) and the accompanying drawings are intended to illustrate but not limit the present disclosure. Those skilled in the art will recognize that the various elements described and / or shown may be arranged in various combinations and configurations without departing from the scope of the present disclosure. The detailed description (specific embodiments) and the accompanying drawings illustrate exemplary aspects of the present disclosure.

[0056] For the following defined terms, these definitions shall apply, unless a different definition is given in the claims or elsewhere in this specification.

[0057] All numerical values ​​herein are considered to be modified by the term "approximately", whether or not explicitly stated. In the context of numerical values, the term "approximately" generally refers to a range of numbers that one skilled in the art considers to be equivalent to the value (e.g., having the same function or result). In many cases, the term "approximately" may include numbers rounded to the nearest significant figure. Unless otherwise specified, other uses of the term "approximately" or "around" or "around" (e.g., in contexts other than numerical values) may be assumed to have their ordinary and customary definitions, as understood from and consistent with the context of the specification.

[0058] The recitation of numerical ranges by endpoints includes all numbers within that range, inclusive of the endpoints (eg, 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5).

[0059] Although some suitable sizes, ranges and / or values ​​are disclosed in connection with various components, features and / or specifications, those skilled in the art will appreciate in light of this disclosure that the desired sizes, ranges, and / or values ​​may deviate from those explicitly disclosed.

[0060] As used in this specification and the appended claims, the singular forms "a" and "the" and the situation where no quantifier is used include plural indicators, unless the content clearly indicates otherwise. As used in this specification and the appended claims, the term "or" is generally used in its sense including "and / or", unless the content clearly stipulates otherwise. It should be noted that, for ease of understanding, certain features of the present disclosure may be described in singular form, even if those features may be plural or repeated in the disclosed embodiments. Unless clearly stated to the contrary, each instance of a feature may include a single disclosure and / or be covered by a single disclosure. For the purpose of simplicity and clarity, all elements of the present disclosure are not necessarily shown in each figure or discussed in detail below. However, it will be understood that the following discussion may be equally applicable to any and / or all components in which there are more than one component, unless clearly stated to the contrary.

[0061] Relative terms (such as "proximal", "distal", "advance", "retract" and their variants, etc.) can generally be considered relative to the positioning, orientation and / or operation of various elements relative to the user / operator / manipulator of the device, wherein "proximal" and "retract" indicate or refer to being closer to or toward the user, while "distal" and "advance" indicate or refer to being away from or away from the user. In some cases, in order to facilitate understanding of the present disclosure, the terms "proximal" and "distal" can be arbitrarily specified, and such situations will be obvious to those skilled in the art. Other relative terms (such as "upstream", "downstream", "inflow" and "outflow") refer to the direction of fluid flow inside a lumen (such as a body lumen, a blood vessel) or inside a device. Other relative terms (such as "axial", "circumferential", "longitudinal", "lateral", "radial", etc. and / or their variants) generally refer to the direction and / or orientation relative to the central longitudinal axis of the disclosed structure or device.

[0062] The terms "monolithic" and "integral" shall generally refer to one or more elements made of or composed of a single structure or basic unit / element. Monolithic and / or integral elements shall exclude structures and / or features made by assembling or otherwise connecting together multiple discrete structures or elements.

[0063] Note that references in the specification to "one embodiment", "some embodiments", "other embodiments", etc. indicate that the described embodiments may include specific features, structures, characteristics, but not every embodiment necessarily includes the specific features, structures and / or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Further, unless explicitly stated to the contrary, when specific features, structures, or characteristics are described in conjunction with an embodiment, it will be within the knowledge of those skilled in the art to use the specific features, structures, or characteristics in conjunction with other embodiments, whether or not explicitly described. That is, as will be understood by those of ordinary skill in the art, the various individual elements described below are expected to be combinable with each other or to be arranged to form other additional embodiments or to supplement and / or enrich the described embodiments, even if not explicitly shown in a particular combination.

[0064] For the sake of clarity, certain identification numerical nomenclature (e.g., first, second, third, fourth, etc.) can be used throughout the specification and / or claims to name and / or distinguish various descriptions and / or claimed features. It should be understood that numerical nomenclature is not intended to be restrictive, and is only exemplary. In some embodiments, for simplicity and clarity, the numerical nomenclature previously used can be changed and deviated. That is, the feature identified as a "first" element can be referred to as a "second" element, a "third" element, etc., subsequently, or can be completely omitted, and / or another different feature can be referred to as a "first" element. The meaning and / or name in each case will be obvious to those skilled in the art.

[0065] The accompanying drawings depict selected components and / or arrangements of medical devices and / or systems and methods of using them. It should be noted that in any given drawing, some features of an endoprosthesis or stent may not be shown, or may be schematically shown, for simplicity. Additional details about the components of the system may be depicted in more detail in other drawings. It should be noted that, for ease of understanding, certain features of the present disclosure may be described in singular form, even if those features may be plural or repeated in the disclosed embodiments. Unless expressly stated to the contrary, each instance of a feature may include a single disclosure and / or be covered by a single disclosure. As such, it will be understood that the following discussion may apply equally to any and / or all components in which there is more than one component within an endoprosthesis or stent, unless expressly stated to the contrary.

[0066] In any given figure, for clarity and / or simplicity, some features may not be shown, or may be shown schematically. Additional details of some components and / or methods may be described in more detail in other figures. The devices and / or methods disclosed herein may provide many desired features and benefits, as described in more detail below.

[0067] FIG. 1 depicts selected aspects of an endoscope 10; the endoscope 10 may be any of a plurality of endoscopes. In some embodiments, the plurality of endoscopes may be known in the art. In at least some embodiments, the endoscope 10 may be a flexible ureteroscope. The endoscope 10 may include a handle 20 and an elongated shaft 30 extending distally from the handle 20; the endoscope 10 and / or the handle 20 may include a longitudinal axis 12 extending generally along the handle 20 and / or the elongated shaft 30. In some embodiments, the longitudinal axis 12 may be coaxial with the elongated shaft 30.

[0068] The elongated shaft 30 of the endoscope 10 can include a deflectable distal tip 32, and the elongated shaft 30 can have a length of about 26.5 inches (about 67.3 cm). In some embodiments, the elongated shaft 30 can have a length of about 15 inches (about 38.1 cm), about 20 inches (about 50.8 cm), about 25 inches (about 63.5 cm), about 28 inches (about 71.1 cm), about 30 inches (about 76.2 cm), about 35 inches (about 88.9 cm), etc.

[0069] The handle 20 of the endoscope 10 may include a distal end 22, a proximal end 24, and an intermediate region 26 between the distal end 22 and the proximal end 24. The size, shape, and / or configuration of the intermediate region 26 may be designed to be grasped by the user's hand. Typically, the elongated shaft 30 may take the form of a polymer or metal tube. In some embodiments, the elongated shaft 30 may be constructed with a reinforced braid, liner, mesh, woven fabric, etc. The elongated shaft 30 may include an inner cavity defining a working channel, which extends from the distal end region of the elongated shaft 30 through the elongated shaft 30 to an access port 21 at and / or connected to the handle 20. In some embodiments, the elongated shaft 30 may include multiple working channels as desired.

[0070] The deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10 may include optics and illumination disposed therein. The optics and illumination may be configured to provide optical visualization of a patient region traversed and / or treated by the deflectable distal tip 32. The handle 20 of the endoscope 10 may include an electronics and / or optics connector 23 configured to connect the optics and illumination of the endoscope 10 to a controller, monitor, display, computer, or the like.

[0071] The handle 20 may include a deflection mechanism 28 operably connected to the deflectable distal tip 32 of the elongated shaft 30, which may be used to control the movement of the deflectable distal tip 32 of the elongated shaft 30 during operation. For example, the deflection mechanism 28 may control the up and down movement or deflection of the deflectable distal tip 32 of the elongated shaft 30. The deflection mechanism 28 may be disposed near the proximal end 24 of the handle 20. The deflection mechanism 28 may include a thumb lever 27 that is movable along the outer surface of the handle 20 and is configured to be engaged and / or actuated by the thumb of the hand grasping the intermediate region 26. The deflection mechanism 28 may include a keyed hole 29 formed therein. The deflection mechanism 28 may include one or more gears, pulleys, cables, wires, filaments, etc. disposed within the handle 20 and / or extending into the elongated shaft 30. The deflection mechanism 28 may include a self-locking or friction lock type knob that, after being released, retains the deflection mechanism 28 and / or the deflectable distal tip 32 in its deflected position.

[0072] The handle 20 may also include one or more buttons that may be used to activate flushing and / or aspiration of fluid (such as air, saline, water, and / or blood, etc.) through the lumen of the endoscope 10, or to perform other functions as desired. These are examples only. Other configurations, variations, and / or features of the endoscope 10 are also contemplated.

[0073] Figure 2 and 3 An example of a surgical robot 50 is illustratively depicted. In some embodiments, the surgical robot 50 can be mounted to a mobile platform 60. In some embodiments, the surgical robot 50 can be mounted to a fixed structure. In some embodiments, the surgical robot 50 can include an arm 52 having a plurality of joints 54. In some embodiments, the plurality of joints 54 can include one or more hinge joints, one or more rotational joints, and / or combinations thereof. Each joint can include and / or define an axis of motion. The surgical robot 50 can include multiple axes of motion.

[0074] The surgical robot 50 may include a distal flange 56 configured to receive, mount and / or attach one or more devices, accessories, tools, etc. In some embodiments, the surgical robot 50 may include a controller 62 operably coupled to the surgical robot 50. In some embodiments, the controller 62 may be operably coupled to the surgical robot 50 via one or more wires or cables. In some embodiments, the controller 62 may be wirelessly operably coupled to the surgical robot 50. Combinations of these are also contemplated. The surgical robot 50 may include a plurality of sensors disposed on and / or on the surgical robot 50 and / or the arm 52. The plurality of sensors may be configured to detect the relative positioning of various components and assemblies of the surgical robot 50 and / or the arm 52.

[0075] In some embodiments, and as Figure 3 illustratively depicted in , the surgical robot 50 can be a KUKA LBR medical robot from KUKA Deutschland GmbH. Other surgical robots for use with aspects of the present disclosure are also contemplated. Commercially available surgical robots may include built-in emergency stops and / or safety features. Some surgical robots may include a backup power supply in case a power failure occurs during surgery. At least some surgical robots utilize a computer and / or a touch screen input tablet to control the surgical robot. At least some commercially available surgical robots require input of specific position data, such as reference coordinates (e.g., X, Y, and Z), in order to move the position of the surgical robot and / or translation arm, etc., and / or may not be conducive to dynamic movement.

[0076] In some embodiments of the present disclosure, an attachment mechanism 90 (e.g., Figures 7 to 13 ) may include a fixing member 100, such as Figures 4 to 5 As shown, the fixture is configured to receive the handle 20 of the endoscope 10 such that the longitudinal axis 12 of the handle 20 and / or the endoscope 10 is oriented substantially parallel to the longitudinal axis 102 of the fixture 100, and the elongated shaft 30 of the endoscope 10 extends distally away from the fixture 100, as shown in FIG. Figure 6 In some embodiments, the fixture 100 can include a shaft 110 fixedly secured to the fixture 100 and extending proximally from the fixture 100. In some embodiments, the shaft 110 can extend parallel to the longitudinal axis 102 of the fixture 100. In some embodiments, the shaft 110 can extend coaxially with the longitudinal axis 102 of the fixture 100.

[0077] In some embodiments, the fixture 100 can include a retaining mechanism 120 configured to releasably secure the handle 20 of the endoscope 10 to and / or within the fixture 100. In some embodiments, the retaining mechanism 120 can include a clamping portion 122 and a latching portion 124. In some embodiments, the clamping portion 122 can be movably attached to the fixture 100 and configured to rotate about a pivot axis 126 oriented generally parallel to the longitudinal axis of the fixture 100 between a closed configuration and an open configuration. Figure 4 and Figure 5 1 and 2. The clamping portion 122 is shown in an open configuration. In at least some embodiments, the clamping portion 122 can be configured to cooperate with the fixture 100 to surround at least a portion of the handle 20 of the endoscope 10 in a closed configuration, such as Figure 6 The latch portion 124 can be configured to secure the clamping portion 122 relative to the fixture 100 in the closed configuration.

[0078] In some embodiments, the latching portion 124 may include one or more connecting devices configured to pivot away from the clamping portion 122 to release the clamping portion 122 and allow the clamping portion 122 to transition from the closed configuration to the open configuration. In some embodiments, the latching portion 124 may include a flexible strip configured to deflect around the clamping portion 122 and / or release the clamping portion and allow the clamping portion 122 to move from the closed configuration to the open configuration when the retention mechanism 120 moves from the open configuration to the closed configuration. In some embodiments, the latching portion 124 may snap onto the clamping portion 122 in the closed configuration. Other configurations / configurations are also contemplated.

[0079] In some embodiments, the fixture 100 can include a first motor 130 operably coupled to a first drive mechanism 140. In some embodiments, the first motor 130 can be fixedly attached to the fixture 100. In some embodiments, the first drive mechanism 140 can be configured to engage the handle 20 and / or the keyed hole 29 of the endoscope 10 to operate the deflection mechanism 28 of the endoscope 10. The first drive mechanism 140 can include a plurality of gears operably connecting the first motor 130 to a drive shaft 146 configured to engage the deflection mechanism 28. In some embodiments, the plurality of gears can include a first gear 142 and a second gear 144, as discussed herein.

[0080] In some embodiments, the plurality of gears may include a worm and / or shaft (not shown) coupled to the first motor 130 and configured to rotate the first gear 142. In at least some embodiments, the second gear 144 may be directly engaged with the first gear 142. In some embodiments, the fixture 100 and / or the first drive mechanism 140 may include a first drive mechanism cover 150 that can be attached to the fixture 100 above at least the first gear 142. The first drive mechanism cover 150 may be configured to eliminate one or more pinch points and / or reduce contamination and / or interference with the first drive mechanism 140, although it is not expressly required for the first drive mechanism 140.

[0081] As in Figure 5 As seen in the partially exploded view of , the second gear 144 can be operably coupled to the drive shaft 146. The drive shaft 146 can include a keying tip 148 configured to engage the keying hole 29 and / or the deflection mechanism 28. In some embodiments, the fixture 100 and / or the first drive mechanism 140 can include a second gear cover 152 that is removably attached to the second gear 144. The second gear cover 152 can be non-rotatable relative to the second gear 144. The second gear cover 152 can include a keying structure that is configured to non-rotatably engage a first end of the drive shaft 146 opposite the keying tip 148. The drive shaft 146 can be fixed to the second gear cover 152 by a fastener 154 (such as a bolt, a screw, etc.). Some suitable but non-limiting materials for the fixture 100, the shaft 110, the retaining mechanism 120, the first drive mechanism 140, the first drive mechanism cover 150, and / or components or elements thereof are described below, such as metal materials, polymer materials, combinations thereof, etc.

[0082] As in Figure 7 , the attachment mechanism 90 can be configured to couple the endoscope 10 with the surgical robot 50 and / or the arm 52 of the surgical robot 50. In some embodiments, the attachment mechanism 90 can include a mounting structure 160 secured to the fixture 100. The mounting structure 160 can include a structure configured to attach the fixture 100 to the distal flange 56 of the surgical robot 50 and / or the arm 52 of the surgical robot 50.

[0083] Figure 8-10 Some example configurations of attachment mechanisms 90 according to the present disclosure are depicted. Other configurations / configurations are also contemplated. In some embodiments, mounting structure 160 may include a plurality of holes 162 formed in mounting plate 164. The plurality of holes 162 may be configured to mate with a plurality of mounting holes 58 (e.g., Figure 3). In at least some embodiments, the mounting plate 164 can include a substantially flat surface 166 that is configured to closely engage and / or abut the distal flange 56 of the surgical robot 50 and / or the arm 52 of the surgical robot 50. In some embodiments, the shaft 110 (not shown) can extend into and / or through the mounting structure 160.

[0084] In some embodiments, the longitudinal axis 102 of the fixture 100 can extend generally perpendicular to the mounting plate 164 and / or the substantially planar surface 166 of the mounting plate 164, such as Figure 8 As shown. In this configuration, the handle 20 and the elongated shaft 30 of the endoscope 10 can be oriented approximately perpendicular to the mounting plate 164 and / or the substantially flat surface 166 of the mounting plate 164. The handle 20 and the elongated shaft 30 can be oriented approximately along and / or parallel to the entry path into the patient. The surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50 can be configured, individually or in combination, to rotate the fixture 100 and / or the endoscope 10, the handle 20, and / or the elongated shaft 30 about the longitudinal axis 102 of the fixture 100 and / or the longitudinal axis 12 of the handle 20 and / or the endoscope 10. The first motor 130 and / or the first drive mechanism 140 can be configured to operate the deflection mechanism 28, as described herein.

[0085] In some embodiments, the longitudinal axis 102 of the fixture 100 can extend generally parallel to the mounting plate 164 and / or the substantially planar surface 166 of the mounting plate 164, such as Fig. 9 and 10 In this configuration, the handle 20 and the elongated shaft 30 of the endoscope 10 can be oriented generally parallel to the mounting plate 164 and / or the substantially flat surface 166 of the mounting plate 164. Figure 8 Similar to the configuration of , first motor 130 and / or first drive mechanism 140 may be configured to operate deflection mechanism 28 as described herein.

[0086] In some embodiments, the mounting structure 160 can include a second motor 170 operably coupled to a second drive mechanism 180. In some embodiments, the second motor 170 can be fixedly attached to the mounting structure 160. The second drive mechanism 180 can be configured to rotate the fixture 100 relative to the mounting structure 160. In some embodiments, the second drive mechanism 180 can be configured to rotate the fixture 100 and / or the endoscope 10, the handle 20, and / or the elongated shaft 30 about the longitudinal axis 102 of the fixture 100. In some embodiments, the second drive mechanism 180 can be configured to rotate the fixture 100 relative to the mounting structure 160 to rotate the endoscope 10 and / or the handle 20 about the longitudinal axis 12 of the handle 20 and / or the endoscope 10. In some embodiments, the second drive mechanism 180 can be configured to rotate the fixture 100 and / or the handle 20 to rotate the elongated shaft 30. Figure 8 Compared with the structure of Fig. 9 and Fig.10 The addition of the second drive mechanism 180 to the configuration of the fixture 100 and / or the endoscope 10 may provide more direct control over the rotation of the fixture 100 and / or the endoscope 10 while minimizing the movement of the surgical robot 50 and / or the arm 52 of the surgical robot 50. For example, the fixture 100 and / or the endoscope 10, the handle 20, and / or the elongated shaft 30 may be rotated without any movement of the surgical robot 50 and / or the arm 52 of the surgical robot 50.

[0087] In some embodiments, the mounting structure 160 may include at least one gripping handle 161 that is fixedly attached to and / or integrally formed with the mounting plate 164, such as Fig.10 The at least one gripping handle 161 may be configured to allow manual positioning of the surgical robot 50 and / or the arm 52 of the surgical robot 50 when desired.

[0088] In some embodiments, the second drive mechanism 180 may include a drive belt 182 engaged with a plurality of pulleys, such as Fig.11 As shown. In some embodiments, the plurality of pulleys may include at least a first pulley 184 and a second pulley 186. Each of the plurality of pulleys may include an axis of rotation oriented substantially parallel to the longitudinal axis 102 of the fixture 100. In some embodiments, the second drive mechanism 180 may include one or more gears, shafts, and / or coupling elements that operably connect the second motor 170 to the plurality of pulleys. In some embodiments, the one or more gears, shafts, and / or coupling elements that operably connect the second motor 170 to the plurality of pulleys may be at least partially disposed within the mounting structure 160 and / or may extend at least partially through the mounting structure 160.

[0089] In some embodiments, the one or more gears, shafts, and / or coupling elements may include a worm and / or shaft (not shown) coupled to the second motor 170 and configured to rotate the first pulley 184. In at least some embodiments, the second pulley 186 may be operably coupled to the first pulley 184 via a drive belt 182. In some embodiments, the second pulley 186 may be operably coupled to the shaft 110. In some embodiments, the mounting structure 160 and / or the second drive mechanism 180 may include a second drive mechanism cover 190 that can be attached to the mounting structure 160 over a plurality of pulleys. The second drive mechanism cover 190 may be configured to eliminate one or more pinch points and / or reduce contamination and / or interference with the second drive mechanism 180, although it is not expressly required for the second drive mechanism 180.

[0090] Fig.12 is a schematic diagram illustrating selected aspects of an alternative configuration of an attachment mechanism 90 for use with an endoscope 10 with a surgical robot 50. As described above, the attachment mechanism 90 may include a fixture 100 and a mounting structure 160. In at least some embodiments, the mounting structure 160 may include a pivot mechanism 168 disposed between a mounting plate 164 and the fixture 100. In some embodiments, the pivot mechanism 168 may be configured to selectively position the handle 20 of the endoscope 10 and / or the fixture 100, which may be disposed therein, relative to the mounting plate 164, the surgical robot 50, and / or the arm 52 of the surgical robot 50 in one of two or more directions.

[0091] In some embodiments, the pivot mechanism 168 can be configured to move the fixture 100 back and forth between a first position relative to the mounting plate 164, the surgical robot 50, and / or the arm 52 of the surgical robot 50 and a second position relative to the mounting plate 164, the surgical robot 50, and / or the arm 52 of the surgical robot 50. In some embodiments, in the first position, the longitudinal axis 102 of the fixture 100 can extend generally perpendicular to the mounting plate 164 and / or the substantially flat surface 166 of the mounting plate 164. In some embodiments, in the second position, the longitudinal axis 102 of the fixture 100 can extend generally parallel to the mounting plate 164 and / or the substantially flat surface 166 of the mounting plate 164. In some embodiments, the second position can be oriented vertically similar to the handle 20 used by a physician when manually manipulating the endoscope 10 in situ, which can facilitate transfer of the endoscope 10 into the fixture 100 without accidentally moving the endoscope 10 and / or the elongated shaft 30 in situ.

[0092] In at least some embodiments, the pivot mechanism 168 can be manually actuated to move the fixture 100 between the first position and the second position. For example, the pivot mechanism 168 can be in a normally locked configuration in the first position and / or the second position, so that the pivot mechanism 168 cannot pivot. The pivot mechanism 168 can include a release button that is manually pressed by an operator to release the pivot mechanism 168 from the normally locked configuration to the unlocked configuration. In the unlocked configuration, the pivot mechanism 168 can be freely pivoted between the first position and the second position. The fixture 100. In some embodiments, when the pivot mechanism 168 reaches or reaches the first position and / or the second position, the normally locked configuration and / or the release button can be automatically reengaged. In a non-limiting example, the release button can be spring-loaded. In some alternative embodiments, the pivot mechanism 168 and / or the release button can be automated and / or can be electrically actuated, such as using a motor or an actuator. Other configurations / constructions are also contemplated, including combinations thereof.

[0093] In at least some embodiments, when the fixture 100 is positioned in the first position, the surgical robot 50, the arm 52 of the surgical robot 50, and / or the most distal joint of the plurality of joints 54 of the surgical robot 50 may be configured to rotate the mounting plate 164, thereby rotating the fixture 100 and the mounting structure 160, thereby rotating the endoscope 10, the handle 20, and / or the elongated shaft 30. In some embodiments, when the fixture 100 is positioned in the second position, the surgical robot 50, the arm 52 of the surgical robot 50, and / or the most distal joint of the plurality of joints 54 of the surgical robot 50 may be configured to rotate the mounting plate 164, thereby rotating the fixture 100, the longitudinal axis 102, and the pivot mechanism 168 relative to the surgical robot 50 and / or the arm 52 of the surgical robot.

[0094] Fig.13 is a schematic diagram illustrating selected aspects of another alternative configuration of an attachment mechanism 90 for use of the endoscope 10 with the surgical robot 50 . Fig.13 The construction shown in can be basically similar to Fig.12 , because the mounting structure 160 includes a pivot mechanism 168 disposed between the mounting plate 164 and the fixture 100. In some embodiments, the fixture 100 can be configured to rotate about its longitudinal axis 102 without rotating the mounting structure 160 and / or the mounting plate 164.

[0095] In some embodiments, Fig.13The mounting structure 160 and / or the pivot mechanism 168 can include a hinge 165 and a first gear 167 that engages with a second gear 169 within the pivot mechanism 168 at a point of engagement. In at least some embodiments, the hinge 165 can be offset from the point of engagement.

[0096] The pivot mechanism 168 and / or the first gear 167 and the second gear 169 of the mounting structure 160 can be configured to rotate the fixture 100 about its longitudinal axis 102 without rotating the mounting structure 160 and / or the mounting plate 164 between the first position and the second position. The function can be similar to Figure 9-11 , while maintaining the ability to selectively position the handle 20 and / or fixture 100 of the endoscope 10 that may be disposed therein relative to the mounting plate 164, the surgical robot 50, and / or the arm 52 of the surgical robot 50 in one of two or more directions.

[0097] In at least some embodiments, the first gear 167 and the second gear 169 of the pivot mechanism 168 and / or the mounting structure 160 can be crown gears that allow for multiple angles of engagement between the first gear 167 and the second gear 169. The pivot mechanism 168 and / or the first gear 167 and the second gear 169 of the mounting structure 160 can be configured to rotate the fixture 100 about its longitudinal axis 102 at the first position, the second position, and / or any intermediate position between the first position and the second position.

[0098] In some embodiments, the first gear 167 may have a first rotation axis R1, and the second gear 169 may have a second rotation axis R2. In some embodiments, the first rotation axis R1 may intersect the second rotation axis R2. In some embodiments, at the first position, the first rotation axis R1 may be oriented coaxially with the second rotation axis R2. In some embodiments, at the second position, the first rotation axis R1 may be oriented substantially perpendicular to the second rotation axis R2. In some embodiments, the first rotation axis R1 may be oriented at an oblique angle relative to the second rotation axis R2 at any intermediate position between the first position and the second position.

[0099] Figures 14A-14D Schematically depicted is the concept of a universal attachment mechanism for use and / or attachment of any of a plurality of endoscopes with a surgical robot 50. In some embodiments, the fixture of the universal attachment mechanism can be configured to receive a handle of any of and / or each of a plurality of endoscopes according to the attachment mechanism and / or fixture 100 disclosed herein. In some embodiments, the fixture of the universal attachment mechanism can be configured to receive a handle of each of a plurality of endoscopes without further modification.

[0100] In some embodiments, a universal attachment mechanism for using any of a plurality of endoscopes with a surgical robot 50 may include a fixture configured to receive a handle of any of the plurality of endoscopes, such that the longitudinal axis of the handle is parallel to the longitudinal axis of the fixture, and the elongated axis of the endoscope extends distally away from the fixture and a mounting structure secured to the fixture. The mounting structure may be configured to attach the fixture to the surgical robot. The fixture may include a retaining mechanism configured to releasably secure the handle within the fixture. The fixture may include a first motor operably coupled to a first drive mechanism configured to engage the handle to operate a deflection mechanism of any of the plurality of endoscopes. Other structures, elements, and / or features disclosed herein are also contemplated for use with the universal attachment mechanism.

[0101] In some embodiments, the fixture of the universal attachment mechanism can be configured to receive a standard ureteroscope (e.g., FIG. Fig.14A ), motorized ureteroscopes (e.g. Fig. 14B ) and a standard ureteroscope including a powered attachment (e.g. Fig. 14C ) handle. In some embodiments, the universal attachment mechanism may include a vertical attachment attachment device (e.g., Fig.14D ). In some embodiments, the universal attachment mechanism can be configured to receive other types of endoscopes and / or other endoscope handle designs and / or attach them to the surgical robot 50. Figures 15A-15C Some examples of additional endoscope and / or endoscope handle designs that may be used with the universal attachment mechanism are schematically depicted, including but not limited to: an endoscope having a single-axis deflectable tip and a relatively simple handle (e.g., Fig.15A ), endoscopes with multi-axis deflectable tips and more complex handles (e.g. Fig. 15B ), and / or an endoscope having a power and / or motorized module attached and / or integrated into the handle and configured to operate the deflectable tip (e.g., Fig. 15C ). Other configurations / configurations are also contemplated.

[0102] Fig.16 is used to connect the endoscope 10 with the surgical robot 50 and / or the linear advancement device 450 (e.g., Fig.31 ) is a schematic diagram of selected aspects of an alternative configuration of an attachment mechanism 90 for use with. Fig.16 The attachment mechanism 90 may be substantially similar to Fig. 9 and Fig.11 The attachment mechanism shown in FIG. 1 is similar to that shown in FIG. 1 , and therefore the same reference numerals and descriptions herein also apply and are not repeated for the sake of brevity. Fig. 9 and Fig.11In contrast, some details regarding the form and / or shape of the mounting plate 164 are described in Fig.16 For example, in some embodiments, the plurality of holes 162 may be arranged in a different pattern and / or may include a different number of holes. In some embodiments, the structure for securing the second motor 170 to the mounting structure 160 may be different. Other configurations / configurations are also contemplated. In some embodiments, Fig.16 The attachment mechanism 90 can be configured to attach the endoscope 10 to the linear advancement device 450 (e.g., Fig.31 ) as discussed in this article, rather than with a multi-axis surgical robot.

[0103] In some cases, due to the flexible nature of the elongated shaft 30, which may bend, deflect, and / or bend when encountering opposing forces, it may be challenging to navigate the endoscope 10 into the patient's body in a stable and precise manner using the surgical robot 50 and / or the arm 52 of the surgical robot 50. When manually inserting the endoscope 10 into the patient's body, the physician uses two hands - one hand on the handle 20 to control the rotation of the endoscope 10 and / or control the deflection mechanism 28 for actuating the deflectable distal tip 32, and the second hand on the elongated shaft 30. The physician's action with the second hand reduces the chance of the elongated shaft 30 buckling. In some cases, the surgical system 400 (e.g., Figure 28-31 ) may include a motorized introducer device 200 for translating the elongated shaft 30 of the endoscope 10 relative to the patient, an example of which is shown in Fig.17 The motorized introducer device 200 can be used as a stabilizer and / or as an alternative to using a second hand of the physician. The motorized introducer device 200 can be configured to translate the elongated shaft 30 axially and / or longitudinally toward and / or away from the patient.

[0104] In some embodiments, the motorized introducer device 200 may include a body 210. In some embodiments, the body 210 may form and / or serve as a support table. In some embodiments, the body 210 may be a substantially rigid structure configured to support other elements and / or components of the motorized introducer device 200. In some embodiments, the body 210 may be formed using one or more of a variety of processes such as casting, molding, machining, welding, etc. Some suitable but non-limiting materials for the body 210 and / or its components or elements are described below, such as metallic materials, polymeric materials, composite materials, etc. and / or combinations thereof.

[0105] In some embodiments, the body 210 can include a base 212 and an upright portion 214 extending upwardly from the base 212. Other configurations / configurations are also contemplated. In some embodiments, the body 210 and / or the base 212 can include at least one mounting hole 216 for securing the motorized introducer device 200 and / or the body 210 relative to a patient, an operating table, and / or as described herein.

[0106] In some embodiments, the motorized introducer device 200 can include a motor 220 fixedly attached to the body 210. In some embodiments, the motor 220 can be fixedly attached to the upright portion 214. In some embodiments, the motorized introducer device 200 can include a drive gear 230 operably coupled to the motor 220. In some embodiments, the motorized introducer device 200 can include a drive wheel 250 operably coupled to the drive gear 230. In some embodiments, the motorized introducer device 200 can include a support wheel 260 positioned proximate and / or adjacent to the drive wheel 250, such that the drive wheel 250 and the support wheel 260 can be configured to engage the elongated shaft 30 of the endoscope 10 when the elongated shaft 30 is disposed between the drive wheel 250 and the support wheel 260. The motor 220 can be configured to drive and / or rotate the drive gear 230 and the drive wheel 250. Drive gear 230 and drive wheel 250 can be configured to translate elongated shaft 30 relative to the patient and / or through motorized introducer device 200. In some embodiments, support wheel 260 can be configured to serve only as a guide and / or stabilizer for elongated shaft 30.

[0107] In some embodiments, the motorized introducer device 200 can optionally include a support gear 240 that engages with the drive gear 230. Where present, the support gear 240 can be operably coupled to a support wheel 260. When the motor 220 drives and / or rotates the drive gear 230, the support gear 240 can be driven or rotated via engagement with the drive gear 230, thereby driving and / or rotating the support wheel 260. Thus, in some embodiments, the support gear 240 and the support wheel 260 can be configured to actively assist in translating the elongated shaft 30 relative to the patient and / or through the motorized introducer device 200. Other configurations / configurations are also contemplated.

[0108] In some embodiments, the motorized introducer device 200 can include multiple drive gears and multiple drive wheels. In some embodiments, the motorized introducer device 200 can include multiple support gears and multiple support wheels. Various combinations of the features discussed herein are also contemplated.

[0109] In some embodiments, the slender shaft 30 of the endoscope 10 can be set at an engagement position 270 between the drive wheel 250 and the support wheel 260, so that the slender shaft 30 is configured to selectively move longitudinally and / or axially along the movement axis 202 through the motorized guide device 200 when engaged with the drive wheel 250 and the support wheel 260.

[0110] In some embodiments, the drive wheel 250 may include at least one soft polymer drive ring 252 extending around the circumference of the drive wheel 250. In some embodiments, the drive wheel 250 may include two soft polymer drive rings extending around the circumference of the drive wheel 250. In some embodiments, the two soft polymer drive rings may be spaced apart from each other. For example, the first of the two soft polymer drive rings may be positioned at a greater distance from the motor 220 than the second of the two soft polymer drive rings. Other configurations / constructions are also contemplated. In some embodiments with multiple drive wheels, each drive wheel may include at least one soft polymer drive ring extending around the circumference of the drive wheel. In some embodiments with multiple drive wheels, each drive wheel may include two soft polymer drive rings extending around the circumference of the drive wheel. Other configurations / constructions are also contemplated.

[0111] In some embodiments, the support wheel 260 may include at least one soft polymer support ring 262 extending around the circumference of the support wheel 260. In some embodiments, the support wheel 260 may include two soft polymer support rings extending around the circumference of the support wheel 260. In some embodiments, the two soft polymer support rings may be spaced apart from each other. For example, the first of the two soft polymer support rings may be positioned at a greater distance from the motor 220 than the second of the two soft polymer support rings. Other configurations / constructions are also contemplated. In some embodiments having multiple support wheels, each support wheel may include at least one soft polymer support ring extending around the circumference of the support wheel. In some embodiments having multiple support wheels, each support wheel may include two soft polymer support rings extending around the circumference of the support wheel. Other configurations / constructions are also contemplated.

[0112] In some embodiments, when engaged with the slender shaft 30 of the endoscope 10 at the engagement position 270, at least one soft polymer drive ring 252 and at least one soft polymer support ring 262 can cooperate to move and / or translate the slender shaft 30 of the endoscope 10 longitudinally and / or axially along the motion axis 202 while allowing the slender shaft 30 of the endoscope 10 to rotate about and / or around the motion axis 202.

[0113] In some embodiments, at least one soft polymer drive ring 252 and at least one soft polymer support ring 262 can be generally u-shaped, having raised edges and a recessed center portion, such that the elongated shaft 30 can be received within the recessed center portion and / or between the raised edges. In some embodiments, at least one soft polymer drive ring 252 and at least one soft polymer support ring 262 can each be and / or include an O-ring, such that the elongated shaft 30 can be engageable with each O-ring at an engagement location 270. Other configurations / configurations are also contemplated, including combinations thereof.

[0114] In some embodiments, the motorized introducer device 200 and / or the body 210 can include at least one lateral flange 218 extending from the upright portion 214. In some embodiments, the drive gear 230, the support gear 240, the drive wheel 250, and / or the support wheel 260 can be coupled to the at least one lateral flange 218. In some embodiments, the drive gear 230 and the support gear 240 (where present) can be disposed between adjacent lateral flanges of the at least one lateral flange 218. In some embodiments, the drive wheel 250 and the support wheel 260 can be disposed on and / or above the at least one lateral flange 218 opposite the base 212.

[0115] In some embodiments, the drive wheel 250 and / or the support wheel 260 can be laterally fixed in place relative to the body 210 and / or the at least one lateral flange 218. The drive wheel 250 and / or the support wheel 260 can be rotatable relative to the body 210 and / or the at least one lateral flange 218.

[0116] In some embodiments, the body 210 and / or the at least one lateral flange 218 may include a proximal guide ring 272 disposed proximal to the engagement location 270 and a distal guide ring 274 disposed distal to the engagement location 270. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may be fixedly attached to the body 210 and / or the at least one lateral flange 218. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may be integral with the body 210 and / or the at least one lateral flange 218, and / or may be integrally formed with the body 210 and / or the at least one lateral flange 218. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may be disposed and / or oriented coaxially with the axis of motion 202. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may extend from the at least one lateral flange 218 in a direction opposite to the base 212. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 can extend upwardly from the at least one lateral flange 218 .

[0117] In some embodiments, the motorized introducer device 200 can include a cover 280 that can be fixed and / or attached to the body 210 and / or the upright portion 214. In some embodiments, the cover 280 can be fixed and / or attached to the body 210 and / or the upright portion 214 over the drive gear 230, the support gear 240, the drive wheel 250, and / or the support wheel 260. In some embodiments, the cover 280 can be fixed and / or attached to the body 210 and / or the upright portion 214 over the engagement location 270. In some embodiments, the cover 280 can include a proximal opening 282 and / or a distal opening (not shown) such that when the cover 280 is fixed and / or attached to the body 210 and / or the upright portion 214, the engagement location 270 can be in communication with and / or can be accessible from the exterior of the cover 280.

[0118] In some embodiments, the elongated shaft 30 of the endoscope 10 may be positionable through the motorized introducer device 200 and / or the cover 280 when the cover 280 is secured and / or attached to the body 210 and / or the upright portion 214. In at least some embodiments, the elongated shaft 30 of the endoscope 10 may be positionable within and / or through the proximal guide ring 272, the engagement location 270, and the distal guide ring 274, and the cover 280 may then be secured and / or attached to the body 210 and / or the upright portion 214 such that the elongated shaft 30 of the endoscope 10 extends through the proximal opening 282 and the distal opening of the cover 280.

[0119] Although not expressly necessary for proper operation of motorized introducer device 200 , cover 280 may be provided to eliminate one or more pinch points and / or reduce contamination and / or interference with drive gear 230 , support gear 240 , drive wheel 250 , and / or support wheel 260 .

[0120] In some embodiments, the motorized introducer device 200 can be independently controlled and / or operated independently of any other device and / or as a stand-alone device. In some embodiments, the motorized introducer device 200 can be combined with one or more other medical devices or other devices as an element or component of the surgical system 400 (e.g., Figure 28-31 ) to control and / or operate. Other configurations / configurations, and / or combinations thereof are also contemplated.

[0121] In some embodiments, the motorized introducer device 200 may include a longitudinal motion unit 300 including a second body 310 removably coupled to the body 210, such as Fig.18In some embodiments, the driving wheel 250 and the supporting wheel 260 may be disposed inside the second body 310. In some embodiments, when the second body 310 is removably coupled to and / or engaged with the body 210, the second body 310 may be non-rotatable relative to the body 210. In some embodiments, the second body 310 may include a support wheel extending from an outer surface of the second body 310 (e.g., Figure 18-24 ) and is configured to engage a recess or hole 211 formed in the body 210 (as shown Fig.18 In some embodiments, the body 210 may include a protrusion 313 extending from an outer surface of the body 210 and configured to engage a recess or hole (not shown) formed in the second body 310, such as Fig.25 As shown. Other configurations / configurations are also contemplated. In at least some embodiments, the longitudinal motion unit 300, the second body 310, and / or components disposed therein and / or thereon can be disposable (e.g., single use), and the body 210 can be reusable. In one example, the body 210 can be protected by a surgical drape during use. In another example, the body 210 can be sterilizable for reuse.

[0122] In some embodiments, the support wheel 260 may be inside the second body 310 (eg, Figure 19-27 as shown), in the engaged position (e.g., Fig.21 , 24 , 27) and disengagement positions (e.g. Fig. 20 , 23 , 26). In the engaged position, when the endoscope 10 is disposed at and / or within the engaged position 270, the support wheel 260 may contact and / or may engage with the elongated shaft 30 of the endoscope 10. In the disengaged position, when the endoscope 10 is disposed at and / or within the engaged position 270, the support wheel 260 may be spaced apart from and / or may disengage from the elongated shaft 30 of the endoscope 10.

[0123] In some embodiments, the drive wheel 250 can be fixed in place laterally within the second body 310 and / or relative to the second body 310. The drive wheel 250 can be rotatable relative to the second body 310. In at least some embodiments, the support wheel 260 can be disposed within and / or can be coupled to the slider 320, and the slider 320 is configured to move laterally within the second body 310. Therefore, the slider 320 can be configured to move the support wheel 260 within the second body 310, and / or the support wheel 260 can be configured to move together and / or simultaneously with the slider 320. The support wheel 260 can be rotatable relative to the slider 320. The support wheel 260 can be fixed in place relative to the slider 320 in other ways. In at least some embodiments, the support wheel 260 and / or the slider 320 can be within the second body 310 (such as Figure 19-27 shown) in the engaged position (e.g., Fig.21 , 24 , 27) and disengagement positions (e.g. Fig. 20 , 23 , 26) movable between.

[0124] In some embodiments, the longitudinal motion unit 300 may include a second body 310 that can be in an open position (eg, Fig. 20 , 23 ) and closed positions (e.g. Fig.21 , 24 ) between the cover 330. In some embodiments, the cover 330 can be pivotally connected to the second body 310, such as Figure 19-21 In some embodiments, the cover 330 may be slidably coupled to the second body 310, such as Figure 22-24 Other configurations / configurations are also contemplated.

[0125] In some embodiments, in the closed position of the cover 330, the cover 330 can be configured to maintain, retain and / or lock the elongated shaft 30 of the endoscope 10 inside the engagement location 270. In some embodiments, the cover 330 can include an extension 334 that extends substantially perpendicular to and opposite to the upper surface 332 of the cover 330. In some embodiments, in the closed position of the cover 330, the extension 334 can extend into and / or toward the engagement location 270. In some embodiments, in the open position of the cover 330, the elongated shaft 30 of the endoscope 10 can be removable from the engagement location 270 in a direction that is non-coaxial with the axis of motion 202. In the closed position of the cover 330, the support wheel 260 can be disposed at a first distance from the drive wheel 250, and in the open position of the cover 330, the support wheel 260 can be disposed at a second distance from the drive wheel 250. The second distance can be greater than the first distance.

[0126] In some embodiments, when the cover 330 moves toward and / or towards the open position, the slider 320 and / or the support wheel 260 can be biased toward the disengaged position. In some embodiments, when the cover 330 moves toward and / or towards the open position, the slider 320 and / or the support wheel 260 can be biased toward the disengaged position by the cover 330. In some embodiments, when the cover 330 moves toward and / or towards the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position. In some embodiments, when the cover 330 moves toward and / or towards the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position by the cover 330.

[0127] In some embodiments, the cover 330 may include an angled surface 336 configured to engage the slider 320 when the cover 330 is moved toward and / or to the closed position from the open position. When the cover 330 is moved toward and / or to the closed position, the engagement of the angled surface 336 of the cover 330 with the slider 320 may push, bias, and / or move the slider 320 and / or the support wheel 260 toward the engaged position, such as Figure 20-21 shown.

[0128] In some embodiments, the cover 330 may include a first lateral surface 338 configured to engage the slider 320 as the cover 330 moves toward and / or moves from the open position to the closed position. When the cover 330 moves toward and / or moves to the closed position, the engagement of the first lateral surface 338 of the cover 330 with the slider 320 may push, bias, and / or move the slider 320 and / or the support wheel 260 toward the engaged position, such as Fig.24 In some embodiments, the cover 330 and / or the extension 334 may include a second lateral surface 339 facing the first lateral surface 338, and the second lateral surface 339 is configured to engage the slider 320 when the cover 330 moves from the closed position toward the open position and / or moves to the open position. When the cover 330 moves toward the open position and / or moves to the open position, the engagement of the second lateral surface 339 of the cover 330 with the slider 320 can push, bias, and / or move the slider 320 and / or the support wheel 260 toward the disengaged position, as shown. Fig.23 shown.

[0129] In some embodiments, Figure 25 to Figure 27As shown, the longitudinal motion unit 300 may include a first cover 350 pivotable between an open position and a closed position relative to the second body 310 , and the longitudinal motion unit 300 may include a second cover 360 slidable between an open position and a closed position relative to the second body 310 .

[0130] In some embodiments, in the closed position of the first cover 350, the first cover 350 can be configured to maintain, retain and / or lock the elongated shaft 30 of the endoscope 10 inside the engagement location 270. In some embodiments, the first cover 350 can include a first extension 354 that extends substantially perpendicular to and opposite to the upper surface 352 of the first cover 350. In some embodiments, when the first cover 350 is in the closed position, the first extension 354 can extend from the first cover 350 in a first direction. In some embodiments, in the closed position of the first cover 350, the first extension 354 and / or the first direction can extend into and / or toward the engagement location 270. In some embodiments, in the open position of the first cover 350, the elongated shaft 30 of the endoscope 10 can be removed from the engagement location 270 in a direction that is not coaxial with the axis of motion 202.

[0131] In the closed position of the second cover 360, the support wheel 260 may be disposed at a first distance from the drive wheel 250, and in the open position of the second cover 360, the support wheel 260 may be disposed at a second distance from the drive wheel 250. The second distance may be greater than the first distance.

[0132] In some embodiments, when the second cover 360 moves toward and / or towards the open position, the slider 320 and / or the support wheel 260 can be biased toward the disengaged position. In some embodiments, when the second cover 360 moves toward and / or towards the open position, the slider 320 and / or the support wheel 260 can be biased toward the disengaged position by the second cover 360. In some embodiments, when the second cover 360 moves toward and / or towards the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position. In some embodiments, when the second cover 360 moves toward and / or towards the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position by the second cover 360.

[0133] In some embodiments, the second cover 360 may include a second extension 362 that extends substantially perpendicular to and opposite to the upper surface 361 of the second cover 360. In some embodiments, the second extension 362 may be disposed at a middle portion of the second cover 360 and / or may extend from a middle portion of the second cover 360. The second extension 362 may extend from the second cover 360 in a first direction. The second cover 360 and / or the second extension 362 may include a first lateral surface 364 that is configured to engage the slider 320 when the second cover 360 moves from the open position to the closed position. When the second cover 360 moves toward the closed position and / or moves to the closed position, the engagement of the second extension 362 and / or the first lateral surface 364 of the second cover 360 with the slider 320 may push, bias, and / or move the slider 320 and / or the support wheel 260 toward the engaged position, as shown in FIG. Fig. 27 As shown. In some embodiments, the second cover 360 may include a third extension 362, and the third extension 362 may extend substantially perpendicular to and opposite to the upper surface 361 of the second cover 360. The third extension 366 may extend from the second cover 360 in a first direction. In some embodiments, the second cover 360 and / or the third extension 366 may include a second lateral surface 368 facing the first lateral surface 364, and the second lateral surface 368 is configured to engage the slider 320 when the second cover 360 is moved from the closed position or to the open position. When the second cover 360 moves toward the open position and / or moves to the open position, the engagement of the third extension 366 and / or the second lateral surface 368 of the second cover 360 with the slider 320 may push, bias, and / or move the slider 320 and / or the support wheel 260 toward the disengaged position, as Fig.26 shown.

[0134] As discussed herein, in some embodiments, the motorized introducer device 200 may include multiple drive wheels and / or multiple support wheels. Thus, in some embodiments, the longitudinal motion unit 300 may include multiple drive wheels and multiple support wheels disposed therein. The multiple drive wheels may be laterally fixed in place relative to the second body 310. The multiple drive wheels may be rotatable relative to the second body 310. The multiple support wheels may be disposed within and / or coupled to the slider 320. The slider 320 and / or the multiple support wheels may be laterally movable within the second body 310. Other configurations / constructions are also contemplated.

[0135] In some embodiments with multiple drive wheels, the motorized introducer device 200 can include multiple drive gears coupled to and / or disposed within the body 210. In some embodiments, the motorized introducer device 200 can include multiple support gears configured to engage the multiple drive gears. The multiple support gears can be operably coupled to the multiple support wheels. Other configurations / configurations are also contemplated.

[0136] Figure 28-30 Schematically depicting selected aspects of a surgical system 400 that includes a motorized introducer device 200 as described herein and a support frame 410 that can be attached to an operating bed 70. In some embodiments, the motorized introducer device 200 can be secured to a tubular support frame 410. In some embodiments, the support frame 410 can be movable relative to the operating bed 70. In some embodiments, the support frame 410 can be configured to pivot relative to the operating bed 70. In some embodiments, the support frame 410 can be configured to translate laterally relative to the longitudinal axis of the operating bed 70.

[0137] In some embodiments, the support frame 410 may include a first side support 412, a second side support 414, and a horizontal member 416 extending from the first side support 412 to the second side support 414. In some embodiments, the horizontal member 416 may be fixedly attached to the first side support 412 and the second side support 414. In some embodiments, the horizontal member 416 may be movable along and / or relative to the first side support 412 and the second side support 414.

[0138] In some embodiments, the motorized introducer device 200 can be movable relative to the horizontal member 416. In some embodiments, the motorized introducer device 200 can be movable along the horizontal member 416. In some embodiments, the motorized introducer device 200 can be pivotable about the horizontal member 416. Other configurations / configurations are also contemplated, including but not limited to combinations thereof.

[0139] In some embodiments, the surgical system 400 may include the attachment mechanism 90 described herein. As discussed herein, the attachment mechanism 90 may be fixable and / or attachable to the surgical robot 50. The attachment mechanism 90 may include a fixture 100 configured to receive the handle 20 of the endoscope 10. The motorized introducer device 200 may be configured to advance, retract, and / or translate the elongated shaft 30 of the endoscope 10. The motorized introducer device 200 may be configured to advance, retract, and / or translate the elongated shaft 30 of the endoscope 10 relative to the support frame 410, the surgical bed 70, and / or a patient disposed on the surgical bed 70.

[0140] In some embodiments, the motorized introducer device 200 can be configured to advance and / or translate the elongated shaft 30 of the endoscope 10 toward and / or into the patient when the surgical robot 50 moves the handle 20 of the endoscope 10 toward the patient. In some embodiments, the motorized introducer device 200 can be configured to retract and / or translate the elongated shaft 30 of the endoscope 10 away from and / or away from the patient when the surgical robot 50 moves the handle 20 of the endoscope 10 away from the patient. Other configurations / configurations are also contemplated.

[0141] exist Figure 28-30 In some urological applications of the surgical system 400 shown, in some embodiments, the patient can position his feet toward the support frame 410. In some embodiments, the patient's feet can be set and / or positioned in stirrups, and the elongated shaft 30 of the endoscope 10 can be inserted into the patient's leg or groin. Other configurations / configurations are also contemplated. For example, in some other endoscopic procedures, the patient can position his head toward the support frame 410, and the elongated shaft 30 of the endoscope 10 can be inserted into the patient's neck, shoulder, or arm.

[0142] In some embodiments, the surgical system 400 may include a linear advancement device 450, such as Fig.31 . In some embodiments, the motorized introducer device 450 may include a frame 452. In some embodiments, the motorized introducer device 450 may include a motor 454 fixed to the frame 452. In some embodiments, the linear advancement device 450 may include an advancement mechanism 456 disposed within the frame 452 and operably coupled to the motor 454. In some embodiments, the advancement mechanism 456 may include a drive shaft, a drive belt, a drive chain, a ball screw, a rack and pinion, etc., or other suitable drive devices. In some embodiments, the motorized introducer device 450 may include at least one rail 458 extending longitudinally within the frame 452. In some embodiments, the motorized introducer device 450 may include a transport cabin 460 operably coupled to the advancement mechanism 456. In some embodiments, the transport cabin 460 may be slidably coupled to the at least one rail 458.

[0143] In some embodiments, the transport capsule 460 may include a plurality of mounting holes (not shown) configured to align with the plurality of holes 162 formed in the mounting plate 164 of the mounting structure 160. The attachment mechanism 90, the mounting structure 160, and / or the mounting plate 164 may be securable to the transport capsule 460 to facilitate axial and / or longitudinal translation of the attachment mechanism 90 and / or the endoscope 10 along the linear advancement device 450, the frame 452, and / or relative to the motorized introducer device 200. In some embodiments, the mounting structure 160 may be configured to translate linearly along the frame 452 in response to operation of the motor 454 and / or the advancement mechanism 456.

[0144] In some embodiments, the surgical system 400 can include a motorized introducer device 200 fixed to and / or fixedly attached to the frame 452 for translating the elongated shaft 30 of the endoscope 10 relative to the patient when the linear advancement device 450 translates the attachment mechanism 90 relative to the patient. For example, when the linear advancement device 450 translates the attachment mechanism 90 toward the patient, the motorized introducer device 200 can advance the elongated shaft 30 of the endoscope 10 toward and / or into the patient. Similarly, when the linear advancement device 450 translates the attachment mechanism 90 away from the patient, the motorized introducer device 200 can retract and / or withdraw the elongated shaft 30 of the endoscope 10 away from and / or away from the patient. In at least some embodiments, the surgical system 400 can be configured to operate the motorized introducer device 200 in conjunction with and / or simultaneously with the linear advancement device 450 and / or the advancement mechanism 456.

[0145] In some embodiments, the linear advancement device 450 and / or frame 452 can be fixable and / or attachable relative to an operating table (not shown). In some embodiments, the linear advancement device 450 and / or frame 452 can be removable when not in use. In some embodiments, the linear advancement device 450 and / or frame 452 can be portable and / or configured to be moved between operating rooms. Fig.31 Depicted in Fig.17 The motorized guide device 200 is shown, but such illustration should be understood to be merely exemplary, and any motorized guide device 200 described herein may be usable with and / or attachable to the linear advancement device 450 and / or frame 452.

[0146] As discussed herein, the attachment mechanism 90 and / or the second drive mechanism 180 can be configured to rotate the elongated shaft 30 and handle 20 and / or fixture 100 of the endoscope 10 relative to the mounting structure 160 and / or the patient. The attachment mechanism 90 and / or the first drive mechanism 140 can be configured to engage the handle 20 of the endoscope 10 to operate the deflection mechanism 28 and / or deflect the deflectable distal end 32 of the elongated shaft 30. In some embodiments, the first drive mechanism 140 and the second drive mechanism 180 can be operable independently of each other.

[0147] Figure 32-34 Selected aspects of one example configuration / configuration of a surgical system 400 for use with the surgical robot 50 are depicted. Fig.32 Selected movements of the surgical robot 50 , the attachment mechanism 90 , and / or the motorized introducer device 200 are depicted. Figure 33-34 Depicted are selected corresponding features and / or motions of input device 500. It should be understood that any particular feature, button, label, etc. may be mixed and matched with any other features, buttons, labels, etc. described herein.

[0148] like Fig.32 , a surgical system 400 for use with a surgical robot 50 may include an endoscope 10 including a handle 20 and an elongated shaft 30 extending distally from the handle 20. The surgical system 400 may include an attachment mechanism 90 including a fixture 100 configured to receive the handle 20 of the endoscope 10 and a mounting structure 160 configured to attach the fixture 100 to the surgical robot 50 and / or the arm 52 of the surgical robot 50. The surgical system 400 may include a motorized introducer device 200, as described herein, spaced apart from the surgical robot 50 and configured to translate the elongated shaft 30 of the endoscope 10 relative to a patient (not shown, but may be positioned on a surgical bed 70).

[0149] In at least some embodiments, the surgical system 400 may include an input device 500, selected aspects of which are Figure 33-34, which is configured to be operated using only one hand. The input device 500 can be in electronic communication with a controller 62 for the surgical robot 50. In some embodiments, the input device 500 can communicate with the controller 62 by wire. In some embodiments, the input device 500 can communicate with the controller 62 wirelessly. In some embodiments, the controller 62 can be integrated into the surgical robot 50, and the input device 500 can communicate directly with the surgical robot 50. Other configurations / constructions are also contemplated. In some embodiments, the input device 500 can be configured to control the motion and / or movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the multiple joints 54 of the surgical robot 50, and / or the motorized guide device 200 using only one hand.

[0150] The input device 500 may include a proximal end 502 and a distal end 504. Typically, when the input device 500 is held by one hand, the proximal end 502 may be disposed and / or positioned closer to the user's wrist than the distal end 504. In some embodiments, the input device 500 may include a plurality of motion sensors 560 configured to determine the position and orientation of the input device 500 in space. In at least some embodiments, the plurality of motion sensors 560 may be disposed inside the input device 500. The plurality of motion sensors 560 may be configured to sense and / or capture information related to the pitch, roll, yaw, etc. of the input device 500 relative to a reference frame. In some embodiments, the input device 500 may include at least one feedback element 570, each feedback element 570 being operably connected to a corresponding sensor (not shown) disposed at the distal tip and / or distal end of the elongated shaft 30 of the endoscope 10. In some embodiments, the at least one feedback element 570 may include a vibration, an audible signal, and / or a visual signal. In some embodiments, the corresponding sensors may include pressure sensors, temperature sensors, cameras and / or optical sensors, etc.

[0151] In some embodiments, the input device 500 may include a plurality of tactile buttons 550 operable using one hand. In some embodiments, the plurality of tactile buttons 550 may be operable using a thumb of one hand, one or more fingers of one hand, and / or a combination of a thumb and one or more fingers of one hand. In some embodiments, the plurality of tactile buttons 550 may each be mapped to a specific function. Figure 33-34Some possible mappings of multiple tactile buttons 550 are shown. It should be understood that other mappings are also contemplated. For example, some functions may be mapped to other buttons in multiple tactile buttons 550, and some additional or other functions may be mapped to multiple tactile buttons 550 as described herein. The use of multiple tactile buttons 550 may be flexible, and the mappings may be changed or varied based on user preferences, type of surgery, surgical robot capabilities, endoscope capabilities, etc.

[0152] In some embodiments, the plurality of tactile buttons 550 may include a set origin button 520 and a return to origin button 522. The set origin button 520 may be configured to set and / or store the origin position (original position, starting position) of the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200. The origin position may be defined as the desired position and / or orientation of the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200, and may be set by the user using the set origin button 520. The return to origin button 522 may be configured to return the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200 to the origin position (original position) as needed. In some embodiments, the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200 may be moved to a predefined start position and orientation. The predefined start position and orientation may be the origin position and / or may define the origin position until or unless the user redefines the origin position by setting the origin button 520. For example, after starting the surgical system 400, the user can reposition the surgical robot 50, the attachment mechanism 90, and / or the motorized guide device 200 to a second position and orientation, and then press the set origin button 520 to redefine the origin position to the second position. In some embodiments, once the set origin button 520 has been used to define the origin position or redefine the origin position from a predefined start-up position, the origin position can be fixed for the duration of the surgery. In some embodiments, the process of redefining the origin position can be repeated as needed during surgery. Other configurations / constructions are also contemplated.

[0153] In some embodiments, the plurality of tactile buttons 550 may include a calibration button 534. In some embodiments, the calibration button 534 may be configured to set a neutral reference frame for the orientation of the input device 500, wherein within the reference frame, the input device 500 has zero roll, zero pitch, zero yaw, etc. After calibration, the reference frame will be used to sense and / or capture roll, pitch, yaw, etc. during surgery. The user can use the calibration button 534 to save the orientation of the input device 500 relative to the reference frame. Thereafter, the plurality of motion sensors 560 and the reference frame will sense and / or capture the amount of commanded roll, pitch, yaw, etc. relative to the reference frame to control the motion and / or movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50.

[0154] In some embodiments, the plurality of tactile buttons 550 may include a clutch button 540. In some embodiments, the clutch button 540 may be configured as a safety guard and / or an on / off switch for movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50. Thus, the clutch button 540 may be configured to prevent unwanted movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50, which may be caused by unintentional and / or accidental movement of the input device 500 and / or unintentional and / or accidental button presses of the plurality of tactile buttons 550. In some embodiments, when the clutch button 540 is pressed, movement of the input device 500 in space and / or relative to a reference frame may control movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50. In some embodiments, when the clutch button 540 is pressed, the movement of the input device 500 in space and / or relative to the reference frame can control the movement of at least some joints of the surgical robot 50. In some embodiments, when the clutch button 540 is released, the movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the multiple joints 54 of the surgical robot 50 can be prevented. Therefore, for the user to command a specific movement or movement, the clutch button 540 should always be pressed during the movement command (e.g., the movement of the input device in space and / or pressing one or more of the multiple tactile buttons). Once the clutch button 540 is released, all movements and / or movements of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the multiple joints 54 of the surgical robot 50 will stop, and the surgical robot 50, the arm 52 of the surgical robot 50, and / or the multiple joints 54 of the surgical robot 50 will remain in their last received position and orientation and wait until the clutch button 540 is pressed again to resume the movement and / or movement.

[0155] In some embodiments, the plurality of tactile buttons 550 may include a speed mode button 536. In some embodiments, the speed mode button 536 may be used to control and / or adjust the operating speed of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50. In some embodiments, the speed mode button 536 may be configured to cycle through a plurality of speed modes, including but not limited to ultra slow, slow, normal, fast, ultra fast, etc. In some embodiments, the speed mode button 536 may be configured to change the operating speed of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 in the surgical robot 50 when moving from a known configuration to a commanded configuration. In some embodiments, a surgical procedure may have some and / or selected stages where fine and / or small movements of the surgical robot 50 are required, or alternatively fast and / or large movements. In some embodiments, the clutch button 536 can be configured to change between different mappings and / or mapping scaling between the controller 62 and the surgical robot 50 to achieve a desired operating speed of the surgical robot 50, the arm 52 of the surgical robot 50, and / or multiple joints 54 of the surgical robot 50.

[0156] In some embodiments, the plurality of tactile buttons 550 may include one or more additional buttons that are not explicitly shown. As discussed herein, in some embodiments, some of the plurality of tactile buttons 550 may be mapped differently. In some embodiments, the plurality of tactile buttons 550 may include at least one of: a flush button configured to activate fluid flushing through the endoscope 10; an image capture button configured to capture an image seen via a camera disposed inside the endoscope 10; and a memory button configured to save a second storage position (second stored position) of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50, which is the position (e.g., current position) where the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50 are currently positioned and / or oriented. In some embodiments, in addition to the origin (original) position, the second storage position of the surgical robot 50, the arm 52 in the surgical robot 50, and / or the plurality of joints 54 in the surgical robot may also be saved. In some embodiments, pressing the memory button a second time can instruct the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50 to return to a second storage position (e.g., a position saved using the memory button). Other configurations / configurations, additional buttons, and / or mapped functions are also contemplated.

[0157] In some embodiments, the plurality of tactile buttons 550 may include a deflection button 538 configured to control the first motor 130 and / or the first drive mechanism 140, thereby controlling the deflection mechanism 28 of the endoscope 10 to operate the deflectable distal tip 32 about the axis B2. In some embodiments, the amount of depression of the deflection button 538 may correspond to the amount of deflection of the deflectable distal tip 32 about the axis B2. For example, depressing the deflection button 538 by about 50% may deflect the deflectable distal tip 32 by about 50% of its movable range. Similarly, depressing the deflection button 538 by about 25% may deflect the deflectable distal tip 32 by about 25% of its movable range, depressing the deflection button 538 by about 75% may deflect the deflectable distal tip 32 by about 75% of its movable range, depressing the deflection button 538 by 100% may deflect the deflectable distal tip 32 by 100% of its movable range, and so on. In some embodiments, releasing the deflection button 538 can maintain the deflectable distal tip 32 at its then-current deflection amount. In some embodiments, different commands can be given to release or reverse the movement of the deflection mechanism 28, and / or allow the deflectable distal tip 32 to return to a neutral configuration (e.g., a straight configuration). In some embodiments, double pressing of the deflection button 538 can be configured to release or reverse the movement of the deflection mechanism 28, and / or allow the deflectable distal tip 32 to return to a neutral configuration (e.g., a straight configuration).

[0158] In some embodiments, the plurality of tactile buttons 550 may include two deflection buttons configured to control the first motor 130 and / or the first drive mechanism 140, thereby controlling the deflection mechanism 28 of the endoscope 10 to operate the deflectable distal tip 32 around the axis B2, wherein each deflection button controls a different deflection direction. For example, the first deflection button may be configured to deflect the deflectable distal tip 32 in a clockwise direction around the axis B2, and the second deflection button may be configured to deflect the deflectable distal tip 32 in a counterclockwise direction around the axis B2. Other configurations / configurations are also contemplated.

[0159] In some embodiments, the input device 500 may include a joystick 510 configured to be operated by the thumb of one hand. In some embodiments, the joystick 510 may be configured to control the second motor 170 of the attachment mechanism 90. In some embodiments, the left and right movement of the joystick 510 may control the operation of the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein relative to the mounting structure 160 about the axis B1. For example, movement of the joystick 510 to the left may command the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein counterclockwise about the axis B1, as viewed from the mounting structure 160 toward the deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10, and movement of the joystick 510 to the right may command the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein clockwise about the axis B1, as viewed from the mounting structure 160 toward the deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10. Other configurations / configurations are also contemplated.

[0160] In some embodiments, the joystick 510 can be configured to control the motor 220 and / or the motorized introducer device 200. In some embodiments, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) and distally (e.g., toward the distal end 504 of the input device 500) can control the operation of the motor 220 and / or the motorized introducer device 200 to move the elongated shaft 30 of the endoscope 10 along the axis C1 and / or the axis 202 (e.g., Fig.17 ) relative to the patient and / or through the motorized introducer device 200. For example, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) can translate the elongated shaft 30 of the endoscope 10 proximally relative to the patient and / or through the motorized introducer device 200, and movement of the joystick 510 distally (e.g., toward the distal end 504 of the input device 500) can translate the elongated shaft 30 of the endoscope 10 distally relative to the patient and / or through the motorized introducer device 200. In some embodiments, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) can withdraw and / or retract the elongated shaft 30 of the endoscope 10 away from and / or away from the patient. In some embodiments, movement of the joystick 510 distally (eg, toward the distal end 504 of the input device 500) can advance the elongated shaft 30 of the endoscope 10 toward and / or into the patient.

[0161] In some embodiments, the clutch button 540 may also be configured to prevent unwanted movement of the motorized introducer device 200 as an alternative or in addition to preventing unwanted movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 in the surgical robot 50. Thus, in some embodiments, the user may need to press the clutch button 540 in order to operate the motorized introducer device 200.

[0162] In some embodiments, the plurality of motion sensors 560 may be mapped to and / or may control selected aspects of the surgical robot 50, such as selected ones of the plurality of joints 54 of the surgical robot 50. In some embodiments, the input device 500 and the plurality of motion sensors 560 may be configured to send commands to the controller 62 to allow and / or facilitate smooth and / or dynamic movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 in the surgical robot 50.

[0163] In some embodiments, when the clutch button 540 is pressed, the movement of the input device 500 around the first axis A1 can cause the movement of a first joint of the plurality of joints 54 of the surgical robot 50 around the first robot axis RA1. In some embodiments, the first axis A1 can extend substantially from the proximal end 502 to the distal end 504 of the input device 500, and the plurality of motion sensors 560 can be configured to sense and / or measure the roll of the input device 500 around the first axis A1. Thus, when the input device 500 rolls or rotates around the first axis A1, the first joint of the plurality of joints 54 of the surgical robot 50 can rotate around the first robot axis RA1. In some embodiments, when the clutch button 540 is pressed, the movement of the input device 500 around the second axis A2 can cause the movement of a second joint of the plurality of joints 54 of the surgical robot 50 around the second robot axis RA2. In some embodiments, the second axis A2 can extend substantially perpendicular to the first axis A1, and the plurality of motion sensors 560 can be configured to sense and / or measure the yaw of the input device 500 around the second axis A1. In this way, when the input device 500 yaws or rotates around the first axis A2, the second joint of the multiple joints 54 of the surgical robot 50 can rotate around the second robot axis RA2. In some embodiments, when the clutch button 540 is pressed, the movement of the input device 500 around the third axis (not shown) can cause the third joint of the multiple joints 54 of the surgical robot 50 to move around the third robot axis (not shown). In some embodiments, the third axis can extend substantially perpendicular to the first axis A1 and the second axis A2, and the pitch of the input device 500 can be sensed and / or measured. In this way, when the input device 500 pitches or rotates around the third axis, the third joint of the multiple joints 54 of the surgical robot 50 can rotate around the third robot axis. Other configurations / constructions are also contemplated. For example, the multiple motion sensors 560 can be configured to sense and / or measure pitch around the second axis A2, rather than yaw, etc.

[0164] Figure 35-36 The selected corresponding feature and / or motion of the input device 500 is shown and can be referred back to Fig.32 , the selected movements of the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200 shown in FIG. Without limitation, Figure 35-36 Depicted are some alternative mappings of the plurality of tactile buttons 550 and / or joystick 510 of the input device 500. As discussed herein, different functions and / or movements may be mapped differently to the input device 500 depending on user preference, type of surgery, and the like.

[0165] In some embodiments, the plurality of tactile buttons 550 may include a lock mode button 528 configured to lock the surgical robot 50 and / or the attachment mechanism 90 in their current configuration (current state), position, and / or orientation. After the lock mode button 528 is activated and / or pressed, the surgical robot 50 and / or the attachment mechanism 90 and its attached motor and drive mechanism are prevented from moving. When the lock mode is enabled, movement of the input device 500 does not result in corresponding movement of the surgical robot 50 and / or the attachment mechanism 90 and its attached motor and drive mechanism. This can allow for a stable system that is not easily moved or deviated when performing tasks in situ (such as dust removal, stone basketing, etc.).

[0166] In some embodiments, the plurality of tactile buttons 550 may include an operating mode button 530 that is configured to allow all movement functions of the surgical robot 50 and / or the attachment mechanism 90. Pressing and / or activating the operating mode button 530 effectively disables the lock mode button 528 and / or counteracts the lock mode button 528. After activating and / or pressing the operating mode button 530, the surgical robot 50 and / or the attachment mechanism 90 and its attached motor and drive mechanism are allowed to move and / or operate. When the operating mode is enabled, movement of the input device 500 results in corresponding movement of the surgical robot 50 and / or the attachment mechanism 90 and its attached motor and drive mechanism.

[0167] In some embodiments, the plurality of tactile buttons 550 may include a manual positioning mode button 532 configured to allow manual movement of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50, and / or the attachment mechanism 90 without any other input from the input device 500. After activating and / or pressing the manual positioning mode button 532, the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50, and / or the attachment mechanism 90 and the motors and drive mechanisms attached thereto may be manually moved and / or repositioned by the user and / or some other person. In one example, the manual positioning mode may be used to position and / or orient the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50 in a desired position for calibration, or to save a second stored position of the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50. In another example, the manual positioning mode may be used to manually position and / or orient the endoscope 10, handle 20, and / or elongated shaft 30 in a desired position relative to the patient.

[0168] In some embodiments, the plurality of tactile buttons 550 may include an extension button 524 configured to advance the elongated shaft 30 of the endoscope 10 through the motorized introducer device 200 along the axis C1 and / or the translation axis 202 (e.g., Fig.17 ). In some embodiments, the extend button 524 can be configured to operate the motor 220 of the motorized introducer device 200 to advance the elongated shaft 30 of the endoscope 10 through the motorized introducer device 200 and / or toward the patient.

[0169] In some embodiments, the plurality of tactile buttons 550 may include a retraction button 526 configured to retract the elongated shaft 30 of the endoscope 10 through the motorized introducer device 200 along the axis C1 and / or the axis of movement 202 (e.g., Fig.17 In some embodiments, the retract button 526 can be configured to operate the motor 220 of the motorized introducer device 200 to retract the elongated shaft 30 of the endoscope 10 through the motorized introducer device 200 and / or away from the patient.

[0170] In some embodiments, the joystick 510 can be configured to control the first motor 130 of the attachment mechanism 90. In some embodiments, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) and distally (e.g., toward the distal end 504 of the input device 500) can control operation of the first motor 130 and / or the first drive mechanism 140 to operate the deflection mechanism 28 and deflect the deflectable distal end 32 of the elongated shaft 30 of the endoscope 10. For example, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) can cause the deflectable distal tip 32 of the slender shaft 30 of the endoscope 10 to deflect in a first direction (e.g., upward) about the axis B2 and / or relative to the longitudinal axis 12 (e.g., FIG. 1), and movement of the joystick 510 distally (e.g., toward the distal end 504 of the input device 500) can cause the deflectable distal tip 32 of the slender shaft 30 of the endoscope 10 to deflect in a second direction (e.g., downward) about the axis B2 and / or relative to the longitudinal axis 12 (e.g., FIG. 1) that is opposite to the first direction, or vice versa.

[0171] In some embodiments, the joystick 510 can be configured to control the second motor 170 of the attachment mechanism 90. In some embodiments, left and right movement of the joystick 510 can control the operation of the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein about the axis B1 relative to the mounting structure 160. For example, movement of the joystick 510 to the left can command the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein counterclockwise about the axis B1, as viewed from the mounting structure 160 toward the deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10, and movement of the joystick 510 to the right can command the second motor 170 and / or the second drive mechanism 180 to rotate the fixture 100 and / or the handle 20 disposed therein about the axis B1 clockwise, as viewed from the mounting structure 160 toward the deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10. Other configurations / configurations are also contemplated.

[0172] Other configurations and / or mappings for the input device 500, joystick 510, and / or multiple tactile buttons 550 are also contemplated, including but not limited to combinations of the configurations and / or mappings disclosed herein. In some embodiments, the joystick 510 and / or multiple tactile buttons 550 and / or various combinations thereof can guide the movement of the surgical robot 50 without using input from any of the multiple motion sensors 560 (e.g., the movement of the input device 500 in space has no effect on the surgical robot 50). Therefore, in some embodiments, the input device 500 may not have multiple motion sensors 560, while still being configured to control multiple axes and / or motion angles of the surgical robot 50, the arm 52 of the surgical robot 50, the multiple joints 54 in the surgical robot 50, and / or the motorized introducer device 200.

[0173] The materials that can be used for the various components of the systems disclosed herein and their various elements may include materials that are commonly associated with medical devices. For simplicity, the following discussion relates to the system. However, this is not intended to limit the systems, devices and / or methods described herein, as such discussion can be applied to other elements, components, assemblies or devices disclosed herein, such as but not limited to attachment mechanisms, fixtures, motorized guide devices, support frames, input devices, etc. and / or their elements or assemblies.

[0174] In some embodiments, the system and / or components thereof may be made of metals, metal alloys, polymers (some examples of which are disclosed below), metal-polymer composites, ceramics, combinations thereof, or the like, or other suitable materials.

[0175] Some examples of suitable polymers may include polytetrafluoroethylene (PTFE), ethylene tetrafluoroethylene (ETFE), fluorinated ethylene propylene (FEP), polyoxymethylene (POM, e.g. ), polyether block esters, polyurethanes (e.g., polyurethane 85A), polypropylene (PP), polyvinyl chloride (PVC), polyether esters (e.g., ), ether or ester based copolymers (e.g., butylene / poly(alkylene ether) phthalates and / or other polyester elastomers, such as ), polyamides (e.g. or ), elastic polyamides, block polyamide / ether, polyether block amide (PEBA, for example, available under the trade name obtained under the following conditions), ethylene vinyl acetate copolymer (EVA), silicone, polyethylene (PE), High density polyethylene, Low-density polyethylene, linear low-density polyethylene (e.g. ), polyester, polybutylene terephthalate (PBT), polyethylene terephthalate (PET), polyethylene terephthalate, polyethylene naphthalate (PEN), polyetheretherketone (PEEK), polyimide (PI), polyetherimide (PEI), polyphenylene sulfide (PPS), polyethylene oxide (PPO), polyterephthalamide (e.g. ), polysulfone, nylon, nylon-12 (e.g. ), perfluoro(propyl vinyl ether) (PFA), ethylene vinyl alcohol, polyolefins, polystyrene, epoxy, polyvinylidene chloride (PVdC), poly(styrene-b-isobutylene-b-styrene) (e.g., SIBS and / or SIBS50A), polycarbonate, polyurethane-silicone copolymers (e.g. or ), biocompatible polymers, other suitable materials, or mixtures, combinations, copolymers, polymer / metal composites, etc. thereof. In some embodiments, the system and / or its components can be blended with a liquid crystal polymer (LCP). For example, the mixture can contain up to about 6% LCP.

[0176] Some examples of suitable metals and metal alloys include stainless steels, such as 304V, 304L, and 316LV stainless steels; low carbon steels; nickel-titanium alloys, such as linear elastic and / or superelastic nitinol; other nickel alloys, such as nickel-chromium-molybdenum alloys (e.g., UNS: N06625, such as 625, UNS: N06022, such as UNS: N10276, such as other alloys, etc.), nickel-copper alloys (such as UNS: N04400, such as 400, 400, 400, etc.), nickel-cobalt-chromium-molybdenum alloys (such as UNS: R30035, such as etc.), nickel-molybdenum alloys (e.g. UNS: 10665, such as ALLOY ), other nickel-chromium alloys, other nickel-molybdenum alloys, other nickel-cobalt alloys, other nickel-iron alloys, other nickel-copper alloys, other nickel-tungsten or tungsten alloys, etc.; cobalt-chromium alloys; cobalt-chromium-molybdenum alloys (e.g., UNS: R30003, e.g. etc.); platinum-rich stainless steel; titanium; platinum; palladium; gold; combinations thereof; or any other suitable material.

[0177] In some embodiments, the systems and / or other elements disclosed herein may include and / or be treated with a suitable therapeutic agent. Some examples of suitable therapeutic agents may include antithrombotic agents (such as heparin, heparin derivatives, urokinase, and PPack (dextrorotatory phenylalanine proline arginine chloromethyl ketone)); antiprotein and / or antibacterial agents (e.g., 2-methacryloyloxyethyl phosphorylcholine (MPC) and its polymers or copolymers); antiproliferative agents (e.g., enoxaparin, angiopeptin, monoclonal antibodies capable of blocking smooth muscle cell proliferation, hirudin, and acetylsalicylic acid); anti-inflammatory agents (e.g., dexamethasone, prednisolone, corticosterone, budesonide, estrogen, sulfasalazine, and mesalamine); antitumor / antiproliferative / antimitotic agents (e.g., paclitaxel, 5-fluorouracil, cisplatin, vinblastine, vincristine, epothilones, endostatin, angiostatin, and thymidine kinase inhibitors); anesthetics (e.g., lidocaine, bupivacaine, and ropivacaine); Caine); anticoagulants (e.g., D-Phe-Pro-Arg chloromethyl ketone, compounds containing RGD peptides, heparin, antithrombin compounds, platelet receptor antagonists, antithrombin antibodies, antiplatelet receptor antibodies, aspirin, prostaglandin inhibitors, platelet inhibitors, and tick antiplatelet peptides); vascular cell growth promoters (e.g., growth factor inhibitors, growth factor receptor antagonists, transcription activators, and translation initiators); vascular cell growth inhibitors (e.g., growth factor inhibitors, growth factor receptor antagonists, transcription repressors, translation repressors, replication inhibitors, inhibitory antibodies, antibodies to growth factors, bifunctional molecules consisting of growth factors and cytotoxins, bifunctional molecules consisting of antibodies and cytotoxins); cholesterol-lowering agents; vasodilators; and agents that interfere with endogenous vasoactive mechanisms.

[0178] It should be understood that the present disclosure is merely illustrative in many respects. Changes may be made in detail, particularly in shape, size, and arrangement of steps, without exceeding the scope of the present disclosure. To the extent appropriate, this may include using any features of an exemplary embodiment used in other embodiments. Of course, the scope of the disclosure provided is defined in the language of the appended claims.

Claims

1. A surgical system for use with a surgical robot, comprising: an endoscope comprising a handle and an elongated shaft extending distally from the handle; an attachment mechanism comprising a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot; a motorized introducer device spaced apart from the surgical robot and configured to translate the elongated shaft of the endoscope relative to a patient; and An input device configured to be operated using only one hand, the input device comprising: a plurality of tactile buttons operable using the one hand; and A joystick configured to be operated by a thumb of the one hand.

2. The surgical system of claim 1, wherein: The plurality of tactile buttons include a set origin button and a return to origin button.

3. The surgical system of any one of claims 1-2, wherein the plurality of tactile buttons comprises: an extension button configured to advance the shaft of the endoscope through the motorized introducer device; and A retraction button is configured to retract the shaft of the endoscope through the motorized introducer device.

4. The surgical system according to any one of claims 1 to 3, wherein: The plurality of tactile buttons include a lock mode button configured to lock the surgical robot and the attachment mechanism in their current states and an operation mode button configured to allow all movement functions of the surgical robot and the attachment mechanism.

5. The surgical system according to any one of claims 1 to 4, wherein: The fixture includes a first motor operably coupled to a first drive mechanism configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope; and Wherein, the mounting structure includes a second motor operably coupled to a second drive mechanism, the second drive mechanism being configured to rotate the fixture relative to the mounting structure.

6. The surgical system of claim 5, wherein: The joystick is configured to control the first motor and the second motor.

7. The surgical system of any one of claims 1-6, wherein the plurality of tactile buttons comprises at least one of: a manual positioning mode button configured to allow manual movement of the surgical robot without any other input from the input device, a speed mode button, the speed mode button being configured to change the operating speed of the surgical robot, a flush button configured to activate flushing of a fluid through the endoscope, an image capture button configured to capture an image viewed via a camera disposed inside the endoscope, and A memory button is configured to save a second storage position of the surgical robot.

8. The surgical system according to any one of claims 1 to 7, wherein: The input device includes at least one feedback element, each feedback element being operably connected to a corresponding sensor disposed at a distal tip of the elongated shaft of the endoscope.

9. The surgical system according to any one of claims 1 to 8: in, The plurality of tactile buttons includes a clutch button; wherein the input device comprises a plurality of motion sensors configured to determine a position and orientation of the input device in space; wherein when the clutch button is pressed, movement of the input device in space controls movement of at least some joints of the surgical robot; Wherein, when the clutch button is released, the movement of the surgical robot is prevented.

10. The surgical system of claim 9, wherein: The plurality of tactile buttons includes a calibration button configured to reset a reference frame of the plurality of motion sensors.

11. The surgical system according to any one of claims 9 to 10, wherein: The fixture includes a first motor operably coupled to a first drive mechanism configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope; and Wherein, the mounting structure includes a second motor operably coupled to a second drive mechanism, the second drive mechanism being configured to rotate the fixture relative to the mounting structure.

12. The surgical system of claim 11, wherein: The joystick is configured to control the second motor and the motorized introducer device.

13. The surgical system of any one of claims 11-12, wherein the plurality of tactile buttons includes a deflection button configured to control the first motor.

14. The surgical system of any one of claims 10-13, wherein: When the clutch button is pressed, movement of the input device about the first axis causes movement of the first joint of the surgical robot about the first robot axis; When the clutch button is pressed, movement of the input device around the second axis causes movement of the second joint of the surgical robot around the second robot axis.

15. A surgical system for use with a surgical robot, comprising: an endoscope comprising a handle and an elongated shaft extending distally from the handle; an attachment mechanism comprising a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot; a motorized introducer device spaced apart from the surgical robot and configured to translate the elongated shaft of the endoscope relative to a patient; and An input device configured to control the movement of the surgical robot and / or the motorized introducer device using only one hand.

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