Attachment mechanism for using endoscope with surgical robot

Abstract

An attachment mechanism for using an endoscope with a surgical robot may include a fixture configured to receive a handle of the endoscope such that a longitudinal axis of the handle is oriented parallel to a longitudinal axis of the fixture and an elongate shaft of the endoscope extends distally away from the fixture; and a mounting structure fixed to the fixing device. The mounting structure is configured to attach the fixation device to the surgical robot. The securing device includes a retention mechanism configured to releasably secure the handle within the securing device. 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.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 345,522, filed on May 25, 2022, which is incorporated herein by reference. Technical Field

[0003] The present invention relates to medical devices and systems, and methods for making and using medical devices and systems. More particularly, the present invention relates to endoscopic devices and surgical systems using endoscopic devices with surgical robots. Background Art

[0004] Endoscopic devices are used in various diagnostic and surgical procedures. For example, flexible ureteroscopes are used for examination and treatment of the kidneys, and may generally include features that can improve accessibility to the treatment site and comfort for the patient. Flexible endoscopic devices may be provided with a flexible shaft and / or a flexible top segment that is controlled by a physician via manipulation of various components of a handle attached to the scope. This manipulation enables the physician to manipulate the top of the scope to various locations in the body (e.g., various locations within the kidney). Additionally, endoscopes are typically used in conjunction with other medical devices during medical procedures. For example, a urologist may use a flexible ureteroscope combined 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 surgeries may require not only manipulation of various features of the endoscope to control the top of the endoscope, but also the introduction and manipulation of auxiliary devices used in conjunction with the endoscope.

[0005] Additionally, the field of medical robots is developing rapidly, with innovations focused on simplifying surgery, 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, thereby allowing more physicians to successfully treat patients. Surgical robots can enhance precision, flexibility, and control during surgery, and can allow surgeons to improve visibility of the surgical site compared to traditional techniques performed via integrated and / or associated camera systems. In some cases, surgical robots can make minimally invasive surgery possible, thereby reducing complications, patient pain, recovery time, and / or scarring.

[0006] During endoscopy and urological surgery, flexible endoscopes and accessory devices can be used to access anatomical structures. It may be challenging to navigate a flexible endoscope into and / or through an anatomical structure. Generally, a handle alone cannot be used to insert and / or advance the shaft because the shaft tends to buckle when encountering a reaction force, such as when an obstruction or when encountering a tortuous anatomical structure. Typically, a practitioner can use two hands to operate the endoscope - one hand controls the rotation of the shaft and the deflection of the top via the handle, and the other hand controls the flexible shaft and inserts it into the anatomical structure. Additionally, the repeatability of various actions may be difficult and / or may cause a physical burden on the user. Manual manipulation of the endoscope may introduce the opportunity to transmit unnecessary hand movements to the patient's anatomical structure. If a surgical robot can be adapted for use with a manual endoscope, the surgical robot can provide various opportunities for improvement.

[0007] The present invention relates to devices and / or methods for using an endoscope with a surgical robot. Each of the known medical devices, systems and methods 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

[0008] In one example, an attachment mechanism for using an endoscope with a surgical robot may include a fixture configured to receive a handle of the endoscope such that a longitudinal axis of the handle is oriented parallel to a longitudinal axis of the fixture and an 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 of the endoscope to operate a deflection mechanism of the endoscope.

[0009] Additionally or alternatively to any of the examples described herein, the mounting structure includes a plurality of holes formed in the mounting plate, the plurality of holes configured to align with a plurality of mounting holes formed in a distal flange of the surgical robot.

[0010] Additionally or alternatively to any of the examples described herein, a longitudinal axis of the fixture extends generally perpendicular to the mounting plate.

[0011] Additionally or alternatively to any of the examples described herein, a longitudinal axis of the fixture extends generally parallel to the mounting plate.

[0012] Additionally or alternatively to any examples described herein, the retaining mechanism includes a clamping portion and a latching portion.

[0013] Additionally or alternatively to any of the examples described herein, the clamping portion is movably attached to the fixture and is configured to rotate about a pivot axis that is substantially parallel to a longitudinal axis of the fixture.

[0014] Additionally or alternatively to any of the examples described herein, the clamping portion is configured to cooperate with the securing device to surround at least a portion of the handle in the closed configuration.

[0015] Additionally or alternatively to any examples described herein, the latch portion is configured to secure the clamping portion in a closed configuration relative to the securing device.

[0016] Additionally or alternatively to any of the examples described herein, the mounting structure includes a second motor operably coupled to a second drive mechanism configured to rotate the fixture relative to the mounting structure.

[0017] Additionally or alternatively to any of the examples described herein, the second drive mechanism includes a drive belt engaged with a plurality of pulleys.

[0018] Additionally or alternatively to any of the examples described herein, each of the plurality of pulleys includes an axis of rotation oriented parallel to a longitudinal axis of the fixture.

[0019] Additionally or alternatively to any of the examples described herein, the first drive mechanism includes a plurality of gears operably connecting the first motor to a drive shaft configured to engage the deflection mechanism.

[0020] Additionally or alternatively to any of the examples described herein, an attachment mechanism for using an endoscope with a surgical robot may include a fixture configured to receive a handle of the endoscope such that a longitudinal axis of the handle is oriented parallel to a longitudinal axis of the fixture and an 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 of the endoscope to operate a deflection mechanism of the endoscope. The mounting structure may include a plurality of holes formed in a mounting plate, the plurality of holes being configured to align with a plurality of mounting holes formed in a distal flange of the surgical robot. The mounting structure may include a pivot mechanism disposed between the mounting plate and the fixture, the pivot mechanism being configured to switch the fixture between a first position relative to the mounting plate and a second position relative to the mounting plate.

[0021] Additionally or alternatively to any of the examples described herein, in the first position, a longitudinal axis of the fixture extends substantially perpendicular to the mounting plate.

[0022] Additionally or alternatively to any of the examples described herein, in the second position, a longitudinal axis of the fixture extends substantially parallel to the mounting plate.

[0023] Additionally or alternatively to any of the examples described herein, the fixture is configured to rotate about its longitudinal axis without rotating the mounting structure.

[0024] Additionally or alternatively to any of the examples described herein, the mounting structure includes a first gear that engages with a second gear within the pivot mechanism, and wherein the first gear and the second gear are configured to rotate the fixture about its longitudinal axis without rotating the mounting structure between the first position and the second position.

[0025] Additionally or alternatively to any examples described herein, the first gear has a first rotational axis and the second gear has a second rotational axis. In the first position, the first rotational axis is oriented coaxially with the second rotational axis, and in the second position, the first rotational axis is oriented substantially perpendicular to the second rotational axis.

[0026] Additionally or alternatively to any of the examples described herein, the pivot mechanism is manually actuated to switch the securing device between the first position and the second position.

[0027] Additionally or alternatively to any of the examples herein, a universal attachment mechanism for using any of a plurality of endoscopes with a surgical robot may include a fixture configured to receive a handle of any of the plurality of endoscopes such that a longitudinal axis of the handle is oriented parallel to a longitudinal axis of the fixture and an 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.

[0028] The above summary of some embodiments, aspects, and / or examples is not intended to describe each disclosed embodiment or every implementation of the present invention. The following figures and detailed description more particularly exemplify these embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention may be more fully understood by considering the following detailed description taken in conjunction with the accompanying drawings, in which:

[0030] FIG1 is a schematic illustration of an endoscope;

[0031] Figure 2 is a schematic illustration of a surgical robot;

[0032] Figure 3 is a schematic illustration of a surgical robot;

[0033] Figures 4 to 5 is a partially exploded view of a fixture configured to receive a handle of an endoscope;

[0034] Figure 6 Shows the settings in Figures 4 to 5 The handle of the endoscope within the fixing device;

[0035] Figure 7 is attached to Figure 3 Surgical Robot Figure 6 Schematic diagram of the endoscope and fixation device;

[0036] Figure 8 Selected aspects of an attachment mechanism for using an endoscope with a surgical robot are shown;

[0037] Fig. 9 Selected aspects of an attachment mechanism for using an endoscope with a surgical robot are shown;

[0038] Fig.10 Selected aspects of an attachment mechanism for using an endoscope with a surgical robot are shown;

[0039] Fig.11 It is shown Figures 9 and 10 A partially exploded view of selected aspects of the attachment mechanism;

[0040] Fig.12 is a schematic illustration of selected aspects of alternative configurations of attachment mechanisms for using an endoscope with a surgical robot;

[0041] Fig.13 is a schematic illustration of selected aspects of alternative configurations of attachment mechanisms for using an endoscope with a surgical robot;

[0042] FIG. 14A to FIG. 14D A general attachment mechanism for using any of a number of endoscopes with a surgical robot is schematically illustrated;

[0043] FIG. 15A to FIG. 15C schematically illustrates an additional example of an endoscope in the plurality of endoscopes of FIG. 14 ;

[0044] Fig.16is a schematic illustration of selected aspects of alternative configurations of attachment mechanisms for use of an endoscope with a surgical robot and / or a linear propulsion device;

[0045] Fig.17 Selected aspects of a motorized introducer device are shown;

[0046] Fig.18 Selected aspects of a motorized introducer device are shown;

[0047] Figures 19 to 21 Shows Fig.18 selected aspects of the configuration of the motorized introducer device;

[0048] Figure 22 to Figure 24 Shows Fig.18 selected aspects of the configuration of the motorized introducer device;

[0049] Figure 25 to Figure 27 Shows Fig.18 selected aspects of the configuration of the motorized introducer device;

[0050] Fig.28 Shown are selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0051] Fig.29 Shown are selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0052] Fig.30 Shown are selected aspects of a surgical system including a support frame attachable to a surgical bed;

[0053] Fig.31 Selected aspects of a surgical system including a linear advancement device and a motorized introducer apparatus are shown; and

[0054] Figure 32 to Figure 36 Selected aspects of a surgical system for use with a surgical robot are shown.

[0055] Although the various aspects of the present invention are suitable for various modifications and alternative forms, the specific details thereof have been shown in the drawings by way of example and will be described in more detail. However, it should be understood that it is not intended to limit the various aspects of the present invention 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 invention. DETAILED DESCRIPTION

[0056] The following description should be read with reference to the accompanying drawings, which are not necessarily drawn to scale, in which the same reference numerals in the several views indicate the same elements. The detailed description and the accompanying drawings are intended to illustrate rather than limit the present invention. 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 invention. The detailed description and the accompanying drawings illustrate exemplary aspects of the present invention.

[0057] For the following defined terms, these definitions shall apply unless a different definition is given in the claims or elsewhere in this specification.

[0058] All numerical values ​​are assumed to be modified by the term "about" herein, whether or not explicitly indicated. In the context of numerical values, the term "about" generally refers to a numerical range that is considered by those skilled in the art to be equivalent to the quoted value (e.g., having the same function or result). In many cases, the term "about" may include numbers rounded to the nearest significant figure. Unless otherwise specified, the term "about" (e.g., in contexts other than numerical values) may be assumed to have its ordinary and customary definition, as understood and consistent with the context of this specification.

[0059] 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).

[0060] Although some suitable sizes, ranges and / or values ​​are disclosed for various components, properties and / or specifications, those skilled in the art to which the present invention relates will understand that the desired sizes, ranges and / or values ​​may be derived from those explicitly disclosed.

[0061] As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly indicates otherwise. As used in this specification and the appended claims, the term "or" is generally used in a sense that includes "and / or" unless the content clearly indicates otherwise. It should be noted that, for ease of understanding, certain features of the present invention may be described in the singular, even though those features may be plural or repeated in the disclosed embodiments. Each instance of a feature may include and / or contain the singular disclosure unless expressly indicated to the contrary. For simplicity and clarity, not all elements of the present invention will necessarily be shown in each figure or discussed in detail below. However, it should be understood that unless expressly stated to the contrary, the following discussion may apply equally to any and / or all of the components where there is more than one.

[0062] Relative terms, such as "proximal", "distal", "advance", "retract", variations thereof, etc., may generally be considered with respect to the positioning, orientation and / or operation of various elements relative to a user / operator / manipulator of the device, wherein "proximal" and "retract" mean or refer to being closer to or toward the user and "distal" and "advance" mean or refer to being farther from or away from the user. In some cases, the terms "proximal" and "distal" may be arbitrarily assigned to facilitate understanding of the present invention, and such circumstances will be apparent to the skilled person. Other relative terms, such as "upstream", "downstream", "inflow" and "outflow" refer to the direction of fluid flow in a cavity, such as a body cavity, a blood vessel, or within a device. Other relative terms, such as "axial", "circumferential", "longitudinal", "lateral", "radial", etc., and / or variations thereof, generally refer to the direction and / or orientation relative to the central longitudinal axis of the disclosed structure or device.

[0063] The terms "integral" and "unitary" shall generally refer to an element or elements that are made or composed of a single structure or base unit / element. Integral and / or unitary elements shall exclude structures and / or features that result from assembling or otherwise combining together multiple discrete structures or elements.

[0064] It should be noted that references in the specification to "one embodiment", "some embodiments", "other embodiments", etc. indicate that the described embodiments may include a particular feature, structure, or characteristic, but each embodiment may not necessarily include the particular feature, structure, or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to use the particular feature, structure, or characteristic in conjunction with other embodiments, whether or not explicitly described, unless explicitly stated to the contrary. That is, the various individual elements described below, even if not explicitly shown in a particular combination, can still be considered to be combinable or arranged with each other to form other additional embodiments, or to supplement and / or enrich the described embodiments, as will be understood by those of ordinary skill in the art.

[0065] For the sake of clarity, certain identifying digital 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 is to be understood that the digital nomenclature is not intended to be limiting and is merely exemplary. In certain embodiments, for the sake of brevity and clarity, the digital nomenclature previously used can be changed and deviate from. That is, the feature identified as a "first" element can be referred to as a "second" element, a "third" element, etc., later, or can be omitted completely, and / or different features can be referred to as a "first" element. The meaning and / or name in each case will be apparent to the technician.

[0066] The accompanying drawings illustrate selected components and / or arrangements of medical devices and / or systems and methods of use thereof. It should be noted that in any given drawing, some features of an endoprosthesis or stent may not be shown or may be shown schematically for simplicity. Additional details about some of the components of the system may be shown in more detail in other figures. It should be noted that, for ease of understanding, certain features of the present invention may be described in the singular, even though those features may be plural or repeated in the disclosed embodiments. Each instance of a feature may include and / or contain the singular disclosure unless expressly indicated to the contrary. Therefore, it will be understood that the following discussion may apply equally to any and / or all of the components of more than one endoprosthesis or stent, unless expressly indicated to the contrary.

[0067] In any given figure, some features may not be shown, or may be shown schematically, for clarity and / or simplicity. Additional details about some components and / or method steps may be shown in more detail in other figures. The devices and / or methods disclosed herein can provide many desired features and benefits, as described in more detail below.

[0068] FIG. 1 illustrates selected aspects of an endoscope 10. The endoscope 10 can be any of a plurality of endoscopes. In some embodiments, the plurality of endoscopes can be known in the art. In at least some embodiments, the endoscope 10 can be a flexible ureteroscope. The endoscope 10 can include a handle 20 and an elongated shaft 30 extending distally from the handle 20. The endoscope 10 and / or the handle 20 can include a longitudinal axis 12 extending generally along the handle 20 and / or the elongated shaft 30. In some embodiments, the longitudinal axis 12 can be coaxial with the elongated shaft 30.

[0069] 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.

[0070] The handle 20 of the endoscope 10 may include a distal end 22, a proximal end 24, and an intermediate region 26 positioned between the distal end 22 and the proximal end 24. The intermediate region 26 may be sized, shaped, and / or configured to be gripped by a user's hand. Typically, the elongated shaft 30 may be in the form of a polymer or metal tube. In some embodiments, the elongated shaft 30 may be constructed with a reinforcing braid, liner, mesh, braid, or the like. The elongated shaft 30 may include a cavity defining a working channel extending from the distal region of the elongated shaft 30 through the elongated shaft 30 to an access port 21 located at and / or connected to the handle 20. In some embodiments, the elongated shaft 30 may include multiple working channels as desired.

[0071] The deflectable distal tip 32 of the elongated shaft 30 of the endoscope 10 may include an optical and lighting device disposed therein. The optical and lighting device may be configured to provide optical visualization of the area of ​​the patient being treated and / or traversed by the deflectable distal tip 32. The handle 20 of the endoscope 10 may include an electronic and / or optical connector 23 configured to connect the optical and lighting device of the endoscope 10 to a controller, monitor, display, computer, etc.

[0072] The handle 20 may include a deflection mechanism 28 operably connected to the deflectable distal tip 32 of the elongated shaft 30, which can 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 can control the up and down movement or deflection of the deflectable distal tip 32 of the elongated shaft 30. The deflection mechanism 28 can be disposed proximate to the proximal end 24 of the handle 20. The deflection mechanism 28 can 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 holding the intermediate region 26. The deflection mechanism 28 can include a keyed hole 29 formed therein. The deflection mechanism 28 can include one or more gears, pulleys, cables, wires, filaments, etc., which are disposed within the handle 20 and / or extend into the elongated shaft 30. The deflection mechanism 28 can include a self-locking or friction locking type knob that maintains the deflection mechanism 28 and / or the deflectable distal tip 32 in its deflected position after release.

[0073] The handle 20 may also include one or more buttons that can be used to activate the infusion and / or aspiration of fluids, such as air, saline, water, and / or blood, through the lumen of the endoscope 10 or to perform other functions as desired. These are merely examples. Other configurations, variations, and / or features of the endoscope 10 are also contemplated.

[0074] Figure 2 and Figure 3An example of a surgical robot 50 is schematically shown. 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 a plurality of axes of motion.

[0075] 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 within 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 parts and components of the surgical robot 50 and / or the arm 52.

[0076] In some embodiments, and as Figure 3 As shown, the surgical robot 50 can be a KUKA LBR Med robot from KUKA Deutschland GmbH. Other surgical robots for use with aspects of the present invention 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.

[0077] In some embodiments of the present invention, an attachment mechanism 90 (e.g., Figures 7 to 13 ) may include a fixing device 100, such as Figures 4 to 5 As seen in FIG. 1 , it is configured to receive the handle 20 of the endoscope 10 such that the longitudinal axis 12 of the endoscope 10 and / or the handle 20 is oriented substantially parallel to the longitudinal axis 12 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 6In 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.

[0078] In some embodiments, the fixture 100 may 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 may include a clamping portion 122 and a latching portion 124. In some embodiments, the clamping portion 122 may be movably attached to the fixture 100 and configured to rotate about a pivot axis 126 between a closed configuration and an open configuration, the pivot axis 126 being oriented substantially parallel to the longitudinal axis of the fixture 100. The clamping portion 122 may be removably attached to the fixture 100 and may be configured to rotate about a pivot axis 126 between a closed configuration and an open configuration. Figure 4 and Figure 5 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 in a closed configuration relative to the fixture 100 .

[0079] In some embodiments, the latch portion 124 may include one or more links configured to pivot away from the clamping portion 122 to release the clamping portion 122 and allow the clamping portion 122 to switch from the closed configuration to the open configuration. In some embodiments, the latch 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 switch 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 latch portion 124 may snap onto the clamping portion 122 in the closed configuration. Other configurations are also contemplated.

[0080] 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 that operably connect 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.

[0081] In some embodiments, the plurality of gears can 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 can be directly engaged with the first gear 142. In some embodiments, the fixture 100 and / or the first drive mechanism 140 can include a first drive mechanism cover 150 that can be attached to the fixture 100 at least above the first gear 142. Although the first drive mechanism cover 150 is not expressly necessary for proper operation, the first drive mechanism cover 150 can be provided to eliminate one or more pinch points and / or reduce contamination and / or interference with the first drive mechanism 140.

[0082] like Figure 5 As seen in the partially exploded view of the second gear 144, the second gear 144 can be operably coupled to the drive shaft 146. The drive shaft 146 can include a keyed top 148 configured to engage the keyed 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 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 keyed structure configured to non-rotatably engage the first end of the drive shaft 146 opposite the keyed top 148. The drive shaft 146 can be fixed to the second gear cover 152 by fasteners, such as bolts, screws, 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 its components or elements are described below, for example, metal materials, polymer materials, combinations thereof, etc.

[0083] like Figure 7, the attachment mechanism 90 may 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 may include a mounting structure 160 fixed to the fixture 100. The mounting structure 160 may be 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.

[0084] Figures 8 to 10 Some example configurations of attachment mechanisms 90 according to the present invention are shown. Other configurations are also contemplated. In some embodiments, the mounting structure 160 may include a plurality of holes 162 formed in a mounting plate 164. The plurality of holes 162 may be configured to align 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 configured to cooperatively 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.

[0085] 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 10. 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 an entry path into the patient's body. 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 endoscope 10 and / or the handle 20. The first motor 130 and / or the first drive mechanism 140 can be configured to operate the deflection mechanism 28, as described herein.

[0086] 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 Fig.10 In this configuration, the handle 20 and 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 8Similar to the configuration of , first motor 130 and / or first drive mechanism 140 may be configured to operate deflection mechanism 28 as described herein.

[0087] 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 endoscope 10 and / or the handle 20. 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 configuration of Fig. 9 and Fig.10 The addition of the second drive mechanism 180 to the configuration can more directly control 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 can be rotated without any movement of the surgical robot 50 and / or the arm 52 of the surgical robot 50.

[0088] In some embodiments, the mounting structure 160 may include at least one grip handle 161 that is fixedly attached to the mounting plate 164 and / or formed integrally therewith, such as Fig.10 At least one grasping 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.

[0089] In some embodiments, the second drive mechanism 180 may include a drive belt 182 engaged with a plurality of pulleys, such as Fig.11. 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 that is 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.

[0090] 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 by the 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 may be attached to the mounting structure 160 over a plurality of slides. While it is not expressly necessary for the second drive mechanism cover 180 to function properly, the second drive mechanism cover 190 may be provided to eliminate one or more pinch points and / or reduce contamination and / or interference with the second drive mechanism 180.

[0091] Fig.12 is a schematic illustration showing selected aspects of alternative configurations of the attachment mechanism 90 for use of the endoscope 10 with the surgical robot 50. As described above, the attachment mechanism 90 can include a fixture 100 and a mounting structure 160. In at least some embodiments, the mounting structure 160 can include a pivot mechanism 168 disposed between a mounting plate 164 and the fixture 100. In some embodiments, the pivot mechanism 168 can be configured to selectively position the fixture 100 and / or a handle 20 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 orientations.

[0092] 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 similar to the vertical orientation of the handle 20 used by a physician when manually operating the endoscope 10 in situ, which can facilitate switching the endoscope 10 into the fixture 100 without causing the endoscope 10 and / or the elongated shaft 30 to accidentally move in situ.

[0093] In at least some embodiments, the pivot mechanism 168 can be manually actuated to switch the fixture 100 between the first position and the second position. For example, the pivot mechanism 168 can be in a normally locked configuration at 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 normal locked configuration to the unlocked configuration. In the unlocked configuration, the pivot mechanism 168 can freely pivot the fixture 100 between the first position and the second position. In some embodiments, when the pivot mechanism 168 reaches or reaches the first position and / or the second position, the normal locked configuration and / or the release button can automatically reengage. 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 with a motor or actuator. Other configurations including combinations thereof can also be envisioned.

[0094] 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 about the longitudinal axis 102, 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 structure 168 relative to the surgical robot 50 and / or the arm 52 of the surgical robot.

[0095] Fig.13 is a schematic illustration showing 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 configuration shown in Fig.12 100 in that 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.

[0096] In some embodiments, Fig.13 The mounting structure 160 and / or the pivot mechanism 168 may 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 may be offset from the point of engagement.

[0097] The first gear 167 and the second gear 169 of the mounting structure 160 and / or the pivot mechanism 168 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. Figures 9 to 11 , while retaining the ability to selectively position the fixture 100 and / or the handle 20 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 orientations (e.g., the ability to pivot the fixture 100).

[0098] In at least some embodiments, the first gear 167 and the second gear 169 of the mounting structure 160 and / or the pivot mechanism 168 can be crown gears that allow for engagement at multiple angles between the first gear 167 and the second gear 169. The first gear 167 and the second gear 169 of the mounting structure 160 and / or the pivot mechanism 168 can be configured to rotate the fixture 100 about its longitudinal axis 102 in the first position, the second position, and / or any intermediate position between the first position and the second position.

[0099] 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, the first rotation axis R1 may be coaxially oriented with the second rotation axis R2 in the first position. In some embodiments, the first rotation axis R1 may be oriented substantially perpendicular to the second rotation axis R2 in the second position. In some embodiments, the first rotation axis R1 may be oriented at an oblique angle to the second rotation axis R2 in any intermediate position between the first position and the second position.

[0100] FIG. 14A to FIG. 14D The concept of a universal attachment mechanism for using any of a plurality of endoscopes with a surgical robot 50 and / or attaching any of a plurality of endoscopes to a surgical robot 50 is schematically illustrated. In some embodiments, according to the attachment mechanism and / or fixture 100 disclosed herein, the fixture of the universal attachment mechanism can be configured to receive a handle of any and / or each of a plurality of endoscopes. 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.

[0101] In some embodiments, a universal attachment mechanism for using any of a plurality of endoscopes with the 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 oriented 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 fixed 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 features, elements, and / or features disclosed herein may also be contemplated for use with the universal attachment mechanism.

[0102] 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 (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. FIG. 15A to FIG. 15C Some examples of additional endoscope and / or endoscope handle designs that may be used with the universal attachment mechanism are schematically shown, including but not limited to having a single-axis deflectable tip (e.g., Fig.15A ) and a relatively simple handle, an endoscope with a multi-axis deflectable tip (e.g., Fig. 15B ) and endoscopes with more complex handles and / or endoscopes having a powered and / or motorized module attached and / or integrated into the handle and configured to operate the deflectable tip (e.g., Fig. 15C ). Other configurations are also contemplated.

[0103] Fig.16 The endoscope 10 is connected to the surgical robot 50 and / or the linear propulsion device 450 (eg, Fig.31 ) are schematic illustrations of selected aspects of alternative configurations of the attachment mechanism 90 for use together. Fig.16 The attachment mechanism 90 can be connected with Fig. 9 and Fig.11 and thus the same reference numerals and descriptions herein also apply and are not repeated for the sake of brevity. Fig. 9 and Fig.11 In 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 are also contemplated. In some embodiments, Fig.16 The attachment mechanism 90 can be configured to attach the endoscope 10 to the linear propulsion device 450 (e.g., Fig.31 ) as discussed in this article, rather than with a multi-axis surgical robot.

[0104] In some cases, navigating the endoscope 10 together with the surgical robot 50 and / or the arm 52 of the surgical robot 50 into the patient's body in a stable and precise manner can be challenging due to the flexible nature of the elongated shaft 30, which can bend, deflect, and / or buckle when encountering a reaction force. When manually inserting the endoscope 10 into the patient's body, the physician uses two hands - one hand holding the handle 20 to control the rotation of the endoscope 10 and / or control the deflection mechanism 28 to actuate the deflectable distal tip 3232, and the other hand holding the elongated shaft 30. The physician's action with the second hand reduces the chance of buckling of the elongated shaft 30. In some cases, the surgical system 400 (e.g., Figure 28 to Figure 31 ) may include a motorized introducer device 200 for translating the elongated shaft 30 of the endoscope 10 relative to the patient, Fig.17 An example of which is shown in . The motorized introducer device 200 can be used as a stabilizer and / or as an alternative to using a physician's second hand. 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.

[0105] 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. 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, and the like. 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, and the like, and / or combinations thereof.

[0106] In some embodiments, the body 210 may include a base portion 212 and an upright portion 214 extending upwardly from the base portion 212. Other configurations are also contemplated. In some embodiments, the body 210 and / or the base portion 212 may 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.

[0107] In some embodiments, the motorized introducer device 200 may include a motor 220 fixedly attached to the body 210. In some embodiments, the motor 220 may be fixedly attached to the upright portion 214. In some embodiments, the motorized introducer device 200 may include a drive gear 230 operably coupled to the motor 220. In some embodiments, the motorized introducer device 200 may include a drive wheel 250 operably coupled to the drive gear 230. In some embodiments, the motorized introducer device 200 may 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 may 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 may be configured to drive and / or rotate the drive gear 230 and the drive wheel 250. The drive gear 230 and the drive wheel 250 may be configured to translate the elongated shaft 30 relative to the patient and / or through the motorized introducer device 200. In some embodiments, support wheel 260 may be configured to serve solely as a guide and / or stabilizer for elongated shaft 30 .

[0108] In some embodiments, the motorized introducer device 200 can optionally include a support gear 240 that engages with the drive gear 230. If present, the support gear 240 can be operably coupled to the support gear 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 by the motorized introducer device 200. Other configurations are also contemplated.

[0109] In some embodiments, the motorized introducer device 200 may include a plurality of drive gears and a plurality of drive wheels. In some embodiments, the motorized introducer device 200 may include a plurality of support gears and a plurality of support wheels. Various combinations of the features discussed herein are also contemplated.

[0110] In some embodiments, the elongated shaft 30 of the endoscope 10 may be disposed between the drive wheel 250 and the support wheel 260 at an engagement location 270 such that the elongated shaft 30 is configured to selectively move longitudinally and / or axially along the movement axis 202 through the motorized introducer device 200 when engaged with the drive wheel 250 and the support wheel 260.

[0111] 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, a first drive ring of the two soft polymer drive rings may be positioned at a distance from the motor 220 that is greater than a distance from the second drive ring of the two soft polymer drive rings to the motor 220. Other configurations are also contemplated. In some embodiments having 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 having multiple drive wheels, each drive wheel may include two soft polymer drive rings extending around the circumference of the drive wheel. Other configurations are also contemplated.

[0112] 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, a first support ring of the two soft polymer support rings may be positioned at a distance from the motor 220 that is greater than a distance from the second support ring of the two soft polymer support rings to the motor 220. Other configurations 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 are also contemplated.

[0113] In some embodiments, 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 elongated shaft 30 of the endoscope 10 longitudinally and / or axially along the moving axis 202 when engaged with the elongated shaft 30 of the endoscope 10 at the engagement position 270, while allowing the elongated shaft 30 of the endoscope 10 to rotate about and / or around the moving axis 202.

[0114] 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 engage with each O-ring at an engagement location 270. Other configurations including combinations thereof are also contemplated.

[0115] In some embodiments, the motorized introducer device 200 and / or the body 210 may 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 may be coupled to the at least one lateral flange 218. In some embodiments, the drive gear 230 and the support gear 240 (if present) may 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 may be disposed above and / or on the at least one lateral flange 218 opposite the base portion 212.

[0116] In some embodiments, the drive wheel 250 and / or the support wheel 260 can be fixed in position laterally 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 rotate relative to the body 210 and / or the at least one lateral flange 218.

[0117] 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 therewith. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may be disposed and / or oriented coaxially with the movement axis 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 direction in which the base portion 212 extends from the at least one lateral flange 218. In some embodiments, the proximal guide ring 272 and the distal guide ring 274 may extend upwardly from the at least one lateral flange 218 .

[0118] In some embodiments, the motorized introducer device 200 may include a cover 280 that may be fixed and / or attached to the body 210 and / or upright portion 214. In some embodiments, the cover 280 may be fixed and / or attached to the body 210 and / or 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 may be fixed and / or attached to the body 210 and / or upright portion 214 over the engagement location 270. In some embodiments, the cover 280 may include a proximal opening 282 and / or a distal opening (not shown) such that the engagement location 270 may be in communication with and / or accessible from the exterior of the cover 280 when the cover 280 is fixed and / or attached to the body 210 and / or upright portion 214.

[0119] In some embodiments, the elongated shaft 30 of the endoscope 10 can be positioned by 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 can be positioned within and / or through the proximal guide ring 272, the engagement location 270, and the distal guide ring 274, and the cover 280 can 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.

[0120] Although not expressly necessary for motorized introducer device 200 to function properly, 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 .

[0121] In some embodiments, motorized introducer device 200 may be controlled and / or operated individually, independently of any other device and / or as a standalone device. In some embodiments, motorized introducer device 200 may be controlled and / or operated in conjunction with one or more other medical devices or other equipment as an element or component of surgical system 400 (e.g., Figure 28 to Figure 31 ). Other configurations and / or combinations thereof are also contemplated.

[0122] 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 within 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 is not rotatable relative to the body 210. In some embodiments, the second body 310 may include a protrusion 312 extending from an outer surface of the second body 310, such as Figures 18 to 24 and is configured to engage a recess or hole 211 formed in the body 210, as seen in 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 . Other 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 reused. In one example, the body 210 can be protected by a surgical sheet during use. In another example, the body 210 can be sterilized for reuse.

[0123] In some embodiments, Figures 19 to 27 As shown, the support wheel 260 can be in an engaged position (e.g., Fig.21 , Fig.24 and Fig. 27 ) and disengagement positions (e.g. Fig. 20 , Fig.23 , Fig.26 ). In the engaged position, when the endoscope 10 is disposed at and / or in 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 in 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.

[0124] In some embodiments, the drive wheel 250 can be fixed in a suitable position laterally within the second body 310 and / or relative to the second body 310. The drive wheel 250 can rotate relative to the second body 310. In at least some embodiments, the support wheel 260 can be disposed within the slider 320 and / or can be coupled to the slider 320, which 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 with and / or simultaneously with the slider 320. The support wheel 260 can rotate relative to the slider 320. The support wheel 260 can be fixed in a suitable position relative to the slider 320 in other ways. In at least some embodiments, as Figures 19 to 27 As shown, the support wheel 260 and / or the slider 320 may be in an engaged position (e.g., Fig.21 , Fig.24 and Fig. 27 ) and disengagement positions (e.g. Fig. 20 , Fig.23 , Fig.26 )

[0125] In some embodiments, the longitudinal motion unit 300 may include a cover 330 that can be opened relative to the second body 310 in an open position (eg, Fig. 20 , Fig.23 ) and closed position (e.g. Fig.21 , Fig.24 ). In some embodiments, the cover 330 may be pivotally coupled to the second body 310, such as Figures 19 to 21 In some embodiments, the cover 330 may be slidably coupled to the second body 310, such as Figure 22 to Figure 24 Other configurations are also contemplated.

[0126] In some embodiments, in the closed position of the cover 330, the cover 330 can be configured to maintain, hold and / or lock the elongated shaft 30 of the endoscope 10 in the engagement position 270. In some embodiments, the cover 330 can include an extension 334 that extends generally 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 position 270. In some embodiments, in the open position of the cover 330, the elongated shaft 30 of the endoscope 10 can be removed from the engagement position 270 in a direction that is not coaxial with the axis of movement 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.

[0127] In some embodiments, when the cover 330 moves toward the open position and / or moves to 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 the open position and / or moves to 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 the closed position and / or moves to 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 the closed position and / or moves to the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position by the cover 330.

[0128] In some embodiments, the cover 330 may include an angled surface 336 configured to engage the slider 320 when the cover 330 moves from the open position toward the closed position and / or moves to the closed position. When the cover 330 moves toward the closed position and / or moves to the closed position, the engagement of the angled surface 336 of the cover 330 with the slider 320 may cause the slider 320 and / or the support wheel 260 to be urged, biased and / or moved toward the engaged position, such as Figure 20 to Figure 21 As seen in.

[0129] In some embodiments, the cover 330 may include a first lateral surface 338 configured to engage the slider 320 when the cover 330 moves from the open position toward the closed position and / or moves to the closed position. When the cover 330 moves toward the closed position 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 cause the slider 320 and / or the support wheel 260 to be pushed, biased and / or moved toward the disengaged position, as shown in FIG. Fig.23 As seen in.

[0130] In some embodiments, Figure 25 to Figure 27As seen in the figure, the longitudinal motion unit 300 may include a first cover 350 that is pivotable relative to the second body 310 between an open position and a closed position, and the longitudinal motion unit 300 may include a second cover 360 that is slidable relative to the second body 310 between an open position and a closed position.

[0131] In some embodiments, in the closed position of the first cover 350, the first cover 350 can be configured to maintain, hold and / or lock the elongated shaft 30 of the endoscope 10 in the engagement position 270. In some embodiments, the first cover 350 can include an 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 position 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 position 270 in a direction that is not coaxial with the axis of movement 202.

[0132] 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.

[0133] In some embodiments, when the second cover 360 moves toward the open position and / or moves to 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 the open position and / or moves to 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 the closed position and / or moves to 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 the closed position and / or moves to the closed position, the slider 320 and / or the support wheel 260 can be biased toward the engaged position by the second cover 360.

[0134] 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 and / or moves to the closed position, the engagement of the first lateral surface 364 of the second cover 360 and / or the second extension 362 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 seen in . In some embodiments, the second cover 360 may include a third extension 366 that extends 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 the 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 moves from the closed position 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 second lateral surface 368 of the second cover 360 and / or the third extension 366 with the slider 320 may cause the slider 320 and / or the support wheel 260 to be pushed, biased and / or moved toward the disengaged position, as shown. Fig.26 As seen in.

[0135] As discussed herein, in some embodiments, the motorized introducer device 200 may include multiple drive wheels and / or multiple support wheels. Therefore, in some embodiments, the longitudinal motion unit 300 may include multiple drive wheels and / or multiple support wheels disposed therein. Multiple drive wheels may be laterally fixed in position relative to the second body 310. Multiple drive wheels may rotate relative to the second body 310. Multiple support wheels may be disposed within and / or coupled to the slider 320. The slider 320 and / or multiple support wheels may move laterally within the second body 310. Other configurations may also be envisioned.

[0136] 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 a support gear configured to engage the multiple drive gears. The multiple support gears can be operably coupled to the multiple support wheels. Other configurations are also contemplated.

[0137] Figures 28 to 30 Schematically illustrated are 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 fixed to the 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.

[0138] 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.

[0139] In some embodiments, the motorized introducer device 200 can move relative to the horizontal member 416. In some embodiments, the motorized introducer device 200 can move along the horizontal member 416. In some embodiments, the motorized introducer device 200 can pivot about the horizontal member 416. Other configurations are also contemplated, including but not limited to combinations thereof.

[0140] In some embodiments, the surgical system 400 may include the attachment mechanism 90 described herein. As discussed herein, the attachment mechanism 90 may be secured and / or attached 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.

[0141] 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 the patient and / or into the patient's body 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 the patient and / or retract and / or translate away from the patient when the surgical robot 50 moves the handle 20 of the endoscope 10 away from the patient. Other configurations are also contemplated.

[0142] exist Figures 28 to 30 In some urological applications of the surgical system 400 shown, in some embodiments, the patient can be positioned with 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 are also contemplated. For example, in some other endoscopic procedures, the patient can be positioned with 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.

[0143] In some embodiments, the surgical system 400 may include a linear propulsion device 450, such as Fig.31 450. In some embodiments, the linear propulsion device 450 may include a frame 452. In some embodiments, the linear propulsion device 450 may include a motor 454 fixed to the frame 452. In some embodiments, the linear propulsion device 450 may include a propulsion mechanism 456 disposed within the frame 452 and operably coupled to the motor 454. In some embodiments, the propulsion 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 device. In some embodiments, the linear propulsion device 450 may include at least one rail 458 extending longitudinally within the frame 452. In some embodiments, the linear propulsion device 450 may include a transport cabin 460 operably coupled to the propulsion mechanism 456. In some embodiments, the transport cabin 460 may be slidably coupled to the at least one rail 458.

[0144] In some embodiments, the transport capsule 460 may include a plurality of mounting holes (not shown) configured to align with a plurality of holes 162 formed in a mounting plate 164 of the mounting structure 160. The attachment mechanism 90, the mounting structure 160, and / or the mounting plate 164 may be secured 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 propulsion 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 linearly translate along the frame 452 in response to operation of the motor 454 and / or the propulsion mechanism 456.

[0145] In some embodiments, the surgical system 400 may include a motorized introducer device 200 fixedly 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 propulsion device 450 translates the attachment mechanism 90 relative to the patient. For example, when the linear propulsion device 450 translates the attachment mechanism 90 toward the patient, the motorized introducer device 200 may advance the elongated shaft 30 of the endoscope 10 toward the patient and / or into the patient. Similarly, when the linear propulsion device 450 translates the attachment mechanism 90 away from the patient, the motorized introducer device 200 may retract and / or withdraw the elongated shaft 30 of the endoscope 10 away from the patient. In at least some embodiments, the surgical system 400 may be configured to operate the motorized introducer device 200 together with and / or simultaneously with the linear propulsion device 450 and / or the propulsion mechanism 456.

[0146] In some embodiments, linear propulsion device 450 and / or frame 452 can be fixed and / or attached relative to an operating table (not shown). In some embodiments, linear propulsion device 450 and / or frame 452 can be removed when not in use. In some embodiments, linear propulsion device 450 and / or frame 452 can be portable and / or configured to be moved between operating rooms. Fig.31 China-Israel Fig.17 A motorized introducer device 200 is shown, but such illustration should be understood to be merely exemplary and any motorized introducer device 200 described herein may be used with and / or may be attached to a linear propulsion device 450 and / or frame 452.

[0147] As discussed herein, the attachment mechanism 90 and / or the second drive mechanism 180 can be configured to rotate the fixation device 100 and / or the handle 20 and the elongated shaft 30 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 tip 32 of the elongated shaft 30. In some embodiments, the first drive mechanism 140 and the second drive mechanism 180 can operate independently of each other.

[0148] Figure 32 to Figure 34 Selected aspects of an example configuration of a surgical system 400 for use with the surgical robot 50 are shown. Fig.32 Selected movements of the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200 are shown. Figure 33 to Figure 34 Shown are selected corresponding features and / or motions of input device 500. It should be understood that any particular feature, button, label, etc. can be mixed and matched with any other features, buttons, labels, etc. described herein.

[0149] 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, which is spaced apart from the surgical robot 50 and is 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).

[0150] In at least some embodiments, surgical system 400 may include an input device 500 that Figure 33 to Figure 34 , which is configured to be operated using only one hand. The input device 500 can be in electronic communication with the controller 62 of the surgical robot 50. In some embodiments, the input device 500 can be in wired communication with the controller 62. In some embodiments, the input device 500 can communicate wirelessly with the controller 62. 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 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 introducer device 200 using only one hand.

[0151] The input device 500 may include a proximal end 502 and a distal end 504. Typically, when the input device 500 is held in 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 within 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 of which is 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 vibration, an auditory signal, and / or a visual signal. In some embodiments, the corresponding sensor may include a pressure sensor, a temperature sensor, a camera, and / or an optical sensor, etc.

[0152] In some embodiments, the input device 500 may include a plurality of tactile buttons 550 that are operated using one hand. In some embodiments, the plurality of tactile buttons 550 may be operated 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 to Figure 34 Some possible mappings for 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 described herein. Multiple tactile buttons 550 may be flexible in its use, and the mapping may be changed or varied based on user preferences, type of surgery, surgical robot capabilities, endoscope capabilities, etc.

[0153] 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 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 as required. 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 the origin position may be defined until or unless the origin position is redefined by the user via the set 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 introducer device 200 to a second position or 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 to redefine the origin position according to a predefined start position, the origin position can be fixed for the duration of the entire surgery. In some embodiments, the process of redefining the origin position can be repeated as needed during the surgery. Other configurations are also contemplated.

[0154] 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 roll, pitch, yaw, etc. of the command 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.

[0155] 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 pressing of the plurality of tactile buttons 550. In some embodiments, movement of the input device 500 in space and / or relative to a reference frame when the clutch button 540 is pressed 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, movement of the input device 500 in space and / or relative to a reference frame when the clutch button 540 is pressed may control movement of at least some of the 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, in order for the user to command a specific motion or movement, the clutch button 540 should always be pressed during the motion command (e.g., the movement of the input device in space and / or the pressing of one or more of the multiple tactile buttons). Once the clutch button 540 is released, all 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 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 its last received position and orientation and wait until the clutch button 540 is pressed again to resume the motion and / or movement.

[0156] In some embodiments, the plurality of tactile buttons 550 may include a speed mode button 536. In some embodiments, 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 may be controlled and / or adjusted using the speed mode button 536. 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 of the surgical robot 50 when moving from a known configuration to a command configuration. In some embodiments, a surgical procedure may have some and / or selected phases in which fine and / or small movements of the surgical robot 50, or alternatively fast and / or large movements, are required. In some embodiments, the speed mode button 536 may be configured to change between different mappings and / or mapping scalings between the controller 62 and the surgical robot 50 to achieve the desired 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.

[0157] 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 in different ways. In some embodiments, the plurality of tactile buttons 550 may include at least one of: an infusion button configured to activate fluid infusion through the endoscope 10, an image capture button configured to capture an image seen via a camera disposed within the endoscope 10, and a memory button configured to save a second storage 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, wherein the surgical robot 50, the arm 52 of the surgical robot 50, and / or the plurality of joints 54 of the surgical robot 50 may currently be positioned and / or oriented in the second storage position (e.g., the current position). In some embodiments, in addition to the origin position, the second storage 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 may be saved. In some embodiments, pressing the memory button a second time may 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, additional buttons, and / or mapped functions are also contemplated.

[0158] 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 cause the deflectable distal tip 32 to deflect about 50% of its movable range. Similarly, depressing the deflection button 538 by about 25% may cause the deflectable distal tip 32 to deflect about 25% of its movable range, depressing the deflection button 538 by about 75% may cause the deflectable distal tip 32 to deflect about 75% of its movable range, depressing the deflection button 538 by 100% may cause the deflectable distal tip 32 to deflect 100% of its movable range, and so on. In some embodiments, releasing the deflection button 538 can cause the deflectable distal tip 32 to maintain 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-clicking 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).

[0159] 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 about 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 about the axis B2, and the second deflection button may be configured to deflect the deflectable distal tip 32 in a counterclockwise direction about the axis B2. Other configurations are also contemplated.

[0160] 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 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 are also contemplated.

[0161] In some embodiments, joystick 510 can be configured to control motor 220 and / or motorized introducer device 200. In some embodiments, movement of joystick 510 proximally (e.g., toward proximal end 502 of input device 500) and distally (e.g., toward distal end 504 of input device 500) can control operation of motor 220 and / or motorized introducer device 200 to translate elongated shaft 30 of endoscope 10 along axis C1 and / or translation axis 202 relative to the patient and / or through motorized introducer device 200 (e.g., Fig.17 ). For example, movement of the joystick 510 proximally (e.g., toward the proximal end 502 of the input device 500) may cause the elongated shaft 30 of the endoscope 10 to translate 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) may cause the elongated shaft 30 of the endoscope 10 to translate 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) may cause the elongated shaft 30 of the endoscope 10 to be withdrawn and / or retracted away from the patient and / or away from the patient. In some embodiments, movement of the joystick 510 distally (e.g., toward the distal end 504 of the input device 500) may cause the elongated shaft 30 of the endoscope 10 to be pushed toward and / or into the patient.

[0162] In some embodiments, clutch button 540 may also be configured to prevent unnecessary movement of motorized introducer device 200 instead of or in addition to preventing unnecessary movement of surgical robot 50, arm 52 of surgical robot 50, and / or plurality of joints 54 of surgical robot 50. Thus, in some embodiments, a user may need to depress clutch button 540 in order to operate motorized introducer device 200.

[0163] In some embodiments, the plurality of motion sensors 560 may be mapped to selected aspects of the surgical robot 50 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, thereby allowing and / or facilitating 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 of the surgical robot 50.

[0164] In some embodiments, when the clutch button 540 is pressed, movement of the input device 500 around the first axis A1 may cause 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 may extend substantially from the proximal end 502 to the distal end 504 of the input device 500, and the plurality of motion sensors 560 may be configured to sense and / or measure rolling 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 may rotate around the first robot axis RA1. In some embodiments, when the clutch button 540 is pressed, movement of the input device 500 around the second axis A2 may cause 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 may extend substantially perpendicular to the first axis A1, and the plurality of motion sensors 560 may be configured to sense and / or measure yaw of the input device 500 around the second axis A2. Thus, when the input device 500 yaws or rotates around the second axis A2, the second joint of the plurality of 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) may cause the movement of the third joint of the plurality of joints 54 of the surgical robot 50 around the third robot axis (not shown). In some embodiments, the third axis may extend substantially perpendicular to the first axis A1 and the second axis A2, and the pitch of the input device 500 may be sensed and / or measured. Thus, when the input device 500 pitches or rotates around the third axis, the third joint of the plurality of joints 54 of the surgical robot 50 may rotate around the third robot axis. Other configurations may also be envisioned. For example, the plurality of motion sensors 560 may be configured to sense and / or measure pitch around the second axis A2 instead of yaw, etc.

[0165] Figure 35 to Figure 36 The selected corresponding features and / or movements of the input device 500 are shown and can be referred back to Fig.32 1 and 2. Selected movements of the surgical robot 50, the attachment mechanism 90, and / or the motorized introducer device 200 shown in FIG. Figure 35 to Figure 36 Some alternative mappings of the plurality of tactile buttons 550 and / or joystick 510 of the input device 500 are shown, but are not limited thereto. As discussed herein, different functions and / or movements may be mapped to the input device 500 in different ways depending on user preferences, type of surgery, etc.

[0166] 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 its current configuration, position, and / or orientation. After activating and / or pressing the lock mode button 528, 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 the use of a stable system that is less prone to movement or deviation when performing tasks in the field, such as dust removal, stone basketing, etc.

[0167] 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 deactivates 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.

[0168] In some embodiments, the plurality of tactile buttons 550 may include a manual positioning mode button 532 that is 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 personnel. 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.

[0169] In some embodiments, the plurality of tactile buttons 550 may include an extend button 524 configured to advance the elongated shaft 30 of the endoscope 10 through the motorized introducer device 200 (eg, Fig.17 In some embodiments, extend button 524 may be configured to operate motor 220 of motorized introducer device 200 to advance elongated shaft 30 of endoscope 10 through motorized introducer device 200 and / or toward a patient.

[0170] In some embodiments, the plurality of tactile buttons 550 may include a retract button 526 configured to retract the elongated shaft 30 of the endoscope 10 along the axis C1 and / or the axis of movement 202 through the motorized introducer device 200 (eg, Fig.17 In some embodiments, retract button 526 may be configured to operate motor 220 of motorized introducer device 200 to retract elongated shaft 30 of endoscope 10 through motorized introducer device 200 and / or away from the patient.

[0171] 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 tip 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 deflect the deflectable distal tip 32 of the slender shaft 30 of the endoscope 10 about the axis B2 and / or relative to the longitudinal axis 12 (e.g., FIG. 1) in a first direction (e.g., upward), and movement of the joystick 510 distally (e.g., toward the distal end 504 of the input device 500) can deflect the deflectable distal tip 32 of the slender shaft 30 of the endoscope 10 about the axis B2 and / or relative to the longitudinal axis 12 (e.g., FIG. 1) in a second direction opposite to the first direction (e.g., downward), or vice versa.

[0172] 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 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 are also contemplated.

[0173] 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 direct the movement of the surgical robot 50 without using input from any of the multiple motion sensors 560 (e.g., movement of the input device 500 in space has no effect on the surgical robot 50). Thus, in some embodiments, the input device 500 may be devoid of multiple motion sensors 560, but still be configured to control multiple axes and / or degrees of motion of the surgical robot 50, the arm 52 of the surgical robot 50, the multiple joints 54 of the surgical robot 50, and / or the motorized introducer device 200.

[0174] Materials that can be used for the systems disclosed herein and their various elements can include those commonly associated with medical devices. For simplicity, the following discussion refers to the system. However, this is not intended to limit the systems, devices and / or methods described herein, because the discussion can be applicable to other elements, components, parts or devices disclosed herein, such as, but not limited to, attachment mechanisms, fixtures, motorized introducer devices, support frames, input devices, etc. and / or their elements or parts.

[0175] 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.

[0176] Some examples of suitable polymers may include polytetrafluoroethylene (PTFE), ethylene tetrafluoroethylene (ETFE), fluorinated ethylene propylene (FEP), polyoxyethylene (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 phthalate / poly(alkylene ether) and / or other polyester elastomers such as, ), polyamides (e.g. or ), elastomeric polyamides, block polyamide / ether, polyether block amide (PEBA, for example, available under the trade name Commercially available), 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), polytrimethylene terephthalate, polyethylene naphthalate (PEN), polyetheretherketone (PEEK), polyimide (PI), polyetherimide (PEI), polyphenylene sulfide (PPS), polyphenylene oxide (PPO), poly(p-phenylene terephthalamide) (e.g., ), polysulfone, nylon, nylon-12 (such as, ), perfluoro(propyl vinyl ether) (PFA), ethylene vinyl alcohol, polyolefins, polystyrene, epoxy resins, polyvinylidene chloride (PVdC), poly(styrene-b-isobutylene-b-styrene) (e.g., SIBS and / or SIBS 50A), polycarbonate, polyurethane silicone copolymers (e.g., or ), biocompatible polymers, other suitable materials or mixtures, combinations, copolymers, polymer / metal composites, etc. In some embodiments, the system and / or its components can be mixed with a liquid crystal polymer (LCP). For example, the mixture can contain up to about 6 percent LCP.

[0177] Some examples of suitable metals and metal alloys include stainless steels, such as 304V, 304L, and 316LV stainless steel; low carbon steel; 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 (e.g., UNS: N04400, such as 400, 400, 400, etc.), nickel-cobalt-chromium-molybdenum alloys (e.g., UNS: R30035, such as etc.), nickel-molybdenum alloys (e.g., UNS: N10665, 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, such as etc.); platinum-rich stainless steel; titanium; platinum; palladium; gold; combinations thereof; or any other suitable material.

[0178] In some embodiments, the system and / or other elements disclosed herein may include and / or be treated with suitable therapeutic agents. Some examples of suitable therapeutic agents may include anticoagulants (such as heparin, heparin derivatives, urokinase, and PPack (dextrophenylalanine proline arginine chloromethyl ketone); antiprotein and / or antibacterial agents (such as 2-methacryloyloxyethyl phosphorylcholine (MPC) and its polymers or copolymers); antiproliferative agents (such as enoxaparin, angiopeptin, monoclonal antibodies capable of blocking smooth muscle cell proliferation, hirudin, and acetylsalicylic acid); anti-inflammatory drugs (such as dexamethasone, prednisolone, corticosterone, budesonide, estrogen, sulfasalazine, and mesalazine); anti-tumor / antiproliferative / antimitotic agents (such as paclitaxel, 5-fluorouracil, cisplatin, vinblastine, vincristine, epothilone, endostatin, angiostatin, and thymidine kinase inhibitors); anesthetics (such as lidocaine, bupivacaine, and ropivacaine); Anticoagulants (such as 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 (such as growth factor inhibitors, growth factor receptor antagonists, transcription activators and translation promoters); vascular cell growth inhibitors (such as growth factor inhibitors, growth factor receptor antagonists, transcription inhibitors, translation inhibitors, replication inhibitors, inhibitory antibodies, antibodies against growth factors, bifunctional molecules composed of growth factors and cytotoxins, bifunctional molecules composed of antibodies and cytotoxins); cholesterol-lowering agents; vasodilators; and agents that interfere with endogenous vasoactive mechanisms.

[0179] It should be understood that the present invention is in many respects merely illustrative. Changes may be made in details, particularly in matters of arrangement of shape, size and steps, without exceeding the scope of the present invention. To the extent appropriate, this may include using any of the features of an example embodiment used in other embodiments. Of course, the scope of the present invention is defined by the language of the appended claims.

Claims

1. An attachment mechanism for using an endoscope with a surgical robot, comprising: a fixture configured to receive a handle of the endoscope such that a longitudinal axis of the handle is oriented parallel to a longitudinal axis of the fixture and an elongated shaft of the endoscope extends distally away from the fixture; as well as a mounting structure secured to the fixture; wherein the mounting structure is configured to attach the fixture to the surgical robot; wherein the fixing device comprises a retaining mechanism, and the retaining member is configured to releasably fix the handle within the fixing device; Wherein, the fixation device includes a first motor operably coupled to a first drive mechanism, the first drive mechanism being configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope.

2. The attachment mechanism of claim 1, wherein the mounting structure comprises a plurality of holes formed in a mounting plate, the plurality of holes being configured to align with a plurality of mounting holes formed in a distal flange of the surgical robot.

3. An attachment mechanism according to any one of claims 1 to 2, wherein the retaining mechanism comprises a clamping portion and a latching portion.

4. The attachment mechanism of claim 3, wherein the clamping portion is movably attached to the fixture and is configured to rotate about a pivot axis that is generally parallel to the longitudinal axis of the fixture.

5. An attachment mechanism according to any one of claims 3 to 4, wherein the clamping portion is configured to cooperate with the securing device to surround at least a portion of the handle in a closed configuration.

6. The attachment mechanism of claim 5, wherein the latch portion is configured to secure the clamping portion in the closed configuration relative to the securing device.

7. An attachment mechanism according to any one of claims 1 to 6, wherein the mounting structure comprises 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.

8. The attachment mechanism of claim 7, wherein the second drive mechanism comprises a drive belt engaged with a plurality of pulleys.

9. The attachment mechanism of claim 8, wherein each of the plurality of pulleys includes an axis of rotation oriented parallel to the longitudinal axis of the fixture.

10. An attachment mechanism according to any one of claims 1 to 9, wherein the mounting structure includes a pivot mechanism arranged between the mounting plate and the fixing device, and the pivot mechanism is configured to switch the fixing device between a first position relative to the mounting plate and a second position relative to the mounting plate.

11. The attachment mechanism of claim 10, wherein: In the first position, the longitudinal axis of the fixture extends generally perpendicular to the mounting plate, and in the second position, the longitudinal axis of the fixture extends generally parallel to the mounting plate.

12. An attachment mechanism according to any one of claims 10 to 11, wherein the mounting structure includes a first gear that engages with a second gear within the pivot mechanism, and wherein the first gear and the second gear are configured to rotate the fixing device about its longitudinal axis without rotating the mounting structure in the first position and in the second position.

13. The attachment mechanism of claim 12, wherein the first gear has a first axis of rotation and the second gear has a second axis of rotation; in, In the first position, the first rotational axis is oriented coaxially with the second rotational axis, and in the second position, the first rotational axis is oriented substantially perpendicular to the second rotational axis.

14. An attachment mechanism according to any one of claims 10 to 13, wherein the pivot mechanism is manually actuated to switch the securing device between the first position and the second position.

15. A universal attachment mechanism for using any of a plurality of endoscopes with a surgical robot, comprising: a fixture configured to receive a handle of said any one of said plurality of endoscopes such that a longitudinal axis of said handle is oriented parallel to a longitudinal axis of said fixture and an elongated shaft of said endoscope extends distally away from said fixture; as well as a mounting structure secured to the fixture; wherein the mounting structure is configured to attach the fixture to the surgical robot; wherein the fixing device comprises a retaining mechanism, and the retaining member is configured to releasably fix the handle within the fixing device; Wherein, the fixing device includes a first motor operably connected to a first drive mechanism, and the first drive mechanism is configured to engage the handle to operate the deflection mechanism of any one of the plurality of endoscopes.

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