Cost-effective robotic system architecture

Abstract

Systems, techniques, and embodiments configured to interchangeably couple any of a plurality of surgical tools to a robotic arm are provided herein. For example, a robotic surgical system is provided that includes an interface unit disposed at a distal end of and coupled to the robotic arm, where the interface unit includes a set of components configured to provide the coupling. In some embodiments, the set of components of the interface unit is configured to provide an electrical coupling, a communication coupling, a mechanical coupling, a pneumatic coupling, an irrigation coupling, or a combination thereof, for coupling any of the plurality of surgical tools to the robotic arm. In addition, each surgical tool of the plurality of surgical tools may include an identification feature for the interface unit and / or processor to identify which surgical tool is being coupled to the robotic arm.

Description

Background Art

[0001] The present disclosure relates generally to surgical systems and, more particularly, to robotic surgical devices.

[0002] The surgical robot can assist a surgeon or other medical provider in performing surgical procedures, or can autonomously perform one or more surgical procedures. Articulated members that provide a controllable connection allow the surgical robot to reach areas of a patient's anatomy during various medical procedures. Summary of the invention

[0003] Example aspects of the present disclosure include:

[0004] A robotic surgical system, the robotic surgical system comprising: a robotic arm, the robotic arm comprising a proximal end and a distal end; a plurality of surgical tools; an interface unit, the interface unit being disposed at the distal end of the robotic arm and coupled to the robotic arm, wherein the interface unit comprises a set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm; a processor, the processor being coupled to the robotic arm and the interface unit; and a memory, the memory being coupled to the processor and being readable by the processor and storing data for processing by the processor, the data when processed causing the processor to: determine that a first surgical tool of the plurality of surgical tools is coupled to the interface unit via the set of components; and transmit instructions for operating the first surgical tool based at least in part on determining that the first surgical tool is coupled to the interface unit.

[0005] Any of the aspects herein, wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

[0006] Any of the aspects herein, wherein the memory stores additional data for processing by the processor, which additional data, when processed, causes the processor to: determine a first set of operations corresponding to the first surgical tool based at least in part on determining that the first surgical tool is coupled to the interface unit, wherein the instructions for operating the first surgical tool are based at least in part on the first set of operations.

[0007] Any of the aspects herein, wherein the memory stores additional data for processing by the processor, which additional data, when processed, causes the processor to: determine that a second surgical tool among the plurality of surgical tools is coupled to the interface unit via the set of components; and transmit instructions for operating the second surgical tool based at least in part on determining that the second surgical tool is coupled to the interface unit.

[0008] Any of the aspects herein, wherein the memory stores additional data for processing by the processor, which additional data, when processed, causes the processor to: determine a second set of operations corresponding to the second surgical tool based at least in part on determining that the second surgical tool is coupled to the interface unit, wherein the instructions for operating the second surgical tool are based at least in part on the second set of operations.

[0009] Any of the aspects herein, wherein the second set of operations is different from the first set of operations.

[0010] Any of the aspects herein, wherein the second surgical tool replaces the first surgical tool coupled to the interface unit via the set of components.

[0011] Any of the aspects herein, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

[0012] Any of the aspects herein, wherein the data stored by the memory, which when processed causes the processor to determine that the first surgical tool among the plurality of surgical tools is coupled to the interface unit via the set of components, causes the processor to: when the first surgical tool is coupled to the interface unit, identify the first surgical tool based at least in part on a first identification feature of the first surgical tool.

[0013] Any of the aspects herein, wherein the identification feature comprises a quick response (QR) code, a serial number, a bar code, an internal memory stored within each surgical tool, a visual marker, a radio frequency identification (RFID) system, a near field communication (NFC) connection, an internal switch in an input / output (I / O) system, or a combination thereof.

[0014] A robotic surgical system comprises: a robotic arm comprising a proximal end and a distal end; a plurality of surgical tools; an interface unit disposed at the distal end of the robotic arm and coupled to the robotic arm, wherein the interface unit comprises a set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm.

[0015] Any of the aspects herein, wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

[0016] Any of the aspects herein, wherein each of the plurality of surgical tools corresponds to a specific set of operations.

[0017] Any of the aspects herein, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

[0018] Any of the aspects herein, wherein the identification feature comprises a QR code, a serial number, a bar code, an internal memory stored inside each surgical tool, a visual marker, an RFID system, an NFC connection, an internal switch in an I / O system, or a combination thereof.

[0019] A robotic surgical system comprises: a robotic arm comprising a proximal end and a distal end; a plurality of surgical tools; an interface unit disposed at the distal end of the robotic arm and coupled to the robotic arm, the interface unit comprising: a body; a tool receiving element; and a set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm.

[0020] Any of the aspects herein, wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

[0021] Any of the aspects herein, wherein each of the plurality of surgical tools corresponds to a specific set of operations.

[0022] Any of the aspects herein, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

[0023] Any of the aspects herein, wherein the identification feature comprises a QR code, a serial number, a bar code, an internal memory stored inside each surgical tool, a visual marker, an RFID system, an NFC connection, an internal switch in an I / O system, or a combination thereof.

[0024] Any aspect may be combined with any one or more other aspects.

[0025] Any one or more of the features disclosed herein.

[0026] Any one or more of the features is generally disclosed herein.

[0027] Any one or more of the features generally disclosed herein may be combined with any one or more of the other features generally disclosed herein.

[0028] Any of the aspects / features / embodiments may be combined with any one or more of the other aspects / features / embodiments.

[0029] Use any one or more of the aspects or features disclosed herein.

[0030] It should be understood that any feature described herein may be claimed in combination with any other feature described herein, regardless of whether the features are from the same described embodiment.

[0031] The details of one or more aspects of the present disclosure are set forth in the following drawings and description. Other features, objectives, and advantages of the techniques described in the present disclosure will be apparent from the description and drawings, and from the claims.

[0032] The phrases "at least one", "one or more", and "and / or" are open expressions that have both connective and dissociative properties in operation. For example, the expressions "at least one of A, B, and C", "at least one of A, B, or C", "one or more of A, B, and C", "one or more of A, B, or C", and "A, B, and / or C" each mean only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to an element such as X, Y, and Z or a class of elements such as X1-Xn, Y1-Ym, and Z1-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0033] The term "an" entity refers to one or more of that entity. Therefore, the terms "a", "one or more", and "at least one" can be used interchangeably herein. It should also be noted that the terms "including", "comprising", and "having" can be used interchangeably.

[0034] The foregoing is a simplified overview of the present disclosure to provide an understanding of some aspects of the present disclosure. The present disclosure is neither a broad overview nor an exhaustive overview of the present disclosure and its various aspects, embodiments, and configurations. It is neither intended to determine the key or important elements of the present disclosure nor to delimit the scope of the present disclosure, but rather to present the selected concepts of the present disclosure in a simplified form as an introduction to the more detailed description presented below. As should be understood, other aspects, embodiments, and configurations of the present disclosure may utilize one or more of the features set forth above or described in detail below, either individually or in combination.

[0035] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art after considering the description of the embodiments provided below. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are incorporated into and form a part of this specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the present disclosure. The accompanying drawings illustrate only preferred and alternative examples of how to implement and use the present disclosure, and these examples should not be interpreted as limiting the present disclosure to only the illustrated and described examples. Additional features and advantages will become apparent from the following more detailed description of various aspects, embodiments and configurations of the present disclosure, as illustrated by the accompanying drawings referenced below.

[0037] Figure 1 is a block diagram of a system according to at least one embodiment of the present disclosure;

[0038] Figure 2A is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0039] Figure 2B is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0040] Figure 3A is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0041] Figure 3B is a perspective view of a robotic surgical system according to at least one embodiment of the present disclosure;

[0042] Figure 4 is a flow chart according to at least one embodiment of the present disclosure; and

[0043] Figure 5 is a flow chart according to at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] It should be understood that the various aspects disclosed herein may be combined in combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or implementation, certain actions or events of any process or method described herein may be performed in a different order and / or may be added, combined, or omitted entirely (e.g., not all described actions or events may be required to practice the disclosed techniques, according to different implementations of the present disclosure). In addition, although for clarity, certain aspects of the present disclosure are described as being performed by a single module or unit, it should be understood that the techniques of the present disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0045] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the functions may be implemented using a machine learning model, a neural network, an artificial neural network, or a combination thereof (alone or in combination with instructions). A computer-readable medium may include a non-transitory computer-readable medium corresponding to a tangible medium, such as a data storage medium (e.g., a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable ROM (EEPROM), a flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer).

[0046] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing unit), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuit systems. Thus, the term "processor" as used herein may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. Additionally, these techniques may be fully implemented in one or more circuits or logic elements.

[0047] Before explaining any embodiment of the present disclosure in detail, it should be understood that the present disclosure is not limited to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings in terms of its application. The present disclosure can have other embodiments and can be practiced or implemented in various ways. In addition, it should be understood that the wording and terminology used herein are for the purpose of description and should not be considered as restrictive. The use of "comprises", "including" or "having" and its variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. In addition, the present disclosure can use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which can be indicated by "for example", "by way of example", "such as" or similar language) is not intended to and does not limit the scope of the present disclosure.

[0048] The terms proximal and distal are used in this disclosure in their conventional medical sense, with proximal being closer to an operator or user of the system and farther away from an area of ​​surgical interest in or on the patient's body, and distal being closer to the area of ​​surgical interest in or on the patient's body and farther away from an operator or user of the system.

[0049] The surgical robot can assist a surgeon or other medical provider in performing a surgical procedure, or can autonomously complete one or more surgical procedures. Providing a controllably connected articulated member allows the surgical robot to reach areas of the patient's anatomical structure during various medical procedures. In some examples, the surgical robot can be part of a robotic surgical system, a surgical robot system, a surgical system, a robotic system, and the like. For example, a robotic surgical system may include at least a robotic arm as a controllably linked articulated member, which is designed to mimic and / or assist in the movement and operation typically performed by a surgeon. In addition, the robotic surgical system and the robotic arm may include and / or be designed to work with a plurality of different tools for performing surgical procedures, wherein these tools have been or need to be specifically designed and manufactured for use in a robotic surgical system. For example, different tools may include an electric drill, an electric screwdriver, an electric grinder, and the like. Following the standard design of such a tool, each tool may require a separate design for control and electronic components (e.g., designed and built into each tool). The separate design of the control and electronic components for each tool may increase the design and manufacturing costs associated with each tool.

[0050] As described herein, a robotic surgical system is provided that includes separating the electronics and control components from the tools used as part of the robotic surgical system and placing a single integrated unit (e.g., an interface unit) at the end of a robotic arm of the robotic surgical system. The integrated unit can remain connected to the robotic arm of the robotic surgical system so that the tools can be quickly and easily replaced for different operations performed by the robotic surgical system as part of a surgical procedure. The integrated unit can be designed to support a variety of tools, and the operating methods can be adjusted to suit each of the tools. Therefore, the tools used in the robotic surgical system can have simpler designs (e.g., without specific controls and electronics designs for each tool), which utilize minimal electronics and are cheaper to manufacture (e.g., compared to tools designed to include specific controls and electronics designs). In addition, with fewer components and minimal electronics, the sterilization process for the tools and / or the robotic surgical system can be simplified. In some examples, the integrated unit provided herein may use an identification feature associated with each tool in the tool to identify which tool is coupled or connected to the integrated unit (e.g., a quick response (QR) code, a serial number (S / N), a bar code, internal memory within the tool, visual markings, a radio frequency identification (RFID) system, a near field communication (NFC) connection, an internal switch in an input / output (I / O) system, etc.), wherein an operating method for the tool is determined based on identifying which tool is coupled or connected to the integrated unit.

[0051] Embodiments of the present disclosure provide technical solutions to one or more of the following problems: (1) electronic and control components that are separately designed for use with corresponding tools in a robotic surgical system, (2) complex sterilization processes, and (3) expensive tools for use with a robotic surgical system. For example, embodiments of the present disclosure can provide simplified tools, reduced costs, and a reduction in the number of components in a given robotic surgical system by developing an integrated unit (e.g., an interface unit) that can accommodate any surgical tool to be coupled to the robotic surgical system.

[0052] First turn Figure 1, a block diagram of a system 100 according to at least one embodiment of the present disclosure is shown. The system 100 can be used to perform surgical procedures using surgical tools that can be interchangeably coupled to the system 100 via the interface unit described herein. Additionally or alternatively, the system 100 can be used to control, place and / or otherwise manipulate a surgical rack system, a surgical arm and / or a surgical tool attached thereto, and / or perform one or more other aspects of one or more methods disclosed herein. The system 100 includes a computing device 102, one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, and / or a cloud or other network 134. Systems according to other embodiments of the present disclosure may include more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the robot 114, the navigation system 118, one or more components in the computing device 102, the database 130, and / or the cloud 134.

[0053] Computing device 102 includes processor 104, memory 106, communication interface 108, and user interface 110. Computing devices according to other embodiments of the present disclosure may include more or fewer components than computing device 102.

[0054] The processor 104 of the computing device 102 can be any processor described herein or any similar processor. The processor 104 can be configured to execute instructions stored in the memory 106, which can cause the processor 104 to perform one or more computing steps using or based on data received from the imaging device 112, the robot 114, the navigation system 118, the database 130, and / or the cloud 134.

[0055] The memory 106 may be or include RAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), other solid-state memory, any memory described herein, or any other tangible non-transitory memory for storing computer-readable data and / or instructions. The memory 106 may store information or data that can be used to complete any step of the method 400 and / or 500 or any other method described herein, for example. The memory 106 may store instructions and / or machine learning models that support one or more functions of the robot 114, for example. For example, the memory 106 may store content (e.g., instructions and / or machine learning models) that, when executed by the processor 104, enable image processing 120, segmentation 122, transformation 124, and / or registration 128. In some embodiments, if provided as instructions, such content may be organized into one or more applications, modules, packages, layers, or engines. Alternatively or in addition, the memory 106 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 104 to perform the various methods and features described herein. Thus, while the various contents of the memory 106 may be described as instructions, it should be understood that the functionality described herein may be implemented using instructions, algorithms, and / or machine learning models. The data, algorithms, and / or instructions may cause the processor 104 to manipulate data stored in the memory 106 and / or data received from or via the imaging device 112, the robot 114, the database 130, and / or the cloud 134.

[0056] The computing device 102 may also include a communication interface 108. The communication interface 108 may be used to receive image data or other information from an external source (e.g., an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud 134, and / or any other system or component that is not part of the system 100) and / or to transmit instructions, images, or other information to an external system or device (e.g., another computing device 102, an imaging device 112, a robot 114, a navigation system 118, a database 130, a cloud 134, and / or any other system or component that is not part of the system 100). The communication interface 108 may include one or more wired interfaces (e.g., a universal serial bus (USB) port, an Ethernet port, a FireWire port) and / or one or more wireless transceivers or interfaces (configured to transmit and / or receive information, e.g., via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some embodiments, the communication interface 108 may be used to enable the device 102 to communicate with one or more other processors 104 or computing devices 102, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0057] The computing device 102 may also include one or more user interfaces 110. The user interface 110 may be or include a keyboard, a mouse, a trackball, a monitor, a television, a screen, a touch screen, and / or any other device for receiving information from a user and / or for providing information to a user. The user interface 110 may be used, for example, to receive user selections or other user inputs about any step of any method described herein. Nevertheless, any required inputs for any step of any method described herein may be automatically generated by the system 100 (e.g., by the processor 104 or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be used to allow a surgeon or other user to modify instructions to be executed by the processor 104 according to one or more embodiments of the present disclosure, and / or to modify or adjust settings of other information displayed on or corresponding to the user interface 110.

[0058] Although the user interface 110 is shown as part of the computing device 102, in some embodiments, the computing device 102 may utilize a user interface 110 that is housed separately from one or more remaining components of the computing device 102. In some embodiments, the user interface 110 may be located near one or more other components of the computing device 102, while in other embodiments, the user interface 110 may be located remote from one or more other components of the computing device 102.

[0059] The imaging device 112 can be used to image anatomical features (e.g., bones, veins, tissues, etc.) and / or other aspects of the patient's anatomical structure to generate image data (e.g., image data depicting or corresponding to bones, veins, tissues, etc.). "Image data" as used herein refers to data generated or captured by the imaging device 112, including data in machine-readable form, graphical / visual form, and in any other form. In different examples, the image data may include data corresponding to the anatomical features of the patient or a portion thereof. The image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some embodiments, the first imaging device 112 may be used to obtain first image data (e.g., first image) at a first time, and the second imaging device 112 may be used to obtain second image data (e.g., second image) at a second time after the first time. The imaging device 112 may be capable of taking 2D images or 3D images to generate image data. The imaging device 112 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, C-arm, G-arm, or any other device that utilizes X-ray based imaging (e.g., a fluoroscope, a CT scanner or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 suitable for obtaining images of anatomical features of a patient. The imaging device 112 may be entirely contained within a single housing, or may include a transmitter / transmitter and a receiver / detector that are in separate housings or otherwise physically separated.

[0060] In some embodiments, the imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other embodiments, the same imaging device may be used to provide both the first image data and the second image data and / or any other image data described herein. The imaging device 112 may be used to generate an image data stream. For example, the imaging device 112 may be configured to operate with an open shutter, or to operate with a shutter that continuously alternates between open and closed, in order to capture continuous images. For purposes of this disclosure, unless otherwise specified, if the image data represents two or more frames per second, the image data may be considered continuous and / or provided as an image data stream.

[0061] Robot 114 may be any surgical robot or surgical robotic system. Robot 114 may be or include, for example, a Mazor X TMStealth version of the robotic guidance system. The robot 114 may be configured to position the imaging device 112 at one or more precise positions and orientations, and / or return the imaging device 112 to the same position and orientation at a later point in time. The robot 114 may be additionally or alternatively configured to manipulate surgical tools (whether or not based on guidance from the navigation system 118) to complete or assist in surgical tasks. In some embodiments, the robot 114 may be configured to hold and / or manipulate anatomical elements during or in conjunction with a surgical procedure. The robot 114 may include one or more robotic arms 116. In some embodiments, the robotic arm 116 may include a first robotic arm and a second robotic arm, but the robot 114 may include more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or manipulate the imaging device 112. In embodiments where the imaging device 112 includes two or more physically separate components (e.g., a transmitter and a receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 can be positioned independently of the other robotic arms.The robotic arms 116 can be controlled in a single shared coordinate space or in separate coordinate spaces.

[0062] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven or more degrees of freedom. Furthermore, the robotic arm 116 may be positioned or positionable in any posture, plane and / or focus. The posture includes a position and an orientation. Thus, an imaging device 112, a surgical tool or other object held by the robot 114 (or more specifically, by the robotic arm 116) may be able to be precisely positioned in one or more desired and specific positions and orientations.

[0063] The robotic arm 116 may include one or more sensors that enable the processor 104 (or a processor of the robot 114) to determine the precise pose of the robotic arm (and any object or element held by or secured to the robotic arm) in space.

[0064] In some embodiments, reference markers (i.e., navigation markers) may be placed on the robot 114 (including, for example, on the robot arm 116), the imaging device 112, or any other object in the surgical space. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and / or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 may be used to track other components of the system (e.g., the imaging device 112), and the system may be operated without the use of the robot 114 (e.g., the surgeon manually manipulates the imaging device 112 and / or one or more surgical tools, e.g., based on information and / or instructions generated by the navigation system 118).

[0065] During the operation, the navigation system 118 can provide navigation for the surgeon and / or the surgical robot. The navigation system 118 can be any known or future developed navigation system, including, for example, the Medtronic StealthStation TM S8 surgical navigation system or any subsequent product thereof. The navigation system 118 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects in the operating room or other rooms where part or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may include one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track the position and orientation (e.g., pose) of the imaging device 112, the robot 114, and / or the robot arm 116, and / or one or more surgical tools (or more specifically, for tracking the pose of a navigation tracker attached directly or indirectly to one or more of the foregoing in a fixed relationship). The navigation system 118 may include a display for displaying one or more images from an external source (e.g., a computing device 102, an imaging device 112, or other source) or for displaying images and / or video streams from one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 may operate without the use of the navigation system 118. The navigation system 118 can be configured to provide guidance to a surgeon or other user of the system 100 or its components, to the robot 114, or to any other element of the system 100 regarding, for example, the position of one or more anatomical elements, whether a tool is in an appropriate trajectory, and / or how to move a tool into an appropriate trajectory to perform a surgical task based on a preoperative or other surgical plan.

[0066] The database 130 may store information relating one coordinate system to another coordinate system (e.g., relating one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about the target and / or image information about the patient's anatomical structure at and / or near the surgical site for use by the robot 114, the navigation system 118, and / or the computing device 102 or a user of the system 100); one or more images that may be used in conjunction with surgery performed by or with the assistance of one or more other components of the system 100; and / or any other useful information. The database 130 may be configured to provide any such information to the computing device 102 or any other device of the system 100 or any other device external to the system 100, whether directly or via the cloud 134. In some embodiments, database 130 can be or include a part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records including image data.

[0067] Cloud 134 can be or represent the Internet or any other wide area network. Computing device 102 can connect to cloud 134 via communication interface 108 using a wired connection, a wireless connection, or both. In some embodiments, computing device 102 can communicate with database 130 and / or external devices (e.g., computing devices) via cloud 134.

[0068] As described herein, the system 100 may enable the electronic device and control components to be separated from the surgical tools used as part of the system 100 (e.g., to perform a surgical procedure) and place an interface unit (e.g., a single integrated unit) at the end (e.g., distal end) of the robot arm 116 of the robot 114, the interface unit being configured to accommodate different surgical tools. The interface unit may remain connected to the robot arm 116 so that the surgical tools can be quickly and easily replaced for performing the corresponding operations of the surgical procedures. For example, the integrated unit may be designed to support a variety of surgical tools, and the operating method may be adjusted to suit each surgical tool in the surgical tools. That is, the interface unit may be configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any surgical tool in a given set of surgical tools to the robot arm 116 so that the processor 104 and / or the robot 114 can control the corresponding surgical tool during the surgical procedure.

[0069] In some examples, the integrated unit can use an identification feature associated with each of the surgical tools to identify which tool is coupled or connected to the integrated unit (e.g., via a QR code, S / N, barcode, internal memory inside the surgical tool, visual markings, RFID system, NFC connection, internal switch of the I / O system, etc.). Thus, the processor 104 can identify which surgical tool is coupled to the interface unit, and can then determine the corresponding operation method for the surgical tool based on the identification of the surgical tool coupled or connected to the integrated unit. Subsequently, the processor 104 (and / or other components of the system 100) can operate or control the coupled surgical tool via the interface unit.

[0070] System 100 or a similar system may be used, for example, to implement one or more aspects of any of methods 400 and / or 500 described herein. System 100 or a similar system may also be used for other purposes.

[0071] Reference Figure 2A and Figure 2B , shows a perspective view of a robotic surgical system with different end effectors 240A, 240B installation positions according to an example of the present disclosure. More specifically, Figure 2A and Figure 2B The robotic arm 116 of the robot 114 is shown connected to an end effector 240A, 240B holding a surgical tool 236. The surgical tools 236 may correspond to different surgical tools used between procedures in a surgical application. For example, a first surgical tool 236 may include a direction-specific blade that may require specific rotational alignment and placement in the tool blocks 232A, 232B, while another surgical tool 236 may include a unidirectional cutting tool that is not dependent on rotational alignment in the tool blocks 232A, 232B.

[0072] Features of the robot 114 and / or robot arm 116 may be described in relation to the coordinate system 202. Figure 2A and Figure 2BAs shown in , the coordinate system 202 includes three dimensions including an X-axis, a Y-axis, and a Z-axis. Additionally or alternatively, the coordinate system 202 can be used to define planes (e.g., an XY plane, an XZ plane, and a YZ plane) of the robot 114 and / or the robot arm 116. These planes can be set to be orthogonal or 90 degrees to each other. Although the origin of the coordinate system 202 can be placed at any point on or near the components of the robot 114, for the purpose of description, the axes of the coordinate system 202 are always set in the same direction between the figures, regardless of whether the coordinate system 202 is shown. In some examples, dimensions, angles, directions, relative positions, and / or movements associated with one or more components of the robot 114 and / or the robot arm 116 can be referenced relative to the coordinate system 202. For example, the width of the robotic arm 116 (e.g., extending from one side shown in the foreground to one side in the background, into the page) may be defined as a dimension along the X-axis of the coordinate system 202, the height of the robotic arm 116 may be defined as a dimension along the Z-axis of the coordinate system 202, and the length of the robotic arm 116 (e.g., extending from a proximal end at the first link 204 to a distal end at the seventh link 224, etc.) may be defined as a dimension along the Y-axis of the coordinate system 202. Additionally or alternatively, the height of the system 100 may be defined as a dimension along the Z-axis of the coordinate system 202, the reach of the robotic arm 116 may be defined as a dimension along the Y-axis of the coordinate system 202, and the working area of ​​the robotic arm 116 may be defined in the XY plane with reference to the corresponding axis of the coordinate system 202.

[0073] The robotic arm 116 may be comprised of a plurality of links 204, 208, 209, 212, 216, 220, 224 that are interconnected at respective rotation axes 206, 210, 214, 218, 222, 226, 230, 234 or joints. Figure 2A and Figure 2BThere may be more or fewer links 204, 208, 209, 212, 216, 220, 224 and / or rotation axes 206, 210, 214, 218, 222, 226, 230, 234 than shown in FIG. In any case, the robotic arm 116 may have a first link 204 disposed at a proximal end of the robotic arm 116 and an end mounting flange 228 disposed at a distal end of the robotic arm 116, farthest from the proximal end. The first link 204 may correspond to a base of the robotic arm 116. In some examples, the first link 204 may rotate about the first rotation axis 206. The second link 208 may be connected to the first link 204 at a second rotation axis 210 or a joint. The second link 208 may rotate about the second rotation axis 210. In one example, the first rotation axis 206 and the second rotation axis 210 may be arranged parallel to each other. For example, the first rotation axis 206 and the second rotation axis 210 are shown extending along the Z axis in a direction perpendicular to the XY plane.

[0074] The robotic arm 116 may include a third link 209 that is rotationally interconnected to the second link 208 via a third axis of rotation 214 or a joint. The third axis of rotation 214 is shown extending along the X-axis or perpendicular to the first axis of rotation 206 and the second axis of rotation 210. In this position, when the third link 209 is caused to move (e.g., rotate relative to the second link 208), the third link 209 (and the components of the robotic arm 116 extending from the third link 209) can be caused to move into or out of the XY plane. The fourth link 212 is shown as being rotationally interconnected to the third link 209 via a fourth axis of rotation 218 or a joint. The fourth axis of rotation 218 is arranged parallel to the third axis of rotation 214. The fourth axis of rotation 218 extends along the X-axis, thereby allowing the fourth link 212 to rotate into and out of the XY plane.

[0075] In some examples, the robot arm 116 may include one or more wrists 216, 224. The fifth link 216 or wrist is shown as being rotationally interconnected to the fourth link 212 via a fifth axis of rotation 222 or wrist joint. The fifth axis of rotation 222 is shown as extending along the Y axis, which is perpendicular to the X axis and the Z axis. During operation of the robot 114, rotating the fifth link 216 about the fifth axis of rotation 222 can rotate the components of the robot arm 116 distal to the joint at the fifth axis of rotation 222 (e.g., the fifth link 216, the sixth link 220, the seventh link 224, the end mounting flange 228, and the end effectors 240A, 240B, etc.) about the Y axis.

[0076] The sixth link 220 is rotationally interconnected to the fifth link 216 via a sixth axis of rotation 226. The sixth axis of rotation 226 extends along the X-axis and provides for rotation of the sixth link 220 relative to the fifth link 216 (eg, in and out of the XY plane in the illustrated position).

[0077] The seventh link 224 or wrist is shown as being rotationally interconnected to the sixth link 220 via a seventh axis of rotation 230 or wrist joint. The seventh axis of rotation 230 is shown extending along the Y axis (e.g., perpendicular to the X and Z axes). During operation of the robot 114, rotating the seventh link 224 about the seventh axis of rotation 230 can rotate components of the robot arm 116 distal to the joint at the seventh axis of rotation 230 (e.g., the end mounting flange 228 and the end effectors 240A, 240B, etc.) about the Y axis.

[0078] Located at the distal end of the robotic arm 116, the end mounting flange 228 may be rotationally interconnected to the end mounting flange 228 via an eighth axis of rotation or mounting flange rotation axis 234. Figure 2A In FIG. 2 , the seventh link 224 is rotationally positioned about the seventh axis of rotation 230 such that the end mounting flange 228 is oriented at a position where the mounting flange axis of rotation 234 extends along the Z axis. Figure 2B In some examples, at least the seventh link 224 can be rotated about the seventh rotation axis 230 to rotate in the X-axis. Figure 2A The end mounting flange 228 is shown in the same position as Figure 2B The end mounting flange 228 can be moved between the positions shown, or vice versa. The end mounting flange 228 and the mounting flange rotation axis 234 can be the last movable (e.g., motor actuated, etc.) link and joint of the robotic arm 116. Movement between these two positions of the end mounting flange 228 allows for attachment and manipulation or operation of a specific end effector 240A, 240B according to a corresponding motion profile (e.g., range and limits) or a set of kinematic solutions of the robot 114 (e.g., robotic arm 116 and surgical tool 236, etc.).

[0079] Figure 2A 2 shows the first movement kinematics of the robotic arm 116 when the first tool block 232A of the first end effector 240A sets the surgical tool axis 238 parallel to the mounting flange rotation axis 234. Figure 2AIn the position shown in , the seventh link 224 is prevented from rotating into and / or out of the XY plane between the first end effector 240A. This position and arrangement may be ideal for applications (e.g., surgery, procedures, etc.) that may require the end rotation position of the surgical tool 236 to be maintained for the robot arm 116. For example, the surgical tool 236 in the first end effector 240A may correspond to an imaging device that may need to be maintained in a specific non-rotational position relative to the patient during imaging (e.g., when other joints of the robot arm 116 move the distal end closer to or farther away from the proximal end, the imaging plane of the surgical tool 236 should be maintained parallel to the XY plane). In this case, a corresponding arrangement of the surgical tool axis 238 associated with the first end effector 240A (e.g., parallel to the mounting flange rotation axis 234) may be preferred. In another example, it may be necessary to prevent the surgical tool 236 from rotating into or out of the XY plane to ensure the accuracy of movement along the Y axis, in the XY plane, and the like. Additionally or alternatively, during operation of the robot 114, it may be desirable to maintain a constant distance (e.g., along the Z-axis) between the reference plane and the end of the surgical tool 236. In either of these cases, in combination with Figure 2A The position and arrangement shown (eg, preventing the ends from rotating relative to the XY plane) may be preferred.

[0080] Figure 2B A second movement kinematics of the robotic arm 116 is shown when the second tool block 232B of the second end effector 240B sets the surgical tool axis 238 perpendicular (e.g., at 90 degrees) to the mounting flange rotation axis 234. In this alternative position, the end mounting flange 228 and the second end effector 240B can be permitted to rotate relative to the seventh link 224. In other words, in this alternative position, the end mounting flange 228 and the second end effector 240B can be permitted to rotate into and / or out of the XY plane (e.g., relative to the seventh link 224 at the mounting flange rotation axis 234). This position and arrangement can be ideal when precise rotational movement of the surgical tool 236 at the distal end of the robotic arm 116 is desired. Figure 2A The position and arrangement shown in , in which the most recent rotation of the first end effector 240A about the X-axis is provided at the sixth rotation axis 226, is opposite, Figure 2B The position and arrangement of the second end effector 240B allows the second end effector 240B to rotate about the X-axis about the mounting flange rotation axis 234. In particular, this position and arrangement can be used for any application of the surgical tool 236 where movement of the second end effector 240B (including rotation of the end into and / or out of the XY plane) is desired. Such applications may include directional cutting operations, probing movements, displacement of tissues and organs, and / or other surgical operations.

[0081] As described herein, the end mounting flange 228, tool block 232 or in Figure 2A and Figure 2B The different interface units not explicitly shown in the example of the robot 114 may include a set of components configured to interchangeably couple one surgical tool 236 of a plurality of surgical tools to the robotic arm 116 of the robot 114. For example, to perform a surgical procedure, a plurality of different surgical tools 236 may be used and connected to the robotic arm 116. Rather than having each surgical tool 236 include specific electronics and control components for operating the corresponding surgical tool 236, the set of components may be configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling the surgical tool 236 to the robotic arm 116 so that the robot 114 can control the surgical tool 236 regardless of what type of tool the surgical tool 236 is (e.g., a drill, a screwdriver, a blade for performing an incision, a burr, a blunt end for displacing tissue, a trocar, etc.), what operation the surgical tool 236 supports or performs, etc. In some examples, multiple surgical tools that can be interchangeably coupled to the robotic arm 116 (e.g., via a set of components including an end mounting flange 228, a tool block 232, or a different interface unit) may be specifically manufactured to enable interchangeable coupling to the robotic arm 116.

[0082] Figure 3A and Figure 3B A perspective view of a robotic surgical system 300 is depicted in accordance with at least one embodiment of the present disclosure. In some examples, the robotic surgical system 300 may implement the Figure 1 , Figure 2A and Figure 2B For example, the robotic surgical system 300 may include a robotic arm 304, which may be represented as shown in reference Figure 1 , Figure 2A and Figure 2B 14. In addition, the robotic surgical system 300 may include a plurality of surgical tools 308 (e.g., at least a first surgical tool 308A and a second surgical tool 308B), which may be represented as shown in reference Figure 2A and Figure 2B An example of a surgical tool 236 is described. In addition, although not shown, the robotic surgical system 300 may include a processor, such as a processor such as the reference Figure 1 The processor 104 described above can assist in controlling and operating the robotic arm 304 and the surgical tool 308.

[0083] As described herein and as Figure 3AAs shown in the example of FIG. 3 , in order to capture the individual control and design of each of the multiple surgical tools 308 required for the robotic surgical system 300, the electronic device and control components can be separated from the surgical tools 308 and placed in a single integrated unit at the end (e.g., distal end) of the robotic arm 304. For example, the single integrated unit can be as shown in FIG. Figure 3A and Figure 3B In some examples, the interface unit 312 may represent the interface unit 312 as shown in FIG. Figure 2A and Figure 2B An example of an end mounting flange 228 and / or a tool block 232 is depicted. Additionally or alternatively, the interface unit 312 may be a component of the robotic surgical system 300 other than the end mounting flange 228 and / or the tool block 232.

[0084] The interface unit 312 may remain connected to the robotic arm 304, while the surgical tools 308 may be interchangeably coupled to the interface unit 312 and may be easily replaced with one another for use in performing corresponding operations of a surgical procedure. For example, the interface unit 312 may be designed to support a variety of surgical tools 308, and the method of operation for the robotic surgical system 300 may be adjusted to suit which surgical tool is connected or coupled to the interface unit 312. By using the interface unit 312, the surgical tools 308 may have a simpler design, which may also utilize minimal electronics and be cheaper to manufacture (e.g., simplifying the sterilization process).

[0085] In some examples, the first surgical tool 308A may correspond to a first set of operations (e.g., a first operating method), and the second surgical tool 308B may correspond to a second set of operations (e.g., a second operating method). Thus, depending on which surgical tool 308 is coupled to the interface unit 312, the robotic surgical system 300 may perform operations for the coupled surgical tool 308. Figure 3A and Figure 3B The first surgical tool 308A and the second surgical tool 308B are shown in the examples as specific tools (e.g., the first surgical tool 308A is shown as an example of a drilling tool and the second surgical tool 308B is shown as an example of a cutting tool or blade), but it should be understood that the first surgical tool 308A and the second surgical tool 308B can be any type of surgical tool designed for use as part of the robotic surgical system 300.

[0086] In order to determine which surgical tool 308 is attached to the interface unit 312 and coupled to the robotic arm 304 (e.g., in order to determine which operations are to be performed based on which surgical tool 308 is attached), each surgical tool 308 may include an identification feature that can be used to identify the surgical tool 308 (e.g., scanned, read, accessed, etc.). For example, the identification feature may include a QR code, S / N, barcode, internal memory stored inside each surgical tool 308, visual markings (e.g., data matrix, photo code, color code, or any other visual markings not explicitly listed herein), RFID system (e.g., radio transponders, radio receivers, and radio transmitters provided on the surgical tool 308, the interface unit 312, the robotic arm 304, etc.), NFC connection, internal switching of the I / O system of the surgical tool 308, or a combination thereof. Therefore, after the surgical tool 308 is attached to the interface unit 312, the device of the robotic surgical system 300 can identify the surgical tool 308 based on the corresponding identification feature. For example, the processor may identify which surgical tool 308 is attached to the interface unit 312 (e.g., by accessing an internal memory stored inside the surgical tool 308 after the surgical tool 308 is coupled to the robotic arm 304, by using an RFID system, by using an NFC connection, by using an internal switch of the I / O system, etc.), a camera or imaging device may identify the surgical tool 308 (e.g., by scanning or reading a QR code, S / N, bar code, visual marking, etc. corresponding to the surgical tool 308), or another device not explicitly listed herein may identify the surgical tool 308 based on an identification feature.

[0087] Subsequently, after the surgical tool 308 is identified, the processor may determine the operations that the surgical tool 308 is capable of performing (e.g., by accessing a reference Figure 1 The interface unit 312 may include memory 106, database 130, and / or cloud 134 described above, which stores information associated with each of the surgical tools 308, and may transmit instructions for the surgical tool 308 to perform one of those determined operations (e.g., as part of a surgical protocol). In some examples, the determined operation may be for the surgical tool 308 attached to the interface unit 312 (e.g., performing an incision, operating a drill, performing a screwing operation, etc.), a general operation for moving and / or actuating the surgical tool 308 (e.g., a common operation across multiple surgical tools, such as moving the surgical tool 308 near a target of interest of a surgical protocol), or a combination thereof.

[0088] like Figure 3BAs shown in the example of , the interface unit 312 may include a set of components 316 configured to provide coupling between the surgical tool 308 and the robotic arm 304. In some examples, the interface unit 312 may include a body (e.g., storing any elements required to provide coupling), a tool receiving element (e.g., for attaching the surgical tool 308 to the interface unit 312), the set of components 316, or a combination thereof.

[0089] Additionally, surgical tool 308 (e.g., Figure 3B The first surgical tool 308A shown in the example of ) may include a complementary set of components 320 configured to couple the surgical tool 308 to the interface unit 312. For example, the set of components 320 of the surgical tool 308 may be configured to be attached to or otherwise coupled to the set of components 316 of the interface unit 312. As described herein, the set of components 316 of the interface unit 312 and the set of components 320 of the surgical tool 308 may be configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling the surgical tool 308 to the robotic arm 304, such that the surgical tool 308 can be operated by a device (e.g., as described in reference to FIG. 1 ) after being attached to the robotic arm via the interface unit 312 and the corresponding plurality of sets of components. Figure 1 The processor 104 and / or robot 114 described herein, or another device not explicitly described or listed herein) operates.

[0090] The set of components 316 and the set of components 320 may be one type of component or connector among different types of components or connectors configured to provide coupling between the interface unit 312 / robotic arm 304 and the surgical tool 308. For example, the set of components 316 and 320 may be or may include corresponding plugs and sockets, pins and holes, wireless communication components, and / or other types of connectors (e.g., threaded connectors, bayonet connectors, push-pull connectors, hose or tube connectors, etc.) that can provide communication coupling, electrical coupling, mechanical coupling, pneumatic coupling, and irrigation coupling for the surgical tool 308. In addition, the set of components 316 and 320 may be connected or coupled together via different mechanisms (such as magnetic connection, wireless connection, physically plugging into each other, etc.).

[0091] Figure 4 A method 400 is depicted that may be used, for example, to operate a surgical tool that has been coupled to a robotic arm via an interface unit as described herein.

[0092] Method 400 (and / or one or more steps thereof) may be performed or otherwise executed, for example, by at least one processor. The at least one processor may be the same or similar to processor 104 of computing device 102 described above. The at least one processor may be part of a robot (such as robot 114) or part of a navigation system (such as navigation system 118). Processors other than any processor described herein may also be used to perform method 400. The at least one processor may perform method 200 by executing elements stored in a memory (such as memory 106). The elements stored in the memory and executed by the processor may cause the processor to perform one or more steps of the functions shown in method 400. One or more portions of method 400 may be performed by a processor that executes any of the contents of the memory (such as image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0093] Method 400 includes determining that a first surgical tool among a plurality of surgical tools is coupled to an interface unit via a set of components (step 404). For example, the interface unit may be disposed at a distal end of a robotic arm and may be coupled to the robotic arm. Additionally, the interface unit may include the set of components, wherein the set of components is configured to interchangeably couple any of the plurality of surgical tools to the robotic arm. For example, the set of components of the interface unit may be configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm. As described herein, the plurality of surgical tools may include any type of surgical tool designed for use as part of a robotic surgical system as described herein.

[0094] In some examples, each of the plurality of surgical tools may include an identification feature. Thus, when the first surgical tool is coupled to the interface unit, it may be determined that the first surgical tool is coupled to the interface unit based on identifying the first surgical tool via the first identification feature of the first surgical tool. In some examples, the identification feature may include a QR code, S / N, barcode, internal memory stored inside each surgical tool, visual markings (e.g., data matrix, photo code, color code, or any other visual markings not explicitly listed herein), RFID system, NFC connection, internal switching of the I / O system, or a combination thereof.

[0095] In some examples, method 400 may include determining a first set of operations corresponding to the first surgical tool based in part on determining that the first surgical tool is coupled to the interface unit (step 408). For example, the first set of operations may be specific to the first surgical tool, common across multiple surgical tools, or a combination thereof. Additionally, the first set of operations may be determined based on identifying the first surgical tool as previously described (e.g., via a first identification feature).

[0096] Method 400 also includes transmitting instructions for operating the first surgical tool based in part on determining that the first surgical tool is coupled to the interface unit (step 412). In some examples, the instructions for operating the first surgical tool may be based on a first set of operations previously determined (e.g., at step 408). Thus, the first surgical tool may be operated (e.g., in conjunction with the robotic arm) to perform one or more operations of the surgical procedure (e.g., based on the first set of operations supported by the first surgical tool).

[0097] The present disclosure encompasses embodiments of method 400 that include more or fewer steps than those described above and / or one or more steps that are different than those described above.

[0098] Figure 5 A method 500 is depicted that may be used, for example, to operate an additional surgical tool that has been coupled to a robotic arm via an interface unit as described herein, where the additional surgical tool has replaced a first surgical tool previously coupled to the robotic arm.

[0099] Method 500 (and / or one or more steps thereof) may be performed or otherwise executed, for example, by at least one processor. The at least one processor may be the same or similar to processor 104 of computing device 102 described above. The at least one processor may be part of a robot (such as robot 114) or part of a navigation system (such as navigation system 118). Processors other than any processor described herein may also be used to execute method 500. The at least one processor may execute method 500 by executing elements stored in a memory (such as memory 106). The elements stored in the memory and executed by the processor may cause the processor to perform one or more steps of the functions shown in method 500. One or more portions of method 500 may be executed by a processor that executes any of the contents of the memory (such as image processing 120, segmentation 122, transformation 124, and / or registration 128).

[0100] In some examples, method 500 may include previously referring to Figure 4For example, method 500 includes: determining that a first surgical tool of a plurality of surgical tools is coupled to an interface unit via a set of components (step 504). Method 500 also includes: determining a first set of operations corresponding to the first surgical tool based in part on determining that the first surgical tool is coupled to the interface unit (step 508). Method 500 also includes: transmitting instructions for operating the first surgical tool based on determining that the first surgical tool is coupled to the interface unit (step 512). Steps 504, 508, and 512 may correspond to the steps described in reference to FIG. Figure 4 Steps 404, 408 and 412 are described.

[0101] Method 500 also includes: determining that a second surgical tool in the plurality of surgical tools is coupled to the interface unit via a set of components (step 516). In some examples, the second surgical tool may replace the first surgical tool coupled to the interface unit via the described set of components. As previously described, each surgical tool in the plurality of surgical tools may include an identification feature (e.g., a QR code, S / N, a barcode, an internal memory stored in each surgical tool, a visual marker, an RFID system, an NFC connection, an internal switch of an I / O system, or a combination thereof), wherein the second surgical tool may be determined to be coupled to the interface unit based on the second identification feature corresponding to the second surgical tool.

[0102] In some examples, method 500 may also include determining a second set of operations corresponding to the second surgical tool based in part on determining that the second surgical tool is coupled to the interface unit (step 520). In some examples, the second set of operations may be different from the first set of operations (e.g., determined for the first surgical tool). For example, the second set of operations may be specific to the second surgical tool, common across multiple surgical tools, or a combination thereof.

[0103] Method 500 also includes transmitting instructions for operating the second surgical tool based in part on determining that the second surgical tool is coupled to the interface unit (step 524). In some examples, the instructions for operating the second surgical tool may be based in part on the second set of operations. Thus, the second surgical tool may be operated (e.g., in conjunction with the robotic arm) to perform one or more operations of the surgical procedure (e.g., based on the second set of operations supported by the second surgical tool).

[0104] The present disclosure encompasses embodiments of method 500 that include more or fewer steps than those described above and / or one or more steps that are different than those described above.

[0105] As mentioned above, the present disclosure covers Figure 4 and Figure 5 (and the corresponding descriptions of methods 400 and 500) and including all steps less than the steps identified in Figure 4 and Figure 5 (and the corresponding descriptions of methods 400 and 500). The present disclosure also encompasses methods comprising one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein may be or include registration or any other correlation.

[0106] The foregoing is not intended to limit the present disclosure to one or more forms disclosed herein. In the aforementioned specific embodiments, for example, for the purpose of simplifying the present disclosure, the various features of the present disclosure are grouped together in one or more aspects, embodiments and / or configurations. The features of the aspects, embodiments and / or configurations of the present disclosure may be combined in alternative aspects, embodiments and / or configurations other than those discussed above. The method of the present disclosure should not be interpreted as reflecting the following intention: the claims require more features than the features explicitly stated in each claim. On the contrary, as reflected in the following claims, aspects of the present invention are less than all the features of a single aforementioned disclosed aspect, embodiment and / or configuration. Therefore, the following claims are hereby incorporated into this specific embodiment, wherein each claim exists independently as a separate preferred embodiment of the present disclosure.

[0107] In addition, although the foregoing has included descriptions of one or more aspects, embodiments and / or configurations and certain variations and modifications, other variations, combinations and modifications are within the scope of the present disclosure, for example, within the skill and knowledge of those skilled in the art after understanding the present disclosure. It is intended to obtain rights to include alternative aspects, embodiments and / or configurations, including alternative, interchangeable and / or equivalent structures, functions, ranges or steps of those claimed, regardless of whether such alternative, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and are not intended to be disclosed for any patentable subject matter.

Claims

1. A robotic surgical system, comprising: a robotic arm comprising a proximal end and a distal end; multiple surgical tools; an interface unit disposed at the distal end of the robotic arm and coupled to the robotic arm, wherein the interface unit includes a set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm; a processor coupled to the robotic arm and the interface unit; and a memory coupled to the processor and readable by the processor and storing data for processing by the processor, the data, when processed, causing the processor to: determining that a first surgical tool of the plurality of surgical tools is coupled to the interface unit via the set of components; as well as Instructions for operating the first surgical tool are transmitted based at least in part on determining that the first surgical tool is coupled to the interface unit.

2. The robotic system of claim 1 , wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

3. The robotic surgical system of claim 1 , wherein the memory stores additional data for processing by the processor, the additional data when processed causing the processor to: A first set of operations corresponding to the first surgical tool is determined at least in part based on determining that the first surgical tool is coupled to the interface unit, wherein the instructions for operating the first surgical tool are based at least in part on the first set of operations.

4. The robotic surgical system of claim 3, wherein the memory stores further data for processing by the processor, the further data when processed causing the processor to: determining that a second surgical tool of the plurality of surgical tools is coupled to the interface unit via the set of components; and Transmitting instructions for operating the second surgical tool based at least in part on determining that the second surgical tool is coupled to the interface unit.

5. The robotic surgical system of claim 4, wherein the memory stores further data for processing by the processor, the further data when processed causing the processor to: A second set of operations corresponding to the second surgical tool is determined at least in part based on determining that the second surgical tool is coupled to the interface unit, wherein the instructions for operating the second surgical tool are based at least in part on the second set of operations.

6. The robotic surgical system of claim 5, wherein the second set of operations is different from the first set of operations.

7. The robotic surgical system of claim 5, wherein the second surgical tool replaces the first surgical tool coupled to the interface unit via the set of components.

8. The robotic surgical system of claim 1, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

9. The robotic surgical system of claim 8, wherein the data stored by the memory that, when processed, causes the processor to determine that the first of the plurality of surgical tools is coupled to the interface unit via the set of components causes the processor to: When the first surgical tool is coupled to the interface unit, the first surgical tool is identified based at least in part on a first identification feature of the first surgical tool.

10. The robotic surgical system of claim 8, wherein the identification feature comprises a quick response (QR) code, a serial number, a bar code, an internal memory stored inside each surgical tool, a visual marker, a radio frequency identification (RFID) system, a near field communication (NFC) connection, an internal switch in an input / output (I / O) system, or a combination thereof.

11. A robotic surgical system, comprising: a robotic arm comprising a proximal end and a distal end; multiple surgical tools; An interface unit is disposed at the distal end of the robotic arm and coupled to the robotic arm, wherein the interface unit includes a set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm.

12. The robotic surgical system of claim 11 , wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

13. The robotic surgical system of claim 11, wherein each surgical tool of the plurality of surgical tools corresponds to a specific set of operations.

14. The robotic surgical system of claim 11, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

15. The robotic surgical system of claim 14, wherein the identification feature comprises a quick response (QR) code, a serial number, a bar code, an internal memory stored inside each surgical tool, a visual marker, a radio frequency identification (RFID) system, a near field communication (NFC) connection, an internal switch in an input / output (I / O) system, or a combination thereof.

16. A robotic surgical system, comprising: a robotic arm comprising a proximal end and a distal end; multiple surgical tools; an interface unit disposed at the distal end of the robotic arm and coupled to the robotic arm, the interface unit comprising: main body; a tool receiving element; and A set of components configured to interchangeably couple any of the plurality of surgical tools to the robotic arm.

17. The robotic surgical system of claim 16, wherein the set of components of the interface unit is configured to provide electrical coupling, communication coupling, mechanical coupling, pneumatic coupling, irrigation coupling, or a combination thereof for coupling any of the plurality of surgical tools to the robotic arm.

18. The robotic surgical system of claim 16, wherein each surgical tool of the plurality of surgical tools corresponds to a specific set of operations.

19. The robotic surgical system of claim 16, wherein each surgical tool of the plurality of surgical tools comprises an identification feature.

20. The robotic surgical system of claim 19, wherein the identification feature comprises a quick response (QR) code, a serial number, a bar code, an internal memory stored inside each surgical tool, a visual marker, a radio frequency identification (RFID) system, a near field communication (NFC) connection, an internal switch in an input / output (I / O) system, or a combination thereof.

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