Endoscope lens cleaning in robotic surgical procedures

Abstract

A method for cleaning an endoscopic instrument of a robotic surgical system, the method comprising: in response to receiving an input to effect cleaning of the endoscopic instrument, robotically retracting the endoscopic instrument from a patient; and robotically moving the elongated shaft of the endoscopic instrument relative to the longitudinal axis of the endoscopic instrument from an unpivoted position to a pivoted position after the elongated shaft of the endoscopic instrument is completely extracted from the patient.

Description

Technical Field

[0001] The present disclosure relates to robotic surgical systems and, more particularly, to systems and methods for cleaning endoscope lenses during surgical procedures. Background Art

[0002] A robotic surgical system includes a control drive assembly that supports surgical instruments used in laparoscopic and / or robotic surgery. These surgical instruments typically have a proximally located actuating mechanism that is operatively connected to a control drive unit of the control drive assembly for actuating a distal end actuator of the surgical instrument. The control drive unit includes any number of motors operatively associated with the actuating mechanism of the surgical instrument. Clinicians remotely control these motors so that the surgical instrument can robotically perform surgical tasks within the patient's body cavity, and typically at a remote location within the body cavity that is not easily accessible without a robotic surgical system. Typically during surgery, the endoscopic lens of the endoscope of the robotic surgical system becomes dirty and needs to be removed for cleaning. This cleaning typically requires the endoscope to be completely removed from the robotic surgical system. Summary of the invention

[0003] According to one aspect of the present disclosure, a method for cleaning an endoscopic instrument of a robotic surgical system is provided. The method includes: in response to receiving an input to enable cleaning of the endoscopic instrument, robotically retracting the endoscopic instrument from a patient; and after the elongated shaft of the endoscopic instrument is completely withdrawn from the patient, robotically moving the elongated shaft of the endoscopic instrument from a non-oscillated position to an oscillated position relative to a longitudinal axis of the endoscopic instrument.

[0004] In one aspect, the elongated shaft includes a distal portion, and the method further includes moving the distal portion of the elongated shaft relative to the proximal portion of the elongated shaft.

[0005] The method can further include robotically moving the elongated shaft of the endoscopic instrument after the distal portion of the elongated shaft is withdrawn from the surgical access assembly.

[0006] The method may further include receiving input from a control drive unit configured to support and drive the endoscopic instrument.

[0007] The endoscopic instrument may be an endoscope. In one aspect, the method may further include swinging a distal portion of the endoscope to present a distal lens of the endoscope for cleaning.

[0008] The method may further include, in response to receiving the input, robotically moving the distal portion of the endoscopic instrument from an angled position relative to the longitudinal axis to a position coaxial with the longitudinal axis.

[0009] In one aspect, the method includes, after the distal portion is moved to the coaxial position, robotically inserting the endoscopic instrument distally back through the surgical access assembly and into the patient.

[0010] In yet another aspect, robotically retracting the endoscopic instrument can be caused by an input signal received from a surgeon console.

[0011] In another aspect, robotically moving the distal portion of the elongated shaft relative to the proximal portion of the elongated shaft may include pitching the distal portion relative to the proximal portion.

[0012] Robotically retracting the endoscopic instrument may include axially retracting an endoscope drive unit of the control drive unit into the control drive unit.

[0013] According to another aspect of the present disclosure, a robotic surgical system is provided, the robotic surgical system comprising: a control drive unit; an endoscope drive unit; an endoscopic instrument that is selectively attachable to the endoscope drive unit, the endoscopic instrument defining a longitudinal axis and comprising an elongated shaft supporting a distal lens; and a control panel that is connected to the control drive unit, the control panel comprising a cleaning button that is configured to cause the elongated shaft to move from an insertion position to a cleaning position relative to the longitudinal axis in response to actuation of the cleaning button.

[0014] The distal portion may be movable relative to the proximal portion when the longitudinal axis of the distal portion of the elongated shaft is angled relative to the longitudinal axis of the proximal portion of the elongated shaft.

[0015] When the elongated shaft is in the insertion position, the distal portion can be coaxial with the proximal position.

[0016] The control panel may include an endoscope translation button operatively coupled to the endoscope drive unit and configured to cause axial translation of the endoscope drive unit relative to the control drive unit in response to actuation of the endoscope translation button.

[0017] When the endoscopic instrument is disposed in the retracted position upon actuation of the endoscopic translation button, the endoscopic drive unit may be advanced distally away from the control drive unit to advance the endoscopic instrument through the surgical access assembly and into the patient.

[0018] The control drive unit may further include a support rod assembly that supports the surgical access assembly.

[0019] The support bar assembly may support the control panel on a first side of the support bar assembly.

[0020] The support bar assembly may support a second control panel on a second side of the support bar assembly.

[0021] The second control panel may have a second cleaning button actuatable to control the endoscopic instrument.

[0022] According to yet another aspect of the present disclosure, a method for cleaning a distal portion of an endoscope of a robotic surgical system is provided. The method includes: in response to receiving an activation signal from an activation button, robotically enabling cleaning of the endoscope: swinging a distal portion of an elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein a longitudinal axis of the distal portion is coaxial with a longitudinal axis of the proximal portion; retracting the endoscope from a patient and from a surgical access assembly so that a distal lens of the distal portion of the endoscope is withdrawn and disengaged from the surgical access assembly; swinging the distal portion of the elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein the longitudinal axis of the distal portion is angled relative to a longitudinal axis of the proximal portion, and wherein the distal portion is oriented to facilitate cleaning of the distal lens; swinging the distal portion of the elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein the longitudinal axis of the distal portion is again coaxial with a longitudinal axis of the proximal portion; and reinserting the endoscope through the surgical access assembly into the patient.

[0023] Other aspects, features, and advantages will be apparent from the following description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various aspects of the present disclosure and, together with the general description of the present disclosure given above and the detailed description given below, explain the principles of the present disclosure. In the drawings:

[0025] Figure 1 is a stereoscopic view of a robotic surgical system for performing a surgical procedure on a patient in accordance with the principles of the present disclosure;

[0026] Figure 2 yes Figure 1 An enlarged front stereoscopic view of a control drive assembly of a robotic surgical system; and

[0027] Figures 3 to 10 is a view showing a process of cleaning the lens of an endoscope of a robotic surgery system according to the principles of the present disclosure. DETAILED DESCRIPTION

[0028] Various aspects of the present disclosure are described in detail with reference to the accompanying drawings in which like reference numerals represent like or corresponding elements in each of the several views. As used herein, the term "distal" refers to a portion of a structure that is closer to a patient, while the term "proximal" refers to a portion of a structure that is farther from a patient. As used herein, the term "clinician" refers to a physician, nurse, or other care provider, and may include support staff and / or equipment operators.

[0029] In the following description, well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail.

[0030] Robotic surgical systems have been used in minimally invasive medical procedures. Such procedures may be referred to as what is commonly known as "tele-surgery". These robotic surgical systems have one or more surgical instruments removably coupled thereto. Such surgical instruments include, for example, endoscopes, electrosurgical forceps, cutting instruments, staplers, graspers, electrocautery devices, or any other endoscopic or open surgical devices. Prior to or during use of the robotic surgical system, various surgical instruments may be selected and coupled to the robotic surgical system for selectively operating the end effector of the coupled surgical instrument.

[0031] refer to Figure 1 and Figure 2 , a robotic surgical system is generally shown at 10. The robotic surgical system 10 employs various robotic elements to assist the clinician and to allow for remote operation (or partial remote operation) of surgical instruments 60 of a surgical instrument system 50 of the robotic surgical system 10. Various controllers, circuit systems, robotic arms, gears, cams, pulleys, electric and mechanical motors, and the like may be used for this purpose and may be designed to assist the clinician in the operation or treatment process in conjunction with the surgical system 10. Such robotic systems may include tele-steerable systems, automated flexible surgical systems, tele-flexible surgical systems, tele-articulated surgical systems, wireless surgical systems, modular or selectively configurable tele-operated surgical systems, and the like.

[0032] The robotic surgical system 10 includes a workstation 12 and an instrument cart 14. The instrument cart 14 supports a control drive assembly 100 on a mounting arm assembly 15, which is selectively movable relative to the instrument cart 14. The control drive assembly 100 includes one or more surgical instrument systems 50 mounted on a control drive unit 101, which is supported on the mounting arm assembly 15. The control drive unit 101 is movable relative to the cart 14 and houses an instrument drive assembly 103, which is used to manipulate the surgical instrument system 50 and / or its independent surgical instruments 60 with the help of, for example, one or more computing devices or controllers. The instrument drive assembly 103 may include an instrument drive unit 103a, which is used to operate a surgical device such as a grasper coupled thereto, and an endoscope drive unit 103b, which is used to operate a surgical device such as an endoscope coupled thereto. The surgical instrument system 50 may include any number and / or type of surgical instruments. The surgical instruments 60 may include, for example, a grasper or forceps 26 (which may be electrosurgical forceps), an endoscope 28, and / or any other suitable instrument that may be driven by one or more associated tool drivers, such as the instrument drive unit 103a and the endoscope drive unit 103b of the instrument drive assembly 103. For example, in addition to the grasper 26 and the endoscope 28, the one or more surgical instruments 60 may include ambidextrous tools such as clamps, needle drivers, staplers, dissectors, cutters, hooks, graspers, scissors, coagulators, irrigators, suction devices for performing surgical procedures.

[0033] refer to Figure 1 and Figure 2 , the surgical instrument system 50 further includes a surgical access assembly 16, which defines a plurality of separate and spaced-apart conduits, channels or lumens 16a, 16b therethrough, which are configured to receive, for example, a surgical instrument 60 for entering a body cavity "BC" of a patient "P". Such lumens 16a, 16 may have any suitable shape and / or size. In other aspects, the surgical access assembly 16 may define a single conduit, channel or lumen therethrough, which is configured to receive, for example, a surgical instrument 60 for entering a body cavity "BC" of a patient "P". In particular, the surgical access assembly 16 may be inserted through the incision "I" and into the body cavity "BC" of the patient "P".

[0034] Reference again Figure 1The workstation 12 includes an input device 22 that communicates with the control drive unit 101 for use by a clinician to control the surgical access assembly 16 and various surgical instrument systems 50 (and their surgical instruments 60) via the instrument drive assembly 103, such as for performing a surgical operation on a patient "P" when the patient "P" is supported on an operating table 24. The input device 22 is configured to receive input from the clinician and generate input signals. The input device 22 can also be configured to generate feedback to the clinician. The feedback can be visual, auditory, tactile, etc.

[0035] The workstation 12 may further include a computing device and / or controller, such as a master processor circuit 22a in communication with the input device 22 for receiving input signals and generating control signals for controlling the robotic surgical system 10, which may be transmitted to the instrument cart 14 via an interface cable 22b. In some cases, the transmission may be wireless, and the interface cable 22b may not be present. The input device 22 may include right-hand and left-hand controls (not shown) and / or foot pedals (not shown) that are moved / operated to generate input signals at the input device 22 and / or control the robotic surgical system 10. The instrument cart 14 may include a slave processor circuit 20a that receives control signals from the master processor circuit 22a and generates slave control signals that are operable to control various surgical instrument systems 50 (and surgical instruments 60 thereof) during a surgical procedure. The workstation 12 may also include a user interface, such as a display (not shown) in communication with the master processor circuit 22a, for displaying information (e.g., body cavity images) and other information to the clinician about an area or region of interest (e.g., a surgical site, a body cavity, etc.). Although both a master processor circuit and a slave processor circuit are shown, in other aspects a single processor circuit may be used to perform both master and slave functions.

[0036] refer to Figure 1 and Figure 2 , the control drive assembly 100 is pivotally mounted to the mounting arm assembly 15. The control drive unit 101 of the control drive assembly 100 includes a housing 102, which supports an instrument drive assembly 103, which includes an instrument drive unit 103a (for example, three) and an endoscope drive unit 103b. The control drive unit 101 further includes a support rod assembly 104, which is mounted to the housing 102. The mounting arm assembly 15 includes a first control panel 15a having buttons 15L, 15R, 15C and 15E, which are selectively actuatable to cause corresponding drive units of the instrument drive unit 103a and the endoscope drive unit 103b to linearly translate relative to the control drive unit 101, respectively. Figure 3 and Figure 4 Indicated by the arrows "A" and "B" shown. The first control panel 15a further includes a cleaning button 15x. The housing 102 also supports a second control panel (not explicitly shown) that is located on the opposite side of the first control panel 15a where the arm assembly 15 is mounted, but similarly includes buttons 15L, 15R, 15C, 15E and 15x that also provide the same functions as the corresponding buttons on the first control panel 15a. The support rod assembly 104 includes: a first portion 1041 including a rear rod 104a having a U-shaped configuration that surrounds the sidewalls of the proximal portion of the housing 102 and extends below the housing 102; and a second portion 1042 having a handle 104b and a port arm 104c that extends distally from the handle 104b to a port latch assembly 105 on a distal portion of the port arm 104c. The port latch assembly 105 includes a pivotable clamp arm 1051, a fixed clamp arm 1052, and an actuator 1053, which is operatively coupled to the pivotable clamp arm 1051 to cause the pivotable clamp arm 1051 to be selectively coupled to the surgical portal assembly 16. The support rod assembly 104 further includes a plurality of brake release buttons 104e located on the inwardly facing surfaces of the rear rod 104a, the handle 104b, and the port arm 104c of the support rod assembly 104, which are configured to stop the linear movement of the instrument drive unit 103a and / or the endoscope drive unit 103b relative to the control drive unit 101.

[0037] Now go to Figures 3 to 10 , endoscope 28 defines a longitudinal axis "X" and includes a distal lens 28a (or multiple distal lenses) and a drive assembly 28b. Endoscope 28 further includes an elongated shaft 29 having a distal portion 29a and a proximal portion 29b. The distal portion 29a is operatively coupled to the drive assembly 28b so that the drive assembly 28b can move (e.g., swing) the distal portion 29a relative to the proximal portion 29b and relative to the longitudinal axis "X". The distal lens 28a is supported on the distal end of the distal portion 29 of the elongated shaft 29.

[0038] During a surgical procedure, the distal lens 28a of the endoscope 28 may become dirty, for example, due to tissue, blood or other fluids and / or debris from the surgical procedure. When the clinician determines that such distal lens 28a requires cleaning, upon actuation of the endoscope translation button 15E, the endoscope 28 is axially retracted from the patient "P" along the longitudinal axis "X" and away from the surgical access assembly 16, causing the endoscope drive unit 103b to retract into the housing 102 of the control drive unit 101. The cleaning button 15x can then be manually actuated, which causes the drive assembly 28b of the endoscope 28 to swing (e.g., pitch) the distal portion 29a of the elongated shaft 29 of the endoscope 28 relative to the proximal portion 29b of the elongated shaft 29, as indicated by arrow "C", in response to input signals received by the control drive assembly 100, the control drive unit 101, the instrument drive assembly 103 and / or the endoscope drive assembly 28b. In particular, the distal portion 29a can be pitched and / or yawed upward, downward, and / or sideways relative to the longitudinal axis "X" of the endoscope 28 from a coaxial position to an angled position or offset position relative to the longitudinal axis "X" so that the distal portion 29a is set at an orientation angle relative to the proximal portion 29b. The orientation angle is configured to be large enough to present the distal lens 28a in a position that can be easily accessed by a clinician to clean the distal lens 28a by wiping the distal lens 28a with a sterile sponge or cloth 99, for example. For example, the angle can be between about 10 degrees and about 90 degrees in any direction relative to the longitudinal axis "X", and can reach about 180 degrees in any direction. The drive assembly 28b of the endoscope 28 can have any suitable electromechanical structure to facilitate the swinging movement of the elongated shaft 29. For example, the drive assembly 28b and the elongated shaft 29 may include and / or support cables, gears, pulleys, etc. that cooperate to achieve the swinging / pivoting movement of the distal portion 29a relative to the proximal portion 29b.

[0039] Once the clinician determines that the distal lens 28a of the endoscope 28 is sufficiently clean, the clinician can again actuate the cleaning button 15x and, in response to input signals received by the control drive assembly 100, the control drive unit 101, the instrument drive assembly 103, and / or the endoscope drive assembly 28b, cause the distal portion 29a to return to the initial position, as indicated by arrow "D", in which the distal portion 29a is coaxial with the proximal portion 29b. Then, upon another actuation of the endoscope translation button 15E, the endoscope 28 can be inserted back through the surgical access assembly 16 and into the patient "P" to continue the surgical procedure. This process can be repeated as needed before, during, and / or after the surgical procedure.

[0040] The disclosed structures may include any suitable mechanical, electrical and / or chemical components for operating the disclosed systems or components thereof. For example, such electrical components may include, for example, any suitable electrical and / or electromechanical and / or electrochemical circuit systems, which may include or be coupled to one or more printed circuit boards. As will be appreciated, the disclosed computing devices (and / or servers) may include, for example, "controllers," "processors," "digital processing devices," and similar terms, and these terms are used to indicate a microprocessor or central processing unit (CPU). A CPU is an electronic circuit system within a computer that executes the instructions of a computer program by performing basic arithmetic, logic, control, and input / output (I / O) operations specified by the instructions, and includes, by way of non-limiting example, a server computer. In some aspects, the controller includes an operating system configured to execute executable instructions. An operating system is software, for example, including programs and data, that manages the hardware of the disclosed devices and provides services for executing applications used with the disclosed devices. Those skilled in the art will recognize that, by way of non-limiting example, suitable server operating systems include FreeBSD, OpenBSD, Linux, Mac OS X Windows and In some aspects, the operating system is provided by cloud computing.

[0041] In some aspects, the term "controller" may be used to refer to devices that control the transfer of data from a computer or computing device to a peripheral or separate device (and vice versa), and / or mechanical and / or electromechanical devices (e.g., joysticks, knobs, etc.) that mechanically operate and / or actuate peripheral or separate devices.

[0042] In various aspects, the controller includes storage and / or memory devices. Storage and / or memory devices are one or more physical devices for temporarily or permanently storing data or programs. In some aspects, the controller includes volatile memory and requires power to maintain the stored information. In various aspects, the controller includes non-volatile memory and retains the stored information when it is not powered. In some aspects, the non-volatile memory includes flash memory. In some aspects, the non-volatile memory includes dynamic random access memory (DRAM). In some aspects, the non-volatile memory includes ferroelectric random access memory (FRAM). In various aspects, the non-volatile memory includes phase change random access memory (PRAM). In some aspects, by way of non-limiting example, the controller is a storage device including CD-ROM, DVD, flash memory device, disk drive, tape drive, optical drive and cloud computing-based storage. In various aspects, the storage and / or memory device is a combination of devices such as those disclosed herein.

[0043] In various aspects, the memory can be a random access memory, a read-only memory, a disk memory, a solid-state memory, an optical disk memory and / or another type of memory. In various aspects, the memory can be separated from the controller and can communicate with the processor through a communication bus of a circuit board and / or through a communication cable (such as a serial ATA cable or other types of cables). The memory includes computer-readable instructions that can be executed by the processor to operate the controller. In various aspects, the controller may include a wireless network interface to communicate with other computers or servers. In some aspects, a storage device may be used to store data. In various aspects, the processor may be, but is not limited to, for example, a digital signal processor, a microprocessor, an ASIC, a graphics processing unit ("GPU"), a field programmable gate array ("FPGA") or a central processing unit ("CPU").

[0044] The memory stores suitable instructions and / or applications executed by the processor for receiving sensed data (e.g., sensed data from a camera), accessing a storage device of the controller, generating a raw image based on the sensed data, comparing the raw image to a calibration data set, identifying an object based on the raw image compared to the calibration data set, transmitting the object data to a post-processing unit, and displaying the object data to a graphical user interface. Although shown as part of the disclosed structure, it is also conceivable that the controller can be remote from the disclosed structure (e.g., on a remote server) and can be accessed by the disclosed structure via a wired or wireless connection. In aspects where the controller is remote, it is conceivable that the controller can be accessed by and connected to multiple structures and / or components of the disclosed system.

[0045] The term "application" may include a computer program designed to perform a function, task, or activity for the benefit of a user. An application may refer to, for example, software that runs locally or remotely, software that runs as a standalone program or in a web browser, or other software that would be understood as an application by a person skilled in the art. An application may run on a disclosed controller or on a user device, including, for example, on a mobile device, an IOT device, or a server system.

[0046] In some aspects, the controller includes a display for sending visual information to the user. In various aspects, the display is a cathode ray tube (CRT). In various aspects, the display is a liquid crystal display (LCD). In some aspects, the display is a thin film transistor liquid crystal display (TFT-LCD). In various aspects, the display is an organic light emitting diode (OLED) display. In some aspects, the OLED display is a passive matrix OLED (PMOLED) or an active matrix OLED (AMOLED) display. In various aspects, the display is a plasma display. In some aspects, the display is a video projector. In various aspects, the display is interactive (e.g., with a touch screen) that can detect user interactions / gestures / responses, etc. In some aspects, the display is a combination of devices such as those disclosed herein.

[0047] The controller may include or be coupled to a server and / or a network. As used herein, the term "server" includes "computer server," "central server," "master server," and similar terms to indicate a computer or device on a network that manages the disclosed apparatus, its components, and / or its resources. As used herein, the term "network" may include any network technology, including, for example, a cellular data network, a wired network, a fiber optic network, a satellite network, and / or an IEEE 802.11a / b / g / n / ac wireless network, etc.

[0048] In various aspects, the controller can be connected to a mesh network. As used herein, a "mesh network" is a network topology in which each node relays data for the network. All mesh nodes collaborate to distribute data in the network. It can be applied to both wired and wireless networks. A wireless mesh network can be considered a type of "wireless ad hoc" network. Therefore, a wireless mesh network is closely related to a mobile ad hoc network (MANET). Although MANET is not limited to a specific mesh network topology, a wireless ad hoc network or MANET can take any form of network topology. A mesh network can relay messages using flooding techniques or routing techniques. Through routing, a message propagates along a path, jumping from one node to another until it reaches its destination. In order to ensure that all its paths are available, the network must allow continuous connections and must reconfigure itself around disconnected paths using self-repair algorithms (such as shortest path bridging). Self-repair allows a routing-based network to operate when a node is disconnected or when a connection becomes unreliable. Therefore, the network is generally very reliable because there is generally more than one path between a source and a destination in the network. This concept can also be applied to wired networks and software interactions. A mesh network whose nodes are all connected to each other is a fully connected network.

[0049] In some aspects, the controller may include one or more modules. As used herein, the term "module" and similar terms are used to indicate a self-contained hardware component of a central server, which in turn includes a software module. In software, a module is a part of a program. A program consists of one or more independently developed modules that are not combined together until the program is linked. A single module may contain one or several routines or program parts that perform a specific task.

[0050] As used herein, a controller includes a software module for managing various aspects and functions of the disclosed systems or components thereof.

[0051] The disclosed structure can also utilize one or more controllers to receive various information and transform the received information to generate output. The controller can include any type of computing device, computing circuit, or any type of processor or processing circuit capable of executing a series of instructions stored in a memory. The controller can include multiple processors and / or multi-core central processing units (CPUs), and can include any type of processor such as a microprocessor, a digital signal processor, a microcontroller, a programmable logic device (PLD), a field programmable gate array (FPGA), etc. The controller can also include a memory for storing data and / or instructions, which when executed by one or more processors enable one or more processors to execute one or more methods and / or algorithms.

[0052] Phrases “in one aspect,” “in various aspects,” “in various aspects,” “in some aspects,” “in other aspects,” etc. may respectively refer to one or more of the same or different aspects according to the present disclosure. Phrases in the form “A or B” mean “(A), (B), or (A and B).” Phrases in the form “at least one of A, B, or C” mean “(A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).”

[0053] 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, according to the examples, certain actions or events of any process or method described herein may be performed in a different order, may be added, combined, or omitted entirely (e.g., all described actions or events may not be necessary to implement these techniques).

[0054] Certain aspects of the present disclosure may include some, all, or none of the advantages described above and / or one or more other advantages apparent to one skilled in the art from the drawings, descriptions, and claims included herein. In addition, although specific advantages have been listed above, various aspects of the present disclosure may include all, some, or none of the listed advantages and / or other advantages not specifically listed above.

[0055] The various aspects disclosed herein are examples of the present disclosure and may be embodied in various forms. For example, although some aspects herein are described as being separate, each aspect herein may be combined with one or more of the other aspects herein. The specific structural and functional details disclosed herein should not be interpreted as restrictive, but should be interpreted as the basis of the claims and as a representative basis for teaching those skilled in the art to adopt the present disclosure in various ways in virtually any appropriately detailed structure. Throughout the description of the figures, the same reference numerals may refer to similar or identical elements.

[0056] Any method, program, algorithm or code described herein can be converted into or expressed as a programming language or computer program. As used herein, the terms "programming language" and "computer program" each include any language for specifying instructions to a computer, and include (but are not limited to) the following languages ​​and their derivatives: Assembler, Basic, Batchfiles, BCPL, C, C+, C++, Delphi, Fortran, Java, JavaScript, machine code, operating system command language, Pascal, Perl, PL1, scripting language, Visual Basic, the metalanguage of the program itself, and all first, second, third, fourth, fifth or next generation computer languages. Also include databases and other data patterns, and any other metalanguage. The language of the method of interpretation, compilation or simultaneous use of compilation and interpretation is not distinguished. The compiled version of the program is not distinguished from the source version. Therefore, the reference to the program (wherein the programming language may exist in multiple states (such as source, compilation, object or link)) is a reference to all these states. The reference to the program may cover the intention of actual instructions and / or those instructions.

[0057] Fixing of any components of the disclosed device may be achieved using known fixing techniques such as welding, crimping, gluing, fastening, etc.

[0058] Those skilled in the art will appreciate that the structures and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary aspects, and the specification, disclosure, and drawings should be understood only as examples of various aspects. Therefore, it should be understood that the disclosure is not limited to the precise aspects described, and that various other changes and modifications may be achieved by those skilled in the art without departing from the scope or spirit of the disclosure. In addition, without departing from the scope of the disclosure, the elements and features shown or described in conjunction with certain aspects may be combined with the elements and features of certain other aspects, and such modifications and variations are also included within the scope of the disclosure. Therefore, the subject matter of the disclosure is not limited by the content that has been specifically shown and described.

Claims

1. A method for cleaning an endoscopic instrument of a robotic surgery system, the method comprising: in response to receiving input to effectuate cleaning of the endoscopic instrument, robotically retracting the endoscopic instrument from the patient; as well as After the elongated shaft of the endoscopic instrument is fully withdrawn from the patient, the elongated shaft of the endoscopic instrument is robotically moved from an un-oscillated position to an oscillated position relative to a longitudinal axis of the endoscopic instrument.

2. The method of claim 1, wherein: The elongated shaft includes a distal portion, and the method further includes moving the distal portion of the elongated shaft relative to the proximal portion of the elongated shaft.

3. The method of claim 2, further comprising: The elongated shaft of the endoscopic instrument is robotically moved after the distal portion of the elongated shaft is withdrawn from the surgical access assembly.

4. The method of claim 2, further comprising: An input is received from a control drive unit configured to support and drive the endoscopic instrument.

5. The method of claim 2, wherein: The endoscopic instrument is an endoscope, and wherein the method includes swinging a distal portion of the endoscope to present a distal lens of the endoscope for cleaning.

6. The method of claim 3, further comprising, in response to receiving the input, robotically moving the distal portion of the endoscopic instrument from an angled position relative to the longitudinal axis to a position coaxial with the longitudinal axis.

7. The method of claim 6, further comprising: After the distal portion is moved to the coaxial position, the endoscopic instrument is robotically inserted distally back through the surgical access assembly and into the patient.

8. The method of claim 1, wherein: Robotic retraction of the endoscopic instrument is caused by input signals received from the surgeon's console.

9. The method of claim 2, wherein: Robotically moving the distal portion of the elongated shaft relative to the proximal portion of the elongated shaft includes pitching the distal portion relative to the proximal portion.

10. The method of claim 1, wherein: Robotically retracting the endoscopic instrument includes axially retracting an endoscope drive unit of the control drive unit into the control drive unit.

11. A robotic surgery system, comprising: Control drive unit; Endoscope drive unit; an endoscopic instrument selectively attachable to the endoscope drive unit, the endoscopic instrument defining a longitudinal axis and including an elongated shaft supporting a distal lens; as well as A control panel is coupled to the control drive unit, the control panel including a cleaning button configured to cause the elongated shaft to move relative to the longitudinal axis from an insertion position to a cleaning position in response to actuation of the cleaning button.

12. The robotic surgery system of claim 11, wherein: The distal portion is movable relative to the proximal portion when the longitudinal axis of the distal portion of the elongated shaft is angled relative to the longitudinal axis of the proximal portion of the elongated shaft.

13. The robotic surgery system of claim 12, wherein: When the elongated shaft is in the insertion position, the distal portion is coaxial with the proximal position.

14. The robotic surgery system of claim 11, wherein: The control panel includes an endoscope translation button operably coupled to the endoscope drive unit and configured to cause axial translation of the endoscope drive unit relative to the control drive unit in response to actuation of the endoscope translation button.

15. The robotic surgery system of claim 14, wherein: When the endoscopic instrument is disposed in the retracted position upon actuation of the endoscopic translation button, the endoscopic drive unit is advanced distally away from the control drive unit to advance the endoscopic instrument through the surgical access assembly and into the patient.

16. The robotic surgery system of claim 15, wherein: The control drive unit further includes a support rod assembly that supports the surgical access assembly.

17. The robotic surgery system of claim 16, wherein: The support bar assembly supports the control panel on a first side of the support bar assembly.

18. The robotic surgery system of claim 17, wherein: The support bar assembly supports a second control panel on a second side of the support bar assembly.

19. The robotic surgery system of claim 18, wherein: The second control panel has a second cleaning button that is actuatable to control the endoscopic instrument.

20. A method for cleaning a distal portion of an endoscope of a robotic surgical system, the method comprising: In response to receiving an activation signal from the activation button, robotically performing cleaning of the endoscope: oscillating a distal portion of the elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein a longitudinal axis of the distal portion is coaxial with a longitudinal axis of the proximal portion; retracting the endoscope from the patient and from the surgical access assembly such that a distal lens of a distal portion of the endoscope is withdrawn and disengaged from the surgical access assembly; oscillating a distal portion of the elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein a longitudinal axis of the distal portion is angled relative to a longitudinal axis of the proximal portion, and wherein the distal portion is oriented to facilitate cleaning of the distal lens; oscillating a distal portion of the elongated shaft of the endoscope relative to a proximal portion of the endoscope, wherein the longitudinal axis of the distal portion is again coaxial with the longitudinal axis of the proximal portion; and The endoscope is reinserted into the patient through the surgical access assembly.

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