Robotic surgical system having removable portions and method of

Abstract

The invention provides a robotic surgical system. The robotic surgical system includes a controller, a surgical instrument, and a tool. The surgical instrument is configured to interact with a patient. The surgical instrument is operably coupled with the controller. The tool is operably coupled with the robotic surgical system. The tool includes a disassembly feature. The disassembly feature of the tool is configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to instructions from the controller.

Description

Background Art

[0001] Many ultrasonic surgical instruments include an end effector having a blade element that vibrates at ultrasonic frequencies to cut and / or seal tissue (e.g., by denaturing proteins in tissue cells). These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations that are transmitted along an acoustic waveguide to the blade element. Examples of ultrasonic surgical instruments and related concepts are disclosed in the following documents: U.S. Publication No. 2006 / 0079874, entitled “TissuePad for Use with an Ultrasonic Surgical Instrument,” published on April 13, 2006 (now abandoned), the disclosure of which is incorporated herein by reference in its entirety; U.S. Publication No. 2007 / 0191713, entitled “Ultrasonic Device for Cutting and Coagulating,” published on August 16, 2007 (now abandoned), the disclosure of which is incorporated herein by reference in its entirety; and U.S. Publication No. 2008 / 0200940, entitled “Ultrasonic Device for Cutting and Coagulating,” published on August 21, 2008 (now abandoned), the disclosure of which is incorporated herein by reference in its entirety.

[0002] Some instruments are operable to seal tissue by applying radiofrequency (RF) electrosurgical energy to the tissue. Examples of such devices and related concepts are disclosed in the following documents: U.S. Patent No. 7,354,440, entitled "Electrosurgical Instrument and Method of Use," issued on April 8, 2008, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 7,381,209, entitled "Electrosurgical Instrument," issued on June 3, 2008, the disclosure of which is incorporated herein by reference in its entirety.

[0003] Some instruments are capable of applying both ultrasonic energy and RF electrosurgical energy to tissue. Examples of such instruments are described in the following documents: U.S. Patent No. 9,949,785, entitled “Ultrasonic Surgical Instrument with Electrosurgical Feature”, issued on April 24, 2018, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 8,663,220, entitled “Ultrasonic Electrosurgical Instruments”, issued on March 4, 2014, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 10,835,307, entitled “Modular Battery Powered Handheld Surgical Instrument Containing Elongated Multi-Layered Shaft”, issued on November 17, 2020, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent No. 10,835,307, entitled “Modular Battery Powered Handheld Surgical Instrument Containing Elongated Multi-Layered Shaft”, issued on January 25, 2022, the disclosure of which is incorporated herein by reference in its entirety. No. 11,229,471 for "Tissue Characterization", the disclosure of which is incorporated herein by reference in its entirety.

[0004] In some scenarios, it may be preferred to have the surgical instrument directly grasped and manipulated by one or more hands of one or more human operators.In addition or as an alternative, it may be preferred to have the surgical instrument controlled via a robotic surgical system. Examples of robotic surgical systems and associated instruments are disclosed in the following documents: U.S. Patent No. 10,624,709, entitled “Robotic Surgical Tool with Manual Release Lever,” issued on May 2, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,314,308, entitled “Robotic Ultrasonic Surgical Device With Articulating End Effector,” issued on April 19, 2016, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,125,662, entitled “Multi-Axis Articulating and Rotating Surgical Tools,” issued on September 8, 2015, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,125,662, entitled “Multi-Axis Articulating and Rotating Surgical Tools,” issued on September 2, 2014, the disclosure of which is incorporated herein by reference in its entirety; No. 8,820,605, entitled “Ultrasonic Surgical Instruments”, the disclosure of which is incorporated herein by reference in its entirety; U.S. Publication No. 2019 / 0201077, entitled “Interruption of Energy Due to Inadvertent Capacitive Coupling”, published on July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Publication No. 2012 / 0292367, entitled “Robotically-Controlled End Effector”, published on November 11, 2012 (now abandoned), the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application No. 16 / 556,661, entitled “Ultrasonic Surgical Instrument with a Multi-Planar Articulating Shaft Assembly”, filed on the same date as this application, the disclosure of which is incorporated herein by reference in its entirety.

[0005] These instruments and robotic surgical systems may also be incorporated into surgical systems for performing surgery in a surgical environment, such as a surgical operating room or room in a healthcare facility. A sterile field is typically formed around the patient and may include appropriately dressed, scrubbed medical professionals and desired furniture and / or fixtures. Examples of these surgical systems and associated features are disclosed in the following: U.S. Patent Publication No. 2019 / 0201046, entitled “Method for Controlling Smart Energy Devices,” published on July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Publication No. 2019 / 0201080, entitled “Ultrasonic Energy Device Which Varies Pressure Applied by Clamp Arm to Provide Threshold Control Pressure at a Cut Progression Location,” published on July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Publication No. 2019 / 0201091, entitled “Radio Frequency Energy Device for Delivering Combined Electrical Signals,” published on September 12, 2019, the disclosure of which is incorporated herein by reference in its entirety; Device”, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Publication No. 2019 / 0207857, published on July 4, 2019, entitled “Surgical Network Determination of Prioritization of Communication, Interaction, or Processing Based on System or Device Needs”, the disclosure of which is incorporated herein by reference in its entirety.

[0006] While several surgical instruments and systems have been made and used, it is believed that no one prior to the inventors has made or used the invention described in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] While this specification results in claims that particularly point out and distinctly claim such technology, it is believed that such technology will be better understood from certain examples described below in conjunction with the accompanying drawings, wherein like reference numerals indicate the same elements, and wherein:

[0008] Figure 1 depicts a block diagram of an exemplary computer-implemented interactive surgical system;

[0009] Figure 2 A top schematic diagram depicting an example of a surgical system for performing a surgical procedure in an operating room of a health care facility;

[0010] Figure 3 Depicted Figure 2 A schematic side view of an example of a surgical hub for a surgical system;

[0011] Figure 4 Describes the Figure 2 A perspective view of a combined generator module of bipolar, ultrasonic and monopolar contacts of a surgical system;

[0012] Figure 5 Describes the use of Figure 2 Schematic side views of various examples of exemplary generators and surgical instruments for use with surgical systems;

[0013] Figure 6 depicts a schematic front view of an exemplary robotic surgical system including a plurality of tools;

[0014] Figure 7 depicts a perspective view of a surgical instrument with a housing of the surgical instrument partially removed to expose retrievable components;

[0015] Figure 8 depicts a top plan view of an exemplary tool including a plurality of removal features;

[0016] Fig. 9 Depicted Figure 8 A first exemplary removal feature of a tool moves from a first configuration to a second configuration to remove Figure 7 a side elevation view of a portion of a tool;

[0017] Fig.10 Depicted Fig. 9 The disassembly feature moves from the third configuration to the fourth configuration to disassemble Figure 7 a side elevation view of a portion of a surgical instrument;

[0018] Fig.11A Depicted in Figure 8 A second exemplary disassembly feature of the tool is to disassemble the parts coupled together in a connected configuration using a mechanical connector prior to disassembly. Figure 7A schematic cross-sectional view of a first and a second housing portion of a surgical instrument;

[0019] Fig. 11B Describes something like Fig.11A , but in Fig.11A a schematic cross-sectional view of the first and second housing portions after the removal feature of the mechanical connector moves to a non-connected configuration;

[0020] Fig. 12A Depicted is a device coupled together in a connected configuration using a magnetic connector. Figure 7 A schematic cross-sectional view of a first and a second housing portion of a surgical instrument;

[0021] Fig. 12B Describes something like Fig. 12A , a schematic cross-sectional view of the first and second housing portions but after the magnetic connector is moved to a non-connected configuration by the third exemplary removal feature;

[0022] Fig.13A Depicts a device coupled together in a connected configuration using an electrical connector Figure 7 A schematic cross-sectional view of a first and a second housing portion of a surgical instrument;

[0023] Fig. 13B Describes something like Fig.13A , a schematic cross-sectional view of the first and second housing portions but after the electrical connector has been moved to a non-connected configuration using a fourth exemplary removal feature;

[0024] Fig.14A Depicted when the fifth exemplary disassembly feature is activated Figure 7 A schematic cross-sectional view of a portion of a housing;

[0025] Fig. 14B Describes something like Fig.14A , but in use Fig.14A a schematic cross-sectional view of the portion of the housing after separation of the disassembly features of the housing;

[0026] Fig.15A The sixth exemplary disassembly feature is depicted moving from a first configuration toward a second configuration to separate Figure 7 A schematic cross-sectional view of a fragile portion of a surgical instrument;

[0027] Fig. 15B Depicted Fig.15A A schematic cross-sectional view of the disassembled features of the device, but with the fragile portion in a separated state;

[0028] Fig.16 depicts a side elevation view of a plurality of tools positioned on a tool dispenser;

[0029] Fig.17An exemplary surgical kit including packaging surrounding another exemplary surgical instrument and disassembly features is depicted;

[0030] Fig.18 Depicted Fig.17 but in a disassembled configuration; and

[0031] Fig.19 Describes the operation Figure 6 A diagrammatic view of an exemplary method of a robotic surgical system.

[0032] The drawings are not intended to be limiting in any way, and it is contemplated that various embodiments of the present technology may be performed in a variety of other ways, including those not necessarily shown in the drawings. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate several aspects of the present technology and, together with the description, explain the principles of the technology; however, it should be understood that the technology is not limited to the precise arrangements shown. DETAILED DESCRIPTION

[0033] The following description of certain examples of the present technology should not be used to limit the scope of the present technology. Other examples, features, aspects, embodiments and advantages of the present technology will become apparent to those skilled in the art from the following description, which is by way of example, one of the best ways contemplated for implementing the present technology. As will be appreciated, the technology described herein can have other different and obvious aspects, all of which do not depart from the present technology. Therefore, the drawings and descriptions should be regarded as illustrative in nature and not restrictive.

[0034] It should also be understood that any one or more of the teachings, expressions, implementations, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, implementations, examples, etc. described herein. Therefore, the following teachings, expressions, implementations, examples, etc. should not be considered isolated from each other. According to the teachings herein, various suitable ways in which the teachings herein can be combined will be apparent to those of ordinary skill in the art. Such modifications and variations are intended to be included within the scope of the claims.

[0035] For clarity of the disclosure, the terms "proximal" and "distal" are defined herein relative to a human or robotic operator of a surgical instrument. The term "proximal" refers to a location of an element that is closer to a human or robotic operator of a surgical instrument and further away from a surgical end effector of a surgical instrument. The term "distal" refers to a location of an element that is closer to a surgical end effector of a surgical instrument and further away from a human or robotic operator of a surgical instrument. In addition, the terms "upper," "lower," "top," "bottom," "above," and "below" are used relative to the embodiments and associated drawings, and are not intended to unnecessarily limit the invention described herein.

[0036] I. Examples of Surgical Systems

[0037] for Figure 1 , a computer-implemented interactive surgical system (100) includes one or more surgical systems (102) and a cloud-based system (e.g., a cloud (104) that may include a remote server (113) coupled to a storage device (105)). Each surgical system (102) of this example includes at least one surgical hub (106) in communication with the cloud (104), which may include the remote server (113). In one example, as Figure 1 As shown in , the surgical system (102) includes a visualization system (108), a robotic system (110), and a handheld intelligent surgical instrument (112), which are configured to communicate with each other and / or with a hub (106). In some aspects, the surgical system (102) may include M hubs (106), N visualization systems (108), O robotic systems (110), and P handheld intelligent surgical instruments (112), where M, N, O, and P are integers greater than or equal to 1. In any case, any suitable combination of the features provided below may be incorporated into an exemplary surgical system such as surgical system (100) and used in an operating room to perform a desired surgical procedure, as will be apparent to those skilled in the art based on the teachings herein.

[0038] Figure 2An example of a surgical system (102) for performing a surgical procedure on a patient lying flat on an operating table (114) in a surgical operating room (116) is depicted. A robotic system (110) is used as part of the surgical system (102) during a surgical procedure. The robotic system (110) includes a surgeon's console (118), a patient side cart (120) (surgical robot), and a surgical robot hub (122). While the surgeon observes the surgical site through the console (118), the patient side cart (120) can manipulate at least one removably coupled surgical tool (117) through a minimally invasive incision in the patient's body using any of a plurality of surgical arms (123). An image of the surgical site can be obtained through a medical imaging device (124), which can be manipulated by the patient side cart (120) to orient the imaging device (124). The robotic hub (122) can be used to process the image of the surgical site for subsequent display to the surgeon through the console (118).

[0039] Other types of robotic systems may be readily adapted for use with the surgical system (102). Various examples of robotic systems and surgical tools suitable for use with the present disclosure are described in U.S. Provisional Patent Application Serial No. 62 / 611,339, entitled “RobotAssisted Surgical Platform,” filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0040] Various examples of cloud-based analytics performed by the cloud (104) and suitable for use with the present disclosure are described in U.S. Provisional Patent Application Serial No. 62 / 611,340, entitled “Cloud-Based Medical Analytics,” filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0041] In various aspects, the imaging device (124) includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, charge coupled device (CCD) sensors and complementary metal oxide semiconductor (CMOS) sensors. In various aspects, the imaging device (124) is configured for use in minimally invasive surgery. Examples of imaging devices suitable for the present disclosure include, but are not limited to, arthroscopes, angioscopes, bronchoscopes, choledochoscopes, colonoscopes, cytoscopes, duodenoscopes, enteroscopes, esophago-duodenoscopes (gastroscopes), endoscopes, laryngoscopes, nasopharyngeal-renal endoscopes, sigmoidoscopes, thoracoscopes, and hysteroendoscopes. Some aspects of spectral and multispectral imaging are described in U.S. Provisional Patent Application Serial No. 62 / 611,341, entitled “Interactive Surgical Platform,” filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0042] During any surgical operation, operating room and surgical equipment need to be strictly sterilized. The strict sanitation and sterilization conditions required in "surgical room" (i.e., operating room or treatment room) require the highest possible sterility of all medical devices and equipment. A part of this sterilization process is the need to sterilize anything that contacts the patient or penetrates the sterile field. It should be understood that the sterile field can be considered to be a designated area that is considered to be free of microorganisms, such as in a tray or in a sterile towel, or the sterile field can be considered to be the area around the patient prepared for surgical operation. The sterile field can include the team members who are scrubbed and appropriately dressed, as well as all equipment and fixtures in the area.

[0043] In addition to introducing any features of the surgical system (100), furniture, or fixtures into the sterile field that requires sterilization, removing these features from the sterile field may cause additional difficulties, particularly when these features may have contacted or are presumed to have contacted the patient, including any tissue and / or fluid associated with the surgical procedure. Such contamination of these features from the patient generally requires special consideration during or after the surgical procedure, particularly when handling these features for disposal, reuse, or remanufacturing as needed. In one example, the surgical system (100) and / or the health care professionals associated with the surgical procedure may be prepared to address such handling, as discussed in more detail below.

[0044] like Figure 2As shown in , a main display (119) is positioned in the sterile field to be visible to an operator at an operating table (114). In addition, a visualization tower (111) is positioned outside the sterile field. The visualization tower (111) includes a first non-sterile display (107) and a second non-sterile display (109) that are separated from each other. A visualization system (108) guided by a hub (106) is configured to be able to coordinate information flow to operators inside and outside the sterile field using displays (107, 109, 119). For example, the hub (106) can enable the visualization system (108) to display a snapshot of a surgical site recorded by an imaging device (124) on a non-sterile display (107) or (109) while maintaining a real-time feed of the surgical site on the main display (119). For example, a snapshot on a non-sterile display (107) or display (109) can allow a non-sterile operator to perform diagnostic steps related to a surgical procedure.

[0045] In one aspect, the hub (106) is also configured to be able to route diagnostic input or feedback entered by a non-sterile operator at the visualization tower (111) to a primary display (119) within the sterile field, where the diagnostic input or feedback can be viewed by a sterile operator at the operating table. In one example, the input can be a modified form of a snapshot displayed on a non-sterile display (107) or display (109), which can be routed to the primary display (119) via the hub (106).

[0046] refer to Figure 2 , the surgical instrument (112) is used in a surgical procedure as part of the surgical system (102). The hub (106) is also configured to coordinate information flowing to a display of the surgical instrument (112), such as described in U.S. Provisional Patent Application Serial No. 62 / 611,341, entitled "Interactive Surgical Platform," filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety. Diagnostic input or feedback entered by a non-sterile operator at the visualization tower (111) can be routed by the hub (106) to a surgical instrument display (115) within the sterile field, where the operator of the surgical instrument (112) can view the diagnostic input or feedback. Exemplary surgical instruments suitable for use with surgical system (102) are described, for example, under the title “Surgical Instrument Hardware” in U.S. provisional patent application serial number 62 / 611,341, entitled “Interactive Surgical Platform,” filed on December 28, 2017, the disclosure of which is incorporated herein by reference in its entirety.

[0047] Reference now Figure 3, the hub (106) is depicted as communicating with a visualization system (108), a robotic system (110), and a handheld intelligent surgical instrument (112). The hub (106) includes a hub display (135), an imaging module (138), a generator module (140), a communication module (130), a processor module (132), and a storage array (134). In certain aspects, as Figure 3 As shown, the hub (106) also includes a smoke evacuation module (126), a suction / irrigation module (128) and / or an operating room mapping module (133).

[0048] During surgery, energy application to tissue for sealing and / or cutting is often associated with smoke evacuation, suction of excess fluid, and / or flushing of tissue. Fluid lines, power lines, and / or data lines from different sources often become tangled during surgery. Solving this problem during surgery can waste valuable time. Disconnecting a line may require disconnecting the line from its corresponding module, which may require resetting the module. The hub modular housing (136) provides a unified environment for managing power lines, data lines, and fluid lines, which reduces the frequency of tangles between such lines.

[0049] See also Figure 3 to Figure 4 , aspects of the present disclosure are presented as a hub modular housing (136) that allows modular integration of generator modules (140), smoke exhaust modules (126), and suction / irrigation modules (128). The hub modular housing (136) also facilitates interactive communication between the modules (140, 126, 128). Figure 4 As shown in , the generator module (140) may be a generator module having integrated monopolar components, bipolar components, and ultrasonic components supported in a single housing unit (139) that is slidably inserted into the hub modular housing (136). Figure 4 As shown in , the generator module (140) can be configured to be connected to a monopolar device (146), a bipolar device (147), and an ultrasonic device (148). Alternatively, the generator module (140) can include a series of monopolar generator modules, bipolar generator modules, and / or ultrasonic generator modules that interact through the hub modular housing (136). The hub modular housing (136) can be configured to facilitate the insertion of multiple generators and interactive communication between the generators docked into the hub modular housing (136) so that the generators will act as a single generator.

[0050] Figure 5One form of a generator (150) and various surgical instruments (152, 154, 156) that can be used therewith is shown, wherein the surgical instrument (152) is an ultrasonic surgical instrument (152), the surgical instrument (154) is an RF electrosurgical instrument (154), and the multifunctional surgical instrument (156) is a combined ultrasonic / RF electrosurgical instrument (156). The generator (150) may be configurable for use with a variety of surgical instruments. According to various forms, the generator (150) may be configurable for use with different surgical instruments of different types, including, for example, an ultrasonic surgical instrument (152), an RF electrosurgical instrument (154), and a multifunctional surgical instrument (156) that integrates RF energy and ultrasonic energy delivered simultaneously from the generator (150). Although Figure 5 The generator 150 of the present example is shown as being separate from the surgical instruments (152, 154, 156), but the generator (150) may alternatively be integrally formed with any of the surgical instruments (152, 154, 156) to form an integrated surgical system. The generator (150) includes an input device (158) located on a front panel of the generator (150) console. The input device (158) may include any suitable device that generates signals suitable for programming the operation of the generator (150). The generator (150) may be configured for wired or wireless communication.

[0051] The generator (150) of this example is configured to be capable of driving a plurality of surgical instruments (152, 154, 156). An example of these surgical instruments is an ultrasonic surgical instrument (152), and includes a handpiece (160), an ultrasonic transducer (162), an axis assembly (164), and an end effector (166). The end effector (166) includes an ultrasonic blade (168) and a clamping arm (170) acoustically coupled to the ultrasonic transducer (162). The handpiece (160) includes a trigger (172) for operating the clamping arm (170) and a combination of toggle buttons (173, 174, 175) for powering the ultrasonic blade (168) and driving the ultrasonic blade or other functions. The toggle buttons (173, 174, 175) can be configured to be capable of powering the ultrasonic transducer (162) with the generator (150).

[0052] The generator (150) is also configured to drive another example of a surgical instrument (154). The RF electrosurgical instrument (154) includes a handpiece (176), a shaft assembly (178), and an end effector (180). The end effector (180) includes electrodes located in clamping arms (181, 182) and returned through an electrical conductor portion of the shaft assembly (178). The electrodes are coupled to and powered by a bipolar energy source within the generator (150). The handpiece (176) includes a trigger (183) for operating the clamping arms (181, 182) and an energy button (184) for actuating an energy switch to power the electrodes in the end effector (180).

[0053] The generator (150) is also configured to be capable of driving a multifunctional surgical instrument (156). The multifunctional surgical instrument (156) includes a handpiece (185), an axis assembly (186), and an end effector (188). The end effector (188) has an ultrasonic blade (190) and a clamping arm (192). The ultrasonic blade (190) is acoustically coupled to the ultrasonic transducer (162). The handpiece (185) includes a trigger (194) for operating the clamping arm (192) and a combination of a switch button (195, 196, 197) for energizing the ultrasonic blade (190) and driving the ultrasonic blade or other functions. The switch button (195, 196, 197) can be configured to be capable of energizing the ultrasonic transducer (162) with the generator (150) and energizing the ultrasonic blade (190) with a bipolar energy source also contained in the generator (150). It should be understood that handpieces (160, 176, 185) may be replaced with robotically controlled instruments for incorporating one or more aspects of surgical instruments (152, 154, 156). Thus, the term "handpiece" should not be limited to this context and handheld use.

[0054] As used throughout this specification, the term "wireless" and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communication channels, etc. that can transmit data through a non-solid medium using modulated electromagnetic radiation. The term does not mean that the associated devices do not contain any wires, although in some aspects they may not. The communication module may implement any of a variety of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 series), WMAX (IEEE 802.16 series), IEEE 802.20, Long Term Evolution (LTE), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, and its Ethernet derivatives, and any other wireless and wired protocols designated as 3G, 4G, 5G and above. The computing module may include multiple communication modules. For example, the first communication module may be dedicated to shorter range wireless communications such as Wi-Fi and Bluetooth, and the second communication module may be dedicated to longer range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, etc.

[0055] As used herein, a processor or processing unit is an electronic circuit that performs operations on some external data source (usually a memory or some other data stream). The term is used herein to refer to a central processing unit (Central Processing Unit) in a system or computer system (especially a System on a Chip (SoC)) that combines multiple specialized "processors".

[0056] As used herein, a system on a chip or system on a chip (SoC or SOC) is an integrated circuit (also referred to as an "IC" or "chip") that integrates all the components of a computer or other electronic system. It may include digital, analog, mixed signal, and often radio frequency functions - all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals such as a graphics processing unit (GPU), a Wi-Fi module, or a coprocessor. A SoC may or may not include built-in memory.

[0057] As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for a microcontroller unit) can be implemented as a small computer on a single integrated circuit. It can be similar to a SoC; an SoC may include a microcontroller as one of its components. A microcontroller may include one or more core processing units (CPUs) as well as memory and programmable input / output peripherals. Program memory in the form of ferroelectric RAM, NOR flash memory, or OTP ROM, as well as a small amount of RAM, is also often included on the chip. Compared to microprocessors used in personal computers or other general-purpose applications consisting of various discrete chips, microcontrollers can be used for embedded applications.

[0058] As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with peripheral devices. This may be a link between two components of a computer or a controller on an external device that manages the operation of (and connections to) the device. Modular devices include modules that can be received within a surgical hub (e.g., such as a combination of Figure 3 The invention relates to a surgical device or instrument that can be connected to various modules so as to be connected or paired with a corresponding surgical hub. Modular devices include, for example, intelligent surgical instruments, medical imaging devices, suction / irrigation devices, smoke evacuators, energy generators, ventilators, insufflators, and displays. The modular devices described herein can be controlled by control algorithms. The control algorithm can be executed on the modular device itself, on a surgical hub paired with a specific modular device, or on both the modular device and the surgical hub (e.g., via a distributed computing architecture). In some examples, the control algorithm of the modular device controls the device based on data sensed by the modular device itself (i.e., by sensors in, on, or connected to the modular device). The data can be related to the patient being operated on (e.g., tissue properties or insufflation pressure) or the modular device itself (e.g., the rate at which the knife is advanced, the motor current, or the energy level). For example, the control algorithm of a surgical suturing and cutting instrument can control the rate at which the motor of the instrument drives its knife through the tissue according to the resistance encountered by the knife as it advances.

[0059] II. Robotic surgical system with removable parts

[0060] In some cases, it may be desirable to provide a surgical instrument comprising a component capable of delivering ultrasonic energy, RF energy, or both ultrasonic and RF energy, which is easily opened to provide access to internal components so as to be separated into separate waste streams using minimal tools. Surgical operations are usually performed in a sterile field, as described above. The sterile field does not contain microorganisms, and by ensuring that only sterilized equipment and tools are used in the sterile field, the surgical team can reduce the chance of infection. Surgical instruments are sterilized and packaged in a sterile container, which is then sent to the sterile field. Health professionals may need to disassemble surgical instruments in a sterile field by hand or with a tool arranged in a sterile container after surgery. For example, a torque wrench for assembling surgical instruments may have additional features in order to disassemble surgical instruments.

[0061] Surgical instruments include additional features that facilitate disassembly and removal of internal components. These separate waste streams are predetermined based on the material of the component or the purpose of the component. For example, the waste streams may include recycling, disposal, or refurbishment. Components placed in the disposal waste stream will be disposed of in a landfill. Components placed in the recycling waste stream may be further separated, shredded, and melted into basic components. Components placed in the refurbishment waste stream will be cleaned, tested, repaired, and reassembled in another surgical instrument. For example, plastic and metal components may be separated into one waste stream for disposal, heavy metals from integrated circuits may be separated into a second waste stream for recycling, and ultrasonic transducers may be separated into a third waste stream for refurbishment.

[0062] A. Overview of Robotic Surgery Systems

[0063] Figure 6 An exemplary robotic surgical system (4010) is shown that includes a patient side cart (4012) (surgical robot), a surgical robot hub (4014), and a packaging system (4016). The patient side cart (4012) may be similar to the patient side cart (120), and the surgical robot hub (4014) may be similar to the surgical robot hub (122) (see Figure 2 ), unless otherwise noted below. Although not shown, the robotic surgical system (4010) may include additional features similar to the robotic surgical system (110) (eg, a surgeon's console, etc.).

[0064] like Figure 6 As shown, the patient side cart (4012) includes a base (4018), a column (4020), a vertical slide (4022) and an operating table (4024). The base (4018) and the column (4020) together support the operating table (4024). The vertical slide (4022) is configured to be able to move upward or downward along or relative to the column (4020). The operating table (4024) is configured to be able to support a patient thereon and may be similar to the operating table (114). The vertical slide supports a plurality of robotic arms, which may be similar to the operating table (114). Figure 2. Although the plurality of robotic arms are shown as including first, second and third robotic arms (4026, 4028, 4030), more robotic arms (e.g., fourth, fifth, sixth arms, etc.) or fewer robotic arms (e.g., first and second arms) are also conceivable. The first, second and third robotic arms (4026, 4028, 4030) extend outward from the column (4020). As shown, each of the first, second and third robotic arms (4026, 4028, 4030) includes a joint (4032) that allows multiple degrees of freedom (e.g., seven or eight degrees of freedom). The first robotic arm (4026) is operably coupled to a surgical instrument (4034) at a first interface (4040). The surgical instrument (4034) is configured to be able to interact with a patient. The surgical instrument (4034) may be similar to the above-mentioned surgical instruments (112, 152, 154, 156).

[0065] The robotic surgical system (4010) includes a plurality of tools. Figure 6 A plurality of robotic tools including tools (4036, 4038) are schematically shown, but more tools (e.g., a third, fourth, fifth, sixth tool, etc.) or fewer tools (e.g., a first tool) are also contemplated. As schematically shown, a second robotic arm (4028) is operably coupled to the tool (4036) at a second interface (4042), and a third robotic arm (4030) is operably coupled to the tool (4038) at a third interface (4044).

[0066] Continue to refer Figure 6 , the hub (4014) includes a controller (4046) and an optional sensor (4048). The tools (4036, 4038) are operably coupled to the controller (4046). The disassembly feature (4050) of the tool (4036) and / or the disassembly feature (4052) of the tool (4038) are configured to disconnect at least a portion of the surgical instrument (4034) from the robotic surgical system (4010) in response to an instruction from the controller (4046). The controller (4046) may autonomously instruct the tool (4036) to disconnect at least a portion of the surgical instrument (4034) from the robotic surgical system (4010). As used herein, "autonomously" is intended to mean that once initiated, an operation is capable of being performed without the need for additional user instructions. Controller (4046) is configured to disconnect surgical instrument (4034) in response to feedback received from sensor (4048) indicating removal feature (4050) of tool (4036). In some versions, sensor (4048) may include an optical sensor configured to determine the presence of a person in operating room (116).

[0067] Continue to refer Figure 6 , the packaging system (4016) includes a labeling device (4054), a packaging device (4056) (e.g., a bagging device), a sealing device (4058), a disposal device (4060), and a recovery device (4062). The labeling device (4054) is configured to be able to distribute a label (4064). The label (4064) may include tool information (e.g., serial number, manufacturing information, usage information, etc.). The packaging device (4056) is configured to be able to distribute a package (4066). The label (4064) may be attached to the outer surface of the package (4066). In some versions, the label (4064) may already be attached to the package (4066). The package (4066) is configured to receive a portion of the surgical instrument (4034) in response to an instruction from the controller (4046). The package (4066) may have a variety of shapes, sizes, and forms. For example, package (4066) may include a flexible bag, a rigid container, and / or a semi-rigid container. Controller (4046) is configured to be able to instruct tool (4036) and / or tool (4038) to insert a portion of surgical instrument (4034) into package (4066). This may provide bagging capabilities alongside the patient-side cart (4012) for personnel in operating room (116).

[0068] The packaging system (4016) works in coordination with the patient side cart (4012) so that the robotic arms (4026, 4028, 4030) can position the package (4066), allow for automatic dispensing of the package (4066), open the package (4066), and close the package (4066) when the surgical instrument (4034) is located within the interior of the package (4066). The sealing device (4058) can seal the package (4066) after a portion of the surgical instrument (4034) is received by the package (4066) in response to an instruction from the controller (4046). The recycling device (4062) can include first and second shipping containers (4068, 4070). The first shipping container (4068) can be used to transport the package (4066) to a first location, and the second shipping container (4070) can be used to transport the package (4066) to a second location different from the first location.

[0069] At least one of the tools (4036, 4038) includes a disassembly feature (4050, 4052). The robotic surgical system (4010) utilizes the interaction of at least the surgical instrument (4034) and the tool (4036) to achieve the desired disassembly. As will be described in more detail below, the tools (4036, 4038) may be disassembled using discrete strokes or forces. For example, the tool (4036) may disassemble a first portion of the surgical instrument (4034), and the tool (4038) may disassemble a different second portion of the surgical instrument (4034). Alternatively, the disassembly features (4050, 4052) of the tools (4036, 4038) may be used in combination (or even in combination with other tools (not shown)) to disassemble the surgical instrument (4034). In some versions, the disassembly features (4050, 4052) of the tools (4036, 4038) may be used in combination at the same time. In some versions, only tool (4036) includes disassembly feature (4050), while tool (4038) includes a surgical instrument (e.g., surgical instrument (112, 152, 154, 156). Although not shown, in some versions, surgical instrument (4034) may be used to disassemble at least a portion of tools (4036, 4038).

[0070] B. Exemplary Surgical Instruments

[0071] Figure 7 A perspective view of an exemplary surgical instrument (4110) that can be used in place of surgical instruments (112, 152, 154, 156, 4034) is shown. The surgical instrument (4110) can be configured to deliver ultrasonic energy, radio frequency ("RF") energy, or both. Although the surgical instrument (4110) is configured to be capable of delivering ultrasound energy, radio frequency ("RF") energy, or both, at the first interface (4040) (see Figure 6 ) at the first robot arm (4026) (see Figure 6 ) are operably coupled, but the surgical instrument (4110) may alternatively be hand-held. The surgical instrument (4110) includes a body (4112), an axis assembly (4114), and an end effector (4116). The end effector (4116) includes an ultrasonic blade (4118) disposed on a first jaw and a clamping arm (4120) disposed on an opposing second jaw. The clamping arm (4120) is configured to be pivotable relative to the ultrasonic blade (4118). The body (4112) includes a housing (4122) and a plurality of recyclable components. The housing (4122) is shown as including first and second housing portions (4124, 4126), which may also be referred to as shield portions. As described below with reference Figures 9 to 13B As shown and described, the first and second housing portions (4124, 4126) can be coupled using a variety of different coupling structures.

[0072] Reference again Figure 6as well as Figure 7 , the first housing portion (4124) is separated from the second housing portion (4126). Although the plurality of recyclable components are shown as first and second recyclable components (4128, 4130), more recyclable components (e.g., a third recyclable component, a fourth recyclable component, etc.) or fewer recyclable components are contemplated. The controller (4046) may autonomously instruct the disassembly feature (4050) and / or the disassembly feature (4052) to disconnect the first and second recyclable components (4128, 4130). In some versions, the surgical instrument (4110) may be in the form of an ultrasonic surgical instrument including an ultrasonic component. The first recyclable component (4124) includes an ultrasonic waveguide (which may include an ultrasonic blade (4118)). The second recyclable component (4130) includes an ultrasonic transducer. The controller (4046) may autonomously instruct the disassembly feature (4050) and / or the disassembly feature (4052) to disconnect the ultrasonic waveguide and the ultrasonic transducer from the patient-side cart (4012). With the first and second housing portions (4124, 4126) released, the second retrievable component (4130) (eg, ultrasonic transducer) is exposed for subsequent removal. The surgical instrument (4110) includes markings (4132) to indicate a predetermined disassembly location to the controller (4046).

[0073] C. Exemplary Surgical Tools

[0074] Figure 8A view of a second exemplary tool (4210) that can be used in place of tools (4036, 4038) is shown. Tool (4210) may also be referred to as a multi-tool. Tool (4210) includes a body (4212) and a plurality of disassembly features. Body (4212) may rotate about a center point (4228). Although the plurality of disassembly features are shown as disassembly features (4214, 4216, 4218, 4220, 4222, 4224), more or fewer disassembly features may be envisioned. Disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are shown extending outwardly from a perimeter (4226) of body (4212). Disassembly features (4214, 4216, 4218, 4220, 4222, 4224) may have a variety of shapes and sizes. The disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are configured to remove at least a portion of the housing (4122) of the surgical instrument (4110). In some versions, the disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are removable and allow for the insertion of different disassembly features (4214, 4216, 4218, 4220, 4222, 4224), depending on the surgical instrument (4110) to be disassembled. Once the controller (4046) receives the disassembly instructions (e.g., a device code), the controller (4046) obtains the desired disassembly features (4214, 4216, 4218, 4220, 4222, 4224) and then executes the disassembly instructions based on the surgical instrument (4110).

[0075] The removal feature (4214) is shown as a pair of pliers, but can also be used as a pair of reverse pliers. The removal feature (4214) includes opposing first and second jaws (4230, 4232) that are configured to move relative to each other, as described below with reference to Figures 9 and 10As shown and described. The removal feature (4216) is shown as a scraper. Although the removal feature (4216) is shown as having a flat and blunt distal end (4234), the distal end (4234) may alternatively be pointed. The removal feature (4218) is shown as a wedge. Although the removal feature (4218) is shown as having a pointed distal end (4236), the distal end (4234) may alternatively be blunt. The first side surface (4238) and the second side surface (4240) of the removal feature (4218) extend outwardly and away from the distal end (4236). The removal feature (4220) is shown as a torque wrench. The distal end (4242) can rotate the fastener for removal. The removal feature (4222) is shown as a screwdriver having a distal end (4244) configured to rotate the fastener for removal. The removal feature (4224) is shown as a pipe cleaner. The removal feature (4224) can be used to remove debris before utilizing the removal features (4214, 4216, 4218, 4220, 4222).

[0076] Tool (4210) is shown to include a coupling portion (4245) configured to couple with second interface (4042) or third interface (4044). In some versions, disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are removable from body (4212). In some versions, disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are injection molded from a single unitary piece. In some versions, disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are manufactured using only metal or only plastic. In some embodiments, the robotic arms (4028, 4030), tools (4036, 4038), and accompanying disassembly features (4214, 4216, 4218, 4220, 4222, 4224) are not utilized in normal operation of the surgical instrument (4110), but allow the tools (4036, 4038) to achieve different orientations and access various portions of the patient side cart (4012) and / or switch tools (4036, 4038) and disassembly features (4214, 4216, 4218, 4220, 4222, 4224).

[0077] 1. First Exemplary Disassembly Feature

[0078] Figures 9 and 10 Shows Figure 8 Specifically, Fig. 9The removal feature (4214) is shown being used as a reverse pliers to break the first and second housing portions (4124, 4126) of the housing (4122). The opposing first and second jaws (4230, 4232) move from a first configuration (shown in phantom) to a second configuration (shown in solid lines) to remove the housing (4122). Figure 7 The housing (4122) of the surgical instrument (4110) is provided. In some versions, only one of the first and second jaws (4230, 4232) moves, while the other jaw of the first and second jaws (4230, 4232) remains stationary. Although the distal ends (4234) of the first and second jaws (4230, 4232) are shown as planar, the first and second jaws (4230, 4232) may alternatively terminate at a tip. The tip may further enable the distal ends (4234) of the first and second jaws (4230, 4232) to pry open the housing (4122). The first jaw (4230) includes an inner surface and an outer surface (4246, 4248). Similarly, the second jaw (4232) includes an inner surface and an outer surface (4250, 4252). As shown, outer surfaces (4248, 4252) of first and second jaws (4230, 4232) push against housing (4122) to fracture housing (4122) or otherwise manipulate housing (4122) as desired.

[0079] Fig.10 Shows Fig. 9 The disassembly feature (4214) moves from the third configuration to the fourth configuration to grasp Figure 7 As shown, the inner surfaces (4246, 4250) of the first and second jaws (4230, 4232) collectively grasp a portion of the surgical instrument (4110) as needed. For example, the outer surfaces (4248-4252) of the first and second jaws (4230, 4232) can first be used to access a desired recyclable component, and then the inner surfaces (4246, 4250) of the first and second jaws (4230, 4232) can be used to remove and orient the recyclable component for the packaging system (4016). The disassembly feature (4214) can be used to autonomously engage a mechanical key on the first robotic arm (4026).

[0080] 2. Second Exemplary Disassembly Feature

[0081] FIG. 11A to FIG. 11B Shows the use of Figure 8 The disassembly feature (4222) disassembles the first and second housing portions (4124, 4126) of the surgical instrument (4110). Specifically, Fig.11A The components are shown coupled together in a connected configuration using a mechanical connector (4254) prior to separation using a removal feature (4222). Figure 7first and second housing portions (4124, 4126). Fig. 11B Shows Fig.11A The first and second housing parts (4124, 4126), but in Fig.11A The disassembly feature (4222) moves the mechanical connector (4254) to the non-connected configuration. The disassembly feature (4222) acts as a mechanical key to release the first and second housing parts (4124, 4126) of the surgical instrument (4110) to achieve self-disassembly. The mechanical connector (4254) slides within the slots (4256, 4258) of the first and second housing parts (4124, 4126). Although the disassembly feature (4222) is shown as translating the mechanical connector (4254) to disengage the first and second housing parts (4124, 4126), the disassembly feature (4222) can rotate and / or translate the mechanical connector (4254) to disengage the first and second housing parts (4124, 4126). The small predetermined housing feature prevents accidental disassembly while still allowing the tool (4036, 4038) to properly approach the first and second housing parts (4124, 4126).

[0082] 3. Third Exemplary Disassembly Feature

[0083] FIG. 12A to FIG. 12B The first and second housing portions (4124, 4126) of the surgical instrument (4110) are shown being disassembled using an exemplary disassembly feature (4310), which is shown as a magnet. The disassembly feature (4310) may be included as a separate tool, or may be included in the tool (4210). Specifically, Fig. 12A The components are shown coupled together in a connected configuration using a magnetic connector (4312) prior to being separated by a removal feature (4310). Figure 7 first and second housing portions (4124, 4126). Fig. 12B Shows Fig. 12A of the first and second housing portions (4124, 4126), but after the removal feature (4310) moves the magnetic connector (4312) to a non-connected configuration.

[0084] The removal feature (4310) acts as a magnetic key to release the first and second housing portions (4124, 4126) of the surgical instrument (4110) to achieve self-removal. The magnetic connector (4312) slides within the slots (4314, 4316) of the first and second housing portions (4124, 4126) between a connected configuration and a non-connected configuration. Although the removal feature (4310) is shown as translating the magnetic connector (4312) to disengage the first and second housing portions (4124, 4126), the removal feature (4310) can rotate and / or translate the magnetic connector (4312) to disengage the first and second housing portions (4124, 4126). Although the removal feature (4310) is shown as attracting the magnetic connector (4312), the removal feature (4310) can alternatively repel the magnetic connector (4312).

[0085] 4. Fourth Exemplary Disassembly Feature

[0086] FIG. 13A to FIG. 13B The first and second housing portions (4124, 4126) of the surgical instrument (4110) are shown being disassembled using an exemplary disassembly feature (4410), which is shown as a powered disassembly feature (4410). The disassembly feature (4410) may be included as a separate tool, or may be included in the tool (4210). Specifically, Fig.13A The apparatus is shown coupled together in a connected configuration using an electrical connector (4412) prior to being separated using a removal feature (4410). Figure 7 first and second housing portions (4124, 4126). Fig. 13B Shows Fig.13A The first and second housing parts (4124, 4126), but in Fig.13A After the removal feature (4410) moves the electrical connector (4412) to the non-connected configuration, the electrical connector (4412) slides within the slots (4414, 4416) of the first and second housing portions (4124, 4126).

[0087] The disassembly feature (4410) is used as an electric key to release the first and second housing portions (4124, 4126) of the surgical instrument (4110) to achieve self-disassembly. The disassembly feature (4410) is operably connected to a power source (4418) to provide power to the disassembly feature (4410). Although the disassembly feature (4410) is shown as translating the electric connector (4412) to disengage the first and second housing portions (4124, 4126), the disassembly feature (4410) can rotate and / or translate the electric connector (4412) to disengage the first and second housing portions (4124, 4126).

[0088] 5. Fifth Exemplary Disassembly Feature

[0089] FIG. 14A to FIG. 14B The housing (4122) of the surgical instrument (4110) is shown being separated using an exemplary removal feature (4510), which is shown as a laser. The removal feature (4510) may be included as a separate tool, or may be included in the tool (4210). Specifically, Fig.14A Housing (4122) is shown in a connected configuration prior to being separated by removal feature (4510). Housing (4122) includes indicia (4132), which is shown as a recessed portion to guide removal feature (4510) to a desired position. Fig. 14B The housing (4122) is shown having been severed after the removal feature (4510) has completely penetrated the housing (4122). The removal feature (4510) may cut through specific predetermined areas to release the first and second retrievable components (4128, 4130). In some versions, the housing (4122) of the surgical instrument (4110) may be formed of nitinol such that the removal feature (4510) may apply heat to deform the nitinol material for removal.

[0090] 6. Sixth Exemplary Disassembly Feature

[0091] FIG. 15A to FIG. 15B Disassembly features (4610, 4612) are shown, which are shown as first and second end effectors configured to interact with the patient's tissue. The disassembly features (4610, 4612) can be operably coupled to the second and third robotic arms (4028, 4030). The disassembly features (4610, 4612) are shown moving from a first configuration toward a second configuration. The disassembly features (4610, 4612) can be similar to the end effectors (166, 180, 188, 4116) of the surgical instruments (152, 154, 156, 4110). The disassembly features (4610, 4612) each include a pivotable clamping arm (4614, 4616) for grasping. The markings (4132) of the housing (4122) highlight the fragile portion (4618). The disassembly features (4610, 4612) are configured to be able to separate Figure 7 A fragile portion (4618) of the housing (4122) of the surgical instrument (4034). Fig. 15B A schematic front view of the frangible portion (4618) in a severed state is shown.

[0092] In some versions, the disassembly feature (4610) is configured to provide a first predetermined force, a first predetermined motion, and / or a first predetermined task to disconnect at least a portion of the surgical instrument (4110). In some versions, under-application of the first predetermined force or over-application of the first predetermined force does not release the housing (4122). The first predetermined force is greater than the maximum force that can be manually provided by a user. In other words, the first predetermined force may exceed the force that a user can manually apply to remove the housing (4122). In some versions, both under-application and over-application prevent the housing (4122) from fully opening.

[0093] The disassembly feature (4612) is configured to provide a second predetermined force, a second predetermined motion, and / or a second predetermined task that is independent of the first predetermined force, the first predetermined motion, and / or the first predetermined task applied by the disassembly feature (4610) in response to instructions from the controller (4046) to disconnect at least a portion of the surgical instrument (4034). Utilizing multiple separate independently applied forces, motions, or tasks will collectively allow for disassembly of the portions of the surgical instrument (4034). For example, the disassembly features (4610, 4612) of the respective tools (4036, 4038) may generate synchronized motions that cooperatively unlock two or more separate portions simultaneously to open or remove portions of the surgical instrument (4034) that are unable to be manually generated by a user to coordinate forces.

[0094] D. Exemplary Tool Dispenser

[0095] Fig.16 An exemplary tool dispenser (4710) configured to hold a plurality of tools (shown as tools (4712, 4714, 4716, 4718, 4720, 4722) is shown. The tools (4712, 4714, 4716, 4718, 4720, 4722) may be individually wrapped in sterile packaging. The tool (4712) includes a coupling portion (4724), a shaft (4726), and a removal feature (4728) similar to Figures 8 to 10 The tool (4714) includes a coupling portion (4730), a shaft (4732), and a disassembly feature (4734) similar to Figure 8 The tool (4716) includes a coupling portion (4736), a shaft (4738), and a disassembly feature (4740) similar to Figure 8 The tool (4718) includes a coupling portion (4742), a shaft (4744) and a disassembly feature (4746) similar to Figure 8The tool (4720) includes a coupling portion (4748), a shaft (4750), and a disassembly feature (4752) similar to Figure 8 The tool (4722) includes a coupling portion (4754), a shaft (4756) and a disassembly feature (4758) similar to Figure 8 Disassembly feature (4224) shown.

[0096] The coupling portion (4724, 4730, 4736, 4742, 4748, 4754) is configured to be capable of being coupled to Figure 6 The robot arm (4028) is shown coupled to the second interface (4042) of the robot arm (4028) or the third interface (4044) of the robot arm (4030). In some versions, the coupling portion (4724, 4730, 4736, 4742, 4748, 4754) may have a base shaped in an X-shaped cross-sectional pattern or a T-shaped cross-sectional pattern. The user may attach the coupling portion (4724, 4730, 4736, 4742, 4748, 4754) of the tool (4712, 4714, 4716, 4718, 4720, 4722) to the second interface (4042) or the third interface (4044) based on the surgical instrument (4034) to be removed.

[0097] Tools (4712, 4714, 4716, 4718, 4720, 4722) can be suspended from tool dispenser (4710) for subsequent retrieval. As shown, tool dispenser (4710) includes a nail plate (4760) including a recessed portion or hole (4762) supporting a protrusion (4764). Protrusion (4764) supports tools (4712, 4714, 4716, 4718, 4720, 4722). However, a variety of suitable tool dispensers are also contemplated. Although the tools (4712, 4714, 4716, 4718, 4720, 4722) are shown extending horizontally, the tools (4712, 4714, 4716, 4718, 4720, 4722) may alternatively be arranged at a variety of other angles to be received by the robotic arms (4028, 4030). The tools (4712, 4714, 4716, 4718, 4720, 4722) may be selected by the controller (4046) to disassemble the surgical instrument (4034) based on the disassembly instructions. The disassembly instructions may be transmitted to the controller (4046) or another part of the robotic surgical system (4010). The disassembly instructions may be provided on the packaging material, as described below with reference to Fig.17 Shown and described.

[0098] E. Exemplary Surgical Kits

[0099] Fig.17 An exemplary surgical kit (4800) is shown, which includes packaging (4802), tools (4720), instrument information (4806), and surgical instruments (4808). The packaging defines an interior (4807) and an exterior (4809). For example, the surgical kit (4800) may include both a surgical instrument (4110) and tools (4036, 4038) for coupling and / or decoupling the surgical instrument (4808) to a robotic surgical system (4010). The surgical kit (4800) may include a variety of surgical instruments (112, 152, 154, 156, 4034, 4110) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722). The instrument information (4806) may be in the form of disassembly instructions indicating a desired position and / or orientation of the surgical instrument (4808) for disassembly and / or in the form of a computer-readable code that can be read and interpreted by the controller (4046).

[0100] Surgical instrument (4808) may be similar to surgical instruments (112, 152, 154, 156). Surgical instrument (4808) may be configured to deliver ultrasonic energy, radio frequency ("RF") energy, or both. Surgical instrument (4808) may be configured to be hand-held or equipped with a corresponding portion of a robotic arm (see Figure 7 ). Similar to surgical instruments (112, 152, 154, 156), surgical instrument (4808) includes a body assembly (4810), a shaft assembly (4820), and an end effector (4830). The shaft (4822) of the shaft assembly (4820) extends distally from the body assembly (4810) to the end effector (4830). The surgical instrument (4808) differs from the surgical instruments (112, 152, 154, 156) in that the surgical instrument (4808) includes a body assembly (4810) that is configured to be easily disassembled to expose at least one of a plurality of internal components for removal into a separate waste stream. Similar to surgical instrument (152), surgical instrument (4808) is configured to deliver ultrasonic energy. The body assembly (4810) surrounds a portion of the energy drive system (4840) and a portion of the circuit assembly (4850). The energy drive system (4840) includes an ultrasonic transducer (4842), a waveguide (4844), and an ultrasonic blade (4846). The energy drive system (4840) may also include a battery (4848) or a generator (150) configured to supply energy (see Figure 5). The ultrasonic transducer (4842) is positioned proximally within the body assembly (4810) and extends distally to the waveguide (4844). The waveguide (4844) extends distally through the shaft assembly (4820) to the ultrasonic blade (4846). The circuit assembly (4850) includes a main circuit board (4852), a memory component (4854), and a controller (4856). The recyclable components may include portions of the body assembly (4810), the shaft assembly (4820), and / or the end effector (4830), including components of the energy drive system (4840).

[0101] The body assembly (4810) includes a plurality of selectively removable shield portions (4812, 4814, 4816, 4818). The shield portions (4812, 4814, 4816, 4818) are configured to provide support for the energy drive system (4840), the shaft assembly (4820), and the circuit assembly (4850). As shown, the shield portions (4812, 4814, 4816, 4818) include a first shield portion (4812), a second shield portion (4814), a third shield portion (4816), and a fourth shield portion (4818), but may include any number of shield portions (4812, 4814, 4816, 4818) that prevent access to the circuit assembly (4850) and the energy drive system (4840). Each shield portion (4812, 4814, 4816, 4818) is removably attached to another shield portion (4812, 4814, 4816, 4818). A user may remove the shield portions (4812, 4814, 4816, 4818) to provide access to portions of the energy drive system (4840) and portions of the circuit assembly (4850) in an off state (see Figure 6 B). Once accessed, portions of the energy drive system (4840) and portions of the circuit assembly (4850) may be disposed of in separate waste streams. The shield portions (4812, 4814, 4816, 4818) may include a gripping feature (4824). The shield portions (4812, 4814, 4816, 4818) also include a plurality of alignment features (4826) configured to enable each shield portion (4812, 4814, 4816, 4818) to be aligned with an adjacent shield portion (4812, 4814, 4816, 4818). In one example, the alignment feature (4826) includes a key (4828) and a keyway (4832). The key (4828) is sized to slide within the keyway (4832).

[0102] Fig.18 Shows Fig.17The surgical instrument (4808) is provided with the surgical kit (4800), but after being removed from the packaging (4802) of the surgical kit (4800) and after being disassembled using a disassembly feature (4804) included in the same packaging (4802) of the surgical kit (4800). In the disconnected state, the shield portions (4812, 4814, 4816, 4818) are separated from each other. Removal of the shield portions (4812, 4814, 4816, 4818) facilitates access and removal of at least a portion of the proximal energy drive system (4840) and / or at least a portion of the circuit assembly (4850).

[0103] B. Exemplary Methods

[0104] Fig.19 Shows the disassembly Figure 6 Schematic view of an exemplary method (4910) of a robotic surgical system (4010). The method (4910) may include steps (4912, 4914, 4916, 4918, 4920, 4922, 4924, 4926, 4928, 4930, 4932, 4934, 4936, 4938, 4940, 4942). However, more or fewer steps are also contemplated.

[0105] At step (4912), the method (4910) includes activating a disassembly routine. In some versions, once the disassembly routine is activated, the remaining steps may be performed autonomously without any interaction by the user. For example, at the end of a procedure, the autonomous system may react to user input to disassemble the surgical instrument (4034). Specifically, the device code may be received by a controller (4046), which interprets the disassembly instructions based on the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). The marking (4132) of the surgical instrument (4110) may be used to help the patient side cart (4012) locate a predetermined disassembly location. For example, at least one of the first and second housing portions (4124, 4126) may include a marking (4132) to indicate to the robot the position / orientation of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). In some versions, controller (4046) may sense information about surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) such that a disassembly action is performed based on the sensing, with or without subsequent user intervention.

[0106] At step (4914), the method (4910) includes determining whether the surrounding environment is unobstructed. The controller (4046) checks available contextual information before disassembly. For example, the controller (4046) may verify that the patient has left the operating table (4024) and that the personnel are located in a safe location away from the robotic surgical system. This determination may be performed using at least one of a sensor (4048) in the operating room (116), a badge proximity scanner, a laparoscopic camera, and a weight sensor on the operating table (4024). The badge proximity scanner may assess whether the user is present in the operating room (116) and where they are located in the operating room (116). If the surrounding environment is not unobstructed, then at step (4916), the controller (4046) may alert the user. The user may manually clear the alarm, or the robotic surgical system (4010) may continuously or periodically assess whether the surrounding environment (e.g., within the operating room (116)) is unobstructed.

[0107] If the surrounding environment is clear, then at step (4918), the method (4910) can determine whether the surgical instrument (4034) can be robotically detached. The robotic surgical system (4010) provides feedback on which surgical instruments (112, 152, 154, 156, 4034, 4110, 4808) can be detached, and instructs the user to attach any one of the surgical instruments (112, 152, 154, 156, 4034, 4110, 4808) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) to the first, second, and third robotic arms (4026, 4028, 4030). If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) cannot be disassembled by the robot, then at step (4920), the surgical instrument (4034) can be manually disassembled. For surgical instrument components that cannot be disassembled by the tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) of the second and third robotic arms (4028, 4030), manual instructions can be displayed on a monitor located in the operating room (116).

[0108] In some versions, a first surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) has a first key and a second surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) has a second key; a controller (4046) of the robotic surgical system (4010) accesses a lookup table that informs the controller (4046) which key pattern to use for the surgical instruments (112, 152, 154, 156, 4034, 4110, 4808). For example, a first generation device may utilize a first disassembly protocol or procedure. The second generation device has a different architecture than the first generation device. The robotic surgical system (4010) may uniquely identify the tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) and select a desired disassembly method for a desired generation of surgical instrument (112, 152, 154, 156, 4034, 4110, 4808).

[0109] If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is capable of being robotically disassembled, then at step (4922), the controller (4046) may determine whether the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is reusable. During disassembly, the robotic surgical system (4010) identifies appropriate recycling and disposal methods for the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) and the components contained therein. The robotic surgical system (4010) may optionally perform mechanical and / or electrical testing to determine whether the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is capable of being reused or recertified. The controller (4046) is configured to perform at least one mechanical or electrical test on the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) to determine the reusability of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). The sensor (4048) is configured to sense an area around the robotic surgical system (4010). If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is not reusable, then at step (4924), the controller (4046) may instruct the first, second, and third robotic arms (4026, 4028, 4030) to reach a desired position. At step (4926), if the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) cannot be reused, the patient side cart (4012) disassembles the surgical instrument (4110) according to instructions from the controller (4046) to reduce space in the disposal device (4060). This can facilitate environmentally friendly disposal of the components in accordance with instructions.

[0110] If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is reusable, then at step (4928), the controller (4046) may instruct the first, second, and third robotic arms (4026, 4028, 4030) to move to a desired position. The predetermined position may assist in removing the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). The robotic surgical system (4010) appropriately positions tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) so that the first, second and third robotic arms (4026, 4028, 4030) do not collide and so that the surgical instruments (112, 152, 154, 156, 4034, 4110, 4808) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) are appropriately positioned to interact with each other.

[0111] After positioning the first, second, and third robotic arms (4026, 4028, 4030), at step (4930), the controller (4046) may identify the desired disassembly features (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746,4752,4758), and determining whether the desired disassembly feature (4050,4052,4214,4216,4218,4220,4222,4224,4310,4410,4510,4610,4612,4728,4734,4740,4746,4752,4758) is currently coupled to the robot arm (4028,4030). If the desired disassembly feature (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) is not currently coupled to the robotic arms (4028, 4030), then at step (4932), the controller (4046) may instruct the second and third robotic arms (4028, 4030) to disassemble. 4030 ) is coupled with a desired tool ( 4036 , 4038 , 4210 , 4712 , 4714 , 4716 , 4718 , 4720 , 4722 ) including the desired removal features ( 4050 , 4052 , 4214 , 4216 , 4218 , 4220 , 4222 , 4224 , 4310 , 4410 , 4510 , 4610 , 4612 , 4728 , 4734 , 4740 , 4746 , 4752 , 4758 ).

[0112] If the desired removal feature (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) is currently coupled to the robotic arm (4028, 4030) of the patient side cart (4012), then at step (4934), the controller (4046) may instruct The robotic arms (4028, 4030) are shown removing a portion of a surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) using a disassembly feature (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758). For the surgical instrument (4808), the retrievable component may include a portion of the body (4112), the shaft assembly (4114), and / or the end effector (4116), including an ultrasonic component. For surgical instrument (4808), the retrievable components may include portions of body assembly (4810), shaft assembly (4820), and / or end effector (4830), including components of energy drive system (4840). Tool (4036) (and optionally tool (4038)) may apply a predetermined force, motion, or stroke to overcome a connection bias of surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). A portion of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) may be disassembled using a disassembly feature (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) of a tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) in response to instructions from a controller (4046).

[0113] At step (4936), the controller (4046) may label the package (4066) using the labeling device (4054). In some versions, the controller (4046) may assign a printed label (4064) representing one or more characteristics of the recyclable portion (4124, 4126) to the labeling device (4054). The package (4066) may be pre-labeled, or the label (4064) may be printed from the labeling device (4054), which may be part of the packaging system (4016) or the hub (4014). In some versions, the hub (4014) may identify the recyclable components (4128, 4130) being bagged and assign the appropriate bag and label.

[0114] At step (4938), the controller (4046) may instruct the second robotic arm (4028) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) to place the parts into predetermined containers. The robotic surgical system (4010) may place the recyclable parts (4128, 4130) into appropriate packaging (4066). Different types of recovery containers are positioned next to the patient side cart (4012) to provide ease of use and increased efficiency to operating room personnel. The robotic surgical system (4010) may autonomously detect the disposal device (4060) and the first and second transport containers (4068, 4070). In some versions, an algorithm of the controller (4046) may identify the bag station location and autonomously move the recyclable parts (4128, 4130) to the appropriate location. The packaging device (4056), which may include a bag dispenser configured to dispense a flexible bag, interacts with the controller (4046) so that the robotic arms (4028, 4030) position a package (4066) that is automatically dispensed, opened, and closed when the recyclable components (4128, 4130) are positioned in the package. Autonomous bagging and sealing may facilitate proper post-operative disposal.

[0115] At step (4940), the method (4910) may also include sealing a package (4066) containing a portion (e.g., a recyclable component (4128, 4130)) of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) using the sealing device (4058) in response to an instruction from the controller (4046). For example, the controller (4046) may instruct the second robotic arm (4028) and tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) and / or the third robotic arm (4030) and tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722)) to seal the package (4066). The sealing device (4058) can vacuum seal and / or heat seal the recyclable components (4128, 4130) of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) within the package (4016) after surgery to prevent cross contamination and reduce the space around the packaging system (4066).

[0116] At step (4942), the controller (4046) may sort the packages (4066) according to the desired location / destination. The robotic surgical system (4010) may utilize location-based information to incorporate different disposal and shipping instructions based on country or regional differences and / or specific medical facility capabilities. The recyclable components (4128, 4130) in the packages (4066) and the disposable components in the disposal device (4060) may be sorted and disposed of differently depending on local regulations.

[0117] III. Exemplary Combinations

[0118] The following examples relate to various non-exhaustive ways in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit the coverage of any claims that may be provided at any time in this patent application or in the subsequent submissions of this patent application. It is not intended to make a disclaimer. The following examples are provided only for illustrative purposes. It is envisioned that the various teachings herein may be arranged and applied in a variety of other ways. It is also envisioned that some variations may omit certain features mentioned in the following examples. Therefore, any of the aspects or features mentioned below should not be considered decisive unless otherwise explicitly indicated by the inventor or the successor with an interest in the inventor at a later date. If any claim proposed in this patent application or in the subsequent submissions related to this patent application includes additional features other than those mentioned below, these additional features should not be assumed to be added for any reason related to patentability.

[0119] Example 1

[0120] A robotic surgical system comprises: (a) a controller; (b) a surgical instrument configured to interact with a patient, wherein the surgical instrument is operably coupled to the controller; and (c) a tool operably coupled to the robotic surgical system, wherein the tool comprises a detachment feature, wherein the detachment feature of the tool is configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to an instruction from the controller.

[0121] Example 2

[0122]

[0013] The surgical system of Example 1, wherein the surgical instrument comprises a housing, wherein the disassembly feature comprises at least one of a magnetic key, an electrical key, or a mechanical key for releasing the housing.

[0123] Example 3

[0124] A robotic surgical system according to any one of Examples 1 to 2, wherein the surgical instrument includes a housing, wherein the disassembly feature includes at least one of a torque wrench, a wedge, reverse forceps, a scraper, or a laser for removing at least a portion of the housing.

[0125] Example 4

[0126] A robotic surgical system according to any one of Examples 2 to 3, wherein the disassembly feature is configured to apply a first predetermined force, a first predetermined motion, or a first predetermined task to disconnect at least a portion of the surgical instrument.

[0127] Example 5

[0128] A robotic surgical system according to Example 4, wherein the first predetermined force is greater than a maximum force manually provided by a user.

[0129] Example 6

[0130] A robotic surgical system according to any one of Examples 4 to 5, wherein the portion of the surgical instrument includes a housing, wherein insufficient application of the first predetermined force or excessive application of the first predetermined force does not release the housing.

[0131] Example 7

[0132] A robotic surgical system according to any one of Examples 4 to 6, wherein the disassembly feature is configured to apply a second predetermined force, a second predetermined motion, or a second predetermined task that is independent of the first predetermined force, the first predetermined motion, or the first predetermined task in response to the instruction from the controller to disconnect at least a portion of the surgical instrument.

[0133] Example 8

[0134] The robotic surgical system according to any one of Examples 4 to 6 further includes a second tool, which includes a second disassembly feature, and the second disassembly feature is configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task in response to the instruction from the controller to disconnect at least a portion of the surgical instrument.

[0135] Example 9

[0136] The robotic surgical system according to any one of Examples 1 to 8 further includes a package, wherein the package is configured to receive the portion of the surgical instrument in response to the instruction from the controller.

[0137] Example 10

[0138] The robotic surgical system according to Example 9 further includes a sealing device configured to seal the package after the portion of the surgical instrument is received by the package in response to the instruction from the controller.

[0139] Embodiment 11

[0140] A robotic surgical system according to any one of embodiments 1 to 10, wherein the tool includes an end effector configured to interact with tissue of the patient, wherein the disassembly feature includes the end effector.

[0141] Example 12

[0142] A robotic surgical system according to any one of Examples 1 to 11, wherein the surgical instrument comprises an ultrasonic surgical instrument, wherein the ultrasonic surgical instrument comprises an ultrasonic component, wherein the controller is configured to be able to autonomously instruct the disassembly feature to disconnect the ultrasonic component from the ultrasonic surgical instrument.

[0143] Example 13

[0144] The robotic surgical system according to any one of embodiments 1 to 12 further includes a sensor configured to sense an area around the robotic surgical system, wherein the controller is configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to feedback received from the sensor indicating the disassembly feature of the tool.

[0145] Embodiment 14

[0146] A robotic surgical system according to any one of embodiments 1 to 13, wherein the controller is configured to be able to perform at least one mechanical or electrical test on the surgical instrument to determine the reusability of the surgical instrument.

[0147] Embodiment 15

[0148] The robotic surgical system according to any one of Examples 1 to 14 further includes: (a) a base; (b) a first robotic arm extending outward from the base, wherein the first robotic arm is operably coupled to the surgical instrument; and (c) a second robotic arm extending outward from the base, wherein the second robotic arm is coupled to the tool.

[0149] Example 16

[0150] A robotic surgical system comprises: (a) a base; (b) a controller; (c) a first robotic arm extending outwardly from the base; (d) a surgical instrument configured to interact with a patient, wherein the surgical instrument is operably coupled to the first robotic arm; (e) a second robotic arm extending outwardly from the base; and (f) a tool operably coupled to the second robotic arm, wherein the tool includes a detachment feature configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to an instruction from the controller.

[0151] Embodiment 17

[0152] A method of disassembling a robotic surgical system, wherein the robotic surgical system includes a controller, a first robotic arm and a second robotic arm, a surgical instrument, and a tool, wherein the first robotic arm is operably coupled to the surgical instrument, wherein the tool communicates with the controller, the method comprising: using a disassembly feature of the tool that is operably coupled to the second robotic arm to disassemble a portion of the surgical instrument that is operably coupled to the first robotic arm.

[0153] Embodiment 18

[0154] A robotic surgical system according to Example 17, wherein the disassembly action also includes autonomously applying a predetermined force, motion, or stroke to overcome a connection bias of the surgical instrument.

[0155] Embodiment 19

[0156] According to the robotic surgical system described in any one of Examples 17 to 18, the method further includes identifying the tool that performs the disassembly action in response to the instruction from the controller, and subsequently disassembling the portion of the surgical instrument in response to the instruction from the controller.

[0157] Embodiment 20

[0158] According to the robotic surgical system described in any one of Embodiments 17 to 19, the method further includes, in response to the instruction from the controller: (a) inserting at least a portion of the surgical instrument into a package; and (b) sealing the package containing the portion of the surgical instrument using a sealing device.

[0159] IV. Miscellaneous

[0160] Versions of the above-described devices may find application in traditional medical treatments and surgeries performed by medical professionals, as well as robotic-assisted medical treatments and surgeries.

[0161] It should be understood that any type of apparatus described herein may also include various other features in addition to or as an alternative to those described above. By way of example only, any of the apparatus described herein may also include one or more of the various feature structures disclosed in any of the various references incorporated herein by reference. It should also be understood that the teachings herein may be readily applied to any apparatus described in any other reference cited herein, such that the teachings herein may be readily combined with the teachings in any reference cited herein in a variety of ways. Other types of apparatus that may incorporate the teachings herein will be apparent to those of ordinary skill in the art.

[0162] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9447USNP1.0754992], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9447USNP1.0754992] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0163] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9448USNP1.0754994], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9448USNP1.0754994] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0164] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9448USNP2.0754977], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9448USNP2.0754977] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0165] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9448USNP3.0754979], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9448USNP3.0754979] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0166] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9450USNP1.0754983], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of the U.S. Patent Application [Agent Docket No. END9450USNP1.0754983] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0167] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9450USNP2.0754999], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9450USNP2.0754999] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0168] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9450USNP3.0755001], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of the U.S. Patent Application [Agent Docket No. END9450USNP3.0755001] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0169] In addition to the foregoing, the teachings of this article can be easily combined with the teachings of the following: U.S. Patent Application [Agent Docket No. END9450USNP4.0755006], entitled "Surgical System and Methods for Instrument Assessment and Cleaning" filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this article can be combined with the teachings of U.S. Patent Application [Agent Docket No. END9450USNP4.0755006] will be apparent to those of ordinary skill in the art based on the teachings of this article.

[0170] It should also be understood that any range of values ​​referenced herein should be understood to include the upper and lower limits of such ranges. For example, a range expressed as "between about 1.0 inches and about 1.5 inches" should be understood to include about 1.0 inches and about 1.5 inches, in addition to including values ​​between these upper and lower limits.

[0171] It should be understood that any patent, patent publication, or other public material, whether in whole or in part, allegedly incorporated herein by reference is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other public materials listed in the present disclosure. Therefore, and to the extent necessary, the disclosure explicitly listed herein supersedes any conflicting material incorporated herein by reference. Any material or portion thereof allegedly incorporated herein by reference but conflicting with existing definitions, statements, or other public materials listed herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing public materials.

[0172] The patterns described above can be designed to be discarded after a single use, or they can be designed to be used multiple times. In either case or both, these patterns can be repaired to be reused after at least one use. Repair can include any combination of the following steps: disassembling the device, then cleaning or replacing specific parts and subsequently reassembling. Specifically, some patterns of the device can be disassembled, and any number of specific parts or parts of the device can be selectively replaced or removed in any combination. When cleaning and / or replacing specific parts, some patterns of the device can be reassembled at a repair facility or reassembled by the operator before surgery is about to be performed for subsequent use. Those skilled in the art will appreciate that the repair of the device can be disassembled, cleaned / replaced, and reassembled using a variety of techniques. The use of such technology and the resulting repair device are all within the scope of the present application.

[0173] By way of example only, the types described herein may be sterilized before and / or after a procedure. In one sterilization technique, the device is placed in a closed and sealed container such as a plastic bag or a TYVEK bag. The container and device may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation may kill bacteria on the device and in the container. The sterilized device may then be stored in a sterile container for later use. The device may also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

[0174] Various embodiments of the present invention have been shown and described, and further improvements of the methods and systems described herein may be achieved by appropriate modifications by those of ordinary skill in the art without departing from the scope of the present invention. Several such possible modifications have been mentioned, and other modifications will be apparent to those of skill in the art. For example, the embodiments, embodiments, geometries, materials, dimensions, ratios, steps, etc. discussed above are illustrative and not required. Therefore, the scope of the present invention should be considered in light of the following claims, and should be understood not to be limited to the details of the structure and operation shown and described in the specification and drawings.

Claims

1. A robotic surgical system, comprising: (a) controller; (b) a surgical instrument configured to interact with a patient, wherein the surgical instrument is operably coupled to the controller; and (c) a tool operably coupled to the robotic surgical system, wherein the tool includes a disassembly feature, wherein the disassembly feature of the tool is configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to a command from the controller.

2. The robotic surgical system according to claim 1, wherein: The surgical instrument includes a housing, wherein the removal feature includes at least one of a magnetic key, an electrical key, or a mechanical key for releasing the housing.

3. The robotic surgical system according to claim 1 or claim 2, wherein: The surgical instrument includes a housing, wherein the disassembly feature includes at least one of a torque wrench, a wedge, reverse forceps, a scraper, or a laser for removing at least a portion of the housing.

4. A robotic surgical system according to any preceding claim, wherein: The detachment feature is configured to apply a first predetermined force, a first predetermined motion, or a first predetermined task to disconnect at least a portion of the surgical instrument.

5. The robotic surgical system according to claim 4, wherein: The first predetermined force is greater than a maximum force manually provided by a user.

6. The robotic surgical system according to claim 4 or claim 5, wherein: The portion of the surgical instrument includes a housing, wherein under-application of the first predetermined force or over-application of the first predetermined force does not release the housing.

7. The robotic surgical system according to any one of claims 4 to 6, wherein: The disassembly feature is configured to apply a second predetermined force, a second predetermined motion, or a second predetermined task that is independent of the first predetermined force, the first predetermined motion, or the first predetermined task in response to the instruction from the controller to disconnect at least a portion of the surgical instrument.

8. The robotic surgical system according to any one of claims 4 to 6, further comprising a second tool, the second tool comprising a second disassembly feature, the second disassembly feature being configured to apply a second predetermined force, a second predetermined motion, or a second predetermined task independent of the first predetermined force, the first predetermined motion, or the first predetermined task in response to the instruction from the controller to disconnect at least a portion of the surgical instrument.

9. The robotic surgical system of any preceding claim, further comprising packaging, wherein the packaging is configured to receive the portion of the surgical instrument in response to the instruction from the controller.

10. The robotic surgical system of claim 9, further comprising a sealing device configured to seal the package after the portion of the surgical instrument is received by the package in response to the instruction from the controller.

11. A robotic surgical system according to any preceding claim, wherein: The tool includes an end effector configured to interact with tissue of the patient, wherein the removal feature includes the end effector.

12. A robotic surgical system according to any preceding claim, wherein: The surgical instrument comprises an ultrasonic surgical instrument, wherein the ultrasonic surgical instrument comprises an ultrasonic component, wherein the controller is configured to autonomously instruct the detachment feature to disconnect the ultrasonic component from the ultrasonic surgical instrument.

13. The robotic surgical system of any preceding claim, further comprising a sensor configured to sense an area surrounding the robotic surgical system, wherein: The controller is configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to feedback received from the sensor indicating the detachment feature.

14. A robotic surgical system according to any preceding claim, wherein: The controller is configured to perform at least one mechanical or electrical test on the surgical instrument to determine the reusability of the surgical instrument.

15. The robotic surgical system according to any preceding claim, further comprising: (a) base; (b) a first robotic arm extending outwardly from the base, wherein: The first robotic arm is operably coupled to the surgical instrument; and (c) a second robotic arm extending outwardly from the base, wherein the second robotic arm is coupled to the tool.

16. A robotic surgical system comprising: (a) base; (b) controller; (c) a first robotic arm extending outwardly from the base; (d) a surgical instrument configured to interact with a patient, wherein the surgical instrument is operably coupled to the first robotic arm; (e) a second robotic arm extending outwardly from the base; and (f) a tool operably coupled to the second robotic arm, wherein the tool includes a disassembly feature configured to disconnect at least a portion of the surgical instrument from the robotic surgical system in response to a command from the controller.

17. A method of disassembling a robotic surgical system, wherein: The robotic surgical system comprises a controller, a first robotic arm and a second robotic arm, a surgical instrument, and a tool, wherein the first robotic arm is operably coupled to the surgical instrument, wherein the tool is in communication with the controller, the method comprising: A portion of the surgical instrument operably coupled to the first robotic arm is detached using a detachment feature of the tool operably coupled to a second robotic arm.

18. The method according to claim 17, wherein: The detachment action also includes autonomously applying a predetermined force, motion, or stroke to overcome the connection bias of the surgical instrument.

19. The method of claim 17 or claim 18, further comprising identifying the tool to perform the disassembly action in response to the instruction from the controller, and subsequently disassembling the portion of the surgical instrument in response to the instruction from the controller.

20. The method according to any one of claims 17 to 19, further comprising, in response to the instruction from the controller: (a) inserting at least a portion of the surgical instrument into a package; and (b) sealing the package containing the portion of the surgical instrument using a sealing device.

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