Surgeon console for a robotic surgical system

Abstract

A thermal cooling system and method for dissipating heat output from electronic components of a robotic surgical system. One system includes a thermal cooling system disposed within the interior space of a handrail control console. The thermal cooling system includes a first tactile interface device component, a processing unit, a second tactile interface device component, a heat sink for receiving heat generated by the processing unit during operation, and a plurality of fans. The plurality of fans are configured to draw air into the interior space, through the first tactile interface device component, through the heat sink, and through the second tactile interface device component.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Application No. 63 / 596,563, filed November 6, 2023, entitled “SURGEON CONSOLE FOR A ROBOTICSURGICAL SYSTEM,” the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to systems and methods for use in robotic surgical systems, and more specifically to a surgeon's console within a robotic surgical system. Background Technology

[0004] Robot-assisted surgery is a rapidly developing field that combines the precision of robotic mechanics with the knowledge of a skilled surgeon. A typical robot-assisted surgical system includes a surgeon's console, one or more robotic arms, and a visualization system. The surgeon's console provides the surgeon with an interface to input commands to control the robotic arms and perform surgical tasks. The surgeon's console can be equipped with numerous electronic components, forming a relatively large housing. These bulky consoles can occupy valuable space within the operating room and create a sense of disconnect between the surgeon and the patient and operating room staff, making it difficult for the surgeon to communicate with staff or observe the surgery. Attached Figure Description

[0005] Non-limiting and incomplete embodiments of this disclosure are described with reference to the following accompanying drawings, wherein, unless otherwise specified, similar reference numerals in the various views indicate similar parts. The advantages of this disclosure will be better understood with reference to the following description and drawings, wherein:

[0006] Figure 1 This is a schematic block diagram illustrating some components of a robotic surgical system;

[0007] Figure 2A This is a schematic diagram of an aerial top view of the thermal cooling system installed in the handrail control console of the robotic surgical system;

[0008] Figure 2B It is a schematic diagram depicting the forced airflow through a thermal cooling system located within the handrail control panel of a robotic surgical system;

[0009] Figure 3A This is a schematic diagram of an aerial, through-wall view of a component used for processor cooling.

[0010] Figure 3B It is a schematic diagram depicting a layered cross-sectional view of the components within a component used for processor cooling;

[0011] Figure 4A This is a schematic diagram of an aerial top view of the heat sink assembly;

[0012] Figure 4B This is a perspective view of the heat sink assembly;

[0013] Figure 5 This is a perspective view of the armrest console of a robotic surgical system, in which a portion of the armrest console's housing has been removed to expose the heat-cooling system housed within it;

[0014] Figure 6 This is a perspective view of the armrest control panel of a robotic surgical system, in which two hook assemblies of the armrest control panel are pulled down to a partially open position;

[0015] Figure 7 This is a perspective view of the internal components of the hook assembly for the handrail console of a robotic surgical system;

[0016] Figure 8 This is a perspective view of a component of the hook assembly for a handrail control console in a robotic surgical system;

[0017] Figures 9A to 9C This is a schematic flowchart illustrating a method for optimizing fan speeds within a thermal cooling system to maintain temperatures within threshold temperature specifications and further minimize noise output from the cooling fans; and

[0018] Figure 10 This is a schematic block diagram illustrating components of an exemplary computing system. Detailed Implementation

[0019] As discussed above, a surgical console can be equipped with numerous electronic components. It might be desirable to assemble these components within a relatively small housing; however, these electronic components generate a significant amount of heat within the housing, which must be dissipated to prevent damage. Therefore, developing effective thermal management solutions is helpful in ensuring the reliability and lifespan of the surgical console.

[0020] Significant engineering challenges arise when seeking to dissipate heat generated by electronic components within a confined space. The surgical console's housing provides limited airflow, making it difficult for air to passively cool the electronic components. Furthermore, surgical consoles typically house multiple heat-generating components within a small space, which can lead to localized hotspots that could damage delicate electronic and other components. Additionally, in many cases, the relatively small size of the surgical console lacks the space for traditional heat sinks or other conventional cooling solutions. Moreover, because the surgical console will be used during surgical procedures, it is desirable to ensure that conventional cooling methods, such as fans, do not introduce excessive unwanted noise.

[0021] This document discloses systems, methods, and apparatuses for effective thermal management in confined spaces. The systems, methods, and apparatuses described herein can be specifically used within the surgeon's console of a robot-assisted surgical system.

[0022] Robot-assisted surgical systems typically include a robotic system comprising one or more robotic arms. Surgical instruments such as endoscopes or surgical tools can be attached to each of the robotic arms. Robot-assisted surgical systems also include a visualization system. This visualization system includes image sensors, a lighting source, and image signal processing components for outputting a real-time video stream of the surgical scene. Robot-assisted surgical systems also include a surgeon's console, which serves as an interface between the surgeon and the robot-assisted surgical system. The surgeon's console enables the surgeon to control the robotic system and view the real-time video stream output by the visualization system.

[0023] The ergonomics of the surgical console are optimized to ensure comfort, ease of use, and no safety risks to patients or healthcare workers. Therefore, to increase surgeon comfort and stability, the surgical console may be designed with armrests. Control mechanisms for controlling the robot-assisted surgical system may be located on, within, or around the armrests. Thus, the armrests are designed to ensure that surgeons can rest their arms while still easily accessing at least a portion of the control mechanisms. The control mechanisms may include, for example, one or more of a haptic interface device, haptic feedback device, controller, touchscreen interface, keyboard, mouse, voice recognition system, or any other component suitable for the purposes of this disclosure.

[0024] The control mechanism of a robot-assisted surgical system includes numerous electronic components, such as a central processing unit (CPU), a graphics processing unit (GPU), cables, a microprocessor, and sensors. At least some of these electronic components can be housed within the internal space defined by the armrests of the surgeon's console. Because the internal space of the armrests is limited, and because the electronic components generate a significant amount of heat during operation, it is necessary to incorporate an effective thermal cooling system within the armrests of the surgeon's console.

[0025] This document describes systems, methods, and apparatus for dissipating heat generated by electronic components within the armrest console of a surgeon's console. At least a portion of the electronic components within the armrest console communicates with a robotic surgical system, and data output by the electronic components is used to calculate one or more movements to be performed by the robotic surgical system. Specifically, this document describes a thermal cooling system disposed within the internal space of the armrest console. The thermal cooling system is configured to dissipate heat generated by internal components of the armrest console, including a first tactile interface device component, a processing unit, and a second tactile interface device component. The thermal cooling system further includes a heat sink disposed adjacent to the processing unit, wherein the heat sink is configured to receive heat generated by the processing unit. The thermal cooling system further includes a plurality of fans configured to draw air into the internal space of the armrest console and then draw the air through each of the first tactile interface device, the heat sink, and the second tactile interface device. The plurality of fans are further configured to extract heated air from the internal space of the armrest console.

[0026] For the purpose of facilitating an understanding of the principles of this disclosure, reference will now be made to embodiments shown in the accompanying drawings, and these embodiments will be described using specific language. However, it should be understood that this is not intended to limit the scope of this disclosure. Any changes and further modifications to the features of the invention shown herein, as well as any additional applications of the principles of this disclosure as shown herein (which will generally occur to those skilled in the art and those familiar with the contents of this disclosure), will be considered within the scope of the disclosure protected by the claims.

[0027] Before disclosing and describing the structures, systems, and methods, it should be understood that this disclosure is not limited to the specific structures, configurations, process steps, and materials disclosed herein, as such structures, configurations, process steps, and materials can vary to some extent. Furthermore, it should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting, as the scope of the invention will be defined only by the appended claims and their equivalents.

[0028] In describing and claiming the subject matter of this disclosure, the following terms will be used in accordance with the following definitions.

[0029] It should be noted that the singular forms “a,” “an,” and “the” used in this specification and the appended claims include multiple referents unless the context clearly indicates otherwise.

[0030] As used herein, the terms “comprising,” “including,” “characterized by,” and their grammatical equivalents are non-exhaustive or open-ended terms that do not exclude additional, unmentioned elements or method steps.

[0031] As used herein, the phrase “consisting of” and its grammatical equivalents exclude any element or step not included in the claims.

[0032] As used herein, the phrase “consistent with…” and its grammatical equivalents limit the scope of the claims to the specified materials or steps and to materials or steps that do not substantially affect one or more of the essential and novel features of the claimed disclosure.

[0033] Now refer to the attached diagram, Figure 1 This is a schematic block diagram illustrating some components of a system 100 for robotic surgery or robot-assisted surgery. System 100 includes robotic components and surgical instruments to assist surgeons in performing surgical procedures with enhanced precision and control. System 100 can also be used to perform minimally invasive surgery, although this is not essential. In minimally invasive surgery, system 100 requires smaller incisions compared to traditional open surgery, resulting in reduced trauma, less blood loss, smaller scars, and faster recovery time for the patient. System 100 includes the ability for remote manipulation, allowing surgeons located away from system 100 to still instruct the system on how to perform certain surgical procedures. System 100 includes numerous interconnected components, including at least a robotic system 102, a surgeon's console 104, and a visualization system 106.

[0034] The robotic system 102 includes one or more robotic arms 108, each equipped with a surgical instrument 110. The robotic arms 108 provide increased precision and dexterity compared to the human hand, enabling surgeons to perform complex manipulations with improved accuracy. The robotic system 102 includes one or more controllers configured to direct the movement of one or more of the robotic arms 108. Typically, each robotic arm includes a single tool receiver and thus manages the operation of a single surgical instrument 110.

[0035] In some embodiments, the robotic arm 108 is positioned at a surgical platform such as a table or bed and / or mounted in a component of the system 100 itself. In some cases, the system 100 includes a column or other stable fixing device configured to securely hold the robotic arm 108. In other configurations, the robotic arm 108 may be mounted on a trolley, ceiling, sidewall, or other suitable supporting surface. Surgical instruments 110 may be mounted to and removed from the robotic arm 108, such that different types of surgical instruments 110 can be utilized by each of the robotic arms 108. The surgeon may select and request the mounting of certain surgical instruments 110 in certain robotic arms 108 depending on the scope of the surgical procedure to be performed. Surgical instruments 110 may be removed and replaced as needed during the surgical procedure. Additionally, surgical instruments 110 may be removed for reprocessing and sterilization procedures. Surgical instruments 110 may include one or more of, for example, endoscopes including cameras, retractors, cauterizers, suture devices, cutters, scalpels, etc. Endoscopes including cameras may have any suitable configuration depending on the surgical procedure to be performed. For example, an endoscope can specifically be any of the following: a laparoscope, a laryngoscope, a colonoscope, a bronchoscope, a sigmoidoscope, etc.

[0036] The surgeon's console 104 communicates electronically with the robotic system 102 and the visualization system 106. The surgeon's console 104 includes one or more control mechanisms 112 that enable a user to provide instructions to be executed by the robotic system 102 and / or the visualization system 106. The surgeon's console 104 can be positioned remotely from the robotic system 102 and the visualization system 106. In various embodiments, the surgeon's console 104 can be located in the same operating room as the robotic system 102, in an adjacent or nearby room, or remotely operated from a remote location in a different building, city, or country.

[0037] Control mechanism 112 may specifically include one or more of a haptic interface device (HID) 120, a touchscreen interface 122, or a controller 124. Additionally, control mechanism 112 may include one or more of a foot pedal, a voice recognition system, buttons, a dial pad, a keyboard, a mouse, an emergency stop device, boundary controls, etc. Control mechanism 112 translates the surgeon's motion or voice commands into precise scaling movements implemented by the robotic arm 108 and surgical instruments 110. Control mechanism 112 may be configured with built-in safety features to eliminate or reduce hand tremors and ensure that the robotic system 102 utilizes fluid motion to execute the surgeon's control. Users can utilize one or more of the available control mechanisms 112 based on preferences and the range of programs to be executed.

[0038] The surgeon's console 104 may specifically include a HID 120 that enables the surgeon to interact with a computer or other digital system via touch. The HID 120 provides haptic feedback configured to stimulate the user's sense of touch, texture, resistance, temperature, and / or vibration. The HID 120 thus allows the user to perceive physical sensations such as pressure, texture, vibration, or force when interacting with digital or remote objects. The HID 120 enables the surgeon to perform surgical movements with their arms and hands, and then translate those surgical movements into precise robotic movements by the robotic system 102. The HID 120 includes actuators and sensors. The actuators are the primary components that generate haptic sensations and may include, for example, vibration motors, piezoelectric actuators, and force feedback motors. The sensors detect the surgeon's interactions and movements, and then translate those interactions and movements into commands to be executed by the robotic system 102.

[0039] One or more HID 120s utilized by system 100 may include, for example, haptic gloves, haptic controllers, haptic vests or suits, haptic styluses or pens, or haptic displays. Hhaptic gloves include gloves equipped with sensors and actuators on the fingers and palms to provide the user with a sense of touch and manipulation within a virtual environment. Hhaptic controllers may be implemented as handheld devices incorporating haptic feedback mechanisms, such as rumble motors, to simulate various sensations during use. Hhaptic vests or suits include wearable garments characterized by embedded haptic actuators to cover the user's body and provide a comprehensive haptic experience. Hhaptic styluses or pens may be used in digital applications to provide feedback when drawing or writing on digital surfaces. Hhaptic displays incorporate tactile surfaces that may simulate textures or provide feedback when interacting with elements on the screen.

[0040] One or more HID 120s of the surgeon's console 104 can be used to receive input from the surgeon during robot-assisted surgery. For example, the surgeon can use a haptic glove to perform virtual surgery, and then the surgeon's movements are translated into movements performed by the robotic system 102. Further, for example, the surgeon can manipulate haptic controllers to instruct how certain robotic arms 108 or surgical instruments 110 should move, and then the surgeon's manipulations are translated into movements performed by the robotic system 102.

[0041] The surgeon's console 104 may also include a touchscreen interface 122. In some embodiments, the touchscreen interface 122 is integrated into the housing of the armrest. The touchscreen interface 122 allows the surgeon to adjust various system settings applicable to any of the robotic system 102, the surgeon's console 104, or the visualization system 106. In some cases, the surgeon uses the touchscreen interface to request certain types of visualization data, such as color visualization, fluorescence visualization, multispectral visualization, and / or dimensional information.

[0042] The surgeon's console 104 may also include a controller 124, such as a joystick controller, button controller, or other controller. The controller 124 may include a handheld device that can be effectively manipulated by the surgeon to provide precise motion commands to the robotic system 102.

[0043] The surgeon's console 104 may specifically include one or more foot pedals (not shown in the figure). The foot pedals enable the surgeon to multitask without removing their hands from the main control unit 112 (such as, for example, HID 120, touchscreen interface 122, controller 124, etc.). The foot pedals may be specifically configured to control, for example, the visualization system 106, the engagement and disengagement of surgical instruments 110, energy activation for cutting or coagulating tissue, switching between surgical instruments 110, etc.

[0044] The surgeon's console 104 may specifically include one or more safety controls, such as an emergency stop device, boundary controls, or overriding mechanisms (not shown in the figure). An emergency stop device is a control mechanism that immediately halts all robotic actions of the robotic system 102. Boundary controls instruct the robotic system 102 not to move beyond preset limits, which can be selected to prevent accidental tissue damage. Overriding mechanisms allow for immediate manual control or repositioning of the robotic arm 108 or surgical instruments 110.

[0045] The visualization system 106 enables surgeons to observe anatomical structures in detail and perform precise surgical interventions. The visualization system 106 includes one or more of a camera 114, a light source 116, and a display 118. The visualization system 106 can be executed by one or more processors dedicated to the visualization system 106 but communicating with either the robotic system 102 or the surgeon's console 104. The visualization system 106 may be equipped with multiple light sources 116 that can be independently actuated and enable the camera 114 to capture color, fluorescence, or multispectral visualization data of the scene.

[0046] Figure 2A and Figure 2BThis is a schematic aerial top view of the thermal cooling system 200, which is configured to provide sufficient cooling to the surgeon's console 104 while maintaining a low noise level. Figure 2A and Figure 2B Each example illustrates a component of the thermal cooling system, and Figure 2B Another example is the airflow through the thermal cooling system 200.

[0047] The thermal cooling system 200 is optimized for use in the armrest console of the surgeon's console 104 (see, for example) Figure 5 The surgical console 104, exemplified first, includes multiple heating components, such as a processor, a display, or one or more control mechanisms 112. Figure 2B As shown, the thermal cooling system 200 is designed to effectively capture and dissipate heat generated by the electronic components of the surgical console 104. The thermal cooling system 200 is configured to maintain the internal temperature within a safe and optimal operating temperature range to ensure that the surgical console 104 can operate without damaging sensitive electronic components.

[0048] The thermal cooling system 200 is configured to capture, dissipate, and dissipate heat generated by one or more of the CPU, GPU, or components associated with the HID 120. In one embodiment, the thermal cooling system 200 is specifically configured to dissipate heat generated by the first HID component 206, the second HID component 224, the CPU 214, and the GPU 220, such as Figures 2A to 2B As shown.

[0049] like Figures 2A to 2BAs shown, the thermal cooling system 200 can capture and dissipate heat generated by one or more HID components (see, for example, first HID component 206 and second HID component 224), which are disposed within an internal space defined by the housing of the surgical console 104. HID components 206, 224 may include any components of the HID 120 and may specifically include an interface for establishing an electronic connection between the HID 120 and the processing unit of the surgical console 104. HID components 206, 224 may include a structure or housing configured to encapsulate electronic components associated with the HID 120. These electronic components may include, for example, an interface for receiving a plug or cable providing direct electronic communication with the HID 120, a processor for processing data received from the HID 120, a memory device, etc. HID components 206, 224 may specifically include one or more processors configured to receive, convert, transmit, and / or evaluate sensor readings or instructions provided by the HID 120. The HID components 206 and 224 installed in the armrest control panel will generate a large amount of heat, which is discharged from the armrest control panel through the heat cooling system 200 to maintain a safe operating temperature.

[0050] The thermal cooling system 200 can further capture and dissipate heat generated by one or more of the central processing unit (CPU) 214 or graphics processing unit (GPU) 220. The CPU 214 and / or GPU 220 can be used to process input received from one or more HID 120s. Alternatively or additionally, the CPU 214 and / or GPU 220 can be used to process operations of a computer, which may include one or more control units 112 connected thereto.

[0051] A thermal cooling system 200 is disposed within an enclosed interior space. In one embodiment, the enclosed interior space is formed by the housing of the surgeon's console 104, and specifically by an armrest console (see, for example...). Figure 5 The first example illustrates the housing formation of the armrest console 500. Because the housing of the armrest console defines a relatively small internal space, and because the combination of HID components 206, 224, CPU 214, and GPU 220 generates a significant amount of heat, an effective thermal cooling system 200 is required to draw in air and dissipate heat outside the internal space of the surgeon's console 104. It should be understood that the thermal cooling system 200 described herein meets the stringent thermal and noise requirements of the surgeon's console 104.

[0052] The thermal cooling system 200 is enclosed within a housing that includes multiple vents 202a, 202b. The vents 202a, 202b may include holes or cutouts formed in the walls of the housing. Figures 2A to 2B The examples specifically include an inlet vent 202a located on the left side of the housing and an outlet vent 202b located on the right side of the housing. Figure 2B The airflow illustrated indicates that air is drawn into the housing through inlet vent 202a, and heated air is discharged from the housing through outlet vent 202b. However, it should be understood that the direction of airflow can be reversed, and air can flow directionally through all vents 202a, 202b.

[0053] The thermal cooling system 200 also includes multiple fans. In some embodiments, the fans disposed within the thermal cooling system 200 are relatively small to ensure that the cumulative noise output by the multiple fans remains low. Figures 2A to 2B In the illustrated example, the thermal cooling system 200 includes a first HID fan 204a and a second HID fan 204b, each associated with a first HID component 206. Additionally, the thermal cooling system 200 includes a first HID fan 226a and a second HID fan 226b associated with a second HID component 224. The HID fans 204a, 204b, 226a, and 226b can be integrated within a housing formed for the HID components 206 and 224.

[0054] The thermal cooling system 200 further includes a fan that is not integrated into the housing of the HID components 206, 224 or otherwise not associated with the HID components 206, 224. Figures 2A to 2B In the illustrated example, the thermal cooling system 200 includes a CPU fan 212 configured to draw air through the CPU 214 and / or a first heatsink 216 disposed above the CPU 214. In some embodiments, the CPU fan 212 includes a plurality of CPU fans 212 configured to draw air through the CPU 214 and / or the first heatsink 216. The thermal cooling system 200 includes a GPU fan 218 configured to draw air through the GPU 220 and / or a second heatsink 222 disposed above the GPU 220. In some embodiments, the GPU fan 218 includes a plurality of GPU fans 218 configured to draw air through the GPU 220 and / or the second heatsink 222. The thermal cooling system 200 also includes one or more exhaust fans 228a, 228b configured to draw air from the thermal cooling system 200 through an exhaust vent 202b.

[0055] The thermal cooling system 200 includes a series of heat sinks disposed between the first HID component 206 and the second HID component 224. Specifically, the thermal cooling system 200 includes a first heat sink 216 positioned above the CPU 214 and a second heat sink 222 positioned above the GPU 220. A conduit bracket 210 is stacked above the first heat sink 216 and the second heat sink 222. The conduit bracket 210 may include a single piece of material that protects and encapsulates each of the CPU 214, the first heat sink 216, the GPU 220, and the second heat sink 222. The conduit bracket 210 ensures that the heat generated by the CPU 214 and the GPU 220 is effectively propelled through the heat sinks 216 and 222 and exits the housing through the exhaust vent 202b. Figures 2A to 2B In the illustrated view, CPU 214, first heatsink 216, GPU 220, and second heatsink 222 are depicted with dashed lines to indicate that they are typically not visible below the pipe bracket 210. It is noteworthy that the relative positions and dimensions of CPU 214, first heatsink 216, GPU 220, and second heatsink 222 are shown in... Figures 2A to 2B The diagram is not drawn to scale.

[0056] The thermal cooling system 200 further includes a baffle 208 that provides airflow path optimization to guide heated air through radiators 216, 222. The baffle 208 forms a barrier between the first HID component 206 and the second HID component 226, such that air leaving the first HID component 206 is pushed through the radiators 216, 222 before leaving the housing through the exhaust vent 202b.

[0057] In one implementation, each fan in the fan assembly is in a suction configuration, including a first HID fan 204a and a second HID fan 204b for the first HID component 206, a first HID fan 226a and a second HID fan 226b for the second HID component 224, a CPU fan 212, a GPU fan 218, and exhaust fans 228a and 228b. When all fans are in the suction configuration, airflow is optimized for effectively cooling electronic components and exhausting heated air. This is generated by... Figure 2BThe airflow is drawn in the direction indicated by the dashed arrow. Fans 204a, 204b, 212, 218, 226a, 226b, 228a, and 22b are speed-controlled via firmware based on the temperature of electronic components, including a first HID component 206, a second HID component 224, a CPU 214, and a GPU 220. The thermal cooling system 200 provides a sufficiently high margin to allow fans 204a, 204b, 212, 218, 226a, 226b, 228a, and 22b to operate at a low duty cycle while still maintaining a temperature significantly below the deceleration temperature of the electronic components.

[0058] The placement of various components within the thermal cooling system 200 is optimized to remove heat from the armrest console of the surgeon's console 104. The thermal cooling system 200 generates a ducted airflow that draws air into the interior space of the armrest console and then extracts it from the interior space. This... Figure 2B As shown in the figure, Figure 2B An exemplary left-to-right airflow is illustrated through the interior space defined by the housing of the armrest console.

[0059] exist Figure 2B In the illustrated example airflow, the thermal cooling process begins with air intake at 232. Air is drawn in by the first HID fan 204 and the second HID fan 204b of the first HID component 206 through the vent 202a. Then, at 234, air is drawn through the housing of the first HID component 206 and heated by the first HID component 206.

[0060] Then, at 236, air is drawn through the CPU heatsink and the GPU heatsink. Specifically, CPU fan 212 draws air into a first heatsink 216 associated with CPU 214, and GPU fan 218 draws air into a second heatsink 222 associated with GPU 220. Then, at 238, the air is heated by the second HID component 224. Air is drawn into the second HID component 224 by at least the first HID fan 226a and the second HID fan 226b. Then, at 240, the heated air is discharged from the internal space. Specifically, one or more of the exhaust fans 228a and 228b draw the heated air from the internal space through the exhaust vent 202b. Figure 2B The fans on the right side (see 226a, 226b, 228a, 228b) have the most significant effect on cooling the electronic components inside the armrest console, as these fans are responsible for drawing air out of the armrest console.

[0061] Figure 3A and Figure 3BThis is a schematic diagram of component 300 used for processor cooling, and specifically for cooling CPU 214 and GPU 220. Figure 3A This is an aerial, through-the-wall view of component 300, illustrating the various parts stacked on top of each other. For example... Figure 3A As shown, the pipe bracket 210 (illustrated with solid lines) is the topmost component, and then the first heatsink 216 and the second heatsink 222 (illustrated with wide dashed lines) are positioned below the pipe bracket 210, and then the CPU 214 and the GPU 220 (illustrated with dashed lines) are positioned below the heatsinks 216 and 222. Figure 3B This is a schematic cross-sectional view illustrating the layering of components within component 300.

[0062] Heatsinks 216 and 222 receive heat from CPU 214 and GPU 220 and then dissipate that heat into the surrounding air. The design of the heatsink fins, including their size, geometry, arrangement, and material, is optimized to maximize heat transfer density and minimize fluid flow resistance. This results in a path with lower thermal resistance. Figures 3A to 3B As shown, the first heat sink 216 is primarily dedicated to receiving heat generated by the CPU 214, and the second heat sink 222 is primarily dedicated to receiving heat generated by the GPU 220.

[0063] Figure 4A and Figure 4B An example is a heat sink assembly 400 including a first heat sink 216 and a second heat sink 222. Figure 4A This is an aerial top view of the radiator assembly 400. Figure 4B This is a perspective side view of the heat sink assembly 400.

[0064] The first heat sink 216 includes a plurality of first fins 408 and a plurality of first fin gaps 409 positioned between the first fins 408. The second heat sink 222 includes a plurality of second fins 410 and a plurality of second fin gaps 411 positioned between the second fins 410. Figure 4A In the schematic diagram, the solid components including the first fin 408 and the second fin 410 are shown in white, and the negative air space between the solid components including the first fin gap 409 and the second fin gap 411 is shown in gray.

[0065] exist Figure 4A and Figure 4BIn the illustrated example embodiment, the first radiator 216 has a different configuration compared to the second radiator 222. Specifically, the first radiator 216 includes radiator walls 406 disposed on its top and bottom sides. The radiator walls 406 have a greater thickness than any of the first fins 408 of the first radiator 216. The radiator walls 406 may be machined to have one or more holes disposed therethrough for mounting the first radiator 216 within the assembly 400.

[0066] Furthermore, the first radiator 216 includes a different number of fins compared to the second radiator 222. Figures 4A to 4B In the illustrated example, the first radiator 216 includes nineteen first fins 408 and two radiator walls 406. In contrast, the second radiator 222 includes sixteen second fins 410 and no radiator walls. It should be understood that the number of fins in the first radiator 216 or radiator 222 can be adjusted and optimized based on the implementation without departing from the scope of this disclosure. In various embodiments, the first radiator 216 may include a different number of first fins 408, and may specifically include about 16 to 22 fins. In various embodiments, the second radiator 222 may include a different number of second fins 410, and may specifically include about 13 to 19 fins.

[0067] Furthermore, the first radiator 216 and the second radiator 222 are configured with different fin widths and fin spacings. Figures 4A to 4B In the illustrated example, the first fin 408 of the first heat sink 216 has a narrower width than the second fin 410 of the second heat sink 222. Additionally, the first fin gap 409 of the first heat sink 216 is narrower than the second fin gap 411 of the second heat sink 222. It should be understood that the fin width and fin spacing within the first heat sink 216 or the heat sink 222 can be adjusted and optimized based on the implementation without departing from the scope of this disclosure.

[0068] In various embodiments, the first fin 408 can be configured with different fin widths, and specifically, can be configured with a fin width of about 0.4 mm to about 0.8 mm. Similarly, the first fin gap 409 can vary according to the embodiment, and can specifically be about 1.72 mm to about 2.72 mm. Furthermore, the second fin 410 can be configured with different fin widths according to the embodiment, and can specifically be configured with a fin width of about 0.5 mm to about 1.5 mm. Similarly, the second fin gap 411 can vary according to the embodiment, and can specifically be about 4.2 mm to about 6.2 mm.

[0069] Variations in the number, width, and spacing of fins between the first heatsink 216 and the second heatsink 222 help to effectively capture and dissipate heat from the CPU 214 and GPU 220. The heatsink assembly 400 provides an effective thermal cooling system that allows the fan of the thermal cooling system 200 to effectively draw heated air out of the internal space within the armrest console. Furthermore, due to the efficiency of the heatsink assembly 400, the fan of the thermal cooling system 200 operates at a relatively low speed to reduce noise levels. In some cases, the volume of the thermal cooling system 200 remains at 55 dBA or less, even when the electronic components within the armrest console are operational.

[0070] The thermal cooling system 200 represents an improvement over conventional cooling systems. Other solutions may utilize a different number of fans, and some fans may operate in a push configuration while others operate in a suction configuration. This can introduce inefficient airflow paths that are not optimized for the internal space within the armrest console of the surgeon's console 104. Furthermore, a less efficient configuration with inefficient airflow paths may require one or more fans to operate at higher speeds. Higher fan speeds introduce excessive and unwanted noise levels, which can pose safety risks within the surgical environment.

[0071] Thermal cooling system 200 represents an improvement over alternative cooling solutions, including those utilizing liquid cooling systems or heat pipes. Liquid cooling systems circulate liquid through a water block placed on top of the processing chip. These systems require maintenance, can be very heavy, and are noisier than the fan-based thermal cooling system 200 described herein. Heat pipe-based solutions utilize heat transfer devices that combine the principles of thermal conductivity and phase change to transfer heat between solid interfaces. However, heat pipe solutions are not ideal for space-constrained environments. Therefore, these alternative cooling systems are unsuitable for the handrail console of a robotic surgical system as discussed herein.

[0072] Figure 5 This is a perspective view of the armrest console 500 of the surgeon's console 104, and specifically illustrates that a portion of the housing of the armrest console 500 is removed to expose a heat-cooling system 200 located within an interior space defined by the housing. Figure 5As shown, several components of the surgeon's console 104 are housed within an internal space defined by the housing of the armrest console 500. Specifically, supporting electronic components for one or more control mechanisms 112 are housed within the internal space, including, for example, HID components 206, 224, CPU 214, and GPU 220. Because the electronic components generate a significant amount of heat, and because the internal space is relatively small, the armrest console 500 includes a thermal cooling system 200 to dissipate heat and prevent damage to the electronic components.

[0073] The armrest control panel 500 includes an upper platform 502 and an armrest 504. For example... Figure 5 As shown, the upper platform 502 (where the heat cooling system 200 is located) is positioned opposite and substantially parallel to the armrest 504. The armrest console 500 further includes a first side arm 506 and a second side arm 508 that are substantially parallel to each other. The armrest 504, the upper platform 502, the first side arm 506, and the second side arm 508 together form the frame of the armrest console 500, and can be collectively referred to herein as frames 502 to 508.

[0074] The boundaries of frames 502 to 508 define an interior region 512, and several components of the surgeon's console 104 may be disposed within the interior region 512. Typically, one or more control mechanisms 112 are disposed within the interior region. In a particular embodiment, a haptic interface device is disposed within the interior region 512, and a user can utilize the open interior region 512 to move their arm and hand when using the haptic interface device.

[0075] Each of the armrest 504, upper platform 502, first side arm 506, and second side arm 508 includes a housing defining an internal space, and multiple components may be disposed within the internal space defined by these components of frames 502 to 508. Specifically, the armrest console 500 may include one or more of a CPU, GPU, microcontroller, field-programmable gate array, cables, wires, interfaces, and other components disposed within the internal spaces of frames 502 to 508.

[0076] The armrest console 500 includes a touchscreen interface 510 built into the armrest housing 504. The touchscreen interface 510 allows a user to interact directly with the surgeon's console 104 without using traditional input devices such as a mouse or keyboard. The touchscreen interface 510 can be configured with multi-touch capability to recognize multiple touch points simultaneously. In an example embodiment, multi-touch capability allows the user to pinch or zoom to view different areas of an image rendered on a display. The touchscreen interface 510 can be additionally configured with gesture recognition to identify touch patterns, including swiping, tapping, pinching, and other movements to execute certain commands. The touchscreen interface 510 can be additionally configured with haptic feeding to provide haptic feedback (such as vibration) to confirm touches or actions.

[0077] The armrest control panel 500 also includes one or more retractable hooks 514 integrated into the housing of the armrest control panel 500. Figure 5 In the middle, hook 514 is currently in the retracted or closed position, causing hook 514 to slide upward into the first side arm 506 or the second side arm 508 of the armrest control panel 500.

[0078] Figure 6 This is a perspective view of the armrest control panel 500. (Compared to...) Figure 5 Compared to the illustrated views, Figure 6 The illustrated armrest control panel 500 includes a completely enclosed upper platform 502, making the heat cooling system 200 invisible.

[0079] like Figure 6 As shown, the armrest console 500 may include one or more hook assemblies 600, and may specifically include a hook assembly 600 attached to a first side arm 506 and another hook assembly 600 attached to a second side arm 508. The hook assembly 600 provides convenient storage for cables, including system connection cables and power connection cables associated with the system 100 for robotic surgery or robot-assisted surgery. The hook assembly 600 prevents cables from obstructing surgical personnel and allows for easier transport of the surgeon's console 104. Each of the two hook assemblies 600 integrated into the armrest console 500 is capable of carrying at least 2.5 times the total mass of all cables intended for use with the surgeon's console 104.

[0080] The hook assembly 600 includes a hook 514 comprising a shank 604 and a bend 606. The length of the throat portion of the hook 514 (i.e., the length of the bend 606 from the bottom of the shank 604 to the top of the bend 606) is optimized for holding a cable intended for use with the surgeon's console 104. Similarly, the length of the opening gap of the hook 514 (i.e., the distance between the inner wall of the bend 606 and the inner wall of the shank 604) is also optimized for holding a cable intended for use with the surgeon's console 104.

[0081] Each hook assembly 600 further includes a hook cutout 608 that cuts into the outer wall of the armrest console 500. A hook assembly 600 disposed on a first side of the armrest console 500 includes a hook cutout 608 that is cut into the outer wall of the first side arm 506, such as... Figure 6 As shown. Similarly, the hook assembly 600 provided on the second side of the armrest control panel 500 includes a hook cutout 608 that is cut into the outer wall of the second side arm 508 (in Figure 6 (Not visible in the middle). The geometry and depth of the hook cutout 608 correspond to the geometry and thickness of the bend 606 of the hook 514. This ensures that the hook 514 can be retracted to form a smooth, integral shape with the housing of the armrest console 500, at least as... Figure 5 As shown.

[0082] Each hook assembly 600 further includes a linear rail 610. The linear rail 610 is integrated into the first side arm 506 and the second side arm 508 of the armrest console 500. The linear rail 610 includes one or more rigid rods for holding the shank 604 of the hook 514 and enabling the hook 514 to slide up and down. When the hook 514 slides fully upward along the linear rail 610, the hook 514 is positioned in a closed or retracted position. When the hook 514 slides fully downward along the linear rail 610, the hook 514 is positioned in an open position and is ready to carry cables for the surgeon's console 104.

[0083] Figure 7 This is a perspective view of the hook assembly 600, and specifically illustrates the components disposed within the internal space defined by the housing of the armrest console 500. (See attached image.) Figure 7 As shown, the linear track 610 is fixed to the housing of the armrest console 500, and thus allows the hook 514 to slide up and down relative to the housing of the armrest console 500.

[0084] Linear rails 610 are attached to a first side arm 506 or a second side arm 508 by a plurality of fasteners 712, which may specifically include machined screws or other fastening mechanisms. The hook assembly 600 further includes one or more sliding blocks 714. Each of the one or more linear rails 610 includes a sliding block 714 capable of sliding up and down along the linear rail 610. The sliding block 714 may include ball bearings to ensure smooth up and down movement along the linear rail 610. Additionally, the sliding block 714 may include a guardrail to stabilize movement and prevent twisting during up and down sliding along the linear rail 610. The sliding block 714 includes a plurality of fastening holes 716 disposed therethrough. In some cases, the fastening holes 716 are threaded and configured to securely and releasably retain machined screws. Figure 7In the illustrated example, each of the two sliders 714 includes four fastening holes 716.

[0085] The hook assembly 600 further includes a magnet 720 disposed at a proximal end of the hook assembly 600. The magnet 720 abuts against a corresponding magnet or magnetic material on the hook 514. When the hook 514 is retracted and not used to carry cables for the surgical console 104, the magnet 720 thereby holds the hook 514 in the retracted or closed position.

[0086] Figure 8 This is a perspective view of the components of the hook assembly 600, and specifically illustrates that the shank 604 of the hook 514 is entirely along the linear track 610 (in... Figure 8 (Not visible in the middle) Slide it up and set it to the collapsed or closed position.

[0087] The shank 604 includes a plurality of fastening holes 816 through which it passes. The plurality of fastening holes 816 correspond to the fastening holes 716 of the sliding block 714. The corresponding fastening holes 716, 816 may be threaded, allowing machined screws to be screwed in through the corresponding fastening holes 716, 816 to secure the shank 604 to the sliding block 714. Figure 8 In the illustrated example, the handle 604 includes eight fastening holes 816, which correspond to... Figure 7 The two sliding blocks 714 shown are associated with two pairs of four fastening holes 716.

[0088] The handle 604 includes a magnet 820 and / or a magnetic material. The magnet 820 and / or the magnetic material are positioned to interact with the magnet 720 when the hook 514 slides upward along the linear track 610 to the retracted position.

[0089] The hook assembly 600 further includes a damper 818. The damper 818 is positioned at the proximal end of the hook assembly 600 and is configured to suppress noise when the hook 514 moves to the retracted or closed position as it reaches the proximal end of the hook assembly 600. In one embodiment, the hook assembly 600 includes four or more dampers 818, each damper configured to suppress noise as the handle 604 of the hook assembly 600 slides into the retracted position.

[0090] Figures 9A to 9C This is a schematic flowchart of a method 900 for controlling heat within the armrest console 500 of a surgeon's console 104. Method 900 can be executed by a processor disposed within the surgeon's console 104.

[0091] Method 900 includes receiving at 902 the current temperature of electronic components disposed within the cavity of the armrest console 500 housing. The armrest console 500 may specifically be a component of a surgeon's console 104 within a system 100 for robotic surgery or robot-assisted surgery. The temperature may be output by a temperature sensor associated with electronic components, such as a first HID component 206 or a second HID component 224, a CPU 214, or a GPU 220. Method 900 includes determining at 904 whether the current temperature exceeds a temperature threshold specification of the electronic components. The temperature threshold specification of the electronic components may be provided by the manufacturer of the electronic components to indicate when the electronic components will slow down, become less efficient, or begin to degrade due to high temperatures.

[0092] Method 900 includes identifying a plurality of fans disposed within an interior cavity at 906, wherein the plurality of fans includes a first fan assigned to draw air into a heat sink positioned above electronic components. The first fan may specifically include a fan that first combines with… Figures 2A to 2B The CPU fan 212 or GPU fan 218 is described. Method 900 includes receiving a first current rotational speed of the first fan at 908.

[0093] Method 900 includes determining at 910 whether a first current rotational speed of the first fan exceeds a first threshold rotational speed. The first threshold rotational speed can be predetermined based on the noise output of the first fan at various rotational speeds. For example, a user can determine that the first fan is too noisy at certain speeds and then set the first threshold rotational speed based on the noise output of the first fan.

[0094] Method 900 includes increasing the current rotational speed of a first fan at 912 in response to a current temperature exceeding a temperature threshold specification, and further in response to a first current rotational speed not exceeding a first threshold rotational speed. Therefore, the rotational speed of the first fan can be continuously increased up to the first threshold rotational speed. The rotational speed of the first fan can be optimized and increased based on the current temperature of the electronic components.

[0095] Method 900 includes identifying a threshold rotational speed for each of the plurality of fans at 914. In one embodiment, each fan of the thermal cooling system 200 may have a unique threshold rotational speed. Method 900 includes receiving the current rotational speed of each of the plurality of fans at 916. Each fan of the thermal cooling system 200 may have a different current rotational speed at a given time. Method 900 includes determining at 918 whether any of the plurality of fans currently does not exceed its corresponding threshold rotational speed. Therefore, the determination at 918 includes determining that the speed of any of the plurality of fans may increase without exceeding the corresponding threshold rotational speed.

[0096] Method 900 includes increasing the current rotational speed of at least one of a plurality of fans at 920 in response to the current temperature of the electronic component exceeding a temperature threshold specification, and further in response to the first current rotational speed exceeding a first threshold rotational speed.

[0097] Method 900 includes calculating, at 922, an estimated cumulative volume output by the plurality of fans, based at least in part on the current rotational speed of each of the plurality of fans. The calculation at 922 can be performed based on data stored in memory, indicating the estimated volume of each fan at various rotational speeds. Alternatively, the calculation at 922 can be performed based on data output by a microphone that continuously monitors the noise output of the fans.

[0098] Method 900 includes determining at 924 whether the estimated cumulative volume exceeds a volume threshold of a plurality of fans. Method 900 includes at 926, in response to the current temperature not exceeding a temperature threshold specification, and further in response to the estimated cumulative volume exceeding the volume threshold, reducing the current rotational speed of at least one of the plurality of fans. Method 900 includes at 928 continuously optimizing the current rotational speed of each of the plurality of fans to maintain the current temperature below a temperature threshold, and further maintaining the estimated cumulative volume below a volume threshold, wherein maintaining the current temperature below the temperature threshold specification takes precedence over maintaining the estimated cumulative volume below the volume threshold.

[0099] Figure 10 A schematic block diagram of an example computing device 1000 is illustrated. The computing device 1000 can be used to execute various programs, such as those discussed herein. The computing device 1000 can perform various monitoring functions discussed herein, and can execute one or more application programs, such as the applications or functions described herein. The computing device 1000 can be any of various computing devices, such as a desktop computer, an internal computer, a vehicle control system, a laptop computer, a server computer, a handheld computer, a tablet computer, etc.

[0100] The computing device 1000 includes one or more processors 1004, one or more memory devices 1004, one or more interfaces 1006, one or more mass storage devices 1008, one or more input / output (I / O) devices 1010, and a display device 1030, all of which are coupled to a bus 1012. The processor 1004 includes one or more processors or controllers that execute instructions stored in the memory devices 1004 and / or the mass storage devices 1008. The processor 1004 may also include several types of computer-readable media, such as cache memory.

[0101] The memory device 1004 includes various computer-readable media, such as volatile memory (e.g., random access memory (RAM) 1014) and / or non-volatile memory (e.g., read-only memory (ROM) 1016). The memory device 1004 may also include rewritable ROM, such as flash memory.

[0102] Mass storage devices 1008 include various computer-readable media, such as magnetic tape, magnetic disks, optical disks, solid-state storage (e.g., flash memory), etc. Figure 10 As shown, a specific mass storage device 1008 is a hard disk drive 1024. Various drives may also be included in the mass storage device 1008 to enable reading and / or writing from various computer-readable media. The mass storage device 1008 includes removable media 1026 and / or non-removable media.

[0103] I / O device 1010 includes various devices that allow input to or retrieval of data and / or other information to or from computing device 1000. Example I / O device 1010 includes cursor control device, keyboard, keypad, microphone, monitor or other display device, speaker, printer, network interface card, modem, etc.

[0104] Display device 1030 includes any type of device capable of displaying information to one or more users of computing device 1000. Examples of display device 1030 include monitors, display terminals, video projection devices, etc.

[0105] Interface 1006 includes various interfaces that allow computing device 1000 to interact with other systems, devices, or computing environments. Example interface 1006 may include any number of different network interfaces 1020, such as interfaces for connecting to a local area network (LAN), wide area network (WAN), wireless network, and the Internet. Other interfaces include user interface 1018 and peripheral device interface 1022. Interface 1006 may also include one or more user interface elements 1018. Interface 1006 may also include one or more peripheral interfaces, such as interfaces for printers, pointing devices (mouse, touchpad, or any suitable user interface now known or hereafter discovered by a person skilled in the art), keyboards, etc.

[0106] Bus 1012 enables processor 1004, memory device 1004, interface 1006, mass storage device 1008, and I / O device 1010 to communicate with each other and with other devices or components coupled to bus 1012. Bus 1012 represents one or more of several types of bus architectures (such as system bus, PCI bus, IEEE bus, USB bus, etc.).

[0107] For illustrative purposes, the programs and other executable program components shown herein are discrete blocks; however, it should be understood that such programs and components may reside at various times in different storage units of the computing device 1000 and be executed by the processor 1002. Alternatively, the systems and programs (including programs or other executable program components) described herein may be implemented in hardware, or by a combination of hardware, software, and / or firmware. For example, one or more application-specific integrated circuits (ASICs) may be programmed to execute one or more of the systems and programs described herein.

[0108] Example

[0109] The following embodiments relate to preferred features of other implementations:

[0110] Example 1 is a system. The system includes a housing defining an internal space. The system includes a thermal cooling system disposed within the internal space defined by the housing. The thermal cooling system includes a processing unit that generates heat during operation and a tactile interface device component that generates heat during operation. The thermal cooling system further includes: a first fan configured to draw ambient air into the internal space; a radiator that receives heat generated by the processing unit during operation; and a second fan configured to extract heated air from the internal space.

[0111] Example 2 is the system according to Example 1, wherein the housing includes a portion of an armrest console, and wherein the armrest console is a component of a surgeon's console for providing instructions to a robotic surgical system.

[0112] Example 3 is a system according to any one of Examples 1 to 2, wherein the processing unit includes a central processing unit (CPU) and a graphics processing unit (GPU), and wherein the heat sink receives heat generated by one or more of the CPU or the GPU.

[0113] Example 4 is a system according to any one of Examples 1 to 3, wherein the heat sink includes: a first heat sink disposed adjacent to the CPU, wherein the first heat sink primarily receives heat generated by the CPU during operation; and a second heat sink disposed adjacent to the GPU, wherein the second heat sink primarily receives heat generated by the GPU during operation.

[0114] Example 5 is a system according to any one of Examples 1 to 4, wherein the first heat sink includes a first plurality of heat sink specifications, the first plurality of heat sink specifications including: a first plurality of fins, wherein the first heat sink includes a first number of the first plurality of fins; a first fin width, wherein at least a portion of the first plurality of fins has the first fin width; and a first fin spacing, wherein two or more of the first plurality of fins are spaced apart according to the first fin spacing; and wherein the second heat sink includes a second plurality of heat sink specifications, the second plurality of heat sink specifications including: a second plurality of fins, wherein the second heat sink includes a second number of the second plurality of fins; a second fin width, wherein at least a portion of the second plurality of fins has the second fin width; and a second fin spacing, wherein two or more of the second plurality of fins are spaced apart according to the second fin spacing; and wherein at least one heat sink specification in the first plurality of heat sink specifications is different from a corresponding specification in the second plurality of heat sink specifications.

[0115] Example 6 is a system according to any one of Examples 1 to 5, wherein the first number of the first plurality of fins is different from the second number of the second plurality of fins.

[0116] Example 7 is a system according to any one of Examples 1 to 6, wherein the width of the first fin is different from the width of the second fin.

[0117] Example 8 is a system according to any one of Examples 1 to 7, wherein the first fin spacing is different from the second fin spacing.

[0118] Example 9 is a system according to any one of Examples 1 to 8, wherein the tactile interface device component includes two or more tactile interface device components, and wherein the internal space defined by the housing includes: a first side and a second side, wherein the second side is positioned opposite to the first side; a first vent, the first vent being disposed on the first side, wherein the first fan is configured to draw ambient air into the internal space through the first vent; a first tactile interface device component, the first tactile interface device component being disposed on the first side; a second tactile interface device component, the second tactile interface device component being disposed on the second side; and a second vent, the second vent being disposed on the second side, wherein the second fan is configured to extract the heated air from the internal space through the second vent.

[0119] Example 10 is a system according to any one of Examples 1 to 9, wherein the heat sink is disposed between the first tactile interface device component and the second tactile interface component, such that the ambient air drawn into the internal space passes through the heat sink.

[0120] Example 11 is a system according to any one of Examples 1 to 10, wherein the heat sink is disposed above the processing unit such that the processing unit is disposed between the first tactile interface device component and the second tactile interface device component, and wherein the heated air is at least partially heated by heat generated by the processing unit.

[0121] Example 12 is a system according to any one of Examples 1 to 11, further comprising a baffle disposed within the internal space defined by the housing, wherein the baffle prevents ambient air drawn into the internal space from moving to the second side before passing through the radiator.

[0122] Example 13 is a system according to any one of Examples 1 to 12, wherein the first fan is a first tactile interface device fan disposed within the first tactile interface device component; and wherein the second fan is a second tactile interface device fan disposed within the second tactile interface device component.

[0123] Example 14 is a system according to any one of Examples 1 to 13, wherein the thermal cooling system further includes: a central processing unit (CPU) fan configured to draw air into a first heatsink disposed above the CPU; a graphics processing unit (GPU) fan configured to draw air into a second heatsink disposed above the GPU; and an exit vent fan disposed adjacent to the second vent, wherein the exit vent fan is further configured to extract the heated air from the internal space through the second vent.

[0124] Example 15 is a system according to any one of Examples 1 to 14, wherein the tactile interface device component includes a processor communicating with a surgical tactile interface device; wherein the surgical tactile interface device is disposed outside the internal space defined by the housing; and wherein the processor of the tactile interface device component is configured to convert the motion of the surgical tactile interface device into robotic motion executed by a robotic surgical system.

[0125] Example 16 is a system according to any one of Examples 1 to 15, wherein the housing includes a portion of an armrest console; wherein the armrest console is a component of a surgeon's console for providing instructions to the robotic surgical system; and wherein the robotic surgical system further includes: a robotic system including a robotic arm and surgical instruments attached to the robotic arm; and a visualization system including a camera and a light source.

[0126] Example 17 is a system according to any one of Examples 1 to 16, wherein the housing is a component of the upper platform of an armrest console, and wherein the armrest console further includes: an armrest configured to be substantially parallel to the upper platform; a first side arm attached to the upper platform and the armrest, wherein the first side arm is substantially perpendicular to the upper platform and the armrest; and a second side arm attached to the upper platform and the armrest, wherein the second side arm is configured to be substantially parallel to the first side arm.

[0127] Example 18 is a system according to any one of Examples 1 to 17, further comprising one or more hook assemblies, wherein each of the one or more hook assemblies is attached to the first side arm or the second side arm, and wherein each of the one or more hook assemblies comprises: a hook including a hook shank and a hook bend; a linear track; and a slider configured to slide along the linear track; wherein the hook shank is attached to the slider.

[0128] Example 19 is a system according to any one of Examples 1 to 18, wherein each of the one or more hook assemblies further includes a hook cut, the hook cut being configured to receive the hook shank portion, wherein the hook cut is cut into the sidewall of one or more of the first side arm or the second side arm.

[0129] Example 20 is a system according to any one of Examples 1 to 19, wherein each of the one or more hook assemblies further includes: a first magnet attached to the linear track at a proximal end of the linear track, wherein the proximal end of the linear track is positioned closer to the thermal cooling system; and one or more of a second magnet or magnetic material attached to the hook shank at a proximal end of the hook shank, wherein the proximal end of the hook shank is positioned closer to the thermal cooling system; wherein, when the hook shank is in the open position, the first magnet does not engage with one or more of the second magnet or the magnetic material; and wherein, when the hook shank is in the closed position within the hook notch, the first magnet engages with one or more of the second magnet or the magnetic material.

[0130] Example 21 is a thermal cooling system for a surgeon's console in a robotic surgical system. The system includes a housing of the surgeon's console, wherein the housing defines an internal space. The system includes a thermal cooling system disposed within the internal space defined by the housing. The thermal cooling system includes a first tactile interface device component, a processing unit, a second tactile interface device component, a heat sink for receiving heat generated by the processing unit during operation, and a plurality of fans. The plurality of fans are configured to draw ambient air into the internal space, through the first tactile interface device component, through the heat sink, and through the second tactile interface device component.

[0131] Example 22 is a system according to Example 21, wherein the internal space defined by the housing is disposed within the armrest console of the surgeon's console, and wherein the surgeon's console provides data to the robotic surgical system, the data causing the robotic surgical system to move one or more robotic arms or surgical instruments.

[0132] Example 23 is a system according to any one of Examples 21 to 22, wherein the processing unit includes a central processing unit (CPU) and a graphics processing unit (GPU).

[0133] Example 24 is a system according to any one of Examples 21 to 23, wherein the heat sink includes: a first heat sink positioned adjacent to the CPU, wherein the first heat sink primarily receives heat generated by the CPU during operation; and a second heat sink positioned adjacent to the GPU, wherein the second heat sink primarily receives heat generated by the GPU during operation.

[0134] Example 25 is a system according to any one of Examples 21 to 24, wherein the first heat sink includes a first plurality of heat sink specifications, the first plurality of heat sink specifications including: a first plurality of fins, wherein the first heat sink includes a first number of the first plurality of fins; a first fin width, wherein at least a portion of the first plurality of fins has the first fin width; and a first fin spacing, wherein two or more of the first plurality of fins are spaced apart according to the first fin spacing; and wherein the second heat sink includes a second plurality of heat sink specifications, the second plurality of heat sink specifications including: a second plurality of fins, wherein the second heat sink includes a second number of the second plurality of fins; a second fin width, wherein at least a portion of the second plurality of fins has the second fin width; and a second fin spacing, wherein two or more of the second plurality of fins are spaced apart according to the second fin spacing; and wherein at least one heat sink specification in the first plurality of heat sink specifications is different from a corresponding specification in the second plurality of heat sink specifications.

[0135] Example 26 is a system according to any one of Examples 21 to 25, wherein the first number of the first plurality of fins is different from the second number of the second plurality of fins.

[0136] Example 27 is a system according to any one of Examples 21 to 26, wherein the width of the first fin is different from the width of the second fin.

[0137] Example 28 is a system according to any one of Examples 21 to 27, wherein the first fin spacing is different from the second fin spacing.

[0138] Example 29 is a system according to any one of Examples 21 to 28, wherein the internal space defined by the housing includes: a first side and a second side, wherein the second side is positioned opposite to the first side; a first vent, the first vent being disposed on the first side, wherein a first fan of the plurality of fans is configured to draw ambient air into the internal space through the first vent; a first tactile interface device component, the first tactile interface device component being disposed on the first side; a second tactile interface device component, the second tactile interface device component being disposed on the second side; and a second vent, the second vent being disposed on the second side, wherein an exhaust fan of the plurality of fans is configured to extract heated air from the internal space through the second vent.

[0139] Example 30 is a system according to any one of Examples 21 to 29, wherein the processing unit and the heat sink are disposed between the first tactile interface device component and the second tactile interface component, such that the airflow path for the thermal cooling system includes: ambient air entering the interior space through the first vent; the ambient air passing through the first tactile interface device component to generate heated air; the heated air passing through the heat sink after passing through the first tactile interface device component; the heated air passing through the second tactile interface device component after passing through the heat sink; and the heated air exiting the interior space through the second vent after passing through the second tactile interface device component.

[0140] Example 31 is a system according to any one of Examples 21 to 30, wherein the processing unit and the heat sink include: a central processing unit (CPU) and a first heat sink disposed above the CPU; and a graphics processing unit (GPU) and a second heat sink disposed above the GPU; wherein the heated air passing through the heat sink includes the heated air passing through the first heat sink disposed above the CPU or the second heat sink disposed above the GPU.

[0141] Example 32 is a system according to any one of Examples 21 to 31, further comprising a baffle disposed within the internal space defined by the housing, wherein the baffle prevents ambient air drawn into the internal space from moving to the second side before passing through the radiator.

[0142] Example 33 is a system according to any one of Examples 21 to 32, wherein the plurality of fans includes: a first plurality of haptic interface device component fans, the first plurality of haptic interface device component fans being associated with the first haptic interface device component; and a second plurality of haptic interface device component fans, the second plurality of haptic interface device component fans being associated with the second haptic interface device component.

[0143] Example 34 is a system according to any one of Examples 21 to 33, wherein the plurality of fans further includes: a central processing unit (CPU) fan configured to draw air into a first heatsink disposed above the CPU; a graphics processing unit (GPU) fan configured to draw air into a second heatsink disposed above the GPU; and an exhaust fan configured to extract heated air from the interior space through a vent cut into the wall of the housing.

[0144] Example 35 is a system according to any one of Examples 21 to 34, wherein one of the first tactile interface device component or the second tactile interface device component includes a processor communicating with a surgical tactile interface device; wherein the surgical tactile interface device is disposed outside the internal space defined by the housing; and wherein the processor communicating with the surgical tactile interface device is configured to convert the motion of the surgical tactile interface device into robotic motion performed by the robotic surgical system.

[0145] Example 36 is a system according to any one of Examples 21 to 35, wherein the robotic surgical system comprises: a robotic system including a robotic arm and surgical instruments attached to the robotic arm; a surgeon's console communicating with the robotic system, wherein the surgeon's console provides data to the robotic system, and wherein the robotic system uses the data to calculate one or more movements to be performed by the robotic arm or the surgical instruments; and a visualization system including a camera and a light source.

[0146] Example 37 is a system according to any one of Examples 21 to 36, wherein the housing is a component of the upper platform of the armrest console, and wherein the armrest console further includes: an armrest configured to be substantially parallel to the upper platform; a first side arm attached to the upper platform and the armrest, wherein the first side arm is substantially perpendicular to the upper platform and the armrest; and a second side arm attached to the upper platform and the armrest, wherein the second side arm is configured to be substantially parallel to the first side arm.

[0147] Example 38 is a system according to any one of Examples 21 to 37, further comprising one or more hook assemblies, wherein each of the one or more hook assemblies is attached to the first side arm or the second side arm, and wherein each of the one or more hook assemblies comprises: a hook including a hook shank and a hook bend; a linear track; and a slider configured to slide along the linear track; wherein the hook shank is attached to the slider.

[0148] Example 39 is a system according to any one of Examples 21 to 38, wherein each of the one or more hook assemblies further includes a hook cut, the hook cut being configured to receive the hook shank portion, wherein the hook cut is cut into the sidewall of one or more of the first side arm or the second side arm.

[0149] Example 40 is a system according to any one of Examples 21 to 39, wherein each of the one or more hook assemblies further includes: a first magnet attached to the linear track at a proximal end, wherein the proximal end of the linear track is positioned closer to the thermal cooling system; and one or more of a second magnet or magnetic material attached to the hook shank at a proximal end, wherein the proximal end of the hook shank is positioned closer to the thermal cooling system; wherein, when the sliding block is positioned at the distal end of the linear track, the first magnet does not engage with one or more of the second magnet or the magnetic material; and wherein, when the sliding block is positioned at the proximal end of the linear track, the first magnet engages with one or more of the second magnet or the magnetic material.

[0150] In the specific embodiments described above, for the purpose of simplification, the various features of this disclosure are concentrated in a single embodiment. The method of this disclosure should not be construed as implying an intention that the disclosure protected by the claims requires more features than expressly listed in each claim. Rather, the innovative aspects fail to embody all the features of the single embodiment disclosed above.

[0151] It should be understood that any feature of the above-described arrangements, embodiments, and implementations may be combined in a single implementation that includes a combination of features obtained from any of the disclosed arrangements, embodiments, and implementations. It should be understood that the above arrangements are merely exemplary applications of the principles of this disclosure. Many modifications and alternative arrangements can be devised by those skilled in the art without departing from the spirit and scope of this disclosure, and the appended claims are intended to cover such modifications and arrangements.

[0152] Therefore, when this disclosure is illustrated and described above with particularity and detail, it will be apparent to those skilled in the art that numerous modifications can be made without departing from the principles and ideas set forth herein, including but not limited to changes in size, material, shape, form, function and operation, assembly and use.

[0153] For illustrative and descriptive purposes, the specific embodiments described above have been provided. These specific embodiments are not intended to be exhaustive or to limit this disclosure to the specific forms disclosed. Many modifications and changes can be made to this disclosure based on the foregoing teachings. Furthermore, it should be noted that any or all of the foregoing alternative embodiments can be used in any desired combination to form further hybrid embodiments of this disclosure.

Claims

1. A system for thermal cooling within a surgeon's console of a robotic surgical system, the system comprising: The surgical console housing, wherein the housing defines an internal space; and A thermal cooling system disposed within the internal space defined by the housing, wherein the thermal cooling system comprises: First tactile interface device components; Processing unit; Second tactile interface device components; A heat sink, which receives heat generated by the processing unit during operation; and Multiple fans; The plurality of fans are configured to draw air into the interior space, through the first tactile interface device component, through the heat sink, and through the second tactile interface device component.

2. The system according to claim 1, wherein, The internal space defined by the housing is disposed within the armrest console of the surgeon's console, and wherein the surgeon's console provides data to the robotic surgical system, the data causing the robotic surgical system to move one or more robotic arms or surgical instruments.

3. The system according to claim 1 or claim 2, wherein, The processing unit includes a central processing unit (CPU) and a graphics processing unit (GPU).

4. The system according to claim 3, wherein, The heat sink includes: A first heat sink, positioned adjacent to the CPU, wherein the first heat sink primarily receives heat generated by the CPU during operation; and A second heat sink is positioned adjacent to the GPU, wherein the second heat sink primarily receives heat generated by the GPU during operation.

5. The system according to claim 4, wherein, The first heat sink includes a first plurality of heat sink specifications, the first plurality of heat sink specifications including: The first plurality of fins, wherein the first heat sink includes a first number of the first plurality of fins; The first fin width, wherein at least a portion of the first plurality of fins has the first fin width; and A first fin spacing, wherein two or more fins among the first plurality of fins are spaced apart according to the first fin spacing; and The second radiator includes a second plurality of radiator specifications, which include: The second plurality of fins, wherein the second radiator includes a second number of the second plurality of fins; The second fin width, wherein at least a portion of the second plurality of fins has the second fin width; and The second fin spacing, wherein two or more fins in the second plurality of fins are spaced apart according to the second fin spacing; and Wherein, at least one of the first plurality of radiator specifications is different from the corresponding specification in the second plurality of radiator specifications.

6. The system according to claim 5, wherein, The spacing between the first fins is different from the spacing between the second fins.

7. The system according to any one of claims 1 to 6, wherein, The internal space defined by the housing includes: A first side and a second side, wherein the second side is positioned opposite the first side; A first ventilation opening is disposed on the first side, wherein a first fan among the plurality of fans is configured to draw air into the interior space through the first ventilation opening; The first tactile interface device component is disposed on the first side; The second tactile interface device component is disposed on the second side; and A second vent is provided on the second side, wherein an exhaust fan among the plurality of fans is configured to draw heated air from the interior space through the second vent.

8. The system according to claim 7, wherein, The processing unit and the heat sink are disposed between the first tactile interface device component and the second tactile interface component, such that the airflow path for the thermal cooling system includes: The air enters the interior space through the first vent. The air passes through the first tactile interface device component to generate heated air; The heated air passes through the radiator after passing through the first tactile interface device component; The heated air passes through the radiator and then through the second tactile interface device component; and The heated air exits the interior space through the second vent after passing through the second tactile interface device component.

9. The system according to claim 8, wherein, The processing unit and the heat sink include: Central processing unit (CPU) and a first heat sink disposed above said CPU; and A graphics processing unit (GPU) and a second heat sink positioned above the GPU; The heated air passing through the heat sink includes: the heated air passing through a first heat sink disposed above the CPU or a second heat sink disposed above the GPU.

10. The system of claim 8, further comprising a baffle disposed within the internal space defined by the housing, wherein, The baffle prevents the air drawn into the interior space from moving to the second side before passing through the radiator.

11. The system according to any one of claims 1 to 10, wherein, The plurality of fans includes: A first plurality of haptic interface device component fans, the first plurality of haptic interface device component fans being associated with the first haptic interface device component; and The second plurality of haptic interface device component fans are associated with the second haptic interface device component.

12. The system according to claim 11, wherein, The plurality of fans also includes: A central processing unit (CPU) fan, the central processing unit (CPU) fan being configured to draw air into a first heatsink located above the CPU; A graphics processing unit (GPU) fan, the GPU fan being configured to draw air into a second heatsink positioned above the GPU; and An exhaust fan is configured to draw heated air from the interior space through a vent cut into the wall of the housing.

13. The system according to any one of claims 1 to 11, wherein, One of the first tactile interface device components or the second tactile interface device components includes a processor that communicates with the surgical tactile interface device; The surgical tactile interface device is disposed outside the internal space defined by the housing; and The processor, which communicates with the surgical tactile interface device, is configured to convert the motion of the surgical tactile interface device into robotic motion executed by the robotic surgical system.

14. The system according to any one of claims 1 to 13, wherein, The robotic surgical system includes: A robotic system, the robotic system including a robotic arm and surgical instruments attached to the robotic arm; The surgical console communicates with the robotic system, wherein the surgical console provides data to the robotic system, and wherein the robotic system uses the data to calculate one or more movements to be performed by the robotic arm or the surgical instruments; and A visualization system, which includes a camera and a light source.

15. The system according to any one of claims 1 to 14, wherein, The housing is a component of the upper platform of the armrest console, and the armrest console further includes: Handrails, which are configured to be substantially parallel to the upper platform; A first side arm is attached to the upper platform and the handrail, wherein the first side arm is substantially perpendicular to the upper platform and the handrail; and A second side arm is attached to the upper platform and the handrail, wherein the second side arm is configured to be substantially parallel to the first side arm.

16. The system of claim 15, further comprising one or more hook components, wherein, Each of the one or more hook assemblies is attached to the first side arm or the second side arm, and wherein each of the one or more hook assemblies includes: The hook includes a shank portion and a bend portion; Linear orbit; and A slider, configured to slide along the linear track; The hook shank is attached to the sliding block.

17. The system according to claim 16, wherein, Each of the one or more hook assemblies further includes a hook cut, the hook cut being configured to receive the hook shank portion, wherein the hook cut is cut into the sidewall of one or more of the first side arm or the second side arm.

18. The system according to claim 17, wherein, Each of the one or more hook components further includes: A first magnet is attached to the linear track at its proximal end, wherein the proximal end of the linear track is positioned close to the thermal cooling system; and One or more of a second magnet or magnetic material, wherein the second magnet or magnetic material is attached to the hook shank at a proximal end of the hook shank, wherein the proximal end of the hook shank is positioned closer to the thermal cooling system. Wherein, when the sliding block is positioned at the distal end of the linear track, the first magnet does not engage with one or more of the second magnet or the magnetic material; and When the sliding block is positioned at the proximal end of the linear track, the first magnet engages with one or more of the second magnet or the magnetic material.

19. A surgical console, comprising: An armrest control panel that defines an internal space; and A thermal cooling system, disposed within the interior space defined by the armrest console, the thermal cooling system comprising: First tactile interface device components; Processing unit; Second tactile interface device components; A heat sink, which receives heat generated by the processing unit during operation; and Multiple fans are configured to draw air into the interior space, through the first tactile interface device component, through the heat sink, and through the second tactile interface device component.

20. A robotic surgical system, comprising: A robotic system, the robotic system including a robotic arm configured to attach to surgical instruments; A surgical console configured to provide data to the robotic system, the surgical console comprising: A housing that defines an internal space; and A first tactile interface device component is disposed within the internal space; A processing unit is disposed within the internal space; The second tactile interface device component is disposed within the internal space; A heat sink, which receives heat generated by the processing unit during operation, is disposed within the internal space; and Multiple fans are configured to draw air into the interior space, through the first tactile interface device component, through the heat sink, and through the second tactile interface device component.

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