Robotic surgical system with handheld controller for releasably coupling interchangeable dexterous end effectors

Abstract

A handheld surgical system and methods of use thereof are disclosed having an adjustable ergonomic handheld controller and a range of interchangeable surgical instruments having dexterous end effectors for performing surgical procedures, such as removing brain tumor tissue from a confined space. The end effectors are actuatable over one or more degrees of freedom via a tendon routing system comprising a plurality of antagonistic tendon pairs extending from the end effectors to a plurality of independently rotatable capstan spools disposed within a housing of the interchangeable instruments and configured to be releasably and operably coupled to one or more motors disposed within the handheld controller.

Description

Cross-reference of related applications

[0001] This application claims priority to U.S. Patent Application No. 18 / 952,944, filed November 19, 2024; U.S. Patent Application No. 18 / 792,535, filed August 1, 2024; U.S. Patent Application No. 18 / 792,533, filed August 1, 2024 (now U.S. Patent No. 12,150,729); U.S. Provisional Patent Application No. 63 / 570,158, filed March 26, 2024; and European Patent Application No. 24,386,010.3, filed February 2, 2024, the entire contents of each of which are incorporated herein by reference. Technical Field

[0002] This technology relates to handheld robotic systems for performing surgical procedures, such as systems with handheld controllers with movable joysticks and / or interchangeable surgical instruments with dexterous end effectors. Background Technology

[0003] Since its initial introduction in the early 1980s, minimally invasive surgery (MIS) has achieved tremendous success. Compared to traditional surgery, it requires smaller incisions, which equates to less trauma and thus less pain and hospital stay, making MIS a standard and established procedure for many surgeries, with laparoscopic surgery being a prime example. Despite its numerous advantages, MIS procedures are ergonomically challenging due to the use of rigid instruments, misalignment of visual motion axes, limited sensory feedback, and the need for high dexterity. These drawbacks have spurred the development of robotic surgical devices, which are now causing a paradigm shift in surgery.

[0004] Robot-assisted minimally invasive surgery (RAMIS) has had a significant impact, allowing for precise and accurate movement while reducing the learning curve for surgeons. This has the potential to enable more surgeons to perform MIS procedures without the need for open surgery. With the introduction of robots into surgical settings, many routine specialties, such as urology, gynecology, abdominal and cardiothoracic surgery, have integrated current robotic technologies into their procedures, thereby enhancing surgeons' capabilities and improving patient clinical outcomes. Recently, an increasing number of surgical procedures have deployed or are beginning to deploy robotic devices, with neurosurgery at the forefront of these disciplines.

[0005] Due to the intricate nature of its subjects and the challenging nature of its manipulations, neurosurgery has always required adaptation to new technologies and techniques. One such adaptation is surgical robots, used in both brain and spinal surgeries. While most neurosurgical robots are stereotactic, advancements in image-guided, endoscopic, and laparoscopic instruments have facilitated the development of minimally invasive neurosurgical robotic tools. However, the use of robots in keyhole neurosurgical approaches remains quite limited.

[0006] Numerous studies have been conducted on the implementation of concentric tube robotic tools. In "A bimanual teleoperated system for endonasal skull base surgery" by Burgner, J. et al. (published at: IEEE / RSJ International Conference on Intelligent Robots and Systems 2011, pp. 2517-2523. IEEE (2011)), a prototype system for bimanually teleoperated endonasal skull base surgery was developed. However, concerns remain regarding the distal dexterity of such manipulators and their grasping and / or force sensing capabilities.

[0007] In view of the aforementioned drawbacks of previously known systems and methods, there is a need for an end effector for endoscopic surgical instruments that can apply greater force and / or be more robust and / or more dexterous in manipulating tissues and / or smaller in size than known devices. Summary of the Invention

[0008] This disclosure overcomes the disadvantages of previously known systems and methods by providing a handheld surgical system. The handheld surgical system may include: an interchangeable instrument having a proximal region and a distal region; and a handheld controller configured to be releasably coupled to the interchangeable instrument. The interchangeable instrument may include: an elongated shaft extending between the proximal and distal regions; one or more capstan shafts disposed at the proximal region, each capstan shaft including a capstan pair configured to be operatively coupled to a pulley pair; an end effector disposed at the distal region, the end effector configured to be actuated in one or more degrees of freedom; and one or more tendon pairs. Each tendon pair may have a distal end coupled to the end effector and an extension through the proximal end of the elongated shaft via the pulley pair associated with a corresponding capstan pair of the one or more capstan shafts.

[0009] Furthermore, the proximal end can be coupled to the corresponding winch pair in such a way that rotation of the corresponding winch shaft in a first rotational direction causes the first tendon in the tendon pair to move in a first axial direction and causes the second tendon in the tendon pair to move in a second axial direction opposite to the first axial direction, thereby actuating the end effector in one of the one or more degrees of freedom. Similarly, rotation of the corresponding winch shaft in a second rotational direction opposite to the first rotational direction can cause the first tendon in the tendon pair to move in the second axial direction and can cause the second tendon in the tendon pair to move in the first axial direction, thereby actuating the end effector in one of the one or more degrees of freedom. Additionally, the handheld controller may include an interface operatively coupled to one or more motors, the interface being configured to be actuated so that at least one of the one or more motors causes rotation of at least one of the one or more winch shafts, thereby actuating the end effector in at least one of the one or more degrees of freedom.

[0010] The one or more winch shafts may include a first winch shaft comprising a first winch pair operably coupled to the end effector via a first tendon pair of the one or more tendon pairs, the first winch shaft being configured to rotate via a first motor of the one or more motors when the interface is actuated, thereby actuating the end effector in the pitch degree of freedom. Furthermore, the one or more winch shafts may include a second winch shaft comprising a second winch pair operably coupled to the end effector via a second tendon pair of the one or more tendon pairs, the second winch shaft being configured to rotate via a second motor of the one or more motors when the interface is actuated, thereby actuating the end effector in the yaw degree of freedom. For example, the distal end of the first tendon pair may be coupled to the opposite side of the end effector and configured to be actuated to rotate the end effector about a pitch axis, and the distal end of the second tendon pair may be coupled to the opposite side of the end effector and configured to be actuated to rotate the end effector about a yaw axis. The first and second winch shafts may be arranged in a linear configuration. In some embodiments, the one or more winch shafts may include a third winch shaft comprising a third winch pair operably coupled to the end effector via a third tendon pair of the one or more tendon pairs, the third winch shaft being configured to be rotated to actuate the end effector in the open and close degrees of freedom.

[0011] The handheld controller may include a second interface, such as a trigger, operably coupled to a third motor. This second interface is configured to be actuated to cause the third motor to rotate the third winch shaft, thereby actuating the end effector in the open and close degrees of freedom. Furthermore, the end effector may include jaws configured to rotate about a jaw axis perpendicular to the longitudinal axis of the end effector. Therefore, a first distal end of the first tendon in the third tendon pair may be coupled to a first side of the jaw, and a second distal end of the second tendon in the third tendon pair may be coupled to the opposite side of the jaw, such that rotation of the third winch shaft in the first rotational direction causes the first and second tendons in the third tendon pair to rotate the jaw in the first direction about the jaw axis, and rotation of the third winch shaft in the opposite rotational direction causes the first and second tendons in the third tendon pair to rotate the jaw in the opposite direction about the jaw axis. The first, second, and third winch shafts may be arranged in a triangular configuration.

[0012] Each of the one or more winch shafts may include an instrument coupler, and each of the one or more motors may include a controller coupler configured to operatively couple to a corresponding instrument coupler of the one or more winch shafts when the handheld controller is releasably coupled to the interchangeable instrument, such that the one or more motors are configured to rotate the one or more winch shafts via the corresponding instrument and the controller coupler. Furthermore, the instrument coupler may include a groove, and the controller coupler may include a boss configured to releasably engage with the groove to transmit rotational motion from the one or more motors to the one or more winch shafts. The boss may include a tapered portion configured to facilitate self-alignment between the controller coupler and the instrument coupler. Additionally, the one or more motors may be housed within a compliant motor assembly configured to move within the handheld controller in response to force to facilitate self-alignment between the controller coupler and the instrument coupler.

[0013] In some embodiments, each of the one or more winch shafts may be configured to rotate about a corresponding winch axis parallel to the longitudinal axis of the elongated shaft. Additionally, each pulley pair associated with the one or more winch shafts may be configured to rotate about a corresponding pulley axis perpendicular to the longitudinal axis of the elongated shaft. The corresponding pulley axes may be angled such that each pulley pair is aligned in a direction toward the winch pair of the associated one or more winch shafts. Furthermore, each pulley pair associated with the one or more winch shafts may be aligned with the longitudinal axis of the elongated shaft, thereby routing the one or more tendon rope pairs from the one or more winch shafts through the elongated shaft. For example, a first pulley pair associated with a first winch shaft of the one or more winch shafts may be configured to rotate about a first pulley axis, and a second pulley pair associated with a second winch shaft of the one or more winch shafts may be configured to rotate about a second pulley axis offset from the first pulley axis.

[0014] The elongated shaft may include one or more channels extending therethrough, each channel being sized and shaped to receive tendons in one or more tendon pairs. In some embodiments, the distal end of the elongated shaft may include a ball joint base, and the proximal end of the end effector may include a ball configured to pivotally engage the ball joint base to form a ball joint, the ball joint being configured to allow the end effector to move in two degrees of freedom about the ball joint. The handheld surgical system may further include a latch configured to be actuated to transition between an unlocked state and a locked state, thereby locking the handheld controller to the interchangeable instrument. The elongated shaft may include an angled shaft. Additionally, the interchangeable instrument may include one or more sensors configured to measure the angular position of each of the one or more winch shafts, the angular position of each winch shaft indicating the amount of actuation of the end effector in each of the one or more degrees of freedom. The interface may include a joystick.

[0015] Furthermore, the handheld controller may include a connection portion configured to be removably coupled to the interchangeable device and a handle portion rotatably coupled to the connection portion. The handle portion may be sized and shaped to be held in the user's palm and may include the interface. Therefore, the handle portion may be configured to selectively rotate relative to the connection portion in predefined increments to ergonomically align the interface with the user's thumb. For example, the handle portion may be rotatably coupled to the connection portion via a connector (e.g., a Hirth connector), and the handle portion may be coupled to the connection portion via a compression spring configured to bias the handle portion toward the connection portion, thereby maintaining the position of the handle portion relative to the connection portion. The compression spring may include a spring cap configured to provide a stable compressed position within the handle portion.

[0016] The handheld controller may further include a second interface configured to be actuated to return the end effector to a linear configuration. The end effector may include a long gripper, a short gripper, a circular curette, a long circular curette, a spoon curette, a suction tip, an endoscope, a needle holder, scissors, or a dissecting instrument, etc. The handheld surgical system may further include a console configured to be operatively coupled to the handheld controller. For example, the console may be configured to provide power to the handheld controller. Furthermore, the console may be configured to adjust one or more parameters of the handheld controller in response to user input received at the console.

[0017] According to another aspect of this disclosure, a handheld controller is provided for releasably coupling to an interchangeable instrument having an end effector. The handheld controller may include: a connection portion configured to releasably couple to the interchangeable instrument having the end effector for performing surgical procedures; a handle portion rotatably coupled to the connection portion via a connector (e.g., a Hertzsprung connector), the handle portion being sized and shaped to be held in the palm of a user; an interface (e.g., a joystick) disposed on the handle portion, the interface being configured to be actuated to move the end effector in one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller; and a compression spring configured to bias the handle portion toward the connection portion, thereby maintaining the position of the handle portion relative to the connection portion. Thus, the handle portion may be configured to selectively rotate relative to the connection portion in predefined increments to ergonomically align the interface with the user's thumb.

[0018] For example, the proximal end of the connecting portion may include a first Hertzian gear, and the distal end of the handle portion may include a second Hertzian gear, the second Hertzian gear being configured to releasably engage the first Hertzian gear in predefined increments, thereby forming the Hertzian connector. The compression spring may include a spring cap configured to provide a stable compressed position of the compression spring within the handle portion and to prevent excessive pulling of the handle portion relative to the connecting portion. Additionally, the connecting portion may include a latch configured to releasably engage a groove in the interchangeable device when the handheld controller is releasably coupled to the interchangeable handle, thereby locking the handheld controller to the interchangeable device.

[0019] The connection portion may further include an electrical connector configured to operatively couple to a corresponding electrical connector of the interchangeable device when the interchangeable device is releasably coupled to the handheld controller, thereby transmitting electrical signals and power between the handheld controller and the interchangeable device. The handheld controller may further include a controller operatively coupled to the electrical connector of the handheld controller. The controller may be configured to receive device-specific configuration data associated with the interchangeable device via the electrical connector of the handheld controller when the interchangeable device is releasably coupled to the handheld controller. For example, the device-specific configuration data may include information indicating device type, device specifications, and / or device capabilities.

[0020] The handheld controller may further include one or more motors disposed within the connection portion, the motors being configured to be individually actuated to move the end effector in one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller. For example, the motors may include: a first motor operatively coupled to the interface; and a second motor operatively coupled to the interface. The first motor may be configured to be actuated via the interface to move the end effector in a first degree of freedom (e.g., pitch) of the one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller, and the second motor may be configured to be actuated via the interface to move the end effector in a second degree of freedom (e.g., yaw) of the one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller.

[0021] In some embodiments, the handheld controller may further include a second interface, such as a trigger, configured to be actuated to move the end effector in a third degree of freedom (e.g., open and close degrees of freedom) of the one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller. Therefore, the one or more motors may include a third motor operably coupled to the second interface, the third motor being configured to be actuated via the interface to move the end effector in the third degree of freedom. The second interface may be disposed on the connection portion. Furthermore, the first, second, and third motors may each include first, second, and third controller couplers, configured to operably couple to a corresponding device coupler of the interchangeable device when the interchangeable device is releasably coupled to the handheld controller, thereby transmitting rotational motion from the first, second, and third motors to the corresponding device coupler to move the end effector in the first, second, and third degrees of freedom. The first and second controller couplers may be arranged in a linear configuration. Additionally, the third controller coupler may be arranged in a triangular configuration relative to the first and second controller couplers.

[0022] According to another aspect of this disclosure, a handheld controller is provided for releasably coupling to an interchangeable instrument having an end effector, the end effector being coupled to one or more winch shafts via a tendon cable wiring system. The handheld controller may include one or more controller couplers operatively coupled to one or more motors, each of the one or more controller couplers including a boss configured to releasably engage with a groove of a corresponding instrument coupler of the one or more winch shafts when the interchangeable instrument is releasably coupled to the handheld controller, to transmit rotational motion from the one or more motors to the one or more winch shafts. Furthermore, the boss may include a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers. For example, when the interchangeable instrument is releasably coupled to the handheld controller, the cross-sectional area of ​​the tapered portion of the boss may decrease in the direction from the handheld controller toward the distal end of the instrument coupler.

[0023] The boss may include a first geometry corresponding to a second geometry of the groove of the corresponding device coupler, such that relative rotation between the one or more controller couplers and the corresponding device coupler is suppressed when the boss is releasably engaged with the groove. Additionally, the first and second geometries may include a profile having multiple lines of symmetry intersecting the rotation axes of the one or more controller couplers. For example, the profile may include a hexagonal shape. Furthermore, at least one of the one or more controller couplers or the corresponding device coupler may be configured to rotate relative to each other when the tapered portion of the boss is engaged with the groove when the interchangeable device is releasably coupled to the handheld controller, thereby facilitating self-alignment of the one or more controller couplers with the corresponding device coupler.

[0024] In some embodiments, the one or more controller couplers may be configured to slidably translate between a retracted position and an extended position. For example, the handheld controller may include one or more compression springs configured to bias the one or more controller couplers toward the extended position to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers. Additionally, the handheld controller may include one or more interfaces operably coupled to the one or more motors, configured to be actuated to rotate the one or more controller couplers, thereby transmitting rotational motion from the one or more motors to the one or more winch shafts via the corresponding instrument couplers when the interchangeable instruments are releasably coupled to the handheld controller. Therefore, when the one or more controller couplers are in the retracted position, actuation of the one or more interfaces may rotate the one or more controller couplers relative to the corresponding instrument couplers, thereby facilitating engagement between the bosses of the one or more controller couplers and the recesses of the corresponding instrument couplers.

[0025] According to another aspect of this disclosure, a handheld controller is provided for releasably coupling to an interchangeable device having an end effector, the end effector being coupled to one or more winch shafts via a tendon cable wiring system. The handheld controller may include: a connection portion configured to releasably couple to the interchangeable device; one or more motors slidably disposed within the connection portion between a retracted position and an extended position, the one or more motors being configured to actuate the one or more winch shafts when the interchangeable device is releasably coupled to the handheld controller; and one or more compression springs coupled to the one or more motors, the one or more compression springs being configured to bias the one or more motors toward the extended position to facilitate coupling of the handheld controller to the interchangeable device. The handheld controller may further include one or more controller couplers operably coupled to the one or more motors, each of the one or more controller couplers including a boss configured to releasably engage with a groove of a corresponding device coupler of the one or more winch shafts when the interchangeable devices are releasably coupled to the handheld controller, to transmit rotational motion from the one or more motors to the one or more winch shafts. Furthermore, the boss may include a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding device couplers. Attached Figure Description

[0026] Figure 1A This invention describes an exemplary handheld surgical system with interchangeable dexterous end effectors based on the principles of this disclosure.

[0027] Figure 1B This indicates that it is in a state of disengagement. Figure 1A Handheld controllers and interchangeable devices.

[0028] Figure 2A This invention describes an exemplary interchangeable device for a handheld surgical system constructed according to the principles of this disclosure.

[0029] Figure 2B and 2C yes Figure 2A Exploded view of the interchangeable instruments.

[0030] Figures 3A to 3D This describes an exemplary winch arrangement for an interchangeable device cord wiring system constructed according to the principles of this disclosure.

[0031] Figure 4A and 4B This describes an exemplary pulley arrangement for a tendon cord wiring system for interchangeable devices constructed according to the principles of this disclosure.

[0032] Figures 5A to 5DThis invention describes an exemplary end effector for an interchangeable device constructed in accordance with the principles of this disclosure.

[0033] Figures 6A to 6C This invention describes the actuation degrees of freedom of the end effector of an interchangeable device based on the principles of this disclosure.

[0034] Figure 7 Explain the exemplary end effectors that are alternatives to various interchangeable devices.

[0035] Figures 8A to 8D This invention describes an exemplary handheld controller for a handheld surgical system constructed according to the principles of this disclosure.

[0036] Figure 9A and 9B The internal components of an exemplary connection portion of a handheld controller constructed according to the principles of this disclosure are described.

[0037] Figure 9C and 9D The internal components of an exemplary handle portion of a handheld controller with a movable joystick assembly, constructed according to the principles of this disclosure, are described.

[0038] Figures 10A to 10E This describes an exemplary coupling interface for a handheld controller and interchangeable devices constructed according to the principles of this disclosure.

[0039] Figure 11 This is a schematic diagram of the coupling interface between the handheld controller and the interchangeable devices.

[0040] Figure 12A and 12B This invention describes the coupling and decoupling of a handheld controller and interchangeable devices based on the principles of this disclosure.

[0041] Figure 13 This describes an exemplary console for a handheld surgical system constructed according to the principles of this disclosure.

[0042] Figure 14A and 14B This invention describes an alternative exemplary console for a handheld surgical system constructed according to the principles of this disclosure.

[0043] Figure 15A and 15B This section describes the use of a handheld surgical system in transnasal endoscopic procedures.

[0044] Figures 16A to 16D This describes an alternative exemplary handheld surgical system constructed based on the principles of this disclosure. Detailed Implementation

[0045] This document discloses a handheld surgical system and its method of use. The handheld surgical system features an adjustable ergonomic handheld controller and a series of interchangeable surgical instruments with dexterous, flexible tips (e.g., end effectors, such as graspers, scissors, curettes, dissecters, etc.) for performing surgical procedures, such as removing brain tumor tissue from confined spaces. For example, the interchangeable instruments may have flexible tips with a maximum diameter of, for example, 3 mm, which can rotate on pitch and yaw axes, allowing the user to precisely remove and manipulate soft tissue. The interchangeable instruments can be easily detached and reattached to the handheld controller as needed, are provided sterile, and are disposable after single use. Alternatively, the interchangeable instruments may be sterile and reusable. The handheld controller is reusable and can be used with a custom-made drape configured with a sterile adapter for the motor and control interface of the handheld surgical system. The handheld surgical system is lightweight and preferably weighs no more than 300 grams.

[0046] Each interchangeable instrument may comprise an instrument housing comprising a flexible distal ball-and-socket joint movable on the pitch and yaw axes, a rigid straight shaft, and enclosing winches and wiring systems, as described below. The interchangeable instruments may have a total weight of, for example, approximately 100 g, and may be categorized as 2-DOF or 3-DOF instruments. 2-DOF instruments can rotate about two axes (i.e., pitch and yaw); while 3-DOF instruments can rotate about two axes (e.g., pitch and yaw) and can further be actuated to open or close. Both types of instruments may utilize a ball joint, which may have through-holes for antagonizing actuation wires. A complete wrist-like joint is achieved through the complementarity of rotation about the two axes and the surgeon's hand movement along the rolling axis. These precisely controlled instruments can accurately remove soft tissue masses via grasping, cutting, or massaging movements.

[0047] The flexible instrument tip is driven by a wiring system located inside the instrument housing. This wiring system can be directly actuated by two or three motors housed within a handheld controller, depending on the instrument's function. For example, if the interchangeable instrument is a scraper or dissecter that does not require additional gripping or cutting movements, then only two motors are needed. For forceps and scissors, a third motor controls the gripping and cutting movements. Additionally, the electronics that drive the motors and implement device control can also be housed within the handheld controller.

[0048] At the control console, a power supply with a single-board computer provides the necessary power and any communication for the tethered handheld controller. On the handheld controller, joysticks, buttons, and triggers are used for user input. The joystick is the main interface for the user and controls the pitch and yaw actuation of the flexible connector. For example, the joystick rests on a rotating handle body that can be selectively moved into position by the user. Depending on the size of the user's hand or whether they are right-handed or left-handed, the user can rotate the movable handle to their most comfortable position. This may occur before surgery and will not affect the movement of the instrument tip. The joystick position can be tailored solely to the user's comfort and intuitiveness. Additionally, the joystick mechanism on the movable handle body engages with a Hertzsprung gear to utilize a compression spring. Therefore, the rotating handle can be pulled back, rotated, and ultimately released, with the Hertzsprung gear on the handle and controller side meshing to provide rotational stiffness.

[0049] In addition, an actuable trigger controls the grip, an actuable button returns the instrument tip to its neutral position, and an actuable actuator (e.g., a digital switch) initiates the coupling / decoupling process of the instrument. The coupling process may utilize a spring-loaded latch that secures interchangeable instruments to a handheld controller. The handheld surgical system described herein is configured to operate in conjunction with a commercially available standard neuroendoscope (e.g., available from Karl Storz, Tuttlingen, Germany) that provides direct visualization of the surgical workspace, and a standard suction tip (e.g., available from B. Braun, Melsungen, Germany) that removes any tumor tissue blocks excised by the handheld surgical system.

[0050] To provide a detailed description of the operating mechanism and principles, the system can be divided into four systems, as shown in Table 1: flexible device, handheld controller, wiring system and control console.

[0051] Table 1

[0052]

[0053] Now for reference Figure 1A and 1B This provides a demonstrative handheld surgical system. For example... Figure 1A As shown, system 10 may include a handheld surgical system 100 having a handheld controller 300 with a movable joystick 304 and a series of interchangeable surgical instruments 200, 200' configured to be removably coupled to the handheld controller 300 via a coupling interface. Each interchangeable instrument has an elongated shaft 208 and a dexterous end effector actuated via a chord wiring system, as described in more detail below. As will be understood by those skilled in the art, although Figure 1BThe description describes an elongated shaft 208 with a linear configuration along its entire length, but in some embodiments, the elongated shaft 208 may be an angled shaft. System 10 may further include a console 30, operatively coupled via cable 20 to the handheld surgical system 100 for providing power and tuning to the system 100, for example, for sending command signals to a microcontroller of the handheld controller 300 to control the dexterous end effectors of interchangeable instruments 200, 200' when removably coupled to the handheld controller 300.

[0054] Figure 1B The handheld surgical system 100 is described in a disengaged state, wherein the coupling interface 203 of the interchangeable instrument 200 is decoupled from the coupling interface 303 of the handheld controller 300. Therefore, depending on the tool requirements of the surgical procedure to be performed via the handheld surgical system 100, the interchangeable instrument 200 can be exchanged / replaced with another interchangeable surgical instrument for removable coupling with the handheld controller 300. For example, each interchangeable surgical instrument may have an end effector configured to be actuated in two degrees of freedom (e.g., pitch and / or yaw) or three degrees of freedom (e.g., pitch, yaw, and / or open / close). Therefore, the handheld controller 300 may include a series of interfaces, such as a joystick 304 and a trigger 306, configured to receive user input and cause the interchangeable surgical instruments coupled to the handheld controller 300 to actuate their end effectors in the corresponding degrees of freedom. For example, the joystick 304 can be actuated, for example, moved up / down and / or left / right, to control the actuation of the end effector 230 in the pitch and yaw degrees of freedom, respectively, while the trigger 306 can be actuated to control the actuation of the end effector 230 in the open / close degrees of freedom, such as gripping / cutting.

[0055] like Figure 1B As shown, the handheld controller 300 may include: a connection portion 301 having a coupling interface 303 configured to removably couple to a coupler interface 203 of an interchangeable device 200; and a handle portion 302 on which a joystick 304 is mounted. The handle portion 302 may have a large surface area, allowing a user to grip it firmly with their dominant hand, thereby allowing easy maneuverability and dexterity. Furthermore, the handle portion 302 may be configured to selectively rotate relative to the connection portion 301 of the handheld controller 300, thereby adjusting the position of the joystick 304 on the handheld controller 300, for example, relative to the connection portion 301, to ergonomically accommodate different user preferences. For example, the joystick 304 is preferably actuated via the user's thumb (e.g., the thumb of the user's right or left hand), such that the position of the joystick 304 can be adjusted based on the user's comfort and thumb extension.

[0056] Now for reference Figures 2A to 2C Provide exemplary interchangeable surgical instruments. For example... Figure 2A As shown, the interchangeable surgical instrument 200 may include a housing 201, an elongated shaft 208 extending distally from the housing 201, and an end effector 230 disposed at the distal end of the elongated shaft 208. The elongated shaft 208 may have one or more lumens / channels extending through it, each sized and shaped to slidably receive a corresponding tendon cord of the tendon cord wiring system of the interchangeable instrument 200 extending from the housing 201 to the end effector 230. Additionally, the housing 201 may include a recess 205, such as a receptacle, configured to releasably engage with a latch 308 of a connection portion 301 of a handheld controller 300, thereby locking the interchangeable instrument 200 to the handheld controller 300, as described in more detail below. Figure 2B and 2C As shown, housing 201 can be sized and shaped to house chord wiring system 210. Housing 201 can further house electronic components of interchangeable device 200, such as circuit board 206, configured to measure and store the position / orientation of the winch shaft of chord wiring system 210, as described in more detail below.

[0057] like Figure 2C As shown, housing 201 may include a coupling interface 203 for removably coupling chord wiring system 210 to a coupler interface 303 of handheld controller 300. For example, coupling interface 203 may include a plurality of openings 204, each sized and shaped to receive a corresponding instrument coupler of chord wiring system 210 passing through it for removable coupling to a corresponding controller coupler of handheld controller 300. As those skilled in the art will understand, although... Figure 2C Three openings 204 are shown, but the coupling interface 203 may have a number of openings corresponding to the number of degrees of freedom that the end effector of the interchangeable device can actuate. For example, as described in more detail below, the tendon cable wiring system 210 of the interchangeable device 200 may have multiple winch shafts, each winch shaft including a pair of winches configured to control actuation of the end effector 203 in a single degree of freedom, and each winch shaft having a device coupler. Therefore, an interchangeable device having an end effector actuated in two degrees of freedom may only have two winch shafts, such as two winch pairs, and therefore two device couplers, and therefore, the coupling interface 203 may only have two openings 204. Furthermore, as Figure 2C As shown, the coupling interface 203 may further include an electrical connector 211 configured to be electrically connected to a corresponding electrical connector of the handheld controller 300, thereby transmitting electrical signals and power between the handheld controller 300 and the interchangeable device 200.

[0058] Now for reference Figures 3A to 3D An exemplary winch arrangement is provided for the chord wiring system 210. As described above, the end effector 230 of the interchangeable device 200 can be actuated, for example, in rotational degrees of yaw and pitch and / or open / close, via chords (e.g., wires) extending from the end effector 230 through an elongated shaft 208 into the chord wiring system 210 housed within the housing 201 of the interchangeable device 200. For example, each actuable degree of freedom of the end effector 230 can be controlled via designated antagonistic chord pairs (e.g., chords 216a, 216b, 216c (collectively referred to herein as chord 216)). Each chord can be, for example, a braided wire and can have, for example, a diameter of 0.3 mm. Furthermore, each tendon cord pair 216a, 216b, 216c travels from the distal end of the interchangeable device 200 to the proximal end of the interchangeable device 200, wherein it is routed within the housing 201 via a tendon cord wiring system 210 to terminate on a series of winches. For example, each antagonistic tendon cord pair 216a, 216b, 216c is operatively coupled to a designated winch pair disposed on a winch shaft. For instance, a first tendon cord in an antagonistic tendon cord pair may be coupled to a first winch in a winch pair of a first winch shaft, and a second tendon cord in an antagonistic tendon cord pair may be coupled to a second winch in a winch pair of a first winch shaft in an antagonistic manner, such that rotation of the winch shaft in a first direction causes the first winch to move in the first direction (e.g., pull) the first tendon cord to wind around the first winch, while simultaneously causing the second winch to move in a second direction opposite to the first direction (e.g., release) the second tendon cord to unwind from the second winch. For the sake of brevity, each winch shaft and its associated corresponding winch pair may be collectively referred to herein as a winch, such as winches 214a, 214b, and 214c (collectively referred to herein as winch 214). Each winch 214a, 214b, and 214c may have a coupler interface, such as coupler interfaces 218a, 218b, and 218c (collectively referred to herein as coupler interface 218), and is configured to rotate about a corresponding axis of rotation (e.g., the corresponding longitudinal axis of the winch shaft).

[0059] like Figures 3A to 3D As shown, the longitudinal axis of each winch 214a, 214b, 214c can extend parallel to the longitudinal axis of the elongated shaft 208. Therefore, as described below regarding Figure 4A and 4B In more detail, the pulley arrangement of the tendon cord wiring system 210 redirects the tendon cords 216a, 216b, and 216c from each of the winches 214a, 214b, and 214c toward and through a corresponding channel of the elongated shaft 208. See again Figures 3A to 3DThe winches 214 can be arranged in a triangular configuration. For example, winches 214a and 214b (e.g., for controlling the pitch and yaw degrees of freedom of the end effector 230) are preferably arranged linearly relative to each other, and winch 214c (e.g., for controlling the opening / closing degree of freedom of the end effector 230) can be arranged at a position offset from the winches 214a and 214b, for example, below the winches 214a and 214b, thereby forming a triangular configuration. As those skilled in the art will understand, the order of the winches within the triangular configuration can be modified; for example, the winch for controlling the opening / closing degree of freedom can be arranged linearly with the winch for controlling the pitch or yaw degree of freedom, while the remaining winches are arranged in offset positions. Furthermore, interchangeable devices actuated only in two degrees of freedom can contain only two winches and can therefore be arranged linearly within the housing 201. In some embodiments, the winches 214a, 214b, and 214c can be arranged linearly.

[0060] The antagonistic motion of each tendon cord pair can be defined, for example, by rotating the corresponding winch shaft in a first direction, pulling one tendon cord in the tendon cord pair while simultaneously pushing / releasing the other tendon cord in a second direction opposite to the first direction, or conversely, by rotating the corresponding winch shaft in the opposite direction, each winch shaft having a winch pair. For example, the proximal end of each tendon cord pair may be coupled to a designated winch in the winch pair and wound around the designated winch in the opposite direction, thereby providing antagonistic motion of the tendon cord pair as the designated winch pair rotates. For example, the first tendon cord in the tendon cord pair may be coupled to the first winch in the winch pair and wound around the first winch in a counterclockwise direction, and the second tendon cord in the tendon cord pair may be coupled to the second winch in the same winch pair and wound around the second winch in a clockwise direction, such that when the winch shaft rotates counterclockwise, the first tendon cord in the tendon cord pair will move / pull in a first direction toward the first winch in the winch pair and further wound around the first winch, while the second tendon cord in the tendon cord pair will move / release in a second direction away from the second winch in the winch pair and unwind from the second winch.

[0061] Similarly, as the winch shaft rotates clockwise, the second tendon in the tendon pair will move / pull in a first direction toward the second winch in the winch pair and further wind around the second winch, while the first tendon in the tendon pair will move / release in a second direction away from the first winch in the winch pair, and simultaneously unwind from the first winch. Therefore, rotation of the winch shaft in a given direction will cause the tendon pairs to move antagonically in both equal and opposite directions. Alternatively, instead of coupling the tendon pairs to a single winch shaft to actuate the end effector in the corresponding degree of freedom, a single tendon is wound around the winch shaft such that the free end of the single tendon is wired and coupled to the end effector. In another alternative embodiment, instead of coupling the tendon cord pair to a single winch shaft to actuate the end effector in the corresponding degree of freedom, the single tendon cord is wound around the end effector link such that a first end of the single tendon cord can be coupled to a first winch in the winch pair of the single winch shaft, and a second end of the single tendon cord can be coupled to a second winch in the winch pair of the single winch shaft.

[0062] like Figure 3B As shown, each winch 214a, 214b, 214c can be associated with a designated winch position resolver (e.g., winch position resolvers 207a, 207b, 207c respectively (collectively referred to herein as winch position resolver 207)). Each winch position resolver is configured to verify rotation, for example, by measuring the angular rotation / position / orientation of the associated winch shaft and thus the actuation degree of the end effector 230 in the corresponding degree of freedom. For example, winch position resolver 207 can be an electrical sensor configured to measure the absolute angle of the winch shaft relative to an internal reference. In some embodiments, a magnet, such as a circular magnet, can be fixed to each winch shaft and positioned opposite a corresponding magnetic encoder on circuit board 206 (e.g., a magnetic encoder plate) to measure the position of the rotating winch shaft, which can then be converted into an instrument tip angle. For example, a magnetic encoder can be configured to measure the angular position of each winch shaft based on the magnetic field of a magnet, the angular position of each winch shaft indicating the actuation amount of the end effector 230 in each degree of freedom.

[0063] like Figure 3CAs shown, housing 201 can further accommodate circuit board 206 and memory chip. Wheel position resolvers 207a, 207b, and 207c are arranged on the circuit board in a manner corresponding to the arrangement of the wheel position resolvers 207a, 207b, and 207c. The memory chip is used, for example, to store device-specific configuration data loaded by the handheld controller 300 when the interchangeable device 200 is coupled to the handheld controller 300. Circuit board 206 can be electrically coupled to electrical connector 211, for example, via a cable connection located at coupling interface 203, as described above, to expose electrical connections that can provide power and communication to circuit board 206 when connected to the handheld controller 300. Furthermore, the device-specific configuration data stored in the memory chip of circuit board 206, such as information indicating device type, specifications, capabilities, etc., can be transmitted to the microcontroller of handheld controller 300 via electrical connectors 211 and 311.

[0064] Now for reference Figure 4A and 4B An exemplary pulley arrangement is provided for a chord wiring system 210. The chord wiring system 210 may include a plurality of pulleys 222 configured to redirect chords 216 from pulleys 214 toward and through corresponding channels of the elongated shaft 208 to the end effector 230. The number of pulleys 222 may correspond to the number of individual chords 216 in the chord wiring system 210, such that each chord can be wired through a specific pulley to a specific pulley, terminating at which tension is maintained, thereby preventing tangling within the elongated shaft 208. For example, as... Figure 4A As shown, for interchangeable devices actuated in three degrees of freedom, the tendon cord wiring system 210 may include six pulleys, such as pulleys 222a, 222b, 222c, 222d, 222e, and 222f, each pulley being independently configured to rotate about its respective axis and redirect a single tendon cord from the corresponding pulley through an elongated shaft 208.

[0065] In addition, such as Figure 4BAs shown, an interchangeable device actuated in three degrees of freedom may include independently rotatable winches 214a, 214b, and 214c, and each winch pair of winches 214a, 214b, and 214c may be coupled to a chord pair. For example, the winch pair of winches 214a (for controlling the actuation of the end effector in the pitch degree of freedom) may be coupled to the proximal end of a chord pair including chords 216a and 216d, which may extend from winch 214a toward and around the respective pulleys 222a and 222d to redirect through one or more corresponding channels of the elongated shaft 208. The winch pair of winches 214b (for controlling the actuation of the end effector in the yaw degree of freedom) can be coupled to the proximal end of a chord pair including tendon cords 216b and 216e, which can extend from winch 214b toward and around pulleys 222b and 222e, respectively, to redirect through one or more corresponding channels of elongated shaft 208. The winch pair of winches 214c (for controlling the actuation of the end effector in the open / close degree of freedom) can be coupled to the proximal end of a chord pair including tendon cords 216c and 216f, which can extend from winch 214c toward and around pulleys 222c and 222f, respectively, to redirect through one or more corresponding channels of elongated shaft 208. Figure 4B As shown, winches 214a, 214b, and 214c can be coupled to instrument couplers 218a, 218b, and 218c respectively via longitudinal shafts 220a, 220b, and 220c, such that the rotation of winches 214a, 214b, and 214c is driven by the rotation of instrument couplers 218a, 218b, and 218c. All interchangeable instruments can have the same coupling system, allowing for interchangeability. However, interchangeable instruments actuated only in two degrees of freedom may not include a third winch / instrument coupler.

[0066] like Figure 4A As shown, the pulleys of the chord wiring system 210 can be arranged in a way that minimizes the size of the components of the chord wiring system 210 within the housing 201, while maintaining the dexterity of the end effector, thereby providing a smaller overall handheld surgical system. For example, the pulleys can be divided into two sets of pulleys, each set having its own axis of rotation offset from the other. Figure 4A As shown, pulleys 222a, 222d, and 222f can be arranged to share a first axis of rotation, and pulleys 222b, 222e, and 222c can be arranged to share a separate second axis of rotation offset from the first axis of rotation. Furthermore, the first and second axes of rotation can be at an angle relative to each other. Figure 3C and 3D For example, aligning individual pulleys with their associated winches to facilitate the redirection of the corresponding tendon rope from the winch to the elongated shaft 208. For instance, as... Figure 4AAs shown, pulleys 222a, 222d, and 222f can be aligned with winches 214a and 214c, thereby receiving tendon ropes 216a and 216d from winch 214a and tendon rope 216f from winch 214c. Similarly, pulleys 222b, 222e, and 222c can be aligned with winches 214b and 214c, thereby receiving tendon ropes 216b and 216e from winch 214b and tendon rope 216c from winch 214c. The pulleys can be aligned with the winches, meaning the outer tendon rope engagement surface of the pulleys points towards the winches.

[0067] Now for reference Figures 5A to 5D This provides an exemplary end effector for interchangeable instruments actuated in three degrees of freedom. For example, the end effector 230 may be a gripper, scissors, dissecting instrument, etc., having one or two movable jaws configured to move toward / away from each other (e.g., in the open / close degree of freedom). Thus, the end effector 230 may include a first jaw 232 rotatably coupled to a second jaw 232 via a pivot point 240. As those skilled in the art will understand, the first and second jaws 232, 234 may be… Figures 5A to 5D The blunt grippers shown in the image, or alternatively, may include sharp blades for cutting / dissecting tissue.

[0068] like Figure 5A As shown, the end effector 230 can be rotatably coupled to the distal end of the elongated shaft 208 via, for example, a spherical joint, thereby allowing the end effector 230 to rotate relative to the elongated shaft 208 in two degrees of freedom (e.g., pitch and yaw). For example, the end effector 230 may include a ball 238, and the distal end of the elongated shaft 208 may include a spherical joint base, such as a ball socket 240, configured to rotatably receive the ball 238, thereby forming a spherical joint, as described in U.S. Patent Application Publication No. 2023 / 0068155 by Stoyanov, the entire contents of which are incorporated herein by reference. Thus, the spherical joint allows the end effector 230 to be combined actuated simultaneously in both pitch and yaw degrees of freedom, for example by simultaneously rotating two winches 214a, 214b.

[0069] like Figure 5BAs shown, the ball socket 240 may include multiple channels 236, each sized and shaped to slidably receive a single chord passing through it, thereby providing a path for the chords to be routed from the instrument tip through the ball joint to the chord routing system. For example, the channels 236 may include a series of angled through-holes sized and shaped to provide space and movement of each chord at the termination point as the instrument tip moves in response to antagonistic movement. The channels 236 may extend through the entire length of the elongated shaft 208, or alternatively, may extend only through the ball socket 240, such that all chords extend through the common lumen of the elongated shaft 208 until they are routed through the corresponding channel 236 of the ball socket 240. Additionally, the end effector 230 may further include a ring 242 adjacent to / located distal to the ball joint, the ring 242 having channels 244 sized and shaped to slidably receive a single chord passing through it. Therefore, the ring 242 can guide the tendon chord from the ball socket 240 along the end effector 230 toward its corresponding termination point, thereby improving the stability of the tendon chord.

[0070] Furthermore, the distal end of each antagonistic chord pair may terminate at the end effector link of the end effector 230, for example, coupled to the opposite side of the end effector link, such that the antagonistic pulling / releasing of the chord pair allows the end effector link to rotate controllably about the corresponding rotation axis by pulling / pushing the end effector link in the direction of the degree of freedom, thereby achieving the desired movement of the end effector 230 in the corresponding degree of freedom. Therefore, antagonistic movement can be performed when tension is applied to the chords from both sides. Figure 5C and 5D As shown, the distal ends of the first antagonistic tendon pair (e.g., tendon 216a (not shown), 216d) can be coupled to the opposite side of the end effector link 246 at the termination point TP1, for example via glue, coiling, or knotting, such that the antagonistic pull / release of tendon 216a, 216d will cause the end effector link 246 to rotate, and thus cause all components of the end effector 230 at the distal end of link 246 to rotate about the pitch axis in the pitch degree of freedom around the ball joint 238, as shown. Figure 6A As shown in the diagram. Taking the termination point TP1 as the midpoint, the antagonistic motion can be defined as pulling the tendon cord 216a from one side while simultaneously pushing / releasing the tendon cord 216d from the other termination side, thus allowing rotation in the pulling and pushing directions of the spherical joint. The ring 242 can be coupled to and surround the end effector shaft link 246, such that the ring 242 also rotates with the link 246 in response to the antagonistic pulling / releasing of the tendon cords 216a and 216d, as... Figure 5D It is displayed in the middle.

[0071] Similarly, the distal ends of the second antagonistic chord pair (e.g., chords 216b, 216e) can be coupled to the opposite side of the end effector link 246 at, for example, the termination point TP1 between the connection points of chords 216a, 216d and link 246, such that the antagonistic pull / release of chords 216b, 216e will cause the end effector link 246 to rotate, and thus cause all components of the end effector 230 at the distal end of link 246 to rotate about the yaw axis in the yaw degree of freedom around the ball joint 238, such as... Figure 6B As shown in the diagram. The distal end of the third antagonistic chord pair (e.g., chords 216c, 216f) can be coupled to the opposite side of the first jaw 232 at the termination point TP2, such that the antagonistic pull / release of the chords 216c, 216f will cause the first jaw 232 to rotate relative to the second jaw 234 about the pivot point 240, thereby actuating the end effector 230 in the open / close degree of freedom, as shown in the diagram. Figure 6C As shown in the diagram. For example, tendon ligaments 216c and 216f can be coupled to the first jaw 232 via looping, coiling, or adhesive bonding. As described above, depending on the surgical procedure, a variety of interchangeable surgical instruments with various end effectors can be selected to couple with the handheld controller 300 to allow for better and more precise tissue removal and manipulation. For example, Figure 7 The various end effectors are described from left to right: long gripper, short gripper, circular curette, long circular curette, spoon curette, and dissecting instrument. These end effectors may further include suction tips, endoscopes, and / or needle holders.

[0072] Now for reference Figures 8A to 8D An exemplary handheld controller is provided. The handheld controller 300 is sized and shaped to be held and controlled by a user's hand, and may include a connection portion 301 and a handle portion 302. The connection portion 301 has a coupling interface 303 for removably coupling to a coupling interface 203 of an interchangeable device 200, and the handle portion 302 is configured to be ergonomically held by a user's hand. Preferably, the weight of the handheld controller 300 does not exceed, for example, 200 grams. The handheld controller 300 may include a rigid handle body, four user input interfaces (i.e., a joystick, a trigger, and two buttons), and a movable joystick assembly that improves the ergonomics of the handheld controller 300. Figure 8D As shown, coupling interface 303 may include electrical connector 311, configured to electrically connect to electrical connector 211 of interchangeable device 200, thereby transmitting electrical signals and power between handheld controller 300 and interchangeable device 200. (See below for more details.) Figures 9A to 9D In more detail, the handle portion 302 may be selectively rotatably coupled to the connecting portion 301. Alternatively, the connecting portion 301 and the handle portion 302 may be integrally formed, for example, sharing a common housing.

[0073] Refer again Figures 8A to 8D The handheld controller 300 may further include a latch 308 configured to releasably engage with a recess 205 of the interchangeable device 200, thereby securely locking the interchangeable device 200 to the handheld controller 300. Therefore, the latch 308 may include an interface configured to be pressed / moved by a user to transition the latch 308 between a locked and unlocked state. For example, the latch 308 may be moved to an unlocked state to allow coupling of the interchangeable device 200 to the handheld controller 300, and then released / moved to a locked state in which the latch 308 releasably engages with the recess 205 of the interchangeable device 200 to securely lock the interchangeable device 200 to the handheld controller 300. Thus, the latch 308 can be manually actuated to couple the interchangeable device 200 to or decouple the interchangeable device 200 from the handheld controller 300, which can be electronically detected via a digital switch. As will be understood by one of ordinary skill in the art, the latch can be mounted on interchangeable instruments, and the groove configured to releasably engage with the latch can be mounted on the connection portion of a handheld controller.

[0074] Furthermore, the handheld controller 300 may include a motor assembly, such as one or more DC motors 305, configured to cause the winch 214 to rotate in response to user input received at the handheld controller 300 when the interchangeable device 200 is coupled to the handheld controller 300. For example, the motors 305 may include three motors, each operatively coupled via a corresponding motor shaft to a corresponding controller coupler, such as controller couplers 310a, 310b, 310c, and configured to actuate the rotation of the corresponding controller coupler. The controller couplers 310a, 310b, and 310c can be configured to releasably engage with the instrument couplers 218a, 218b, and 218c of the interchangeable instrument 200 when the interchangeable instrument 200 is coupled to the handheld controller 300, so that rotational motion can be transmitted from the motor 305 to the winches 214a, 214b, and 214c via the controller couplers 310a, 310b, and 310c and the instrument couplers 218a, 218b, and 218c, respectively.

[0075] Additionally, the handheld controller 300 may include multiple interfaces operatively coupled to one or more motors 305, each interface configured to receive user input and generate one or more signals for actuating the end effector 230 in one or more degrees of freedom of the one or more motors 305, as described in more detail below. For example, the handheld controller 300 may include a joystick 304 configured to be moved by a user (e.g., left / right, up / down, or a combination thereof) to actuate the end effector 230 in pitch and / or yaw degrees of freedom. For example, the joystick 304 may function similarly to many handheld game controllers. Therefore, after, for example, actuating the joystick 304 up / down, the handheld controller 300 can generate a signal to actuate the motor 305, causing the controller coupler 310a to rotate. This causes the releasably coupled instrument coupler 218a to rotate, and thus the winch 214a to rotate. This causes the antagonistic pull / release of the tendon cables 216a, 216d, thereby moving the end effector 230 in the pitch degree of freedom. Additionally, when, for example, the joystick 304 is actuated left / right, the handheld controller 300 can generate a signal to actuate the motor 305, causing the controller coupler 310b to rotate. This causes the releasably coupled instrument coupler 218b to rotate, and thus the winch 214b to rotate. This causes the antagonistic pull / release of the tendon cables 216b, 216e, thereby moving the end effector 230 in the yaw degree of freedom. Preferably, the joystick 304 is positioned on the handle portion 302 such that it can be moved by the user's thumb, as described above, and can be adjusted to suit the user's comfort.

[0076] Additionally, the handheld controller 300 may include a trigger 306 configured to be pulled by a user to actuate the end effector 230 in the open / close degree of freedom. Thus, when the trigger 306 is actuated, the handheld controller 300 may generate a signal to actuate the motor 305, causing the controller coupler 310c to rotate. This causes the releasably coupled instrument coupler 218c to rotate, and thus the winch 214c to rotate. This results in antagonistic pulling / releasing of the tendon cords 216c, 216f, thereby moving the end effector 230 in the open / close degree of freedom. In some embodiments, the handheld controller 300 may include an additional interface that, when pressed by a user, generates a signal to return the winch 214 to its corresponding neutral orientation, and thus to return the end effector 230 to a straight, unacted configuration, neutral in all degrees of freedom.

[0077] Now for reference Figure 9A and 9BThe handheld controller 300 is provided with a connection portion 301. The motor assembly 305, in which all motors are held, provides translational compliance along an axis parallel to each motor axis to facilitate self-alignment between the controller couplers 310a, 310b, 310c and the instrument couplers 218a, 218b, 218c, as described below. Figures 10A to 10E More detailed description. For example, such as Figure 9A and 9B As shown, the compliant motor assembly 305 can be coupled to a spring 320, which is configured to apply a resistance spring force to the motor assembly 305 at its distal end, causing the spring 320 to return to its natural length, thereby biasing the motor assembly 305 outward. Figure 9A The configuration described herein. In some embodiments, each individual motor may be coupled to a corresponding spring, such that each individual motor can independently provide translational compliance along its respective motor axis to facilitate self-alignment of each individual controller coupler with its corresponding instrument coupler.

[0078] Figure 9A The compliant motor assembly 305 is shown in its fully extended position, with the spring 320 at its natural length. Therefore, when a force is applied to the motor assembly 305 at its proximal end, the spring 320 can compress to allow the motor assembly 305 to move axially inward along a direction parallel to the motor shaft. Figure 9B The configuration described in the document, Figure 9B The compliant motor assembly 305 is shown in its retracted position. The resistance provided by spring 320 facilitates engagement between the instrument coupler 218 and the controller coupler 310, as described in more detail below. Furthermore, as... Figure 9A and 9B As shown, the proximal end 316 of the connecting portion 301 may include a geometry that is sized and shaped to securely interlock with a corresponding geometry at the distal end of the handle portion 302 according to a selected angular increment. For example, the proximal end 316 may include a Hertz gear, thereby forming a Hertz joint between the connecting portion 301 and the handle portion 302. Alternatively, the proximal end 316 may form a beveled joint between the connecting portion 301 and the handle portion 302.

[0079] Now for reference Figure 9C and 9D The handheld controller 300 is provided with a handle portion 302. For example... Figure 9CAs shown, the distal end 318 of the handle portion 302 may include a geometry sized and shaped to securely interlock with a corresponding geometry at the proximal end 316 of the connecting portion 301 according to a selected angular increment. For example, the distal end 318 may include a Hertz gear, thereby forming a Hertz joint between the connecting portion 301 and the handle portion 302. Furthermore, the handle portion 302 may include a compression spring 312 operatively coupled to the connecting portion 301 and configured to apply a spring force to the handle portion 302, thereby biasing the handle portion 302 toward the connecting portion 301. The handle portion 302 may further include a spring cap 314 coupled to the proximal end of the spring 312 and configured to provide a stable compressed position for the spring 312. Therefore, the handle portion 302 can be pulled proximally relative to the connecting portion 301, thereby disengaging the Hertzsprung gear at the distal end 318 and proximity 316, and further rotating relative to the connecting portion 301 to selectively adjust the angular position of the handle portion 302, and thus adjust the angular position of the lever 304 relative to the connecting portion 301. The spring cap 314 further prevents over-pulling of the handle portion 302 relative to the connecting portion 301. When the handle portion 302 is released, the spring 312 pulls the handle portion 302 toward the connecting portion 301, causing the Hertzsprung gear at the distal end 318 and proximity 316 to re-engage at the adjusted angular position of the handle position 302 relative to the connecting portion 301, thereby providing rotational stiffness. Alternatively, the distal end 318 can form a beveled joint between the connecting portion 301 and the handle portion 302 via the proximity end 316.

[0080] Now for reference Figures 10A to 10E This provides an exemplary coupling interface between handheld controllers and interchangeable devices. For example... Figure 10A As shown, the coupling interface 203 of the interchangeable device 200 may include an electrical connector 211 and device couplers 218a, 218b, and 218c, each device coupler having a groove feature etched into the body of the device coupler, for example, grooves 219a, 219b, and 219c (collectively referred to as groove 219), and the coupling interface 303 of the connection portion 301 of the handheld controller 300 may include an electrical connector 311 and controller couplers 310a, 310b, and 310c, each controller coupler having a boss feature protruding from the two controller couplers, for example, bosses 313a, 313b, and 313c (collectively referred to as boss 313), respectively. As described above, the electrical connector 211 is configured to be electrically connected to the electrical connector 311, thereby transmitting electrical signals and power between the handheld controller 300 and the interchangeable device 200.

[0081] The groove 219 can be sized and shaped to releasably receive the boss 313, thereby transmitting rotational motion between the motor 305 and the winch 214. Furthermore, the groove 219 and the boss 313 can be sized and shaped to facilitate self-alignment between the boss 313 and the groove 219. For example, such as... Figure 10B As shown, boss 313 may have a portion including a tapered profile, such that the cross-sectional area of ​​the tapered portion of boss 313 decreases in the direction from the controller coupler to the distal end of the instrument coupler 218. The taper is designed such that the outer diameter of the tapered portion of boss 313 is smaller than the inner diameter of the full profile of recess 219, thereby ensuring that boss 313 and recess 219 will at least partially engage even under maximum misalignment. Thus, the tapered boss and recess features provide the primary alignment and structural connection between interchangeable instrument 200 and handheld controller 300. When coupled, these features will interact first to ensure alignment between the motor and winch shaft before the instrument interacts with the controller coupler. In some embodiments, boss 313 may further include a non-tapered portion immediately following the tapered portion, for example, extending parallel to the longitudinal axis of the boss, thereby providing additional surface contact between boss 313 and recess 219, which allows for greater torque transmission from the controller coupler to the instrument coupler, and greater axial difference between couplers of each degree of freedom. Furthermore, the groove 219 and the boss 313 may have corresponding non-circular geometries, for example, profiles with multiple symmetrical lines intersecting the rotation axis, thereby facilitating the transmission of rotational motion between the controller coupler 310 and the instrument coupler 218. For example, the groove 219 and the boss 313 may have hexagonal profiles, such as... Figure 10B It is displayed in the middle.

[0082] like Figure 10C and 10D As shown, the handheld controller 300 can be coupled to the interchangeable instrument 200 by generally aligning the coupling interface 303 with the coupling interface 203 and moving the connecting portion 301 toward the housing 201 until the boss 313 contacts the recess 219 with the latch 308 in its unlocked state. As described above, the tapered portion of the boss 313 will cause the boss 313 to self-align with the recess 218, for example by rotating the controller coupler 310 until the profile of each boss 313 aligns with the profile of each recess 219. If any of the bosses 313 are not aligned with the recess 218 during coupling of the coupling interface 203 with the coupling interface 303, then the force applied by the instrument coupler 218 to the controller coupler 310 and thus to the motor assembly 305 will cause the compliant motor assembly 305 to retract within the connecting portion 301, for example via the spring 320 ( Figure 9B ), until the controller coupler 310 and the instrument coupler 218 are self-aligned and the boss 313 is inserted into the groove 219, as Figure 10EAs shown in the diagram. Alternatively, when the motor assembly 305 is in the retracted position, the user can at least slightly move one or more interfaces, such as the joystick 304 and / or the trigger 306, to slightly rotate the controller coupler 310 until the boss 313 is inserted into the recess 219, for example, through the engagement between the tapered portion of the boss 313 and the recess 219. The latch 308 can then return to its locked state to securely lock the interchangeable device 200 to the handheld controller 300.

[0083] Figure 11 This describes the transmission chain of the handheld surgical system 100 when the handheld controller 300 is coupled to the interchangeable instrument 200. For example, as described above, the coupling procedure where the instrument and handheld controller couplers are misaligned is as follows: The interchangeable instrument 200 and the handheld controller 300 are placed together, and the housing 201 and the connecting portion 301 are rigidly attached via bosses 313 and recesses 219 and secured together via latches 308, as follows. Figure 12A As shown in the diagram. Due to the misalignment of the instrument coupler 218 and the controller coupler 310, the motor assembly 305 moves rearward toward the base of the connection portion 301 to the contact point between the instrument coupler 218 and the controller coupler 310. The axial force applied by the compliant motor assembly 305 reciprocates the actuator, aligning the instrument coupler 218 with the controller coupler 310 and fully engaging them. Furthermore, the engagement of the instrument coupler 218 and the controller coupler 310 can be verified via the winch position resolver 207. To decouple the interchangeable instrument 200 from the handheld control 300, the latch 308 can be moved to its unlocked state, and a force can be applied to the handheld controller 300 to disengage the coupling interface 303 from the coupling interface 203, releasing the interchangeable instrument 200 from the handheld control 300, as shown. Figure 12B Displayed in [the text]. For example... Figure 11 As shown, a motion controller, such as a microcontroller and a motor driver, operably coupled to the motor assembly 205 for controlling the operation of the handheld surgical system 100 can be housed within the handheld controller 300.

[0084] Now for reference Figure 13 A demonstrative control console is provided. The control console 30 can be a standalone unit and operatively coupled to the handheld surgical system 100 via cable 20 to provide some primary and additional auxiliary functions to the system 100. For example, the control console 30 can provide power to the system 100 and precise control of the dexterous end effectors of attached interchangeable instruments. The control console 30 may also have a power supply and a single-board computer that allows user input and tuning. Figure 13As shown, the console 30 may include a power button 32 for powering on and off, an input / output port 34 for supplying power and communication to the handheld controller 300, and a power inlet connector for supplying power from the building's power supply to the console 30. Additionally, the console 30 may have a series of four push-buttons 36 and a scroll wheel for direct connection to the handheld controller. The push-buttons may have individual functions, such as quick settings accessible from the console, such as emergency stop or connector enable / disable. Furthermore, the console 30 may receive information from the handheld controller 300, such as the status of the handheld controller 300 or connected equipment, and may also issue error alerts via visual and audible alarms.

[0085] refer to Figure 14A and 14B An alternative exemplary control console is provided. The construction of control console 30' may be similar to control console 30, wherein similar components have similar apostrophe reference numerals. For example, power button 32', input / output port 34', and push-button 36' correspond to power button 32, input / output port 34, and push-button 36. Control console 30' differs from control console 30 in that input / output port 34' may have multiple connector ports. Additionally, control console 30' may further include a speed control interface 38 for tuning the maximum or normal speed at which the instrument tip can travel. Figure 14A and 14B As shown, the console 30' may further include a display 39, such as an LCD screen, for displaying information associated with a handheld surgical system operatively coupled to the console 30'. Thus, the console 30' may receive and optionally display information from the handheld controller 300, such as the status of the handheld controller 300 or connected instruments, and additionally issue errors via visual and auditory alarms.

[0086] Figure 15A This describes a handheld surgical system 100 used in conjunction with a commercially available endoscope E during a cadaveric trial of a transsphenoidal endoscopic approach for removing a tumor from a pituitary gland located at the base of the skull. Figure 15B Tissue removal techniques within a physical training model simulating the anatomy of the skull base. Specifically, Figure 15B The end effector 230 (e.g., a grasping forceps) of the handheld surgical system 100 is demonstrated to remove a simulated soft tissue tumor within a training model of the skull base and brain anatomy.

[0087] Now for reference Figures 16A to 16CThis provides an alternative exemplary handheld surgical system. The construction of the handheld surgical system 300' may be similar to that of the handheld surgical system 300, wherein similar components have similar apostrophe reference numerals. For example, the coupler interface 303', joystick 304', trigger 306', and latch 308' correspond to the coupler interface 303, joystick 304, trigger 306, and latch 308. Figure 16A This describes the pitch, yaw, and gripping (open / close) axes of a flexible instrument tip (e.g., end effector 230) about which it rotates, and the corresponding movements of the joystick and trigger 306. The handheld surgical system 300' differs from the handheld surgical system 300 in that the adjustable joystick may not be spring-loaded. For example, the handle portion 317 may include a movable joystick assembly 307 on which a joystick 304' is mounted. The movable joystick assembly 307 is configured to rotate relative to the handle portion 317, thereby selectively moving the position of the joystick 304' circumferentially along the handle portion 317. Figure 16B and 16C As shown, the handle portion 317 may include a plurality of ball sockets 307 arranged circumferentially along the inner surface of the handle portion 317, and the movable joystick assembly 307 may include a plurality of friction balls 309 arranged circumferentially along the outer surface of the movable joystick assembly 307, such that the friction balls 309 are configured to releasably engage with the ball sockets 307 at discrete angular positions. Therefore, as Figure 16D As shown, the movable joystick assembly 307 and therefore the joystick 304' can be selectively adjusted to ergonomically suit the preferences of different users.

[0088] While various illustrative embodiments of the invention have been described above, those skilled in the art will understand that various changes and modifications can be made therein without departing from the invention. The appended claims are intended to cover all such changes and modifications that fall within the true scope of the invention.

Claims

1. A handheld surgical system comprising: Interchangeable medical devices having a proximal region and a distal region, the interchangeable medical devices comprising: A slender shaft extending between the proximal and distal regions; One or more winch shafts are disposed at the proximal region, each winch shaft including a winch pair configured to be operably coupled to a pulley pair; An end effector disposed at the distal region, the end effector being configured to be actuated in one or more degrees of freedom; and One or more tendon cord pairs, each tendon cord pair having a distal end coupled to the end effector and a proximal end extending toward the corresponding winch pair via a pulley pair associated with the one or more winch shafts, the proximal end being coupled to the corresponding winch pair in such a way that rotation of the corresponding winch shaft in a first rotational direction causes a first tendon cord in the tendon cord pair to move in a first axial direction and causes a second tendon cord in the tendon cord pair to move in a second axial direction opposite to the first axial direction, thereby actuating the end effector in one of the one or more degrees of freedom; and A handheld controller configured to be releasably coupled to the interchangeable device, the handheld controller including an interface operably coupled to one or more motors, the interface being configured to be actuated to cause at least one of the one or more motors to cause rotation of at least one of the one or more winch shafts, thereby actuating the end effector on at least one of the one or more degrees of freedom.

2. The handheld surgical system of claim 1, wherein the one or more winch shafts include a first winch shaft comprising a first winch pair operably coupled to the end effector via a first tendon pair among the one or more tendon pairs, the first winch shaft being configured to rotate via a first motor among the one or more motors upon actuation of the interface, thereby actuating the end effector in pitch degree of freedom, and The one or more winch shafts include a second winch shaft comprising a second winch pair operably coupled to the end effector via a second tendon pair of the one or more tendon pairs, the second winch shaft being configured to rotate via a second motor of the one or more motors when the interface is actuated, thereby actuating the end effector in the yaw degree of freedom.

3. The handheld surgical system of claim 2, wherein the distal end of the first tendon pair is coupled to the opposite side of the end effector and configured to be actuated to rotate the end effector about a pitch axis, and wherein the distal end of the second tendon pair is coupled to the opposite side of the end effector and configured to be actuated to rotate the end effector about a yaw axis.

4. The handheld surgical system according to claim 2 or 3, wherein the first and second winch shafts are arranged in a linear configuration.

5. The handheld surgical system according to any one of claims 2 to 4, wherein the one or more winch shafts include a third winch shaft comprising a third winch pair operably coupled to the end effector via a third tendon pair of the one or more tendon pairs, the third winch shaft being configured to be rotated to actuate the end effector in opening and closing degrees of freedom.

6. The handheld surgical system of claim 5, wherein the handheld controller includes a second interface operatively coupled to a third motor, the second interface being configured to be actuated to cause the third motor to rotate the third winch shaft, thereby actuating the end effector in the open and close degrees of freedom.

7. The handheld surgical system of claim 6, wherein the second interface includes a trigger.

8. The handheld surgical system according to any one of claims 5 to 7, wherein the end effector includes jaws configured to rotate about a jaw axis perpendicular to the longitudinal axis of the end effector, and wherein a first distal end of a first tendon in the third tendon pair is coupled to a first side of the jaws, and a second distal end of a second tendon in the third tendon pair is coupled to an opposite side of the jaws, such that rotation of the third winch axle in the first rotational direction causes the first and second tendons in the third tendon pair to rotate the jaws about the jaw axis in the first direction, and rotation of the third winch axle in the opposite rotational direction causes the first and second tendons in the third tendon pair to rotate the jaws about the jaw axis in the opposite direction.

9. The handheld surgical system according to any one of claims 5 to 8, wherein the first, second, and third winch shafts are arranged in a triangular configuration.

10. The handheld surgical system according to any of the preceding claims, wherein each of the one or more winch shafts includes an instrument coupler, and each of the one or more motors includes a controller coupler, the controller coupler being configured to be operatively coupled to a corresponding instrument coupler of the one or more winch shafts when the handheld controller is releasably coupled to the interchangeable instrument, such that the one or more motors are configured to rotate the one or more winch shafts via the corresponding instrument and the controller coupler.

11. The handheld surgical system of claim 10, wherein the instrument coupler includes a groove, and wherein the controller coupler includes a boss configured to releasably engage with the groove to transmit rotational motion from one or more motors to the one or more winch shafts, the boss including a tapered portion configured to facilitate self-alignment of the controller coupler with the instrument coupler.

12. The handheld surgical system of claim 11, wherein the one or more motors are housed within a compliant motor assembly configured to move within the handheld controller in response to force to facilitate self-alignment of the controller coupler with the instrument coupler.

13. The handheld surgical system according to any of the preceding claims, wherein each of the one or more winch shafts is configured to rotate about a corresponding winch shaft parallel to the longitudinal axis of the elongated shaft.

14. The handheld surgical system of claim 13, wherein each pair of pulleys associated with the one or more winch shafts is configured to rotate about a corresponding pulley shaft perpendicular to the longitudinal axis of the elongated shaft.

15. The handheld surgical system of claim 14, wherein the respective pulley shafts are angled such that each pulley pair is aligned in a direction toward the pair of winches of the associated one or more winch shafts.

16. The handheld surgical system of claim 14 or 15, wherein each pulley pair associated with the one or more winch shafts is aligned with the longitudinal axis of the elongated shaft, thereby routing the one or more tendon rope pairs from the one or more winch shafts through the elongated shaft.

17. The handheld surgical system according to any one of claims 14 to 16, wherein a first pulley pair associated with a first winch shaft of the one or more winch shafts is configured to rotate about a first pulley shaft, and wherein a second pulley pair associated with a second winch shaft of the one or more winch shafts is configured to rotate about a second pulley shaft offset from the first pulley shaft.

18. The handheld surgical system according to any of the preceding claims, wherein the elongated shaft includes one or more channels extending therethrough, each channel being sized and shaped to receive tendons in the one or more tendon pairs.

19. The handheld surgical system according to any of the preceding claims, wherein the distal end of the elongated shaft includes a ball joint base, and wherein the proximal end of the end effector includes a ball configured to pivotally engage the ball joint base to form a ball joint, the ball joint being configured to allow the end effector to move about the ball joint in two degrees of freedom.

20. A handheld surgical system according to any of the preceding claims, wherein rotation of the corresponding winch shaft in a second rotational direction opposite to the first rotational direction causes the first tendon in the tendon pair to move in the second axial direction and causes the second tendon in the tendon pair to move in the first axial direction, thereby actuating the end effector in one of the one or more degrees of freedom.

21. The handheld surgical system according to any of the preceding claims, further comprising a latch configured to be actuated to switch between an unlocked state and a locked state, thereby locking the handheld controller to the interchangeable instrument.

22. The handheld surgical system according to any of the preceding claims, wherein the elongated shaft comprises an angled shaft.

23. The handheld surgical system according to any of the preceding claims, wherein the interchangeable instruments include one or more sensors configured to measure the angular position of each of the one or more winch shafts, the angular position of each winch shaft indicating the actuation amount of the end effector in each of the one or more degrees of freedom.

24. The handheld surgical system according to any of the preceding claims, wherein the interface includes a joystick.

25. A handheld surgical system according to any of the preceding claims, wherein the handheld controller includes a connection portion configured to be removably coupled to the interchangeable instruments and a handle portion rotatably coupled to the connection portion, the handle portion being sized and shaped to be held in the user's palm and including the interface. The handle portion is configured to selectively rotate relative to the connection portion in predefined increments to ergonomically align the interface with the user's thumb.

26. The handheld surgical system of claim 25, wherein the handle portion is rotatably coupled to the connecting portion via a Hertz joint, and wherein the handle portion is coupled to the connecting portion via a compression spring configured to bias the handle portion toward the connecting portion, thereby maintaining the position of the handle portion relative to the connecting portion, the compression spring including a spring cap configured to provide a stable compressed position of the compression spring within the handle portion.

27. The handheld surgical system according to any of the preceding claims, wherein the handheld controller includes a second interface configured to be actuated to return the end effector to a linear configuration.

28. The handheld surgical system according to any of the preceding claims, wherein the end effector comprises a long gripper, a short gripper, a circular curette, a long circular curette, a spoon curette, a suction tip, an endoscope, a needle holder, scissors, or a dissecting instrument.

29. The handheld surgical system according to any of the preceding claims, further comprising a console configured to be operatively coupled to the handheld controller, the console being configured to provide power to the handheld controller.

30. The handheld surgical system of claim 29, wherein the console is configured to adjust one or more parameters of the handheld controller in response to user input received at the console.

31. A handheld controller for releasably coupling to an interchangeable device having an end effector, the handheld controller comprising: A connecting portion configured to be releasably coupled to the interchangeable instrument having the end effector for performing surgical procedures; The handle portion is rotatably coupled to the connecting portion via a connector, and the handle portion is sized and shaped to be held in the user's palm; An interface, which is disposed on the handle portion, is configured to be actuated to move the end effector in one or more degrees of freedom when the interchangeable instruments are releasably coupled to the handheld controller; and A compression spring is configured to bias the handle portion toward the connecting portion, thereby maintaining the position of the handle portion relative to the connecting portion. The handle portion is configured to selectively rotate relative to the connection portion in predefined increments to ergonomically align the interface with the user's thumb.

32. The handheld controller of claim 31, wherein the connector comprises a Hertz connector.

33. The handheld controller of claim 32, wherein the proximal end of the connecting portion includes a first Hertz gear, and the distal end of the handle portion includes a second Hertz gear configured to releasably engage the first Hertz gear in the predefined increments, thereby forming the Hertz joint.

34. The handheld controller according to any one of claims 31 to 33, wherein the compression spring includes a spring cap configured to provide a stable compressed position of the compression spring within the handle portion and to prevent excessive pulling of the handle portion relative to the connecting portion.

35. The handheld controller according to any one of claims 31 to 34, wherein the interface includes a joystick.

36. The handheld controller according to any one of claims 31 to 35, wherein the connection portion includes a latch configured to releasably engage a recess in the interchangeable device when the handheld controller is releasably coupled to the interchangeable handle, thereby locking the handheld controller to the interchangeable device.

37. The handheld controller according to any one of claims 31 to 36, wherein the connection portion includes an electrical connector configured to operatively couple to a corresponding electrical connector of the interchangeable device when the interchangeable device is releasably coupled to the handheld controller, thereby transmitting electrical signals and power between the handheld controller and the interchangeable device.

38. The handheld controller of claim 37, further comprising a controller operatively coupled to the electrical connector of the handheld controller, the controller being configured to receive, via the electrical connector of the handheld controller, device-specific configuration data associated with the interchangeable device when the interchangeable device is releasably coupled to the handheld controller.

39. The handheld controller of claim 38, wherein the device-specific configuration data includes information indicating device type, device specifications, and / or device capabilities.

40. The handheld controller according to any one of claims 31 to 39, further comprising one or more motors disposed within the connection portion, the one or more motors being configured to be individually actuated to move the end effector in the one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller.

41. The handheld controller of claim 40, wherein the one or more motors comprise: A first motor, operably coupled to the interface, is configured to be actuated via the interface to move the end effector in a first degree of freedom of one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller. and A second motor, operably coupled to the interface, is configured to be actuated via the interface to move the end effector in a second degree of freedom of one or more degrees of freedom when the interchangeable device is releasably coupled to the handheld controller.

42. The handheld controller of claim 41, wherein the first degree of freedom includes a pitch degree of freedom, and wherein the second degree of freedom includes a yaw degree of freedom.

43. The handheld controller according to claim 41 or 42, further comprising: A second interface, configured to be actuated to allow the end effector to move in a third degree of freedom of one or more degrees of freedom when the interchangeable devices are releasably coupled to the handheld controller. The one or more motors include a third motor operatively coupled to the second interface, the third motor being configured to be actuated via the interface to move the end effector in the third degree of freedom.

44. The handheld controller of claim 43, wherein the third degree of freedom includes open and close degrees of freedom.

45. The handheld controller of claim 43 or 44, wherein the second interface includes a trigger.

46. ​​The handheld controller according to any one of claims 43 to 45, wherein the second interface is disposed on the connection portion.

47. The handheld controller according to any one of claims 43 to 46, wherein the first, second, and third motors each include a first, second, and third controller coupler, the first, second, and third controller couplers being configured to be operatively coupled to a corresponding device coupler of the interchangeable device when the interchangeable device is releasably coupled to the handheld controller, thereby transmitting rotational motion from the first, second, and third motors to the corresponding device coupler to cause the end effector to move in the first, second, and third degrees of freedom.

48. The handheld controller of claim 47, wherein the first and second controller couplers are arranged in a linear configuration.

49. The handheld controller according to claim 47 or 48, wherein the third controller coupler is arranged in a triangular configuration relative to the first and second controller couplers.

50. A handheld controller for releasably coupling to an interchangeable device having an end effector, the end effector being operatively coupled to one or more winch shafts via a tendon cable wiring system, the handheld controller comprising: One or more controller couplers operably coupled to one or more motors, each of the one or more controller couplers including a boss configured to releasably engage with a groove of a corresponding device coupler of the one or more winch shafts when the interchangeable devices are releasably coupled to the handheld controller, to transmit rotational motion from the one or more motors to the one or more winch shafts. The boss includes a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.

51. The handheld controller of claim 50, wherein when the interchangeable device is releasably coupled to the handheld controller, the cross-sectional area of ​​the tapered portion of the boss decreases in the direction from the handheld controller toward the distal end of the device coupler.

52. The handheld controller of claim 50 or 51, wherein the boss includes a first geometry corresponding to a second geometry of the groove of the corresponding instrument coupler, such that relative rotation between the one or more controller couplers and the corresponding instrument coupler is suppressed when the boss is releasably engaged with the groove.

53. The handheld controller of claim 52, wherein the first and second geometries comprise a profile having multiple symmetrical lines intersecting the rotation axes of the one or more controller couplers.

54. The handheld controller of claim 53, wherein the profile comprises a hexagonal shape.

55. The handheld controller according to any one of claims 50 to 54, wherein at least one of the one or more controller couplers or the corresponding device couplers is configured to rotate relative to each other when the tapered portion of the boss engages the groove, thereby facilitating self-alignment of the one or more controller couplers with the corresponding device couplers, when the interchangeable device is releasably coupled to the handheld controller.

56. The handheld controller according to any one of claims 50 to 55, wherein the one or more controller couplers are configured to be slidably translationally movable between a retracted position and an extended position, the handheld controller further comprising one or more compression springs configured to bias the one or more controller couplers toward the extended position to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.

57. The handheld controller according to any one of claims 50 to 56, further comprising one or more interfaces operably coupled to the one or more motors, the one or more interfaces being configured to be actuated to rotate the one or more controller couplers, thereby transmitting rotational motion from the one or more motors to the one or more winch shafts via the corresponding device couplers when the interchangeable devices are releasably coupled to the handheld controller.

58. The handheld controller of claim 57, wherein when the one or more controller couplers are in the retracted position, actuation of the one or more interfaces causes the one or more controller couplers to rotate relative to the corresponding instrument coupler, thereby facilitating engagement between the boss of the one or more controller couplers and the groove of the corresponding instrument coupler.

59. A handheld controller for releasably coupling to an interchangeable instrument having an end effector, the end effector being operatively coupled to one or more winch shafts via a tendon cable wiring system, the handheld controller comprising: A connecting portion configured to be releasably coupled to the interchangeable device; One or more motors are slidably disposed within the connecting portion, between a retracted position and an extended position, the one or more motors being configured to actuate the one or more winch shafts when the interchangeable device is releasably coupled to the handheld controller; and One or more compression springs coupled to the one or more motors, the one or more compression springs being configured to bias the one or more motors toward the extended position to facilitate coupling of the handheld controller to the interchangeable device.

60. The handheld controller of claim 59, further comprising: One or more controller couplers operably coupled to the one or more motors, each of the one or more controller couplers including a boss configured to releasably engage with a groove of a corresponding device coupler of the one or more winch shafts when the interchangeable devices are releasably coupled to the handheld controller, to transmit rotational motion from the one or more motors to the one or more winch shafts. The boss includes a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.

Images