Improved gross positioning device, and related systems and methods

Abstract

To provide gross positioning systems for use with robotic surgical devices to provide gross positioning of the robotic surgical devices.SOLUTION: The gross positioning systems have a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling component slidably coupled to the third arm link.SELECTED DRAWING: Figure 2A

Description

[Technical field]

[0001] Various embodiments herein relate to robotic surgical devices, and more particularly to global positioning systems and devices that aid in the global repositioning of surgical devices during a surgical procedure. The combination of a global positioning system with an in-vivo surgical device increases the degrees of freedom of the in-vivo device without increasing the size of the device. [Background technology]

[0002] Known positioning systems currently used for robotic surgery are large and cumbersome. For example, the Da Vinci SP Surgical System™ takes up a significant portion of the operating room, creating cramped space over the surgical site, and the system created by Waseda University has a huge motor housing that creates a profile that is larger than necessary. In a further example, the Raven™ mimics current laparoscopic technology by inserting a single instrument (as opposed to the in vivo robotic systems used in the other two systems mentioned above).

[0003] 1A and 1B show a known generic spherical mechanism 10 and its required workspace 16 to reach the abdominal cavity of a patient. A "spherical mechanism" is a physical mechanism or software application that can cause all end effector motion to go through a single point, thereby allowing a surgical system to use long, rigid instruments operating through an incision that acts as a single center point. As an example, both COBRASurge and Raven have mechanical spherical mechanisms, while DaVinci has a software-based spherical mechanism.

[0004] This known mechanism, shown in Figures 1A and 1B, has a cable-driven instrument coupled to it. The link angles 12, 14 in the device 10 were optimized at the Biorobotics Lab at the University of Washington to create the workspace 16 shown in Figure 1B. The workspace 16 is an elliptical cone at 90° longitudinally and 60° cranio-caudally with a remote center 18 located at the base of the cone 16. The link angles 12, 14 can be varied for different workspaces.

[0005] There is a need in this field for improvements in overall positioning systems. Summary of the Invention

[0006] Discussed herein are various overall positioning systems for use with in vivo robotic surgical devices. In Example 1, an overall positioning system for use with a robotic surgical device includes a base, a first arm link operably coupled to the base at a first rotary joint, a second arm link operably coupled to the first arm link at a second rotary joint, a third arm link operably coupled to the second arm link, and a slidable coupling piece slidably coupled to the third arm link such that the third arm link can move between an extended position and a retracted position along a length of the third arm link. The third arm link is rotatable about the third rotary joint and configured to be positionable through an incision in a patient. The slidable coupling piece is configured to be coupleable to the robotic surgical device.

[0007] Example 2 relates to the overall positioning system according to example 1, wherein the rotation axis of the first revolute joint, the rotation axis of the second revolute joint and the rotation axis of the third revolute joint intersect at a single intersection point.

[0008] Example 3 relates to an overall positioning system according to example 2, wherein said single intersection point is a spherical joint. Example 4 relates to a global positioning system according to example 2, wherein the single intersection is located at a point along a portion of the robotic surgical device.

[0009] Example 5 relates to a global positioning system according to example 2, wherein the global positioning system is positioned such that the single intersection point is located at an incision in a patient. Example 6 relates to a global positioning system according to example 5, wherein the third arm link is disposed through the single point of the insertion portion.

[0010] Example 7 relates to a global positioning system according to example 2, wherein the single intersection point is located at an insertion point of the patient. Example 8 relates to the overall positioning system according to example 7, wherein the insertion point comprises an incision or a natural orifice.

[0011] Example 9 relates to a global positioning system according to example 7, wherein the third arm link is disposed through the single intersection point. Example 10 relates to the overall positioning system of Example 1, wherein the robotic surgical device comprises one or more arms, and the overall positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of a patient.

[0012] Example 11 relates to the global positioning system according to example 10, further comprising a controller operatively coupled to the global positioning system and the robotic surgical device.

[0013] In Example 12, an overall positioning system for use with a robotic surgical device includes a base, a first arm link operably coupled to the base at a first revolute joint, a second arm link operably coupled to the first arm link at a second revolute joint, a third arm link operably coupled to the second arm link at a third revolute joint, a slidable coupling element slidably coupled to the third arm link such that the third arm link can move between an extended position and a retracted position along a length of the third arm link, and the robotic surgical device operably coupled to the slidable coupling element. The robotic surgical device includes a device body, a first arm operably coupled to the device body, and a second arm operably coupled to the device body. The first arm includes one or more first actuators and the second arm includes one or more second actuators.

[0014] Example 13 relates to the overall positioning system according to example 12, wherein the rotation axis of the first rotary joint, the rotation axis of the second rotary joint, and the rotation axis of the third rotary joint intersect at a single intersection point.

[0015] Example 14 relates to the overall positioning system according to example 12, wherein the third arm link is disposed through the single intersection point and is further configured to be positionable through an insertion point in a patient.

[0016] In Example 15, an external global positioning system for use with an internal robotic surgical device includes a base, a first arm link operably coupled to the base at a first revolute joint, a second arm link operably coupled to the first arm link at a second revolute joint, a third arm link operably coupled to the second arm link at a third revolute joint, a slidable coupling piece slidably coupled to the third arm link for movement along a length of the third arm link between an extended position and a retracted position, and a single intersection point at an intersection of an axis of rotation of the first revolute joint, an axis of rotation of the second revolute joint, and an axis of rotation of the third revolute joint. The slidable coupling piece is configured to be coupleable to the robotic surgical device. The single intersection point is located at an insertion point on a patient.

[0017] Example 16 relates to the overall positioning system according to example 15, wherein a portion of the third arm link is disposed through the single intersection point. Example 17 relates to the global positioning system according to example 15, wherein a portion of the robotic surgical device is positioned through the single intersection.

[0018] Example 18 relates to the overall positioning system according to example 15, wherein the insertion point is an incision. Example 19 relates to the overall positioning system of Example 15, wherein the robotic surgical device comprises one or more arms, and the overall positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of the patient.

[0019] Example 20 relates to the global positioning system according to example 19, further comprising a central processing unit operably coupled to the global positioning system and the robotic surgical device, and a controller operably coupled to the central processing unit, the central processing unit comprising software configured to send control instructions to the global positioning system and the robotic surgical device.

[0020] In Example 21, an overall positioning system for use with a robotic surgical device includes a base, a first arm link operably coupled to the base at a first revolute joint, a second arm link operably coupled to the first arm link at a second revolute joint, a third arm link operably coupled to the second arm link at a third revolute joint, a slidable coupling element slidably coupled to the third arm link, and the robotic surgical device operably coupled to the slidable coupling element. The robotic surgical device further includes a device body, a first arm operably coupled to the device body and including one or more first actuators, and a second arm operably coupled to the device body and including one or more second actuators. Additionally, the third arm link is positionable such that the robotic surgical device is positionable within a body cavity of the patient through an insertion point in the patient.

[0021] Example 22 relates to the overall positioning system according to example 21, wherein the slidable joint part is slidable along a length of the third arm link between an extended position and a retracted position. Example 23 relates to the overall positioning system of example 21, wherein a rotation axis of the first rotary joint, a rotation axis of the second rotary joint, and a rotation axis of the third rotary joint intersect at a single intersection, and the third arm link is disposed through the single intersection.

[0022] While multiple embodiments are disclosed, other embodiments of the present invention will also become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As will be understood, the present invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive. [Brief description of the drawings]

[0023] [Figure 1A] FIG. 1 is a perspective view of a known spherical mechanism. [Figure 1B] FIG. 1B is a perspective view of the workspace of the known spherical mechanism of FIG. [Figure 2A] FIG. 1 illustrates a perspective view of a global positioning device coupled to an in-vivo robotic device positioned within a cavity of a patient, according to one embodiment. [Figure 2B] FIG. 2B is another perspective view of the overall positioning device and the in-vivo robotic device of FIG. 2A positioned within the cavity of a patient. [Figure 2C] FIG. 2B is another perspective view of the overall positioning device and the in-vivo robotic device of FIG. 2A positioned within the cavity of a patient. [Diagram 3] FIG. 2 illustrates an exploded perspective view of a general positioning device according to one embodiment. [Figure 4] FIG. 4 is an exploded perspective view of an enlarged first joint of the device of FIG. 3; [Diagram 5] FIG. 4 is an exploded perspective view of an enlarged second joint of the device of FIG. 3; [Figure 6] FIG. 4 is an exploded perspective view of an enlarged view of the third joint of the device of FIG. 3; [Figure 7] FIG. 4 is an exploded perspective view of an enlarged view of the mating components of the device of FIG. 3 mated to a robotic device. [Figure 8] FIG. 1 illustrates a side view of a global positioning device and the actual rotational axes obtained at each joint, according to one embodiment. [Figure 9] FIG. 9 is a perspective view of the global rotation axis created by the overall positioning device and the actual rotation axis of FIG. [Figure 10]FIG. 1 is a schematic diagram of a control process for controlling a global positioning device, according to one embodiment. [Figure 11] FIG. 2 is a perspective view of a controller according to one embodiment. [Figure 12] FIG. 13 is a perspective view of another controller according to a further embodiment. [Figure 13A] FIG. 1 illustrates a perspective view of an arm of a robotic device, according to one embodiment. [Figure 13B] FIG. 13B is a perspective view of an arm of the robotic device of FIG. 13A. [Figure 14A] FIG. 1 illustrates a side view of a global positioning device coupled to an in-vivo robotic device positioned within a cavity of a patient, according to one embodiment. [Figure 14B] FIG. 14B is another side view of the overall positioning device and the in-vivo robotic device of FIG. 14A positioned within the cavity of a patient. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Various embodiments disclosed or contemplated herein relate to an improved global positioning device, as described in further detail herein, that is coupled to a clever in-vivo robotic device such that the global positioning device can be used for global orientation of the robotic device within a patient's cavity.

[0025] Various gross positioning device implementations disclosed or contemplated herein can be used to automatically grossly position a surgical device within a patient's cavity. As used herein, "gross positioning" is intended to mean the gross positioning of an entire mobile surgical device (as opposed to the precise movement and placement of specific parts of such a device, such as arms and end effectors). In known robotic surgical systems, gross positioning of those devices during surgery can be a difficult task. Furthermore, minimally invasive surgical procedures (using either robotic or non-robotic systems) often require a surgical technician to reposition surgical instruments, such as a laparoscope. Such gross repositioning requires time and additional effort. In addition to this, in some cases, the surgical technician is a junior medical student who has not been fully trained in laparoscopy. As a result, repositioning instructions from the surgeon often result in an obstructed and / or clouded view of the surgical site, demanding additional cognitive resources from the surgeon. Thus, known single incision surgical devices, as well as the Da Vinci System®, often require manual repositioning of the patient, the robotic system, or both at times during complex surgeries.

[0026] Various global positioning devices contemplated herein facilitate global repositioning of a surgical device (including, for example, any surgical device having a device body or rod configured to be positioned through an incision and one or more robotic arms positioned entirely within a patient's cavity and coupled to the device body) without additional intervention or manual repositioning by surgical staff during surgery. Global positioning system embodiments allow for degrees of freedom, azimuth and elevation control, as well as rotation and translation about the axis of insertion of laparoscopic surgical instruments, including robotic laparoscopic surgical instruments. As a result, global positioning device embodiments disclosed and contemplated herein are capable of globally positioning a surgical device with high maneuverability through an incision into a patient's cavity, such as the abdominal cavity, reducing surgery time and strain caused to surgical staff. The combination of an external global positioning system with an internal surgical device system allows for an effective increase in the degrees of freedom of the internal system without increasing the size of the surgical robot / device.

[0027] In one implementation, the various devices disclosed and contemplated herein can be used with any single site surgical device that has an available external positioning fixture, such as a protrusion, rod or magnetic handle.

[0028] 2A-2C show the global positioning device 20 along with an in vivo robotic device 22 coupled to the global positioning device 20. The three figures show the device 20 orienting the robotic device 22 in three different positions within a patient's cavity 24 through an incision 26. The device 20 has a base (also called the "body") 28, a first arm link (or "upper arm") 30, a second arm link (or "forearm") 32, and a third link (or "extension") 34. The extension 34 has a coupling component 36 that couples directly to the body 38 of the robotic device 22 such that the body 38 is positioned through the incision 26 that provides access to the cavity 24 (or, more typically, through a port (not shown) that is positioned in the incision 26 that provides access to the cavity 24).

[0029] As shown, the links 30, 32, 34 of the positioning device 20 (and any other positioning device embodiments disclosed or contemplated herein) allow the robotic device 22 to access a full range of the working space within the cavity 24. That is, the positioning device 20 allows the robotic device 22 to be positioned within the patient's cavity 24 with the body 38 of the device 22 positioned through the incision 26 (or a port disposed in the incision 26) such that an end effector 42 attached to an arm 40 of the robotic device 22 can reach any desired location in the working space within the cavity 24, while the links 30, 32, 34 of the positioning device 20 function to create a "spherical joint" 44 where the device body 38 passes through the incision 26 such that all movement of the robotic device 22 passes through a single point. In other words, regardless of the positioning of the three links 30, 32, 34 and the resulting positioning of the robotic device 22 within the patient's cavity 24, the portion of the device body 38 at the incision 26 (spherical joint 44) remains in the same position (through the incision 26) as a result of the positioning device 20. This allows for movement of the robotic device (such as the robotic device 22) within the cavity (such as the cavity 24) such that the end effector (such as the end effector 42) can reach any desired position within the cavity, while the entire device 22 is connected to the positioning device 20 via the device body 38 which passes through a single point (spherical joint 44) at the incision 26 and never moves from that point, thereby allowing movement and positioning of the device 22 through that single incision (such as the incision 26). The creation of the spherical joint 44 by the positioning device 20 is described in more detail below. Another advantage is that positioning device 20 allows for the use of a single in-vivo robotic device within the patient's cavity, instead of the multiple arms of the known Da Vinci™ system extending from the patient's cavity, thereby providing a large working space outside the patient's body.

[0030] 3 shows an exploded view of the components of the overall positioning device 20. As described in more detail below, the device 20 has three degrees of freedom ("DOF") that can be utilized to provide a global orientation for a robotic device 22 coupled to the positioning device 20 (as best shown in FIGS. 2A-2C). As described above, the device 20 has a base 28, a first arm link 30, a second arm link 32, a third link 34, and a coupling component 36. In this implementation, the first arm link 30 has a cover 30A and the second arm link 32 has a cover 32A. Alternatively, each of the links 30, 32 is a single unitary component without a cover.

[0031] As best shown in Figures 3 and 4, the first arm link 30 is rotatably coupled to the base 28 at the first joint 50. More specifically, the base 28 is comprised of a bracket 52 configured to house a first motor 54 that is rotatably coupled to the bracket 52 and bearings 56, thereby creating the first joint 50. That is, the motor 54 is located in the openings 58A, 58B such that the motor 54 rotates within the openings 58A, 58B. The first link 30 is fixedly coupled to the first motor 54 such that actuation of the first motor 54 causes rotation of the motor 54 relative to the bracket 52, thereby causing rotation of the first link 30 about the first joint 50.

[0032] In one implementation, the base 28 is configured to keep the entire device 20 stable and secure during use. As shown, the base 28 is a bracket 52 as described above. In alternative embodiments, the base 28 can be any structure that provides such stability (including, for example, a very heavy or weighted structure that uses weighting to improve stability). In some implementations, the base 28 can be stably coupled to a surgical table on which a patient rests. For example, the base 28 can be coupled to a rail (not shown) on a table (not shown). In a further alternative, the base 28 can be coupled to any fixed object in the operating room. Alternatively, the base 28 can be coupled to or be an integral part of a cart or other mobile standalone device.

[0033] As best shown in Figures 3 and 5, the first arm link 30 and the second arm link 32 are rotatably coupled to one another at a second joint 60. More specifically, the joint 60 is comprised of a bracket 62 configured to house a second motor 64 that is rotatably coupled to the bracket 62 and a bearing 66, thereby creating the second joint 60. That is, the motor 64 is located in openings 68A, 68B such that the motor 64 rotates within those openings. The first link 30 is fixedly coupled to the second motor 64 and the second link 32 is fixedly coupled to the bracket 62 such that actuation of the second motor 64 causes rotation of the motor 64 relative to the bracket 62, thereby causing rotation of the second link 32 relative to the first link 30 about the joint 60.

[0034] As best shown in Figures 3 and 6, the third link 34 is rotatably coupled to the second arm link 32 at a third joint 70. More specifically, the joint 70 consists of a third motor 72 fixedly coupled to the second arm link 32 and rotatably coupled to the third link 34 such that actuation of the motor 72 causes rotation of the third link 34, thereby creating the third joint 70. As best shown in Figures 3 and 7, the third link 34 has a coupling part 36 at a distal end of the link 34 such that a robotic device 74 can be coupled to the third link 34. It is understood that the object 74 shown in Figures 3 and 7 is intended to correspond to an in vivo robotic device 74. In this particular example, only the rod or body 76 of the device 74 is shown, but not a robotic arm or other part. It is understood that this particular body part 76 shown is intended merely as a schematic diagram of the device 74, and not a complete diagram of an actual robotic device having a robotic arm (such as the device 22 described and shown above). In this manner, actuation of the third motor 72 causes rotation of the third link 34, thereby causing rotation of the robotic device.

[0035] Alternatively, any joint configuration may be used in implementing the various global positioning devices, so long as the links 30, 32, 34 are movable relative to one another as described herein.

[0036] According to one implementation, the coupling part 36 is slidably coupled to the third link 34 such that the coupling part 36 (and thus the robotic device 74) can be positioned anywhere along the longitudinal length of the third link 34. In this manner, the robotic device 74 can be moved toward and away from the third joint 70 as desired to position the device 74 along the longitudinal axis of the third link 34. In one embodiment, the coupling part 36 has a quick release handle 78 that can be actuated to lock or unlock the position of the coupling part 36 along the length of the third link 34. That is, the handle 78 can be actuated to move the coupling part 36 to an unlocked configuration such that the part 36 can slide along the length of the link 34. Once the coupling part 36 (and thus the robotic device 74) is positioned at a desired point along the length of the link 34, the handle 78 can be moved to a locked position, thereby locking the coupling part 36 at a point at which the part 36 cannot slide. In this manner, the coupling component 36 can move between the extended and retracted positions and anywhere between along the length of the third link 34. Alternatively, the third link 34 can include any known component or device that provides for movement between the extended and retracted positions.

[0037] FIG. 8 shows the rotational axes 90, 92, 94 created by the links 50, 60, 70, and further shows the linear stage D created by the joint component 36 and the third link 34. That is, rotation about the axis 90, indicated by arrow A, occurs by rotation of the first joint 50. Furthermore, rotation about the axis 92, indicated by arrow B, occurs by rotation of the second joint 60. Finally, rotation about the axis 94, indicated by arrow C, occurs by rotation of the third joint 70. In addition, linear movement, indicated by arrow D, results from movement of the joint component 36 along the third link 34. In one embodiment, the linear movement of the joint component 36 is utilized at the surgeon's discretion to position the robotic device 74 further into the patient's cavity (not shown) or to move the robotic device closer to the joint 70. In one implementation, movement of the joint component 36 relative to the third link 34 is manual (and requires actuation of the quick release lever 78 described above). Alternatively, the movement of the coupling part 36 can be motorized.

[0038] In one embodiment, the axis of rotation 90 at the revolute joint 50 is perpendicular to both the axis of rotation 92 at the revolute joint 60 and the axis of rotation 94 at the joint 70. In other words, each axis 90, 92, 94 can be perpendicular to the other two. The three perpendicular axes 90, 92, 94 can simplify the control of the system 20 in some implementations by having each axis 90, 92, 94 contribute only to a single degree of freedom. For example, when the third link 34 rotates about axis 94, the tilt of the in-vivo robotic device 74 does not change when all three axes 90, 92, 94 are perpendicular. Similarly, when the first link 30 rotates about axis 90, only the left-right tilt of the surgical device 74 is affected. Alternatively, two of the three axes 90, 92, 94 are perpendicular to each other. In a further alternative, none of the axes 90, 92, 94 are perpendicular to each other.

[0039] FIG. 9 illustrates how the three local rotation axes 90, 92, 94 of FIG. 8 derive a global orientation of the in vivo robot 74. That is, FIG. 8 illustrates the actual rotation axes 90, 92, 94 for each of the joints 50, 60, 70, respectively. In contrast, FIG. 9 illustrates the global rotation axes 100, 102, 104 that are created by the actual rotation axes 90, 92, 94. That is, the global rotation axes 100, 102, 104 are the axes used to describe the actual or desired orientation of the robotic device (e.g., device 74, etc.). In this manner, the axes 90, 92, 94 create a global axis 100 such that rotation about axis 100, indicated by arrow D, is the "pitch" rotation of the device 74. Additionally, the axes 90, 92, 94 create a global axis 102 such that rotation about axis 102, indicated by arrow E, is the "roll" rotation of the device 74. Additionally, axes 90, 92, 94 create a global axis 104 such that rotation about axis 104, indicated by arrow F, is a "yaw" rotation of device 74. Thus, according to one embodiment, a desired global orientation of device 74 can be controlled by axes 90, 92, 94. For example, if the pitch of device 74 is desired to be 90 degrees, then local axes 90, 92, 94 can be rotated as necessary to a solution value such that robotic device 74 has a pitch of 90 degrees.

[0040] 8, the three axes 90, 92, 94 meet at a node 100, also known as the "spherical joint" 100 mentioned above. The node 100 remains fixed in the same position regardless of the positioning of the arm links 30, 32, 34 and can be used as an entry point during surgery. That is, the global positioning system 20 can be positioned such that the node 100 is located at the incision in the patient through which the robotic device 74 is positioned.

[0041] In one implementation, the system 20 acts similarly to a spherical mechanism with the intersection point 100 as described above. In the device 20 shown in FIG. 8, the configuration of the device 20 creates a spherical joint 100 such that the extension 34 always passes through a single point of the spherical joint 100 that is typically positioned at the incision in the patient. The spherical joint 100 created by the device 20 increases the size of the effective working space for the surgical device 74 within the patient's cavity while keeping the spherical joint 100 at the incision.

[0042] Alternatively, the global positioning device 20 may have a fourth link, a fifth link, or any number of additional links and associated additional number of rotational joints. Additionally, the device 20 may have less than three links and associated number of rotational joints. In short, the global positioning device 20 may have a single rotational joint, two rotational joints, or any number of rotational joints.

[0043] According to one embodiment, the overall positioning device 20 can be controlled using the following control process 120 shown in FIG. 10. A controller 122 is provided that is used as input to communicate with a software architecture 124 (informally referred to in this exemplary embodiment as a "robot app"). In one implementation, the software 124 is a custom software 124 that allows the integration of different hardware and the development of "plug-ins", thereby obtaining a modular platform on which it is easy to build additional features. Alternatively, the software architecture 124 limits the use of hardware to a limited set of hardware and has no modularity. In a further alternative, the software architecture 124 can be any known type of architecture.

[0044] Communications from the controller 122 are decoded (or "conditioned") by software 124 (block 126) and used to calculate kinematics (block 128). These kinematic calculations are communicated to the global positioning device 20 via a connection 130 so that the device 20 operates to move as communicated from the controller 122. In this particular embodiment, the connection is a USB port 130 in hardware (not shown) that comprises the software 124. The port 130 allows connection of the global positioning device 20 to the software 124 and therefore to the controller 122. In one implementation, the controller 122 is hardware that comprises the software 124. Alternatively, the hardware can be any processing device such as a computer.

[0045] According to an embodiment, a hand controller is used to control the global positioning device and / or the robotic device. In one implementation, the hand controller 150 is a joystick controller 150 as shown in FIG. 11. The joystick controller 150 controls the orientation of the global positioning device (such as device 20). A further controller embodiment 152 is shown in FIG. 12, where the controller 152 is a commercially available GeoMagic Touch™ controller 152. In this implementation, the controller 152 can be used to control the global positioning device (such as device 20). In a further embodiment, the controller 152 can be used to control both the global positioning device (such as device 20) and the robotic device (such as device 22), but the control scheme needs to be changed each time the user wants to switch from controlling one of the devices to the other.

[0046] In another embodiment, two GeoMagicTouch™ controllers 152 are used in combination with a control process or application that allows control of both the global positioning device (such as device 20) and the robotic device (such as device 22) without the need to change the control scheme during surgery. Alternatively, as best shown in FIGS. 13A and 13B, a midpoint 160 between two end points (end effectors) 162 of the in-vivo robot 166 is identified for the control process. Using polar coordinates (θ, Φ), an envelope 164 of the midpoint is developed such that as the midpoint 160 leaves the envelope 164 region, the orientation of the in-vivo robotic device 166 is moved accordingly by the global positioning device (such as device 20). More specifically, as the midpoint 160 between the end effectors 162 reaches the envelope 164 range, the global positioning device (such as device 20) begins to move to adjust the view of the camera lens 168 on the device 166. In this manner, the robotic device 166 can control the view of the camera lens 168 by reaching or "gesturing" up, down, left, right, and right to move the camera lens 168 to the desired view. To stop the movement of the global positioning device, the end effector 162 must return to the midpoint profile (i.e., the end effector 162 must move such that the midpoint 160 is within the envelope 164). In this manner, the global positioning device (such as device 20) and the robotic device (such as device 22) can both operate such that the robotic device is able to reach the extent of the patient's cavity without changing the control scheme.

[0047] In one embodiment, the midpoint envelope 164 corresponds to the range of the camera lens 168. Alternatively, other approaches can be used for different cameras, i.e. where the robotic device has an optimal workspace in which it needs to reside.

[0048] Alternatively, the control process can operate in a different manner, as best shown in Figures 14A and 14B. In this particular embodiment, once the midpoint 160 leaves the envelope 164, both the global positioning device (such as device 20) and the in-vivo robotic device 166 can move together to keep the end effector 162 fixed in space, but move the end effector back into the midpoint envelope 164 as shown. More specifically, the end effector 162 is initially offset to the right of the robotic device 166, however, by repositioning both the global positioning device (such as device 20) and the in-vivo robot 166, the end effector 162 is moved back inside the midpoint envelope 164, although the end point 162 remains fixed in space.

[0049] In use, the overall positioning device 20 and other embodiments disclosed or contemplated herein can operate in the following manner to position a surgical device (such as device 22, device 74, or device 166) through an incision in a surgical space within a patient cavity: The three links 30, 32, 34 rotate about their respective axes 90, 92, 94 to position the device 22, 74, 166 as desired. More specifically, the third link 34 can rotate about axis 94 to rotate the surgical device 22, 74, 166 about axis 94. Furthermore, the arm links 30, 32 in combination with the extension 34 can be used to articulate the device 20 through two separate angular planes. That is, the two axes 90, 92 can affect the angular position of the extension 34. Additionally, the coupling component 36 is capable of expanding or contracting to allow the surgical device 22, 74, 166 to be advanced into or out of the patient's cavity.

[0050] In one implementation, the positioning system 20 and surgical device 22, 74, 166 can be used in combination such that the surgical device 22, 74, 166 is treated as an extension of the positioning system 20, and both are used together to move and operate the surgical device 22, 74, 166. For example, a surgeon may wish to move the surgical device 22, 74, 166 a total of one inch to the right, and thus actuate an external controller to effect this movement. The controller (such as any of the controller embodiments described above) sends appropriate signals to the positioning system 20 and the surgical device 22, 74, 166 such that the system 20 and the surgical device 22, 74, 166 operate in combination to move the surgical device 22, 74, 166 one inch to the right. In one example, system 20 can move 0.5 inches and device 22, 74, 166 can move 0.5 inches, resulting in a full 1 inch movement of device 22, 74, 166 as desired. In this manner, positioning system 20 is used to maximize the strength, workspace, and maneuverability of the system 20 and device 22, 74, 166 combination by determining the optimal contribution of each component in use, according to one embodiment.

[0051] Alternatively, the positioning system 20 and the devices 22, 74, 166 operate separately, i.e., the system 20 is inoperative or does not operate while the devices 22, 74, 166 are in use, and the devices 22, 74, 166 are inoperative or does not operate while the system 20 is in use. For example, when the devices 22, 74, 166 are in use and it is determined that an object in the surgical space is outside the reach of the devices 22, 74, 166, the devices 22, 74, 166 are "shut down" or otherwise rendered inoperative or simply placed in a "sleep mode" and the system 20 is used to reposition the devices 22, 74, 166 accordingly.

[0052] It is understood that the device 20 can be operably coupled to a processor or computer (not shown) such that the processor can be used to control the positioning system 20, including the movement of the arm links 30, 32, 34 to overall position the surgical device 22, 74, 166.

[0053] In further alternative implementations, the positioning system 20 may be configured to incorporate or integrate instruments or devices coupled to the surgical device 22, 74, 166 to provide various functions for the device 22, 74, 166. For example, in one embodiment, the system 20 may include suction and irrigation instruments that couple to corresponding instruments on the surgical device 22, 74, 166 such that the surgical device 22, 74, 166 includes suction and irrigation components. In another example of a further implementation, the positioning device 20 may include any known instruments that are configured to couple to corresponding instruments on the surgical device 22, 74, 166.

[0054] Alternative embodiments contemplated herein also include systems that can be used with surgical devices that are magnetically controlled (as opposed to the surgical devices described above that control via a body or position a rod inserted through a surgical incision). In these implementations, the positioning system positions the surgical device anywhere along the interior surface of the patient's cavity by positioning an external magnetic part (such as a magnetic handle or other type of external magnetic part) along the patient's outer skin. This positioning of the device can include any combination of movement in two dimensions along the surface of the patient's skin and rotation of the external magnetic part about an axis perpendicular to the surface of the skin. Of course, while movement of the magnetic part along the patient's skin is considered to be two-dimensional, it is understood that the patient's skin is curvilinear such that movement of the external part along the skin exhibits full maneuverability in all six degrees of freedom.

[0055] Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes can be made in form and detail without departing from the spirit and scope of the invention.

Claims

1. 1. An overall positioning system for use with a robotic surgical device, comprising: (a) a base; (b) a first arm link operatively coupled to the base at a first rotary joint; (c) a second arm link operatively coupled to the first arm link at a second rotary joint; (d) a third arm link operatively coupled to the second arm link, the third arm link rotatable about a third rotation joint, the third arm link configured to be positionable through an incision in a patient; and (e) a slidable coupling part slidably coupled to the third arm link such that the slidable coupling part is moveable along a length of the third arm link between an extended position and a retracted position, the slidable coupling part being configured to be coupleable to the robotic surgical device.

2. 2. The overall positioning system of claim 1, wherein an axis of rotation of the first revolute joint, an axis of rotation of the second revolute joint, and an axis of rotation of the third revolute joint intersect at a single intersection.

3. The global positioning system of claim 2 , wherein the single point is a spherical joint.

4. The global positioning system of claim 2 , wherein the single intersection is located at a point along a portion of the robotic surgical device.

5. The global positioning system of claim 2 , wherein the global positioning system is positioned such that the single intersection point is located at an incision in a patient.

6. The overall positioning system of claim 5 , wherein said third arm link is disposed through said single point of insertion.

7. The global positioning system of claim 2 , wherein the single intersection point is located at an insertion point of a patient.

8. The global positioning system of claim 7 , wherein the insertion point comprises an incision or a natural orifice.

9. The overall positioning system of claim 7 , wherein said third arm link is disposed through said single node.

10. 10. The overall positioning system of claim 1 , wherein the robotic surgical device comprises one or more arms, and the overall positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a patient's body cavity.

11. The global positioning system of claim 10 , further comprising a controller operatively coupled to the global positioning system and the robotic surgical device.

12. 1. An overall positioning system for use with a robotic surgical device, comprising: (a) a base; (b) a first arm link operatively coupled to the base at a first rotary joint; (c) a second arm link operatively coupled to the first arm link at a second rotary joint; (d) a third arm link operatively coupled to the second arm link at a third rotary joint; (e) a slidable coupling part slidably coupled to the third arm link; (f) the robotic surgical device operably coupled to the slidable coupling component, the robotic surgical device (i) a device body; (ii) a first arm operatively coupled to the device body, the first arm comprising one or more first actuators; (iii) a second arm operatively coupled to the device body, the second arm comprising one or more second actuators; The third arm link is positionable through an insertion point in a patient such that the robotic surgical device is positionable within a body cavity of the patient.

13. 13. The overall positioning system of claim 12, wherein the slidable joint component is slidable along a length of the third arm link between an extended position and a retracted position.

14. 13. The overall positioning system of claim 12, wherein an axis of rotation of the first revolute joint, an axis of rotation of the second revolute joint, and an axis of rotation of the third revolute joint intersect at a single intersection, and the third arm link is disposed through the single intersection.

15. 1. An external global positioning system for use with an internal robotic surgical device, comprising: (a) a base; (b) a first arm link operatively coupled to the base at a first rotary joint; (c) a second arm link operatively coupled to the first arm link at a second rotary joint; (d) a third arm link operatively coupled to the second arm link at a third rotary joint; (e) a slidable coupling piece slidably coupled to the third arm link for movement along a length of the third arm link between an extended position and a retracted position, the slidable coupling piece being configured to be coupleable to the robotic surgical device; and (f) a single intersection point between an axis of rotation of the first rotary joint, an axis of rotation of the second rotary joint, and an axis of rotation of the third rotary joint, the single intersection point being located at an insertion point on a patient.

16. The overall positioning system of claim 15 , wherein a portion of the third arm link is disposed through the single intersection point.

17. The overall positioning system of claim 15 , wherein a portion of the robotic surgical device is positioned through the single intersection.

18. The global positioning system of claim 15 , wherein the insertion point is an incision.

19. 16. The overall positioning system of claim 15, wherein the robotic surgical device comprises one or more arms, and the overall positioning system and the robotic surgical device are configured to operate together to position the robotic surgical device within a body cavity of the patient.

20. (a) a central processing unit operatively coupled to the overall positioning system and the robotic surgical device, the central processing unit comprising software configured to send control instructions to the overall positioning system and the robotic surgical device; and 20. The overall positioning system of claim 19, further comprising: (b) a controller operatively coupled to the central processing unit.

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