Medical Instrument Drive Assembly and Docking System

Abstract

The medical instrument drive assembly includes a base portion, a first set of one or more drive outputs, a platform secured to the base portion, and a latch mechanism. The first set of one or more drive outputs are coupled to and / or extend from the base portion and configured to drive a first medical instrument. The platform is secured to the base portion and is movable between a raised configuration and a lowered configuration. The platform is biased to the raised configuration. The latch mechanism is configured to retain the platform in the lowered configuration.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to U.S. Provisional Application No. 63 / 150,418, filed February 17, 2021, and entitled "MEDICAL INSTRUMENT DRIVE ASSEMBLY AND DOCKING SYSTEM," the disclosure of which is incorporated by reference in its entirety herein. [Background technology]

[0002] Certain robotic medical procedures may involve interaction between one or more medical instruments and one or more medical instrument drive assemblies, which may include sterile adapters, robotic arm assemblies, and / or similar devices. In some cases, a physician may attach and / or mate a medical instrument to a medical instrument drive assembly while the physician navigates the medical instrument through a patient's body. [Brief description of the drawings]

[0003] Various embodiments are depicted in the accompanying drawings for illustrative purposes and should not be construed as limiting the scope of the present invention in any way. In addition, various features of different disclosed embodiments may be combined to form further embodiments that are part of this disclosure. Throughout the drawings, reference numbers may be reused to indicate correspondence between referenced elements. [Figure 1] 1 illustrates an embodiment of a robotic medical system including a medical instrument coupled to a robotic end effector, according to one or more embodiments. [Diagram 2] 1 illustrates a robotic system deployed for diagnostic and / or therapeutic bronchoscopy, according to one or more embodiments. [Diagram 3] 1 illustrates a table-based robotic system according to one or more embodiments. [Figure 4-1]4 illustrates medical system components that may be implemented in any of the medical systems of FIGS. 1-3, according to one or more embodiments. [Figure 4-2] 4 illustrates medical system components that may be implemented in any of the medical systems of FIGS. 1-3, according to one or more embodiments. [Diagram 5] FIG. 1 illustrates an exploded view of an instrument device manipulator assembly associated with a robotic arm configured to drive at least a medical instrument, according to one or more embodiments. [Figure 6A] 1 illustrates at least a portion of a drive assembly that may include one or more adapters having features configured to facilitate docking of one or more medical instruments according to one or more embodiments. [Figure 6B] 1 illustrates at least a portion of a drive assembly that may include one or more adapters having features configured to facilitate docking of one or more medical instruments according to one or more embodiments. [Figure 7A] 1 provides an illustration of an exemplary platform for use with one or more drive assemblies, according to one or more embodiments. [Figure 7B] 1 provides an illustration of an exemplary platform for use with one or more drive assemblies, according to one or more embodiments. [Figure 8A] 1 illustrates a drive assembly including an adapter configured to drive one or more medical instruments, which may include a first medical instrument and / or a second medical instrument, according to one or more embodiments. [Figure 8B] 1 illustrates a drive assembly including an adapter configured to drive one or more medical instruments, which may include a first medical instrument and / or a second medical instrument, according to one or more embodiments. [Figure 8C]1 illustrates a drive assembly including an adapter configured to drive one or more medical instruments, which may include a first medical instrument and / or a second medical instrument, according to one or more embodiments. [Figure 9A] 1 illustrates at least a portion of a drive assembly including an adapter configured to guide and / or attached to one or more medical instruments, according to one or more embodiments, the adapter including one or more magnetic elements and / or other alignment features. [Figure 9B] 1 illustrates at least a portion of a drive assembly including an adapter configured to guide and / or attached to one or more medical instruments, according to one or more embodiments, the adapter including one or more magnetic elements and / or other alignment features. [Figure 10] A flow diagram is provided for a process for driving one or more medical instruments in a drive assembly, which may include one or more adapters (e.g., sterile adapters) for transferring forces from a robotic system, in accordance with one or more embodiments. [Figure 11] 1 illustrates at least a portion of a drive assembly including an adapter configured to drive multiple types of medical instruments according to one or more embodiments. [Figure 12A] 1 illustrates a drive output configured to drive multiple types of medical instruments, according to one or more embodiments. [Figure 12B] 1 illustrates a drive output configured to drive multiple types of medical instruments, according to one or more embodiments. [Figure 12C] 1 illustrates a drive output configured to drive multiple types of medical instruments, according to one or more embodiments. [Figure 13]A flow diagram is provided for a process for driving one or more medical instruments in a drive assembly, which may include one or more adapters (e.g., sterile adapters) for transferring forces from a robotic system, in accordance with one or more embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0004] The headings provided herein are merely for convenience and do not necessarily affect the scope or meaning of the claimed invention. Although certain preferred embodiments and examples are disclosed below, the inventive subject matter extends beyond the specifically disclosed embodiments to other alternative embodiments and / or applications, as well as to modifications and equivalents thereof. Thus, the scope of claims that may arise from this specification is not limited by any of the specific embodiments described below. For example, in any method or process disclosed herein, the acts or operations of the method or process may be performed in any suitable order and are not necessarily limited to any particular disclosed order. Various operations may be described in sequence as multiple separate operations in a manner that may be helpful in understanding a particular embodiment. However, the order of description should not be construed to imply that these operations are order-dependent. Furthermore, structures, systems, and / or devices described herein may be embodied as integrated or separate components. For purposes of comparing various embodiments, certain aspects and advantages of these embodiments are described. Not necessarily all such aspects or advantages are realized by any particular embodiment. Thus, for example, various embodiments may be implemented in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages that may also be taught or suggested herein.

[0005] While certain spatially relative terms, such as "outer", "inner", "superior", "lower", "below", "upper", "vertical", "horizontal", "top", "bottom", "lateral", and similar terms, are used herein to describe the spatial relationship of one device / element or anatomical structure to another device / element or anatomical structure, it should be understood that these terms are used herein for ease of description to describe the positional relationship between elements / structures, such as with respect to the illustrated orientations of the drawings. It should be understood that the spatially relative terms are intended to encompass different orientations of the elements / structures in use or operation in addition to the orientation shown in the drawings. For example, when an element / structure is described as being "above" another element / structure, it may represent a position below or to the side of such other element / structure with respect to the intended patient or alternative orientations of the element / structure, and vice versa. It should be understood that the spatially relative terms, including those listed above, may be understood with respect to the illustrated orientation of each of the referenced figures.

[0006] Certain reference numbers are reused across different figures of the set of figures of this disclosure for convenience of devices, components, systems, features, and / or modules having characteristics that may be similar in one or more respects. However, with respect to any of the embodiments disclosed herein, the reuse of a common reference number in a figure does not necessarily indicate that such features, devices, components, or modules are identical or similar. Rather, one skilled in the art may be informed by the context as to the extent to which the use of a common reference number may imply similarity between the referenced subject matter. The use of a particular reference number in the context of the description of a particular figure may be understood to relate to the device, component, aspect, feature, module, or system identified in that particular figure, and not necessarily to any device, component, aspect, feature, module, or system identified by the same reference number in another figure. Furthermore, aspects of separate figures identified with a common reference number may be interpreted as sharing characteristics or as being entirely independent of each other. In some contexts, features associated with separate figures identified by a common reference number are not related and / or similar with respect to at least certain aspects.

[0007] The present disclosure provides systems, devices, and methods for facilitating interaction between one or more medical instruments and one or more medical instrument drive assemblies. With respect to the medical instruments described in this disclosure, the term "instrument" is used according to its broad and ordinary meaning and may refer to any type of tool, device, assembly, system, subsystem, apparatus, component, etc. In some contexts herein, the term "device" may be used substantially interchangeably with the term "instrument." Additionally, the term "assembly" is used herein according to its broad and ordinary meaning and may refer to any device and / or set of devices. The term "drive assembly" is used herein according to its broad and ordinary meaning and may refer to any device and / or set of devices associated with driving one or more medical instruments.

[0008] Medical Treatment Although certain aspects of the present disclosure are described in detail herein in the context of renal, urological, and / or nephrological procedures, such as kidney stone removal / treatment procedures, it should be understood that such context is provided for convenience and clarity, and that the robotic and / or manually driven concepts disclosed herein are applicable to any suitable medical procedure, such as robotic bronchoscopy. However, as noted, a description of the anatomy of the renal / urinary system and associated medical problems and procedures is presented below to aid in the explanation of the inventive concepts disclosed herein.

[0009] Certain medical procedures, such as ureteroscopy procedures, may utilize an elongated medical instrument that accesses the treatment site through an access sheath to remove debris, such as kidney stones and stone fragments or other waste or contaminants, from the treatment site. Kidney stone disease, also known as urolithiasis, is a medical condition involving the formation of solid pieces of material in the urinary tract, referred to as "kidney stones," "urinary stones," "nephrolithiasis," or "nephrolithiasis." Urinary stones may form and / or be found in the kidneys, ureters, and bladder (referred to as "bladder stones"). Such urinary stones may form as a result of the concentration of minerals in the urine, and may cause significant abdominal pain if such stones reach a size sufficient to obstruct urine flow through the ureter or urethra. Urinary stones may be formed from calcium, magnesium, ammonia, uric acid, cystine, and / or other compounds, or combinations thereof.

[0010] Several methods may be used to treat patients with kidney stones, including observation, medical treatment (such as expulsion therapy), non-invasive treatment (such as extracorporeal shock wave lithotripsy (ESWL)), minimally invasive or surgical treatment (such as ureteroscopy and percutaneous nephrolithotomy (PCNL)), etc. In some approaches (e.g., ureteroscopy and PCNL), a physician accesses the stone, the stone is broken into smaller pieces or fragments, and the smaller stone fragments / particles are extracted from within the kidney using a basket device and / or suction.

[0011] In some procedures, a surgeon may insert an endoscope (e.g., a ureteroscope) through the urethra and into the urinary tract to remove urinary stones from the bladder and ureters. Typically, the ureteroscope includes a camera at its distal end configured to allow visualization of the urinary tract. The ureteroscope may also include or allow placement of a lithotripsy device within the working channel of the ureteroscope configured to capture or crush ureteral stones. During a ureteroscopic procedure, one physician / technologist may control the position of the ureteroscope while another physician / technologist may control the lithotripsy device.

[0012] In some procedures, such as those for removing larger stones / fragments, physicians may use percutaneous nephrolithotomy ("PCNL") techniques, which involve inserting a nephroscope through the skin (i.e., percutaneously) and intervening tissue to provide access to the treatment site for breaking up and / or removing the stone. The percutaneous access devices (e.g., nephroscopes, sheaths, sheath assemblies, and / or catheters) used to provide an access channel (and / or direct entry endoscope) to the target anatomical site may include one or more fluid channels for providing irrigation fluid flow to the target site and / or for aspirating fluid from the target site (e.g., through passive outflow and / or active suction).

[0013] In the case of ureteroscopic procedures, physicians may perform procedures to break larger kidney stones into smaller fragments to facilitate their removal. For example, certain instruments may be utilized to break the stone into smaller fragments, such as by laser irradiation or other application of cleaving forces to the kidney stone. According to some procedures, a basket device / system may be used to capture the smaller stone fragments and extract them from the treatment site and out of the patient. Generally, once a stone is captured, the surgeon may wish to quickly extract the stone through the ureteral access sheath before opening the basket to deposit / drop the stone into a specimen collection structure or area, after which the basket may be closed and reinserted through the access sheath (e.g., into the working channel of the endoscope / ureteroscope) for the purpose of extracting any remaining stone or stone fragments.

[0014] Robotic assisted ureteroscopic procedures can be performed in connection with various medical procedures, such as kidney stone removal procedures, where the robotic tools can enable the physician / urologist to perform endoscopic targeting access as well as percutaneous access / treatment. Advantageously, aspects of the present disclosure relate to systems, devices, and methods for managing and / or facilitating interactions (which can include attaching, mating, contacting, locking, latching, removing, guiding, driving, among other interactions described herein) between one or more medical instruments (which can include endoscopes / ureteroscopes, basket devices / systems, lithotripsy devices, and / or various other instruments) and / or medical instrument drive assemblies (which can include adapters, sterile adapters, robotic arm devices, and / or various other devices).

[0015] Healthcare System FIG. 1 illustrates an example medical system 100 for performing various medical procedures according to aspects of the present disclosure. The medical system 100 may be used, for example, for endoscopic (e.g., ureteroscopic) procedures. As mentioned and described above, certain ureteroscopic procedures involve the treatment / removal of kidney stones. In some implementations, kidney stone treatment may benefit from the assistance of certain robotic techniques / devices. Robotic medical solutions may provide relatively higher precision, better control, and / or better eye-hand coordination for certain instruments compared to procedures using only human hands. For example, robot-assisted ureteroscopic access to the kidney with some procedures may advantageously enable the urologist to perform both endoscope control and basket control separately.

[0016] Although the system 100 of FIG. 1 is presented in the context of a ureteroscopic procedure, it should be understood that the principles disclosed herein may be implemented in any type of endoscopic procedure. Furthermore, some of the examples described herein relate to object removal procedures involving the removal of kidney stones from a kidney. However, the present disclosure is not limited to kidney stone removal alone. For example, the following description is also applicable to other surgical or medical procedures or procedures involving the removal of objects from a patient, including any object that can be removed from a treatment site or patient cavity (e.g., esophagus, ureter, intestine, eye, etc.) via percutaneous and / or endoscopic access, such as gallbladder stone removal, lung (pulmonary / transthoracic) tumor biopsy, or cataract extraction.

[0017] The medical system 100 includes a robotic system 10 (e.g., a mobile robotic cart) configured to engage and / or control a medical instrument 19 (e.g., a ureteroscope) including a proximal handle 31 and a shaft 40 coupled to the handle 31 at a proximal portion to perform a direct entry procedure on a patient 7. The term "direct entry" is used herein according to its broad and ordinary meaning and may refer to any entry of instrumentation through a natural or artificial opening in a patient's body. For example, with reference to FIG. 1, direct entry of a scope / shaft 40 into the urinary tract of a patient 7 may occur through the urethra 65. The term "shaft" is used herein according to its broad and ordinary meaning and may refer to any type of elongated cylinder, tube, scope (e.g., endoscope), prism (e.g., rectangular, oval, elliptical, or oval prism), wire, or the like, regardless of cross-sectional shape. It should be understood that any reference herein to a "shaft" or "instrument shaft" may be understood to refer to an endoscope.

[0018] It should be understood that the direct entry instrument 19 may be any type of shaft-based medical instrument, including an endoscope (such as a ureteroscope), a catheter (such as a steerable or non-steerable catheter), a nephroscope, a laparoscope, or other type of medical instrument. The embodiments of the present disclosure relating to a ureteroscopic procedure for removing a kidney stone through a ureteral access sheath (e.g., ureteral access sheath 90) are also applicable to solutions for removing objects through percutaneous access, such as through a percutaneous access sheath. For example, an instrument may access the kidney percutaneously, such as through a percutaneous access sheath, to capture and remove a kidney stone. The term "percutaneous access" is used herein according to its broad and ordinary meaning and may refer to entry, such as by puncture and / or small incision, of an instrument through a patient's skin and any other body layers necessary to reach a target anatomical location associated with the procedure (e.g., the calyx rete of the kidney 70).

[0019] The medical system 100 includes a control system 50 configured to interface with the robotic system 10 to provide information regarding the procedure and / or perform various other operations. For example, the control system 50 can include various input / output components 258, which can include one or more displays 56 configured to present certain information to assist the physician 5 and / or other technicians or individuals. The medical system 100 can include a platform 15 configured to hold a patient 7. The system 100 can further include an electromagnetic (EM) field generator 18, which can be carried by one or more of the robotic arms 12 of the robotic system 10 or can be a stand-alone device. While the various robotic arms 12 are shown in various positions and coupled to various tools / devices, it should be understood that such configurations are illustrated for convenience and illustrative purposes and that such robotic arms can have different configurations over time and / or at different points during a medical procedure. Additionally, the robotic arm 12 may be coupled to devices / instruments different from those shown in FIG. 1, and in some cases or at some times, one or more of the arms may not be available or coupled to a medical instrument (e.g., an instrument manipulator / coupling). The roll of the shaft 40 may be controlled robotically and / or manually, such as through the movement of an end effector associated with the robotic arm 12a, and such movement may be controlled by the control system 50 and / or the robotic system 10. The term "end effector" is used herein according to its broad and ordinary meaning and may refer to any type of robotic manipulator device, component, and / or assembly. In the case where an adapter, such as a sterile adapter, is coupled to a robotic end effector or other robotic manipulator, the term "end effector" may refer to the adapter (e.g., a sterile adapter) or any other robotic manipulator device, component, or assembly associated with and / or coupled to the end effector.In some contexts, the combination of a robotic end effector and an adapter may be referred to as an instrument manipulator assembly, and such an assembly may or may not also include a medical instrument (or instrument handle / base) physically coupled to the adapter and / or end effector. The terms "robotic manipulator" and "robotic manipulator assembly" are used according to their broad and ordinary meanings and may collectively or individually refer to a robotic end effector and / or a sterile adapter or other adapter components coupled to the end effector. For example, a "robotic manipulator" or a "robotic manipulator assembly" may refer to an instrument device manipulator (IDM) that includes one or more drive outputs, whether embodied in a robotic end effector, a sterile adapter, and / or other components.

[0020] In an exemplary use case, if a patient 7 has a kidney stone (or stone fragments) 80 located in a kidney 70, a physician may perform a procedure to remove the stone 80 through the ureter (63, 60, 65). In some embodiments, the physician 5 may interact with the control system 50 and / or the robotic system 10 to cause / control the robotic system 10 to advance and navigate a medical instrument shaft 40 (e.g., a scope) from the urethra 65, through the bladder 60, up the ureter 63, and into the renal pelvis 71 and / or calyx rete of the kidney 70 where the stone 80 is located. The physician 5 may further interact with the control system 50 and / or the robotic system 10 to cause / control the advancement of a basket device 30 through a working channel of the instrument shaft 40, the basket device 30 configured to facilitate capture and removal of the kidney stone or stone fragments. The control system 50 may provide information associated with the medical instrument 40 and / or other instruments of the system 100, such as real-time endoscopic images captured therewith, via the display 56 to assist the physician 5 in navigating / controlling such instruments.

[0021] Renal anatomy is described herein for reference with respect to certain medical procedures related to aspects of the inventive concept. The kidneys 70, shown generally in a typical anatomical location in FIG. 1, generally comprise two bean-shaped organs located on the left and right sides, respectively, in the retroperitoneal space. In an adult human, the kidneys generally are about 11 cm in height / length. The kidneys receive blood from paired renal arteries 69, and blood leaves the kidneys via paired renal veins 67. Each kidney 70 is fluidly connected to a respective ureter 63, which generally comprises a tube that carries urine drained from the kidney 70 to the bladder 60.

[0022] The kidneys 70 typically sit relatively high in the abdominal cavity, in a retroperitoneal position at a slight oblique angle. Due to intraperitoneal asymmetries generally caused by the position of the liver, the right kidney (detailed in FIG. 1 ) is typically slightly lower and smaller than the left, and slightly more centrally located than the left kidney. Above each kidney is an adrenal gland (not shown). The upper portion of the kidney 70 is partially protected by the 11th and 12th ribs (not shown). Each kidney with its adrenal gland is generally surrounded by two layers of fat: perirenal fat, which resides between the renal fascia and the renal capsule, and pararenal fat, which resides above the renal fascia.

[0023] The kidneys 70 are responsible for controlling the volumes of various body fluid compartments, fluid osmolality, acid-base balance, various electrolyte concentrations, and the removal of toxins. The kidneys 70 provide a filtration function by secreting certain substances and reabsorbing others. Examples of substances secreted in urine are hydrogen, ammonium, potassium, and uric acid. In addition, the kidneys also perform a variety of other functions, such as hormone synthesis.

[0024] The recessed area on the concave border of kidney 70 is the renal hilum 81, where the renal artery 69 (not shown in the detailed view of kidney 70) enters kidney 70 and where the renal vein 67 (not shown in the detailed view) and ureter 63 exit. Kidney 70 is surrounded by a tough fibrous tissue, the renal capsule 74, which is itself surrounded by perirenal fat, renal fascia, and pararenal fat. The anterior (front) surface of these tissues is the peritoneum, while the posterior (back) surface is the transversalis fascia.

[0025] The functional matrix or parenchyma of the kidney 70 is divided into two major structures: the outer renal cortex 77 and the inner renal medulla 87. These structures each take the form of multiple roughly conical renal lobes that contain a renal cortex surrounding a portion of the medulla called the renal pyramids 72. Between the renal pyramids 72 are processes of the cortex called the renal columns 73. The urine-producing functional structure of the kidney, the nephron (not shown in detail in FIG. 1 ), spans the cortex 77 and medulla 87. The initial filtering portion of the nephron is the renal corpuscle, located in the cortex, followed by the nephric duct, which enters the cortex deep into the medullary pyramid. The medullary ray, which is part of the renal cortex, is a collection of tubules that drain into a single collecting duct.

[0026] The tip / apex, or papilla 79, of each renal pyramid drains urine into a respective minor calyx 75, which drains into a major calyx 76, which drains into the renal pelvis 71 where it passes into the ureter 63. The manifold-shaped collection of minor and major calyxes may be referred to herein as the "calyx network" of the kidney. At the renal hilum 81, the ureter 63 and renal vein 67 exit the kidney and the renal artery 69 enters. Hilar fat and lymphatic tissue with lymph nodes surround these structures. The renal hilar fat is adjacent to a fat-filled cavity referred to as the renal sinus. The renal sinus collectively contains the renal pelvis 71 and calyxes 75, 76 and separates these structures from the renal medulla tissue. The funnel-shaped / tubular anatomical structure associated with the calyx may be referred to as the infundibulum. That is, the infundibulum generally results in the termination of the calyx where the papilla is exposed within the calyx.

[0027] With further reference to the medical system 100, a medical instrument shaft 40 (e.g., a scope, direct entry instrument, etc.) can be advanced through the urinary tract into the kidney 70. Specifically, a ureteral access sheath 90 can be disposed within the urinary tract to a region near the kidney 70. The shaft 40 can be passed through the ureteral access sheath 90 to access the internal anatomical structure of the kidney 70, as shown. Once at the site of the kidney stone 80 (e.g., within a target calyx 75 of the kidney 70 through which the stone 80 is accessible), the medical instrument 19 and / or its shaft 40 can be used to guide / direct the basket device 30 to the target location. Once the stone 80 is captured within the distal basket portion 35 of the basket device / assembly 30, the kidney stone 80 can be extracted from the patient 7 using the utilized ureteral access pathway.

[0028] Various scope / shaft-type instruments disclosed herein, such as shaft 40 of system 100, can be configured to navigate within the human anatomy, such as within a natural orifice or lumen of the human anatomy. The terms "scope" and "endoscope" are used herein according to their broad and ordinary meaning and may refer to any type of elongated (e.g., shaft-type) medical instrument having imaging, viewing, and / or capture capabilities and configured to be introduced into any type of organ, cavity, lumen, chamber, or space of the body. Scopes can include, for example, ureteroscopes (e.g., for accessing the urinary tract), laparoscopes, nephroscopes (e.g., for accessing the kidney), bronchoscopes (e.g., for accessing the airways such as the bronchi), colonoscopes (e.g., for accessing the colon), arthroscopes (e.g., for accessing a joint), cystoscopes (e.g., for accessing the bladder), colonoscopes (e.g., for accessing the colon and / or rectum), borescopes, and the like. The scope / endoscope, in some cases, may comprise at least a partially rigid and / or flexible tube and may be sized to pass within an outer sheath, catheter, introducer, or other luminal device, or may be used without such a device.

[0029] FIG. 2 illustrates a cart-based robotic system 101 positioned for diagnostic and / or therapeutic bronchoscopy, according to one or more embodiments. During bronchoscopy, the arm 12 of the robotic system 10 can be configured to drive a medical instrument shaft 52, such as a steerable endoscope, which can be a procedure-specific bronchoscope for bronchoscopy, that delivers diagnostic and / or therapeutic tools through a natural orifice access point (e.g., the mouth of a patient 7 positioned on a table 15 in this example). As shown, the robotic system 10 (e.g., a cart) can be positioned adjacent to the upper torso of the patient to provide access to the access point. Similarly, the robotic arm 12 can be actuated to position the bronchoscope / shaft 52 relative to the access point. The arrangement of FIG. 2 can also be utilized when performing gastro-intestinal (GI) procedures with a gastroscope, an endoscope specialized for GI procedures.

[0030] Once the robotic system 10 is properly positioned, the robotic arms 12 can insert the steerable endoscope 52 into the patient robotically, manually, or a combination thereof. The steerable endoscope 52 can include at least two telescopic sections, such as an inner leader section and an outer sheath section, each section coupled to a separate instrument feeder from a set of instrument feeders and / or instrument handles 11, with each instrument feeder / handle coupled to the distal end of a respective robotic arm 12. This linear arrangement of the feeders / handles 11 can create a "virtual rail" 103 that can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions.

[0031] The endoscope 52 may be directed down the patient's trachea and lungs after insertion using precise commands from the robotic system 10 until it reaches the target surgical site. For example, the endoscope 52 may be directed to deliver a biopsy needle to a target, such as a lesion or nodule in the patient's lung. The biopsy needle may be deployed down the working channel over the length of the endoscope to obtain a tissue sample that is analyzed by a pathologist. Depending on the results of the pathology, additional tools may be deployed down the working channel of the endoscope for further biopsies. For example, if the nodule is identified as malignant, the endoscope 52 may endoscopically deliver a tool to ablate the potential cancerous tissue. In some cases, diagnostic and therapeutic treatments may be accomplished in separate procedures. In these situations, the endoscope 52 may also be used to deliver fiducials to "mark" the location of the target nodule as well. In other examples, diagnostic and therapeutic treatments may be accomplished during the same procedure.

[0032] In system 101, a patient introducer 102 is attached to the patient 7 via a port (not shown, e.g., surgical tubing). The curvature of the introducer 102 may allow the robotic system 10 to manipulate instruments 52 from a position that is not directly axially aligned with the patient access port, thereby allowing greater flexibility in placement of the robotic system 10 within a room. Additionally, the curvature of the introducer 102 may allow the robotic arm 12 of the robotic system 10 to be substantially horizontally aligned with the patient introducer 102, which may facilitate manual movement of the robotic arm 12 if necessary.

[0033] 3 illustrates a table-based robotic system 104 in accordance with one or more embodiments of the present disclosure. The system 104 incorporates a platform 147 and a robotic component 105, thereby allowing for a reduced amount of capital equipment in the operating room as compared to some cart-based robotic systems, which in some cases can allow for greater access to the patient 7. As with cart-based systems, the instrument device manipulator assembly associated with the robotic arm 212 of the system 104 may generally comprise an instrument and / or instrument feeder designed to manipulate an elongated medical instrument / shaft, such as a catheter, along a virtual rail or path.

[0034] As shown, the robot-enabled table system 104 can include a column 144 coupled to one or more carriages 141 (e.g., a ring-shaped movable structure) from which one or more robotic arms 212 can extend. The carriage 141 can translate along a vertical column interface that runs at least a portion of the length of the column 144 to provide various viewing positions from which the robotic arm 212 can be positioned to reach the patient 7. The carriage 141 can, in some embodiments, rotate about the column 144 using a mechanical motor positioned within the column 144 to provide the robotic arm 212 with access to multiple sides of the table 104. By rotating and / or translating the carriage 141, the system 104 can enable medical instruments, such as endoscopes and catheters, to be aligned to different access points on the patient. By providing vertical adjustment, the robotic arm 212 can be advantageously configured to be compactly stored under a platform 147 of the table system 104 and then conveniently raised during a procedure.

[0035] The robot arm 212 may be mounted to the carriage 141 via one or more arm mounts 145, which may include a series of joints that may be individually rotatable and / or telescopically extendable to provide additional configurability to the robot arm 212. The column 144 structurally provides a path for the support of the table platform 147 and the vertical translation of the carriage 141. The column 144 may also transmit power and control signals to the carriage 141 and / or the robot arm 212 mounted thereon. The system 104 may include a specific control circuit configured to control the drive and / or roll of the instrument shaft using an instrument feeder 11, which may be coupled to an end effector of one of the arms 212, and the instrument feeder 11 is controlled to automatically modify the axial drive speed for the elongated instrument (e.g., endoscope) 119 based on a determined position of the distal end of the instrument 119. For example, when the distal end of the instrument 119 is positioned at a predetermined automatic pause location, the instrument feeder 11 may be controlled / driven to automatically pause / stop axial retraction to allow sample collection, as described in detail herein.

[0036] 1-3 and 4-1, which illustrates an exemplary embodiment of a control system of any of the above, an associated control system 50 can be configured to provide various functions to assist in performing a medical procedure. In some embodiments, the control system 50 can be coupled to the robotic system 10 and operate in cooperation with the robotic system 10 to perform a medical procedure on the patient 7. For example, the control system 50 can communicate with the robotic system 10 via a wireless or wired connection (e.g., to control the robotic system 10). Additionally, in some embodiments, the control system 50 can communicate with the robotic system 10 to receive therefrom positional data regarding the position of the distal end of the scope 40, the access sheath 90, or the basket device 30. Such positional data regarding the position of the scope 40, the access sheath 90, or the basket device 30 can be derived at least in part using one or more electromagnetic sensors associated with the respective components, scope image processing capabilities, and / or based on robotic system data (e.g., arm position data, known parameters / dimensions of various system components, etc.). Additionally, in some embodiments, the control system 50 may be in communication with the table 15 to position the table 15 in a particular orientation or otherwise control the table 15. In some embodiments, the control system 50 may be in communication with the EM field generator 18 to control the generation of the EM field in the area around the patient 7 and / or around the instrument feeder 11.

[0037] FIG. 4-1 further illustrates an exemplary embodiment of the robotic system 400 of any of FIGS. 1-3. The robotic system 10 can be configured to at least partially facilitate the performance of a medical procedure. The robotic system 10 can be arranged in a variety of ways depending on the particular procedure. The robotic system 10 can include one or more robotic arms 12 configured to engage and / or control, for example, a scope 40 and / or a basket device / system 30 to perform one or more aspects of the procedure. As shown, each robotic arm 12 can include multiple arm segments 23 coupled to joints 24 that can provide multiple degrees of movement / freedom. In the example of FIG. 1, the robotic system 10 is positioned proximate a patient's leg, and the robotic arm 12 is actuated to engage and position the scope 40 for access into an access opening, such as the urethra 65 of the patient 7. Once the robotic system 10 is properly positioned, the scope 40 can be inserted into the patient 7 robotically using the robotic arm 12, manually by the physician 5, or a combination thereof. 1, a scope-driver / feeder instrument coupling 11 (i.e., an instrument device manipulator (IDM)) may be attached to the distal end effector 22 of one of the arms 12b to facilitate robotic control / advancement of the scope 40. Another of the arms 12a may have associated therewith an instrument coupling / manipulator 19 configured to facilitate advancement and manipulation of a basket device 30. The instrument coupling 19 may further provide a handle 31 for the scope 40, which is physically coupled to the handle 31 at a proximal end of the scope 40. The scope 40 may include one or more working channels through which additional tools, such as a lithotriptor, basket device, forceps, etc., may be introduced to the treatment site.

[0038] The robotic system 10 can be coupled to any of the components of the medical system 100, such as the control system 50, the platform 15, the EM field generator 18, the scope 40, the basket system 30, and / or the percutaneous access instruments (e.g., needles, catheters, nephroscopes, etc.). In some embodiments, the robotic system 10 is communicatively coupled to the control system 50. For example, the robotic system 10 can be configured to receive control signals from the control system 50 to perform a particular operation, such as positioning one or more of the robotic arms 12 in a particular manner, manipulating the scope 40, manipulating the basket system 30, etc. In response, the robotic system 10 can use certain control circuits 211, actuators 217, and / or other components of the robotic system 10 to control the components of the robotic system 10 to perform the operation. In some embodiments, the robotic system 10 and / or the control system 50 are configured to receive images and / or image data from the scope 40 that are representative of a portion of the internal anatomy of the patient 7 and / or the access sheath or other device components.

[0039] The robotic system 10 generally includes an elongated support structure 14 (also referred to as a "column"), a robotic system base 25, and a console 13 at the top of the column 14. The column 14 may include one or more arm supports 17 (also referred to as a "carriage") for supporting the deployment of one or more robotic arms 12 (three are shown in FIG. 1). The arm supports 17 may include individually configurable arm mounts that rotate along a vertical axis to adjust the base of the robotic arms 12 for more desired positioning relative to the patient.

[0040] The arm support 17 can be configured to translate vertically along the column 14. In some embodiments, the arm support 17 can be connected to the column 14 through slots 20 positioned on either side of the column 14 to guide the vertical translation of the arm support 17. The slots 20 contain vertical translation interfaces to position and hold the arm support 17 at various vertical heights relative to the robotic system base 25. The vertical translation of the arm support 17 allows the robotic system 10 to adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, an individually configurable arm mount on the arm support 17 can allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0041] The robotic arm 12 may generally comprise a robotic arm base 21 and an end effector 22 separated by a series of articulated arm segments 23 connected by a series of joints 24, each joint comprising one or more independent actuators 217. Each actuator may comprise an independently controllable motor. Each independently controllable joint 24 may provide or represent an independent degree of freedom available to the robotic arm. In some embodiments, each of the arms 12 has seven joints, thus providing seven degrees of freedom, including a "redundant" degree of freedom. The redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 at a particular position, orientation, and trajectory in space using various link positions and joint angles. This allows the system to position and orient medical instruments from a desired location in space, while allowing the physician to move the arm joints to a clinically convenient position away from the patient to improve access while avoiding arm collisions.

[0042] The robotic system base 25 balances the weight of the column 14, arm support 17, and arm 12 on the floor. Thus, the robotic system base 25 and / or control system 50 may house certain relatively heavier components such as electronics, motors, power interfaces 219, 259, and components that selectively enable movement or immobilize the robotic system 10 and / or control system 50. For example, the robotic system base 25 may include casters 28 in the form of wheels that allow the robotic system to be easily moved around the operating room prior to a procedure. After reaching the appropriate position, the casters 28 may be immobilized using wheel locks to hold the robotic system 10 in place during a procedure.

[0043] When positioned at the top of the column 14, the console 13 can provide both a user interface for receiving user input and a display screen 16 (or dual-purpose device, e.g., a touch screen) for providing both pre-operative and intra-operative data to the physician / user. Potential pre-operative data on the console / display 16 or display 56 can include pre-operative planning, navigation and mapping data derived from a pre-operative computerized tomography (CT) scan, and / or notes from a pre-operative patient interview. Intra-operative data on the display can also include vital patient statistics such as respiration, heart rate, and / or pulse, along with optical information provided from tools, sensor information from sensors, and coordinate information. The console 13 can be positioned and tilted to allow the physician to access the console from the side of the column 14 opposite the arm support 17. From this position, the physician may view the console 13, the robotic arm 12, and the patient while operating the console 13 from behind the robotic system 10. As shown, the console 13 can also include a handle 27 to aid in the manipulation and stabilization of the robotic system 10.

[0044] Each end effector 22 of the robotic arm 12 may comprise or be configured to be coupled to an instrument device manipulator (IDM) 29, which in some instances may be attached using a sterile adapter component. The combination of the end effector 22 and associated IDM and any intervening mechanisms or couplings (e.g., sterile adapters) may be referred to as a manipulator assembly. In some embodiments, the IDM 29 may be removed and replaced with a different type of IDM, e.g., a first type of IDM / instrument 111 may be configured to manipulate an endoscope / shaft, while a second type of IDM / instrument 119 may be associated with the shaft (e.g., coupled to a proximal portion thereof) and configured to rotate and / or articulate the shaft and / or manipulate a basket device. Another type of IDM / instrument may be configured to hold an electromagnetic field generator 18. The IDM may provide a power 179 and control 178 interface. For example, the interface may include connectors for communicating pneumatic, power, electrical, and / or optical signals from the robotic arm 12 to the IDM. The IDM 29 can be configured to manipulate a medical instrument (e.g., a surgical tool / instrument), such as a scope 40, using techniques including, for example, direct drive, harmonic drive, gear drive, belt and pulley, magnetic drive, and the like. In some embodiments, a device manipulator 29 can be attached to each of the robotic arms 12, which are configured to insert or retract their respective coupled medical instruments into or from a treatment site.

[0045] As mentioned above, system 100 may include certain control circuits configured to perform certain functions described herein, including control circuitry 211 of robotic system 10 and control circuitry 251 of control system 50. That is, the control circuitry of systems 100, 101, 104 may be part of robotic system 10, control system 50, or some combination thereof. Thus, any reference to control circuitry herein may refer to circuitry embodied in the robotic system, the control system, or any other component of a medical system, such as medical systems 100, 101, and 104 shown in Figures 1-3, respectively. The term "control circuitry" is used herein according to its broad and ordinary meaning and may refer to any collection of processors, processing circuits, processing modules / units, chips, dies (e.g., semiconductor dies including one or more active and / or passive devices and / or connectivity circuits), microprocessors, microcontrollers, digital signal processors, microcomputers, central processing units, field programmable gate arrays, programmable logic devices, state machines (e.g., hardware state machines), logic circuits, analog circuits, digital circuits, and / or any devices that manipulate signals (analog and / or digital) based on hard-coded and / or operational instructions in the circuits. The control circuitry referred to herein may further include one or more circuit boards (e.g., printed circuit boards), conductive traces and vias, and / or mounting pads, connectors, and / or components. The control circuitry referred to herein may further comprise one or more storage devices, which may be embodied in a single memory device, multiple memory devices, and / or embedded circuitry of the device. Such data storage devices may comprise read-only memory, random access memory, volatile memory, non-volatile memory, static memory, dynamic memory, flash memory, cache memory, data storage registers, and / or any device that stores digital information.It should be noted that in embodiments in which the control circuitry comprises hardware and / or software state machines, analog circuits, digital circuits, and / or logic circuits, the data storage devices / registers that store any associated operational instructions may be embedded within or external to the circuitry that comprises the state machines, analog circuits, digital circuits, and / or logic circuits.

[0046] The control circuitry 211, 251 may comprise a computer-readable medium that stores and / or is configured to store hard-coded and / or operational instructions corresponding to at least some of the steps and / or functions illustrated in one or more of the figures and / or described herein. Such computer-readable medium may, in some cases, be included in an article of manufacture. The control circuitry 211 / 251 may be maintained / disposed entirely locally or may be at least partially remotely located (e.g., indirectly communicatively coupled via a local area network and / or wide area network). Either of the control circuits 211, 251 may be configured to perform any aspect of the various processes disclosed herein.

[0047] With respect to the robotic system 10, at least a portion of the control circuitry 211 may be integrated with the base 25, column 14, and / or console 13 of the robotic system 10, and / or another system communicatively coupled to the robotic system 10. With respect to the control system 50, at least a portion of the control circuitry 251 may be integrated with the console base 51 and / or display unit 56 of the control system 50. It should be understood that any description herein of functional control circuitry or associated functionality may be understood to be embodied at least in part in the robotic system 10, the control system 50, or any combination thereof, and / or in one or more other local or remote systems / devices, e.g., control circuitry associated with a handle / base of a shaft-type instrument (e.g., an endoscope) according to any of the disclosed embodiments.

[0048] With further reference to FIG. 4-1 , the control system 50 can include various I / O components 218 configured to assist the physician 5 or others in performing a medical procedure. For example, the input / output (I / O) components 218 can be configured to allow user input at the input controls 255 to control / navigate the scope 40 and / or the basket system within the patient 7. In some embodiments, for example, the physician 5 can provide input to the control system 50 and / or the robotic system 10, and in response to such input, can send control signals to the robotic system 10 to operate the scope 40 and / or the catheter basket system 30. The control system 50 can include one or more display devices 56 to provide various information regarding the procedure. For example, the display 56 can provide information regarding the scope 40 and / or the basket system 30. For example, the control system 50 can receive real-time images captured by the scope 40 and display the real-time images via the display 56. Additionally or alternatively, control system 50 may receive signals (e.g., analog, digital, electrical, acoustic / sonic, pneumatic, tactile, hydraulic, etc.) from medical monitors and / or sensors associated with patient 7, and display 56 may present information regarding the health or environment of patient 7. Such information may include, for example, information displayed via a medical monitor, such as information regarding heart rate (e.g., ECG, HRV, etc.), blood pressure / blood velocity, muscle biosignals (e.g., EMG), body temperature, blood oxygen saturation (e.g., SpO2), CO2, brain waves (e.g., EEG), environmental and / or local or core body temperature.

[0049] The various components of the system 100 can be communicatively coupled to one another over a network, which can include wireless and / or wired networks. Exemplary networks include one or more personal area networks (PANs), local area networks (LANs), wide area networks (WANs), Internet area networks (IANs), cellular networks, the Internet, personal area networks (PANs), body area networks (BANs), and the like. For example, the various communication interfaces 254, 214 of the system of FIG. 4-1 can be configured to communicate with one or more devices / sensors / systems, such as over wireless and / or wired network connections. In some embodiments, the various communication interfaces 254, 214 can implement wireless technologies, such as Bluetooth, Wi-Fi, near field communication (NFC), and the like. Additionally, in some embodiments, the various components of the system 100 can be connected for data communication, fluid exchange, power exchange, and the like, via one or more supporting cables, tubes, and the like.

[0050] The control system 50 and / or the robotic system 10 may include specific user controls (e.g., controls 55), which may comprise one or more buttons, keys, joysticks, handheld controllers (e.g., video game type controllers), computer mice, track pads, track balls, control pads, and / or any type of user input (and / or output) device or device interface, such as sensors (e.g., motion sensors or cameras) that capture hand and finger gestures, touch screens, and / or interfaces / connectors therefor. Such user controls are communicatively and / or physically coupled to respective control circuits. In some embodiments, a user may engage the user controls 55 to command the robot shaft rotation / roll as described herein.

[0051] The end effector 22 may be configured to operate one or more adapters 8 (e.g., sterile adapters), which may be removably attached to the end effector 22. Although the adapter 8 is shown as part of the robotic system 10, the adapter 8 may be a separate device that may be mated to one or more end effectors 22 to provide a sterile extension of the end effector 22 for use in manipulating and / or driving one or more medical instruments. For example, a protective sheet 38 may be configured to separate at least a portion of the arm 12 and / or end effector 22 from the adapter 8.

[0052] The adapter 8 may include one or more drive outputs 404 configured to transfer force (e.g., torque) from the drive output 404 of the end effector 22 to one or more medical instruments mated to the drive output 402 on the adapter 8. The one or more adapters 8 may additionally or alternatively include one or more drive inputs configured to receive and / or otherwise mate with the drive output 402 of the end effector 22.

[0053] FIG. 4-2 illustrates medical system components including a scope 519 and basket 30 device / assembly 519 that may be implemented in any of the medical systems of FIGS. 1-3, according to one or more embodiments. In some embodiments, the scope assembly 519 includes a handle or base 31 coupled to an endoscope 40. For example, the endoscope (i.e., "scope" or "shaft") may include an elongated shaft that includes one or more lights 49 and one or more cameras or other imaging devices 48. The scope 40 may further include one or more working channels 44 that may extend the length of the scope 40. In some embodiments, such channels may be utilized to provide access for elongated basket wires / tines through the scope 40.

[0054] The basket assembly 30 may include a basket 35 formed from one or more wire tines 36. For example, the basket assembly 30 may include four wire tines disposed over its length within a basket sheath 37, which protrude from a distal end of the sheath 37 to form a basket shape 35. The tines 36 further extend from a proximal end of the sheath 37. The tines 36 may be configured to be slidable within the basket sheath 37 with some frictional resistance. The tines 36 and sheath 37 may be coupled to respective actuators 195 of the basket cartridge component 32. The basket cartridge 32 may be physically and / or communicatively coupled to a handle portion / component 31 of the scope assembly 519. The handle component 31 may be configured to be used to assist in basket and / or scope control, either manually or through robotic control.

[0055] The basket assembly 30 may include various interaction elements 411 that may enable the basket assembly 30 to interact with the scope assembly 519 and / or components of the robotic system 10 (e.g., the end effector 22 and / or the adapter 8) in various ways. For example, the basket assembly 30 may include one or more drive inputs 413 configured to receive and / or mate with corresponding drive outputs of one or more end effectors 22 and / or the adapter 8. The exemplary interaction elements 411 may further include alignment features 415 configured to facilitate alignment of the basket assembly 30 with the scope assembly 519, the adapter 8, the end effector 22, and / or other devices. For example, the basket assembly 30 may include one or more magnetic elements configured to mate with corresponding magnetic elements in the scope assembly 519, the adapter 8, and / or other devices. One or more alignment features 415 may be configured to mate with corresponding features only when the basket assembly 30 is positioned in a desired configuration with the scope assembly 519, adapter 8, and / or other devices.

[0056] In some embodiments, the basket assembly 30 may include one or more securement features 418 configured to secure the basket assembly 30 to the scope assembly 519, the adapter 8, and / or other devices. For example, the basket assembly 30 may include one or more hooks and / or similar attachment mechanisms configured to mate with and / or otherwise form an attachment with a corresponding attachment mechanism (e.g., a latch) on the adapter 8. The basket assembly 30 may further include a release mechanism that allows the basket assembly 30 to be removed from the scope assembly 519, the adapter 8, and / or other devices.

[0057] The scope assembly 519 may include various interaction elements 401 that may enable the scope assembly 519 to interact with the basket assembly 30 and / or components of the robotic system 10 (e.g., the end effector 22 and / or the adapter 8) in various ways. For example, the scope assembly 519 may include one or more drive inputs 403 configured to receive and / or mate with corresponding drive outputs of one or more end effectors 22 and / or the adapter 8. The example interaction element 401 may further include alignment features 405 configured to facilitate alignment of the scope assembly 519 with the basket assembly 30, the adapter 8, the end effector 22, and / or other devices. For example, the scope assembly 519 may include one or more magnetic elements and / or other adapter alignment features 406 configured to mate with corresponding magnetic elements and / or other features in the adapter 8. In another example, the scope assembly 519 may include one or more magnetic elements and / or other basket alignment features 407 configured to mate with corresponding magnetic elements and / or other features in the basket assembly 30. The one or more alignment features 405 may be configured to mate with the corresponding features only when the scope assembly 519 is positioned in a desired configuration with the basket assembly 30, adapter 8, and / or other devices.

[0058] In some embodiments, the scope assembly 519 may include one or more securing features 418 configured to secure the scope assembly 519 to the basket assembly 30, the adapter 8, and / or other devices. For example, the scope assembly 519 may include one or more recesses and / or similar attachment features configured to mate with and / or otherwise form an attachment with a corresponding attachment feature (e.g., a latch) on the adapter 8. The scope assembly 519 may further include a release mechanism that allows the scope assembly 519 to be removed from the basket assembly 30, the adapter 8, and / or other devices.

[0059] The scope assembly 519 may be powered through power interface 45 and / or controlled through control interface 78, each or both of which may interface with a robotic arm / component of the robotic system 10. The scope assembly 519 may further include one or more sensors 172, such as pressure and / or other force reading sensors, which may be configured to generate signals indicative of forces experienced at / by one or more of the actuators 195 and / or other couplings of the scope / basket system 519.

[0060] 5 illustrates an exploded view of an instrument device manipulator assembly 150 associated with a robotic arm 12 configured to drive at least a medical instrument 31, according to one or more embodiments. The instrument device manipulator assembly 150 includes an end effector 6 associated with a distal end of the robotic arm 12. The instrument manipulator assembly 150 may be configured to manipulate a drive input, which may be associated with a handle portion of the medical instrument 31. Descriptions herein of upward and downward facing surfaces, plates, faces, components, and / or other features or structures may be understood with reference to the particular orientation of the instrument device manipulator assembly 150 shown in FIG. 5 when assembled (rather than the tilted, exploded orientation shown). That is, although the end effector 6 may generally be configurable to face and / or be oriented in a range of directions and orientations, for convenience, the description of such components herein (and components / devices directly or indirectly attached / hanging thereto) may be in the context of the generally vertically facing orientation of the end effector 6 shown in FIG. 5.

[0061] In some embodiments, the instrument device manipulator assembly 150 further includes an adapter component 8 that is attachable to the end effector 6 and configured to provide a driver interface between the end effector 6 and the medical instrument 31. The adapter 8 and / or the medical instrument 31 may be removable or separable from the robotic arm 12 and, in some embodiments, may be devoid of any electromechanical components, such as motors. This dichotomy may be caused by the need to sterilize medical instruments used in medical procedures and the inability to adequately sterilize expensive capital equipment due to the complex mechanical assembly and sensitive electronics of the medical instruments. Thus, the medical instrument 31 and / or the adapter 8 may be designed to be separated, removed, and replaced from the end effector 6 (and thus the system) for individual sterilization or disposal. In contrast, the end effector 6 does not need to be replaced or sterilized in some cases and may be covered (e.g., using a drape 38) for protection.

[0062] In some embodiments, the adapter 8 can include connectors for transmitting pneumatic pressure, power, electrical signals, and / or optical signals from the robotic arm 12 and / or end effector 6 to the medical instrument 31 and / or additional instruments. The robotic arm 12 can advance / insert or retract the coupled medical instrument 31 into and out of the treatment site. In some embodiments, the medical instrument 31 can be removed and replaced with a different type of instrument and / or refilled with additional instruments. The end effector 6 of the robotic arm 12 can include various components / elements configured to connect and / or align with components of the adapter 8, the instrument handle, and / or the shaft 40. For example, the end effector 6 can include a drive output 502 (e.g., a drive spline, gear, or rotatable disk with engagement features) that controls / articulates the medical instrument and / or one or more fasteners 506 to attach the medical instrument 31 and / or the adapter 8 to the end effector 6. In some embodiments, a portion (e.g., a plate) 515 of the adapter 8, when coupled to the end effector 6, may be configured to rotate / spin independently of one or more other components of the adapter 8 and / or the end effector 6.

[0063] In some configurations, a sterile drape 38, such as, for example, a plastic sheet, may be disposed between the end effector 6 and the adapter 8 to provide a sterile barrier between the robotic arm 12 and the instrument handle 31. For example, the drape 38 may be coupled to the adapter 8 to allow for the transfer of mechanical torque from the end effector 6 to the adapter 8. The adapter 8 may generally be configured to maintain a seal around its working components such that the adapter 8 itself provides a sterile barrier. The use of the drape 38 coupled to the adapter 8 and / or more other components of the device manipulator assembly 150 may provide a sterile barrier between the robotic arm 12 and a surgical field, thereby enabling the use of a robotic cart associated with the arm 12 in a sterile surgical field. The end effector 6 may be configured to be coupled to various types of sterile adapters that may be loaded onto and / or removed from the end effector 6 of the robotic arm 12. With the arm 12 covered in plastic, a physician and / or other technician may interact with the arm 12 and / or other components of the robotic cart (e.g., a screen) during a procedure. The draping can further protect against biohazard contamination of the instruments and / or minimize cleanup after a procedure. The adapter 8 can include a base portion 508 configured to provide a foundation for the various components of the adapter 8.

[0064] The medical instrument 31 may include multiple drive inputs 503, 529 on the underside 536 of the housing of the instrument handle 31. In the illustrated embodiment, the medical instrument 31 includes three drive inputs 503, 529, although other embodiments may include other numbers of drive inputs. The drive inputs may be at spaced apart, fixed locations along the underside mating surface 536 of the medical instrument 31, facilitating coupling of the drive inputs 503, 529 to corresponding drive outputs 502 of the end effector 6 and / or drive outputs of the adapter 8, which may be at spaced apart, fixed locations along corresponding mating surfaces that are designed to be used modularly to attach a variety of other instruments. The instrument 31 may include a latch clip 512 or other latching mechanism / means for physically coupling to corresponding structures on the adapter 8 and / or end effector 6.

[0065] Other exemplary instruments that may be manipulated via the device manipulator assembly may include a robotically controlled catheter, an EM field generator, a retrieval basket tool, a laser fiber driver, and / or a distal drive device, among others.

[0066] References herein to an "instrument device manipulator assembly," "instrument manipulator assembly," "manipulator," "manipulator assembly," and other variations thereof, may refer to any subset of the components of the assembly 150 shown in FIG. 5, including a robotic arm, an end effector of the robotic arm, an adapter configured to be coupled to a robotic end effector, an instrument base / handle configured to be coupled to an end effector and / or an adapter, and / or other actuator components, means, and / or mechanisms associated with the instrument base / handle. Additionally, it should be understood that references herein to an "actuator" may refer to any component of the assembly 150 shown in FIG. 5 that directly or indirectly affects or causes movement of an instrument / component engaged with, coupled to, or otherwise operable by a component of the assembly 150. For example, according to embodiments disclosed herein, an "actuator" may comprise any set or subset of the following devices or components: An instrument feeder drive input, an adapter drive output, an adapter drive input, a pulley, a belt, a gear, a peg, a pin, an end effector drive output, and / or structure and / or control circuitry configured to cause actuation thereof. For example, an actuator may be any component, device, or structure configured to cause a corresponding movement in another component, device, or structure, whether that movement is integral with or separate from the actuator.

[0067] The adapter 8 may include one or more drive outputs 502 configured to translate torque from, for example, one or more drive outputs 509 of an end effector of a robotic system to corresponding drive inputs 503 of one or more medical instruments. The end effector 6 and / or the robotic system may include one or more drive outputs 502 configured to mate with corresponding drive inputs of the adapter 8. For example, each drive output 509 on the adapter 8 may be associated with a corresponding drive input (e.g., on an underside of the drive output 502) and / or may be configured to translate a force (e.g., torque) from the robotic system. The adapter 8 may be configured to be removably attached to the robotic system. In some cases, the drape 38 may be configured to be at least partially located between at least a portion of the robotic system and the adapter 8.

[0068] The one or more drive outputs 509 of the adapter 8 may be configured to convert the motion and / or force of the one or more drive outputs 502 of the robotic system into one or more medical instruments 31, which may be removably attached to the drive outputs 509 of the adapter 8. The one or more medical instruments 31 may be configured to mate with and / or be attached to the one or more drive outputs 509 of the adapter 8. For example, the medical instrument 31 (e.g., a scope device) shown in FIG. 5 may be configured to mate with one or more drive outputs 509 of the adapter 8. However, various types of medical instruments may be configured to be driven by the adapter 8 and / or the associated robotic system. Additionally, although only a scope-type medical instrument 31 is shown in FIG. 5, the adapter 8 may be configured to drive multiple medical instruments 31 and / or various types of medical instruments 31.

[0069] Although only a single adapter 8 is shown in Figure 5, multiple adapters 8 may be utilized simultaneously and / or may be configured for use with multiple drivers (e.g., multiple robotic arms 12) of a drive system. For example, as shown in Figure 4-1, a robotic system may include three robotic arms 12. In such a case, one, two, or three adapters 8 may be used to accommodate the three robotic arms 12.

[0070] The adapter 8 may be configured to facilitate attachment of one or more medical instruments 31 to the adapter 8 before, during, and / or after a medical procedure. For example, the adapter 8 may be configured to facilitate docking of one or more medical instruments 31 while the one or more medical instruments 31 are in use and / or after the medical instruments 31 have been delivered to the patient's body. To minimize the risk of harm to the patient, the adapter 8 and / or the medical instruments 31 may be configured to simplify and / or facilitate docking of the medical instruments 31 in the adapter 8 using various means described herein. In this manner, docking of the medical instruments 31 in the adapter 8 may require minimal attention from a physician guiding the medical instruments in the patient's body.

[0071] In some embodiments, the transmission of force from the end effector 6 to the adapter 8 and / or from the adapter 8 to the medical instrument 31 may involve ultra-low friction input transmission. The transformation of force may involve meshing engagement between one or more drive outputs and / or one or more drive inputs. For example, gear teeth on the drive output may be configured to mesh and / or mate with corresponding receptors on the drive input.

[0072] Instrument Docking 6A and 6B illustrate at least a portion of a drive assembly 600, which may include one or more adapters having features configured to facilitate docking of one or more medical instruments. In some embodiments, the drive assembly 600 may include a platform 610 extending from, attached to, and / or secured to a base portion 608 of the drive assembly 600. In some embodiments, the platform 610 may be configured to move between a plurality of configurations without being separated and / or disconnected from the base portion 608. The base portion 608 may provide a foundation and / or base for various components of the drive assembly 600. For example, the platform 610, one or more drive outputs 602, the release mechanism 605, the torsion spring 614, and / or the latch mechanism may be configured to extend from the base portion 608. However, such components and / or other components of the drive assembly 600 may be configured to extend from other components and / or may not be directly coupled to the base portion 608. In some embodiments, various components of the drive assembly 600 (eg, the platform 610 ) may comprise extensions of the base portion 608 .

[0073] The platform 610 may be configured to be movable between an elevated (e.g., raised) configuration (shown in FIG. 6A ) and a lowered (e.g., lowered) configuration (shown in FIG. 6B ). In the elevated configuration, the platform 610 may be configured to receive and / or guide one or more medical instruments. The platform 610 and / or the base portion 608 may have any of a variety of features configured to facilitate mounting and / or docking of one or more medical instruments on the platform 610. For example, the platform 610 may include one or more magnetic elements configured to mate with corresponding magnetic elements of the one or more medical instruments.

[0074] The drive assembly may include one or more docking portions configured to receive one or more medical instruments. As used herein, the term “docking portion” is used according to its plain and ordinary meaning and may refer to any portion of the drive assembly 600, including any number of components of the drive assembly 600, that may be configured to receive one or more medical instruments, for example, by forming a releasable and / or fixed attachment to one or more medical instruments and / or accommodating the placement and / or attachment of one or more medical instruments in and / or to the drive assembly 600. In some embodiments, the platform 610 and / or the first set of drive outputs may be associated with and / or comprise at least a portion of the first docking portion and / or may be configured to receive one or more medical instruments by allowing placement of one or more medical instruments on the platform 610, attaching to the one or more medical instruments using magnetic elements and / or other features, and / or forming a secure attachment to the one or more medical instruments attached via the latch mechanism 611 of the drive assembly 600. The second set of drive outputs (e.g., the fourth drive output 602d and / or the fifth drive output 602e) and / or the release mechanism 605 may be associated with and / or comprise at least a portion of the second docking portion and / or may be configured to receive one or more medical instruments by mating the second set of drive outputs with the one or more medical instruments and / or by allowing the one or more medical instruments to be attached and / or latched to the release mechanism 605.

[0075] In some embodiments, the platform 610 may be biased into the raised configuration shown in FIG. 6A. Thus, the platform 610 may be configured to naturally extend at least a first distance 612 from the base portion 608. For example, one or more springs (not shown in FIGS. 6A and 6B) may extend from the base portion 608 and / or the platform 610 and / or may be located at least partially between the platform 610 and the base portion 608 (e.g., extending at least partially into an opening in the base portion) to urge the platform 610 into the raised configuration. In the raised configuration, the gap 612 between the platform 610 and the base portion 608 may be larger than the gap between the platform 610 and the base portion 608 in the lowered configuration.

[0076] The platform 610 may be associated with and / or located adjacent to one or more drive outputs 602 coupled to and / or extending from a base portion 608 of the drive assembly 600. The one or more drive outputs 602 may be configured to drive one or more medical instruments. One or more of the one or more drive outputs 602 may be configured to drive a single type of medical instrument and / or may be configured to drive multiple types of medical instruments. For example, the drive output 602 may be configured to mate with a first type drive input associated with a first type of medical instrument and / or a second type drive input associated with the first type of medical instrument and / or a second type of medical instrument. In some embodiments, the drive assembly 600 may comprise a first set of one or more drive outputs 602 (e.g., including a first drive output 602a, a second drive output 602b, and a third drive output 602c) configured to drive a first medical instrument and / or a first type of medical instrument, and / or the drive assembly 600 may comprise a second set of one or more drive outputs 602 (e.g., including a fourth drive output 602d and a fifth drive output 602e) configured to drive a second medical instrument and / or a second type of medical instrument.

[0077] In some embodiments, the platform 610 may include one or more apertures 609, which may include openings, cavities, gaps, grooves, recesses, and / or similar features configured to accommodate at least a first set of one or more drive outputs 602. As shown in the example illustrated in FIGS. 6A and 6B, the platform 610 may include three apertures 609 (i.e., a first aperture 609a, a second aperture 609b, and a third aperture 609c), each configured to receive a different drive output 602. However, the platform 610 may include any number of apertures 609 and / or may be configured to accommodate any number of drive outputs 602. Additionally, although the apertures 609 and drive outputs 602 are shown having a circular configuration, the apertures 609, the drive outputs 602, and / or other features of the drive assembly 600 may have different shapes and / or sizes. For example, the platform 610 may include a single opening 609 configured to receive multiple drive outputs 602. Such an opening 609 may have a generally elongated form to extend between the drive outputs 602.

[0078] In the lowered configuration shown in FIG. 6B, one or more drive outputs 602 may extend through and / or beyond the platform 610. When the platform 610 extends in the raised configuration shown in FIG. 6A, the platform 610 may extend beyond at least a portion of the drive outputs 602. For example, the platform 610 and / or the opening 609 may be suspended above at least a portion of the one or more drive outputs 602 and / or may be substantially aligned with a distal tip portion of the drive output while in the raised configuration. However, in some embodiments, the distal tip portion of the drive output 602 may extend at least partially beyond the platform 610 in the raised configuration.

[0079] In some embodiments, the platform 610 and / or the base portion 608 may include various features configured to guide (e.g., pass, direct, move) one or more medical instruments to the platform 610. For example, one or more magnetic elements may be located on a surface of the platform 610, within the platform 610, and / or underneath the platform 610 (e.g., between the platform 610 and the base portion 608). In some embodiments, the platform 610 and / or the base portion 608 may include a first magnetic element having a first polarity and / or a second magnetic element having a second polarity such that the first and second magnetic elements may be configured to align one or more medical instruments with the platform 610. For example, the magnetic elements may have suitable polarities and / or may be positioned such that one or more medical instruments may be configured to mate with the magnetic elements in only a single configuration. Figures 6A and 6B include a dotted circle 618 indicating an exemplary location of one or more magnetic elements on or below the platform. However, the magnetic elements may have any shape and / or size. Additionally, although three magnetic elements are shown in Figures 6A and 6B, any number of magnetic elements may be used.

[0080] When the platform 610 is in the raised configuration shown in FIG. 6A, the platform 610 may be configured to be pushed down towards the base portion 608 to move the platform 610 to the lowered configuration shown in FIG. 6B. A relatively small force may be required to push the platform into the lowered configuration (in other words, to overcome the bias from one or more biasing elements, such as springs). For example, a physician may position a first medical instrument above the platform 610. One or more guiding features on the platform 610 and / or the base portion 608 may be configured to guide the first medical instrument into a proper configuration and / or attachment on the platform 610. With the first medical instrument in place relative to the platform 610, the physician may push the first medical instrument and / or the platform 610 towards the base portion 608. The platform 610 may be configured to attach to one or more medical instruments. In some embodiments, the attachment between the platform 610 and the one or more medical implements may be a frangible attachment configured to be overcome using a relatively small amount of force (e.g., 2 Newtons).

[0081] The drive assembly 600 may include any of a variety of suitable features for retaining the platform 610 in the lowered configuration and / or for maintaining an attachment between one or more medical instruments and the platform 610 while the platform is in the lowered configuration. As shown in FIG. 6B, the drive assembly 600 may include one or more latch mechanisms 611 (e.g., a first latch mechanism 611a and / or a second latch mechanism 611b) configured to retain one or more medical instruments relative to the platform 610 while the platform 610 is in the lowered configuration. The term “latch mechanism” is used herein according to its plain and ordinary meaning and may include any device, element, feature, and / or component configured to latch and / or lock an object in place and / or hold multiple objects together. In some embodiments, one or more latch mechanisms 611 may be configured to retain the platform 610 in the lowered configuration. The latch mechanism 611 may be configured to directly retain the platform 610 in the lowered configuration and / or to indirectly retain the platform 610 and / or to retain the platform in the lowered configuration by retaining in place a medical instrument docked to the platform 610. The drive assembly 600 may further comprise a release mechanism 605 configured to release the latch mechanism 611 and / or otherwise allow the platform 610 to return to the raised configuration and / or allow one or more medical instruments to decouple from the platform 610. The platform 610 may comprise one or more engagement features 607 (e.g., having the form of a hollow cylinder) configured to extend along a corresponding lumen of the base portion 608.

[0082] In some embodiments, the one or more latch mechanisms 611 may be biased at least in part in the outward 613 direction by a torsion spring and / or similar device. The torsion spring may comprise a coiled portion 614 and / or one or more elongated ends 615 that may be configured to urge the one or more latch mechanisms 611 in the outward 613 direction. The release mechanism 605 may comprise one or more arm portions 616 that may urge the elongated ends 615 of the torsion spring inward (e.g., opposite the bias direction) when the release mechanism 605 is pressed against the torsion spring and / or moved towards the platform 610. Additionally, the medical instrument may be configured to urge the one or more latch mechanisms inward during the medical instrument docking process.

[0083] 7A and 7B provide illustrations of an exemplary platform 710 for use with one or more drive assemblies. The platform 710 may include a variety of drive output receiving features, which may include an opening 709. As shown in FIG. 7B, the platform 710 may include a receptor 717 for a medical instrument guidance feature (e.g., a magnetic element). Although FIG. 7B illustrates the receptor 717 having a generally circular configuration, a suitable receptor 717 may have any shape and / or size.

[0084] The platform may further include various engagement features 707 (e.g., first engagement feature 707a, second engagement feature 707b, and / or third engagement feature 707c) for engaging with a base portion and / or other elements of the drive assembly. For example, one or more of the engagement features 707 may have a generally cylindrical shape and / or may be configured to extend into a corresponding opening (e.g., a lumen) in the base portion to allow the platform 710 to extend along the opening in the base portion. Additionally, the engagement features 707 may be configured to maintain a connection between the platform 710 and the base portion while the platform 710 is moved between the raised and lowered configurations.

[0085] 8A-8C show a drive assembly 800 including an adapter 808 configured to drive one or more medical instruments, which may include a first medical instrument 811 and / or a second medical instrument 812. The first medical instrument 811 and the second medical instrument 812 may be configured to operate independently and / or in combination. For example, the first medical instrument 811 may be a scope device (e.g., a ureteroscope) and / or the second medical instrument 812 may be a working channel tool (e.g., a basket tool) configured to be operated in combination with a scope device. Although the first medical instrument 811 is shown as a scope device and the second medical instrument 812 is shown as a working channel tool in FIGS. 8A-8C, different types of medical instruments may be used and / or configured to be driven by the adapter 808.

[0086] In some embodiments, the first medical instrument 811 may be configured to operably receive at least a portion of the second medical instrument 812. For example, the first medical instrument 811 may include a receptor 844, which may include a lumen, a chamber, and / or other features configured to receive at least a portion of the second medical instrument 812. The second medical instrument 812 may include one or more tines 835 and / or a sheath 836 extending from the second medical instrument 812. The one or more tines 835 and / or the sheath 836 may be configured to be manipulated via a drive input on the second medical instrument 812. The tines 835 may be a medical tool configured to extend from a distal end portion of the sheath 836. As shown in FIGS. 8A-8C, the medical tool may include a basket tool. The one or more tines 835 and / or sheath 836 may be configured to at least partially fit into the receptor 844 of the first medical instrument 811 when the first medical instrument 811 and / or second medical instrument 812 are docked to the drive assembly adapter 808.

[0087] The first medical instrument 811 and / or the second medical instrument 812 may comprise one or more features to facilitate attachment between the first medical instrument 811 and the second medical instrument 812. For example, the second medical instrument 812 may comprise one or more engagement features, such as magnetic elements, that may be configured to fit into the slots 827 of the second medical instrument 812. The one or more engagement features on the second medical instrument 812 may be configured to engage with corresponding features on the first medical instrument 811. For example, the second medical instrument 812 and / or the first medical instrument 811 may comprise one or more magnetic elements configured to mate with each other when the first medical instrument 811 and / or the second medical instrument 812 are docked to the adapter 808. In this manner, the first medical instrument 811 and / or the second medical instrument 812 may be prevented from rotating and / or otherwise moving from a desired position / or orientation.

[0088] The first medical instrument 811 may be configured to be docked and / or attached to a first docking portion of the adapter 808. For example, the first medical instrument may be configured to attach to a movable platform at the first docking portion of the adapter 808. The first docking portion may include one or more drive outputs 802 configured to receive and / or drive one or more drive inputs of the first medical instrument (see, e.g., FIG. 5). The adapter 808 may additionally or alternatively include a second docking portion configured to receive a second medical instrument 812. The second docking portion may include one or more drive outputs 802 (e.g., first drive output 802a and / or second drive output 802b) configured to drive one or more drive inputs on the second medical instrument 812. The first medical instrument 840 may include a shaft 840 configured to provide access to a patient's body.

[0089] The adapter 808 may include one or more latches (see, e.g., latch mechanism 611 in FIGS. 6A and 6B ) configured to secure the first medical instrument to the drive assembly. For example, the one or more latches may be configured to fit with corresponding receptors on the first medical instrument 811 to prevent displacement of the first medical instrument 811 from the adapter 808. The adapter 808 may additionally or alternatively include a release device 805 (e.g., a release mechanism and / or release portion) configured to release the one or more latches to allow the first medical instrument 811 to be removed from the adapter 808. In some embodiments, the release device 805 may be at least partially located at or near the second docking portion of the drive assembly. For example, the release device 805 may be located to at least partially cover and / or prevent actuation of the release device 805 when the second medical instrument 812 is docked to the second docking portion of the adapter 808. In some embodiments, mounting the first medical instrument 811 in the first docking portion may involve pressing the first medical instrument 811 against the latch such that the latch is pressed inward (e.g., away from an outer portion of the adapter 808 and / or against the bias of the latch by one or more torsion springs and / or similar mechanisms). The first medical instrument 811 may continue to be pressed downwardly until the latch enters one or more receptors, which may include grooves, recesses, cavities, etc., and / or until the latch resumes its biased outer position, locking the first medical instrument 811 in place.

[0090] In some embodiments, the one or more latches may be biased outwardly toward the outer ring of the adapter 808 by one or more biasing mechanisms, which may include a torsion spring device (see, e.g., torsion spring devices 614, 615 in FIGS. 6A and 6B ). For example, the torsion spring may be configured to urge a first latch on a first side of the release device 805 and / or a second latch on a second side of the release device 805 outwardly toward the outer ring of the adapter 808, engaging the first latch and / or the second latch. The release device 805 may be configured to be movable along the adapter 808. In some embodiments, the release device 805 may be positioned such that moving the release device 805 towards the first docking portion (e.g., towards the platform of the adapter 808) presses the release device 805 against at least a portion of the torsion spring (e.g., one or more arms of the torsion spring), causing the one or more arms of the torsion spring to move inwardly and thus move one or more latches inwardly and / or away from the outer ring of the assembly 800 and / or disengage from the one or more latches. For example, moving the release device 805 towards the first docking portion may cause compression in the torsion spring, removing the outward bias of the torsion spring.

[0091] The second medical instrument 812 may comprise one or more attachment devices 821 configured to attach to one or more regions of the release device 805 and / or the first docking portion. For example, as shown in FIG. 8B, the second medical instrument 812 may comprise one or more hooks 821 configured to grip one or more latches 822 and / or protrusions in other regions of the release device 805 and / or the first docking portion. The second medical instrument 812 may further comprise a release button 825 configured to disengage the one or more attachment devices 821 to allow the second medical instrument 812 to disengage from the release device 805 and / or the second docking portion. Following removal of the second medical instrument 812 from the second docking portion, the release device 805 may be activated to allow removal of the first medical instrument 812 from the first docking portion. In this manner, the release device 805 and / or the second medical instrument 812 may advantageously prevent the first medical instrument 811 from being removed from the adapter 808 until the second medical instrument 812 has been removed from the adapter 808. The second medical instrument 812 may include one or more drive inputs 803 configured to mate with corresponding drive outputs 802 of the adapter 808.

[0092] 8C , the first medical instrument 811 and the second medical instrument 812 may be configured to be positioned generally side-by-side while docked to the adapter 808. The first medical instrument 811 and the second medical instrument 812 may be configured to be docked to the adapter 808 simultaneously. Further, one or more drive outputs 802 of the adapter 808 may be configured to operate the first medical instrument 811 and the second medical instrument 812 simultaneously. A sheath 836 extending from the second medical instrument 812 may be configured to be at least partially positioned within a receptor 844 of the first medical instrument 811 while the second medical instrument 812 is docked to the adapter 808.

[0093] 9A and 9B show at least a portion of a drive assembly including an adapter 908 comprising one or more magnetic elements 914 and / or other alignment features configured to guide and / or attached to one or more medical instruments. The one or more magnetic elements 914 may be attached (e.g., glued) and / or otherwise associated with a platform 910 and / or a first docking portion comprising and / or associated with the platform 910. In some embodiments, the platform 910 may extend from the adapter and / or the first docking portion of the adapter 908. The adapter 908 may comprise a first docking portion that may include a first drive output 902a, a second drive output 902b, a third output 902c, and / or at least a portion of the platform 910 configured to receive the first medical instrument. The first medical instrument may be any suitable medical instrument, which may include a scope device as described herein. A first set of one or more drive outputs 902 (e.g., first drive output 902a, second drive output 902b, and / or third output 902c) may extend from and / or to the first docking portion and / or may be configured to drive a first medical instrument when docked to the first docking portion. The adapter 908 may comprise a release mechanism 905 configured to interact with a torsion spring (e.g., comprising a coil portion 906 and / or one or more elongated ends 907) to control one or more latch mechanisms 911.

[0094] Although magnetic elements 914 are described herein for illustrative purposes, other alignment features may be used in place of magnetic elements 914. In some embodiments, one or more magnetic elements 914 located on and / or otherwise associated with the first docking portion may be configured to induce and / or establish alignment between the first medical instrument and the first docking portion and / or one or more drive outputs 902 associated with the first docking portion. For example, the one or more magnetic elements 914 may be configured to attract a corresponding magnetic element in the first medical instrument when the first medical instrument is placed within the magnetic field of the one or more magnetic elements 914. Thus, a physician may be able to advantageously dock the first medical instrument to the first docking portion by simply positioning the first medical instrument within the general area of ​​the first docking portion and / or may not need to physically align the first medical instrument with the first set of drive outputs 902.

[0095] The two dashed circles 913 shown in FIG. 9B show example locations of two magnetic elements 914 on or under the platform 910 and / or other portions of the first docking portion. However, a single magnetic element 914 and / or more than two magnetic elements 914 may be used. Furthermore, the one or more magnetic elements 914 may have any suitable size and / or shape and may not necessarily have the circular shape shown in FIGS. 9A and 9B. FIG. 9B provides a cutaway view of the drive assembly to show the magnetic elements 914 under the surface of the platform 910 and / or other portions of the first docking portion. The first magnetic element 914a may have a first polarity and the second magnetic element 914b may have a second polarity different from the first polarity. Thus, the first and second magnetic elements 914 may be configured to dock the first medical instrument to the first docking portion only in a single configuration in which the magnetic elements 914 are aligned with corresponding magnetic elements on the first medical instrument. For example, the first magnetic element 914a may be configured to mate with a first magnet on the first medical instrument, and / or the second magnetic element 914b may be configured to mate with a second magnet on the first medical instrument. The magnetic elements 914 may be configured to generate a magnetic field sufficient to attract one or more medical instruments when the medical instruments are not in contact with the platform 910. The magnetic elements 914 and / or the platform 910 may be positioned and / or configured such that lowering the platform 910 to the lowered configuration with the first medical instrument attached causes one or more drive outputs of the adapter to extend into and / or otherwise engage corresponding drive inputs of the first medical instrument.

[0096] The adapter 908 may be configured to receive additional medical instruments. For example, while the adapter 908 shown in Figures 9A and 9B includes three drive outputs 902, the adapter 908 may include an additional drive output 902 configured to receive a second medical instrument. Additionally, although a magnetic element 914 is shown in the first docking portion, the adapter 908 may include an additional magnetic element 914 and / or other inductive element configured to guide the docking of the second medical instrument.

[0097] FIG. 10 provides a flow diagram for a process 1000 for driving one or more medical instruments in a drive assembly, which may include one or more adapters (e.g., sterile adapters) for transferring forces from a robotic system, in accordance with one or more embodiments.

[0098] Process 1000 may be implemented in connection with a medical procedure, such as a kidney stone removal procedure, or other procedure that may be implemented using one or more medical instruments, such as, for example, an endoscope, a ureteroscope, an EM field generator, a basket tool, a laser fiber driver, etc. In some embodiments, process 1000 may be implemented at least in part after placement of a distal end of a shaft of a first medical instrument (e.g., an endoscope) within a particular target anatomy of a patient, such as the calyx renal meshwork of a kidney of the patient. One or more operations of process 1000 may be implemented prior to accessing the target anatomy with the distal end of the shaft of the first medical instrument.

[0099] At block 1002, the process 1000 involves mounting and / or docking the first medical instrument to an adapter of the drive assembly. In some embodiments, mounting and / or docking the first medical instrument in the adapter may be facilitated at least in part via one or more alignment features (e.g., magnetic elements) in the adapter as described herein. The one or more alignment features may be configured to form a breakable attachment between the first medical instrument and the adapter. For example, application of a tensile force of about 2 Newtons may be sufficient to separate the first medical instrument from the platform. The one or more alignment features may advantageously allow the physician to focus on navigating the first medical instrument through the patient's body to prevent and / or minimize damage to the kidney and / or other tissues that may cause inaccurate navigation of the first medical instrument.

[0100] The first medical instrument may be configured to at least partially dock and / or attach to a platform of the adapter. In some embodiments, the platform may extend from a base portion of the adapter. The first medical instrument may extend beyond a surface of the platform in at least some locations.

[0101] The platform may be movable between two or more positions relative to the base portion and / or other portions of the adapter. For example, the platform may be biased a first distance away from the base portion such that the platform may be located at a relatively elevated position when not acted upon by an external force. The platform may be biased to the elevated position at least in part by one or more springs configured to press against an underside of the platform (e.g., between the platform and the base portion).

[0102] The adapter may include one or more drive outputs configured to drive corresponding drive inputs of the first medical instrument. The first medical instrument may be configured to mount and / or dock to the platform in a configuration in which at least some of the drive inputs of the first medical instrument are generally aligned with at least some of the drive outputs of the adapter. In some embodiments, the drive inputs of the first medical instrument may be suspended above the drive outputs when the first medical instrument is mounted to the platform in a raised position.

[0103] In step 1004, process 1000 involves depressing the platform to overcome the bias of the platform. In some cases, the platform may be depressed by a physician. The platform may be depressed by depressing a first medical instrument while the first medical instrument is in contact with the platform. Depressing the platform may move the platform from a raised configuration to a lowered configuration, where the distance between the platform and a base portion and / or other portions of the adapter may be less than in the raised configuration.

[0104] At step 1006, process 1000 involves latching the first medical instrument to secure the first medical instrument to the platform and / or to secure the platform in the lowered configuration. For example, latching the first medical instrument may prevent the platform from being elevated to the elevated configuration. Latching the first medical instrument may involve the use of one or more latches and / or latching mechanisms on the base portion and / or other portions of the adapter. When the first medical instrument and / or platform is pushed downward (i.e., toward the base portion), attachment features (e.g., grooves, edges, recesses, latches, etc.) on the first medical instrument may be configured to latch to corresponding features on the adapter. For example, edge portions of the first medical instrument may be configured to push the one or more latching mechanisms inward to overcome an outward bias of the latching mechanisms and / or one or more recesses on the first medical instrument may be configured to allow the latching mechanisms to return to the biased configuration to lock the first medical instrument in place.

[0105] At step 1008, process 1000 involves attaching a second medical instrument to a second docking portion of the adapter to prevent release of the first medical instrument from the adapter. For example, the second medical instrument may be configured to at least partially cover and / or otherwise prevent actuation of a release mechanism on the adapter that may be configured to unlatch the first medical instrument from the adapter when docked to the second docking portion of the adapter. In this manner, the first medical instrument may be prevented from being removed when removing the first medical instrument may cause injury to the patient.

[0106] In some embodiments, the second medical device may be a working channel tool (eg, a basket tool) having at least a portion configured to fit into a receptor of the first medical device.

[0107] At step 1010, the process 1000 involves removing a second medical instrument from a second docking portion of the adapter. The second medical instrument may be attached to and / or docked to the adapter for use in performing a medical procedure (e.g., grasping a kidney stone in a patient). Once the medical procedure is completed, the second medical instrument may be removed from the adapter. In some embodiments, removing the second medical instrument may involve actuating a release button and / or similar device on the second medical instrument and / or adapter to disengage a latching mechanism on the second medical instrument and / or adapter. Additionally, removing the second medical instrument may involve removing the second medical instrument from the first medical instrument. For example, a sheath and / or a medical instrument extending from the second medical instrument may be removed from a receptor on the first medical instrument. In another example, a breakable attachment (e.g., using a magnetic element) between the first and second medical instruments may be broken to allow removal of the second medical instrument.

[0108] At step 1012, process 1000 may involve actuating a release mechanism on the adapter to allow the first medical instrument to be released and / or removed from the adapter. The release mechanism may be a device configured to be moved along at least a portion of the adapter and / or may be configured to push one or more torsion springs that bias the latch mechanisms of the adapter into an outward configuration. The release mechanism may be configured to push the torsion springs inward, thereby pushing the one or two latch mechanisms inward and / or removing the one or two latch mechanisms from the recesses and / or other attachment features of the first medical instrument.

[0109] In step 1014, process 1000 may involve removing the first medical instrument from the adapter and / or the platform and / or allowing the platform to return to the elevated configuration.

[0110] Multi-interface drive output section 11 illustrates at least a portion of a drive assembly including an adapter 1108 configured to drive multiple types of medical instruments, according to one or more embodiments. The adapter 1108 may include any number of drive outputs 1102 and / or different types of drive outputs 1102. For example, a set of first drive outputs 1102a may be configured to drive at least a first type of medical instrument, and / or a set of second drive outputs 1102b may be configured to drive a second type of medical instrument. Each drive output 1102 may be configured to extend from a base portion 1109 of the adapter 1108. Although the adapter 1108 is shown to include two first drive outputs 1102a and three second drive outputs 1102b, the adapter 1108 may include any number of drive outputs 1102 of either type of drive output. In some embodiments, the drive assembly may include multiple types of drive outputs. For example, the first drive output 1102a may be a first type of drive output and / or the second drive output 1102b may be a second type of drive output.

[0111] Additionally, some drive outputs (e.g., the first drive output 1102a) may be configured to drive multiple types of medical instruments. For example, a first type of drive output may include a first drive interface configured to drive a first type of medical instrument and / or a second drive interface configured to drive a second type of medical instrument (see, e.g., FIGS. 12A-12C).

[0112] The one or more drive outputs 1102 may be associated with a first docking portion including a platform 1110, which may extend from the base portion 1109. For example, the one or more drive outputs 1102 may be configured to pass at least partially through one or more openings in the platform 1110. In some embodiments, the platform 1110 may be extendable between a raised configuration and / or a lowered configuration. Although the second drive output 1102b is shown at least partially through the platform 1110, the first drive output 1102a (which may be configured to drive multiple types of medical instruments) may be associated with and / or at least partially through the platform 1110 in some embodiments.

[0113] 12A-12C illustrate a drive output 1202 configured to drive multiple types of medical instruments, according to one or more embodiments. The drive output 1202 may include a first drive interface 1222 (e.g., a spline) configured to drive a first type of medical instrument (e.g., a catheter tool) and / or a second drive interface 1224 (e.g., a gear) configured to drive a second type of medical instrument (e.g., a basket tool). In some embodiments, the first drive interface 1222 and the second drive interface 1224 may be coaxial and / or configured to rotate about a common axis. The first drive interface 1222 and / or the second drive interface 1224 may have a generally circular form (e.g., when viewed from above). In some embodiments, the first drive interface 1222 may have a first diameter smaller than a second diameter of the second drive interface 1224 and / or the second diameter is larger than the first diameter. The first drive interface 1222 and / or the second drive interface 1224 may include various engagement features (e.g., mating gears) that may be configured to mate and / or otherwise engage with corresponding drive inputs of one or more medical instruments.

[0114] In some embodiments, the first drive interface 1222 and the second drive interface 1224 may be configured in a stepped orientation where one of the first drive interface 1222 and the second drive interface 1224 may extend a greater distance from the base portion 1228 of the drive output 1202. For example, the first drive interface 1222 may extend through and / or from the second drive interface 1224 and / or may extend a greater distance from the base portion 1228 than the second drive interface 1224. The first drive interface 1222 may include a distal tip 1230 that may be located at the greatest distance of the drive output 1202 from the base portion 1228.

[0115] The first drive interface 1222 and / or the second drive interface 1224 may be configured to effect a gear ratio change from the drive output of the robotic arm to one or more medical instruments. For example, the first drive interface 1222 and / or the second drive interface 1224 may be configured to convert a lower rotational speed in the adapter to a higher rotational speed in one or more medical instruments driven by the drive interface. The gear ratio change may enable a relatively fast linear movement of opening / closing and / or insertion / retraction of one or more medical instruments. In some embodiments, the first drive interface 1222 may be configured to drive the first medical instrument and / or the first type of medical instrument with a first drive ratio and / or the second drive interface 1224 may be configured to drive the second medical instrument and / or the second type of medical instrument with a second drive ratio different from the first drive ratio.

[0116] 12C shows an underside of the drive output 1202. In some embodiments, the drive output 1202 can include a drive input 1203 configured to receive one or more outputs from a robotic system (e.g., a robotic arm). A stepped and / or multi-interface drive assembly can allow the drive assembly to be used interchangeably for different patients and / or different parts of the robotic system.

[0117] FIG. 13 provides a flow diagram for a process 1300 for driving one or more medical instruments in a drive assembly, which may include one or more adapters (e.g., sterile adapters) for transferring forces from a robotic system, in accordance with one or more embodiments.

[0118] At step 1302, process 1300 involves mating and / or attaching a first medical instrument to one or more output drivers (e.g., drive outputs) including a first output driver. The first output driver may comprise multiple drive features and / or interfaces (e.g., a first interface and / or a second interface) and / or each of the multiple interfaces may be configured to drive a different type of medical instrument. The first medical instrument may be a first type of medical instrument configured to be driven using a first type of interface (e.g., a first interface). In some embodiments, mating the first medical instrument with the first output driver may involve at least partially covering the first output driver and / or the first interface with a corresponding drive input of the first medical instrument.

[0119] At step 1304, process 1300 involves driving a first medical instrument using a first interface of a first output driver. In some embodiments, the first interface may comprise a network of interlocking teeth and / or similar features configured to mate with corresponding features on the first medical instrument.

[0120] At step 1306, process 1300 involves removing the first medical instrument and / or disengaging the first medical instrument from the first interface and / or the first output driver. In some embodiments, removing the first medical instrument may involve actuating a release mechanism in the adapter.

[0121] At step 1308, process 1300 involves mating a second medical instrument with the first output driver after removing the first medical instrument from the first output driver. The second medical instrument may be a second type of medical instrument configured to be driven using a second type of drive interface. The first output driver may be a second type of drive interface and / or include a second interface configured to drive the second medical instrument.

[0122] At step 1310, process 1300 involves driving a second medical instrument using a second interface and / or drive features in the first output driver. In some embodiments, the second interface may comprise a network of interlocking teeth and / or similar features configured to mate with corresponding features in the second medical instrument.

[0123] Described herein are systems, devices, and methods that facilitate interaction between one or more medical instruments and one or more medical instrument drive assemblies in connection with a particular medical procedure. In particular, systems, devices, and methods according to one or more aspects of the present disclosure can facilitate directing one or more medical instruments into a desired configuration in and / or with respect to a medical instrument drive assembly, driving one or more medical instruments, and / or managing the removal of one or more medical instruments from a medical instrument drive assembly. Interaction between one or more medical instruments and one or more medical instrument drive assemblies according to various embodiments disclosed herein can advantageously simplify and / or reduce certain risks associated with the use of one or more medical instruments.

[0124] Some implementations of the present disclosure relate to a medical instrument drive assembly comprising at least a base portion, a first set of one or more drive outputs coupled to and / or extending from the base portion and configured to drive a first medical instrument, and a platform secured to the base portion and movable between a raised configuration and a lowered configuration. The platform is biased to the raised configuration. The medical instrument drive assembly further comprises a latch mechanism configured to retain the platform in the lowered configuration.

[0125] The medical instrument drive assembly may further comprise a second set of one or more drive outputs configured to drive a second medical instrument. The platform may be configured to guide the first medical instrument onto the first set of one or more drive outputs.

[0126] The platform may be configured to attach to a first medical instrument. In some embodiments, the medical instrument drive assembly further comprises a docking portion configured to receive a second medical instrument.

[0127] In some embodiments, the medical instrument drive assembly further comprises a release mechanism in the docking portion configured to disengage the latch mechanism to allow the platform to move to the raised configuration. The second medical instrument can prevent actuation of the release mechanism and / or at least partially cover the release mechanism when docked to the docking portion.

[0128] The platform may include one or more apertures configured to receive at least a first drive output of the first set of one or more drive outputs. The first drive output may be located within a first aperture of the one or more apertures when the platform is in the lowered configuration. The first aperture of the one or more apertures may be suspended and / or located above the first drive output when the platform is in the raised configuration.

[0129] In some embodiments, the first medical instrument is a scope and / or an endoscopic device. The platform may include one or more magnetic elements configured to mate with one or more corresponding magnetic elements in the first medical instrument. The one or more magnetic elements of the platform may include a first magnetic element having a first polarity and a second magnetic element having a second polarity.

[0130] The medical instrument drive assembly may further comprise one or more springs located under at least a portion of the base portion and / or between at least a portion of the base portion and at least a portion of the platform and configured to bias the platform into the raised configuration. Pressing the platform into the lowered configuration may cause a latch mechanism to secure the platform in the lowered configuration and / or secure a first medical instrument to the platform.

[0131] In some embodiments, the latch mechanism may be configured to hold the platform in the lowered configuration by securing the first medical instrument to the platform. The base portion may include one or more drive inputs for interacting with drive features of the one or more robotic arms.

[0132] In some implementations, the present disclosure relates to a medical instrument drive assembly comprising a first docking portion configured to receive a first medical instrument, a first set of one or more drive outputs associated with the first docking portion and configured to drive the first medical instrument, a latch configured to secure the first medical instrument to the first docking portion, a release portion configured to disengage the latch to allow the first medical instrument to be displaced from the first docking portion, and a second docking portion configured to receive a second medical instrument in a manner such that the second medical instrument prevents actuation of the release portion.

[0133] The second medical instrument may include one or more attachment mechanisms configured to attach to the release. The second medical instrument may be a working channel tool configured to fit within the working channel of the first medical instrument. The second medical instrument may include one or more alignment features configured to mate with corresponding alignment features of the first medical instrument.

[0134] Some implementations of the present disclosure relate to a medical instrument drive assembly comprising: a first docking portion configured to receive a first medical instrument; a first set of one or more drive outputs coupled to and / or extending from the first docking portion and configured to drive the first medical instrument; and one or more magnetic elements associated with the first docking portion and configured to induce alignment of the first set of one or more drive outputs with one or more drive inputs of the first medical instrument.

[0135] A first magnetic element of the one or more magnetic elements may have a first magnetic polarity and a second magnetic element of the one or more magnetic elements may have a second magnetic polarity. The one or more magnetic elements may be configured to mate with a corresponding magnetic element in the first medical instrument.

[0136] In some embodiments, the medical instrument drive assembly further comprises a platform extending from the first docking portion and movable between a raised configuration and a lowered configuration. The one or more magnetic elements may be attached to the platform.

[0137] In some implementations, the present disclosure relates to a medical instrument drive assembly comprising a base portion and one or more drive outputs coupled to and / or extending from the base portion and configured to drive a first medical instrument, At least a first of the one or more drive outputs includes a first drive interface configured to drive the first type of medical instrument and a second drive interface configured to drive the second type of medical instrument.

[0138] A first drive output of the one or more drive outputs includes a mating engagement feature configured to mate with a corresponding drive input of the first medical instrument, hi some embodiments, the first drive interface and the second drive interface are coaxial.

[0139] In some embodiments, the diameter of the second drive interface is larger than the diameter of the first drive interface. The first drive interface may be configured to drive a first type of medical instrument at a first drive ratio. The second drive interface may be configured to drive a second type of medical instrument at a second drive ratio that is different from the first drive ratio.

[0140] For purposes of summarizing the disclosure, certain aspects, advantages, and novel features have been described. It is to be understood that not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, the disclosed embodiments may be practiced in a manner that achieves or optimizes one advantage or group of advantages taught herein without necessarily achieving other advantages as may be taught or suggested herein.

[0141] Further embodiments Depending on the embodiment, certain acts, events, or functions of any of the algorithms or processes described herein may be performed in a different order, added, merged, or omitted entirely, and thus, in some embodiments, not all of the described acts or events are necessary to the performance of a process.

[0142] In particular, conditional language used herein, such as "can," "could," "might," "may," "eg," and the like, unless specifically stated otherwise or understood otherwise within the context in which it is used, is intended to have its ordinary meaning and is generally intended to convey that certain embodiments include certain features, elements, and / or steps, while other embodiments do not. Thus, such conditional language is not intended to generally imply that features, elements, and / or steps are required in any way for one or more embodiments, or that one or more embodiments necessarily include logic for determining whether those features, elements, and / or steps are included or performed in any particular embodiment, with or without author input or prompting. Terms such as "comprising," "including," "having," and the like, are used in their ordinary sense and are used inclusively in a non-limiting manner and do not exclude additional elements, features, acts, operations, etc. Also, when the term "or" is used, for example, to connect a list of elements, the term "or" is used in its inclusive sense (and not its exclusive sense) to mean one, some, or all of the listed elements. Unless specifically stated otherwise, conjunctive language such as the phrase "at least one of X, Y, and Z" is understood in the context as it is commonly used to convey that an item, term, element, etc. can be either X, Y, or Z. Thus, such conjunctive language is not generally intended to suggest that a particular embodiment requires that at least one of X, at least one of Y, and at least one of Z, respectively, be present.

[0143] In the above description of the embodiments, it should be understood that various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of disclosure should not be interpreted as reflecting an intention that any claim requires more features than are expressly recited in that claim. Moreover, any component, feature, or step illustrated and / or described in a particular embodiment herein may be applied to or used with any other embodiment. Moreover, no component, feature, step, or group of components, features, or steps is necessary or essential for each embodiment. Thus, it is intended that the scope of the invention disclosed herein and hereinafter claimed should not be limited by the specific embodiments described above, but should be determined solely by a fair reading of the following claims.

[0144] It should be understood that certain ordinal terms (e.g., "first" or "second") may be provided for ease of reference and do not necessarily imply physical characteristics or ordering. Thus, as used herein, ordinal terms (e.g., "first," "second," "third," etc.) used to modify elements, such as structures, components, operations, etc., do not necessarily indicate a priority or order of the element relative to any other elements, but rather may generally distinguish the element from other elements having similar or identical names (apart from the use of the ordinal term). Furthermore, as used herein, the indefinite articles ("a" and "an") may indicate "one or more" rather than "one." Furthermore, an operation performed "based on" a condition or event may also be performed based on one or more other conditions or events not expressly recited.

[0145] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the example embodiments belong. It is further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0146] Spatially relative terms such as "outer", "inner", "upper", "lower", "below", "upper", "vertical", "horizontal", and similar terms may be used herein for ease of description to describe the relationship between one element or component and another element or component as illustrated in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device shown in the figures is inverted, a device positioned "below" or "under" another device may be placed "above" the other device. Thus, the illustrative term "lower" may include both lower and upper positions. The device may also be oriented in other directions, and thus the spatially relative terms may be interpreted differently depending on the orientation.

[0147] Unless otherwise specified, comparative and / or quantitative terms such as "less," "more," "greater than," and the like are intended to encompass the notion of equality. For example, "less" can mean not only "less than" in the strict mathematical sense, but also "less than or equal to."

[0148] [Embodiment] (1) A medical instrument drive assembly, comprising: A base portion; a first set of one or more drive outputs coupled to the base portion and configured to drive a first medical instrument; a platform secured to the base portion and movable between a raised configuration and a lowered configuration, the platform being biased to the raised configuration; a latch mechanism configured to retain the platform in the lowered configuration. (2) A medical instrument drive assembly as described in embodiment 1, further comprising a second set of one or more drive outputs configured to drive a second medical instrument. (3) A medical instrument drive assembly as described in embodiment 1 or 2, wherein the platform is configured to guide the first medical instrument onto a first set of the one or more drive outputs. (4) A medical instrument drive assembly according to any one of embodiments 1 to 3, wherein the platform is configured for attachment to the first medical instrument. (5) A medical instrument drive assembly described in any one of embodiments 1 to 4, further comprising a docking portion configured to receive a second medical instrument.

[0149] (6) The medical instrument drive assembly of embodiment 5, further comprising a release mechanism on the docking portion configured to disengage the latch mechanism and allow the platform to move to the raised configuration, and preventing actuation of the release mechanism when the second medical instrument is docked to the docking portion. (7) A medical instrument drive assembly described in any one of embodiments 1 to 6, wherein the platform has one or more openings configured to receive at least a first drive output of the first set of one or more drive outputs. (8) A medical instrument drive assembly as described in embodiment 7, wherein the first drive output is located within a first opening of the one or more openings when the platform is in the lowered configuration. (9) A medical instrument drive assembly as described in embodiment 7 or 8, wherein a first opening of the one or more openings is suspended above the first drive output when the platform is in the raised configuration. (10) A medical instrument drive assembly according to any one of embodiments 1 to 9, wherein the first medical instrument is a scope device.

[0150] (11) A medical instrument drive assembly according to any one of embodiments 1 to 10, wherein the platform comprises one or more magnetic elements configured to mate with one or more corresponding magnetic elements in the first medical instrument. (12) A medical instrument drive assembly as described in embodiment 11, wherein the one or more magnetic elements of the platform include a first magnetic element having a first polarity and a second magnetic element having a second polarity. (13) The medical instrument drive assembly of any one of embodiments 1 to 12, further comprising one or more springs positioned between the base portion and the platform and configured to bias the platform into the raised configuration. (14) By pushing the platform to the lowered configuration, the latch mechanism securing the platform in the lowered configuration; and 14. A medical instrument drive assembly according to any one of embodiments 1 to 13, wherein the first medical instrument is fixed to the platform. (15) A medical instrument drive assembly according to any one of embodiments 1 to 14, wherein the latch mechanism secures the first medical instrument to the platform, thereby retaining the platform in the lowered configuration.

[0151] (16) A medical instrument drive assembly described in any one of embodiments 1 to 15, wherein the base portion has one or more drive inputs for interacting with drive features of one or more robotic arms. (17) A medical instrument drive assembly, comprising: a first docking portion configured to receive a first medical instrument; a first set of one or more drive outputs associated with the first docking portion and configured to drive the first medical instrument; a latch configured to secure the first medical instrument to the first docking portion; a release configured to disengage the latch to allow the first medical instrument to be displaced from the first docking portion; a second docking portion configured to receive a second medical instrument in a manner such that the second medical instrument prevents actuation of the release portion. (18) The medical instrument drive assembly of embodiment 17, wherein the second medical instrument comprises one or more attachment mechanisms configured to attach to the release portion. (19) The medical instrument drive assembly of embodiment 17 or 18, wherein the second medical instrument is a working channel tool configured to fit within a working channel of the first medical instrument. (20) The medical instrument drive assembly of any one of embodiments 17 to 19, wherein the second medical instrument has one or more alignment features configured to mate with corresponding alignment features of the first medical instrument.

[0152] (21) A medical instrument drive assembly, comprising: a first docking portion configured to receive a first medical instrument; a first set of one or more drive outputs coupled to the first docking portion and configured to drive the first medical instrument; one or more magnetic elements associated with the first docking portion and configured to induce alignment of a first set of one or more drive outputs with one or more drive inputs of the first medical instrument. (22) The medical instrument drive assembly of embodiment 21, wherein a first magnetic element of the one or more magnetic elements has a first magnetic polarity and a second magnetic element of the one or more magnetic elements has a second magnetic polarity. (23) The medical instrument drive assembly of any one of claims 21 to 22, wherein the one or more magnetic elements are configured to mate with corresponding magnetic elements in the first medical instrument. (24) The medical instrument drive assembly of any one of embodiments 21 to 23, further comprising a platform extending from the first docking portion and movable between a raised configuration and a lowered configuration. (25) The medical instrument drive assembly of embodiment 24, wherein the one or more magnetic elements are attached to the platform.

[0153] (26) A medical instrument drive assembly comprising: A base portion; one or more drive outputs coupled to the base portion and configured to drive a first medical instrument, at least a first drive output of the one or more drive outputs comprising: a first drive interface configured to drive a first type of medical instrument; a second drive interface configured to drive a second type of medical instrument. (27) The medical instrument drive assembly of embodiment 26, wherein the first drive output of the one or more drive outputs comprises a mating engagement feature configured to mate with a corresponding drive input of the first medical instrument. (28) The medical instrument drive assembly of embodiment 26 or 27, wherein the first drive interface and the second drive interface are coaxial. (29) A medical instrument drive assembly according to any one of embodiments 26 to 28, wherein a diameter of the second drive interface is larger than a diameter of the first drive interface. (30) A medical instrument drive assembly described in any of embodiments 26 to 29, wherein the first drive interface is configured to drive the first type of medical instrument with a first drive ratio and the second drive interface is configured to drive the second type of medical instrument with a second drive ratio different from the first drive ratio.

Claims

1. 1. A medical instrument drive assembly comprising: A base portion; a first set of one or more drive outputs coupled to the base portion and configured to drive a first medical instrument; a platform secured to the base portion and movable between a raised configuration and a lowered configuration, the platform being biased to the raised configuration; a latch mechanism configured to retain the platform in the lowered configuration.

2. The medical instrument drive assembly of claim 1 , further comprising a second set of one or more drive outputs configured to drive a second medical instrument.

3. The medical instrument drive assembly of claim 1 , wherein the platform is configured to guide the first medical instrument onto the first set of one or more drive outputs.

4. The medical instrument drive assembly of claim 1 , wherein the platform is configured for attachment to the first medical instrument.

5. The medical instrument drive assembly of claim 1 , wherein the platform comprises one or more openings configured to receive at least a first drive output of the first set of one or more drive outputs.

6. The medical instrument drive assembly of claim 5 , wherein the first drive output is located within a first of the one or more apertures when the platform is in the lowered configuration.

7. The medical instrument drive assembly of claim 5 , wherein a first of the one or more apertures is suspended above the first drive output when the platform is in the raised configuration.

8. The medical instrument drive assembly of claim 1 , wherein the first medical instrument is a scope device.

9. The medical instrument drive assembly of claim 1 , wherein the platform comprises one or more magnetic elements configured to mate with one or more corresponding magnetic elements in the first medical instrument.

10. The medical instrument drive assembly of claim 1 , further comprising one or more springs positioned between the base portion and the platform and configured to bias the platform into the raised configuration.

11. Pressing the platform into the lowered configuration causes the latch mechanism to: securing the platform in the lowered configuration; and The medical instrument drive assembly of claim 1 , wherein the first medical instrument is secured to the platform.

12. 1. A medical instrument drive assembly comprising: a first docking portion configured to receive a first medical instrument; a first set of one or more drive outputs associated with the first docking portion and configured to drive the first medical instrument; a latch configured to secure the first medical instrument to the first docking portion; a release configured to disengage the latch to allow the first medical instrument to be displaced from the first docking portion; a second docking portion configured to receive a second medical instrument in a manner such that the second medical instrument prevents actuation of the release portion.

13. The medical instrument drive assembly of claim 12 , wherein the second medical instrument comprises one or more attachment mechanisms configured to attach to the release portion.

14. The medical instrument drive assembly of claim 12 , wherein the second medical instrument is a working channel tool configured to fit within a working channel of the first medical instrument.

15. The medical instrument drive assembly of claim 12 , wherein the second medical instrument comprises one or more alignment features configured to mate with corresponding alignment features of the first medical instrument.

16. 1. A medical instrument drive assembly comprising: A base portion; one or more drive outputs coupled to the base portion and configured to drive a first medical instrument, at least a first drive output of the one or more drive outputs comprising: a first drive interface configured to drive a first type of medical instrument; a second drive interface configured to drive a second type of medical instrument.

17. 17. The medical instrument drive assembly of claim 16, wherein the first drive output of the one or more drive outputs comprises a mating engagement feature configured to mate with a corresponding drive input of the first medical instrument.

18. The medical instrument drive assembly of claim 16 , wherein the first drive interface and the second drive interface are coaxial.

19. The medical instrument drive assembly of claim 16 , wherein a diameter of the second drive interface is larger than a diameter of the first drive interface.

20. 17. The medical instrument drive assembly of claim 16, wherein the first drive interface is configured to drive the first type of medical instrument with a first drive ratio and the second drive interface is configured to drive the second type of medical instrument with a second drive ratio different from the first drive ratio.

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