ROBOTIC SURGERY SYSTEMS, DEVICES, AND METHODS OF USE

Abstract

Described herein are systems, devices, and methods useful for minimally invasive surgical procedures performed by a single operator. A method for performing magnetic laparoscopic robotic surgery may include coupling an end effector to a support arm within a sterile field using an end effector connector, controlling the end effector within a patient's body cavity, and decoupling the end effector from the support arm within the sterile field using the end effector connector. The coupling, controlling, and decoupling may all be capable of being performed by a single operator.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 165,007, filed March 23, 2021, the contents of which are incorporated herein by reference in their entirety.

[0002] FIELD OF THEINVENTION The devices, systems, and methods herein relate to minimally invasive procedures using robotic surgical systems that can be operated by a single operator. [Background technology]

[0003] Many surgical procedures are shifting toward the use of minimally invasive approaches to minimize the number and size of incisions made in the patient. Minimally invasive procedures, such as endoscopic, laparoscopic, and thoracoscopic procedures, may be associated with less pain, faster postoperative recovery, shorter hospital stays, and reduced complications when compared to open surgical procedures. Generally, minimally invasive robotic surgery is currently performed by two skilled surgeons (e.g., operators). The primary surgeon performs the surgical tasks (e.g., incision, clipping, cutting, stapling, etc.), and the secondary surgeon assists in these functions. The primary surgeon is located at a console outside the sterile field, and the secondary surgeon is located within the sterile field to assist, for example, by modifying instruments (e.g., end effectors) coupled to the robotic surgical system. The secondary surgeon may assist the primary surgeon by holding instruments such as optical sensors (e.g., cameras) and retractors in each hand. It may therefore be desirable to provide a robotic surgical system that is less cumbersome and resource-intensive than those traditionally used. Summary of the Invention

[0004] Systems, devices, and methods useful for minimally invasive surgical procedures are described herein. In some variations, the procedures described herein may be performed by a single operator without additional assistance from another operator. In general, the end effector connector may include a housing configured to receive an end effector and an arm configured to releasably couple the housing to a robot. The arm may include a magnetic portion and a housing release mechanism configured to manually release the housing from the arm.

[0005] In some variations, the magnetic portion may be coupled to a proximal portion of the arm. In some variations, the magnetic portion may be configured to magnetically couple the arm to the robot through a sterile drape. In some variations, the sterile drape may be coupled between the magnetic portion and the arm. In some variations, the first side of the magnetic portion may be configured to be mechanically and magnetically attached to a flange of the support arm. In some variations, the first side of the magnetic portion may include a channel configured to receive one or more leads. In some variations, the magnetic portion may include a robot engagement feature configured to reduce radial shear forces. In some variations, the robot engagement feature may include a circular protrusion.

[0006] In some variations, the arm may define a circular recess. In some variations, the magnetic portion may include a rotational alignment feature. In some variations, the rotational alignment feature may include a linear protrusion. In some variations, the arm may define a linear recess. In some variations, the magnetic portion may include a magnetic release mechanism configured to manually release the arm from the robot. In some variations, the magnetic release mechanism may include one or more levers. In some variations, the one or more levers may be coupled to a circumference of the magnetic portion. In some variations, the magnetic release mechanism may include one or more cams configured to urge the magnetic portion away from the arm.

[0007] In some variations, the magnetic portion may define a first longitudinal axis and the housing may define a second longitudinal axis. The first longitudinal axis and the second longitudinal axis may be non-parallel. In some variations, a first angle between the first longitudinal axis and the second longitudinal axis may be up to about 40 degrees. In some variations, the first angle may be from about 15 degrees to about 35 degrees, including all ranges and subvalues ​​therebetween. In some variations, an end effector received within the housing may define a third longitudinal axis parallel to the second longitudinal axis. In some variations, a second angle between the first longitudinal axis and the third longitudinal axis may be up to about 40 degrees, including all ranges and subvalues ​​therebetween. In some variations, the second angle may be from about 15 degrees to about 35 degrees, including all ranges and subvalues ​​therebetween. In some variations, the magnetic portion may be separated from the housing by a height of up to about 30 cm and a length of up to about 30 cm, including all ranges and portion values ​​therebetween.

[0008] In some variations, the arm may include an arm handle. In some variations, the arm handle may be configured to be grasped by a first hand of an operator. In some variations, the magnetic portion may define a first longitudinal axis and the arm handle may define a fourth longitudinal axis. The first longitudinal axis and the fourth longitudinal axis may be non-parallel. In some variations, a third angle between the first longitudinal axis and the fourth longitudinal axis may be up to about 75 degrees. In some variations, the third angle may be between about 15 degrees and about 60 degrees. In some variations, the arm may include a convex shape. In some variations, a distal portion of the arm may be below a proximal portion of the arm. In some variations, the arm may include one or more leads configured to electrically couple the robot to an end effector. In some variations, the arm may include an arm handle, and the leads extend parallel to the arm handle.

[0009] In some variations, the housing release mechanism may be coupled to a distal portion of the arm and a proximal portion of the housing. In some variations, the housing release mechanism may include a first portion coupled to the arm and a second portion coupled to the housing. In some variations, the housing release mechanism may include a housing engagement feature configured to engage the first and second portions of the housing release mechanism with one another. In some variations, the housing engagement feature may include a first housing engagement feature on the first portion and a second housing engagement feature on the second portion. In some variations, the first housing engagement feature may include a rounded protrusion and the second housing engagement feature may include a first recess. In some variations, the housing release mechanism may include a rotational alignment feature configured to inhibit rotation of the first portion relative to the second portion. In some variations, the rotational alignment feature may include a first rotational alignment feature on the first portion and a second rotational alignment feature on the second portion. In some variations, the first rotational alignment feature may include a shaped protrusion and the second rotational alignment feature may include a second recess. In some variations, the housing release mechanism may include a switch configured to release the housing from the arm. In some variations, one of the first portion and the second portion may include a switch configured to release the first portion from the second portion. In some variations, the switch may be configured to release the first housing engagement feature from the second housing engagement feature. In some variations, the switch may include a spring configured to engage the first housing engagement feature to mechanically couple the first portion to the second portion. In some variations, the housing engagement feature may include one or more of a magnet, a dovetail, and a living hinge. In some variations, the housing release mechanism may be above an end effector received within the housing. In some variations, the housing release mechanism may be below and distal to the magnetic portion.

[0010] In some variations, the housing may be configured to releasably couple to an end effector. In some variations, a distal portion of the housing may be configured to receive the end effector. In some variations, a proximal portion of the housing may be coupled to a lateral sidewall of the housing release mechanism. In some variations, the housing may include a housing handle. In some variations, the housing handle may be configured to be grasped by a first hand of an operator. In some variations, the housing handle may be elevated relative to an end effector received within the housing. In some variations, the end effector may be received on a side of the housing handle. In some variations, the housing release mechanism may be configured to be actuated by a first hand while grasping the housing handle with the first hand. In some variations, the housing handle may define a handle longitudinal axis and a handle lateral axis. The housing may include a first stiffness along the handle longitudinal axis and a second stiffness along the handle lateral axis, the first stiffness being greater than the second stiffness. In some variations, the housing handle may have a width that is less than a length or height of the housing. In some variations, the housing may define an opening configured for access to the end effector.

[0011] In some variations, the robot may include a support arm configured to movably suspend one or more of the end effector connector and the end effector. In some variations, the support arm may include one or more segments coupled by one or more joints configured to provide a single degree of freedom. In some variations, the support arm may include one or more motors configured to translate and / or rotate the one or more joints. In some variations, the support arm may include six or more degrees of freedom. In some variations, the support arm may include less than six degrees of freedom. In some variations, the support arm may include one or more of an articulated robotic arm, a SCARA robotic arm, and a linear robotic arm. In some variations, the support arm may be mounted to a base including one or more of a medical cart, a patient platform, furniture, a wall, a ceiling, and the ground. In some variations, the support arm may include a magnetic coupler coupled to a distal portion of the support arm.

[0012] In some variations, a magnetic coupler may be coupled to a distal end of the robot. The magnetic coupler may be releasably coupled to a magnetic portion of the arm with a sterile drape disposed therebetween. In some variations, the end effector may include one or more of a visualization device, a grasper, a retractor, a magnetic positioning device, a sensor, an intraluminal device, a delivery device, a retrieval device, a stapler, a clip applier, and an electrocautery hook. In some variations, the end effector may comprise a magnetic portion.

[0013] In some variations, the sensor may be configured to detect a location on the patient body surface, hi some variations, the sensor may include one or more of a force sensor, a proximity sensor, an optical sensor, a motion sensor, an accelerometer, a gyroscope, a laser range finder, a radar, and a LIDAR.

[0014] In some variations, the robotic surgical system may include an end effector connector. The base of the robot may be coupled to a side of the patient platform.

[0015] Also described herein is a method of performing magnetic laparoscopic robotic surgery that includes magnetically coupling an end effector to a support arm within a sterile field using an end effector connector, controlling the end effector within a patient's body cavity, and decoupling the end effector from the support arm within the sterile field using the end effector connector, where the coupling, controlling, and decoupling can all be performed by a single operator.

[0016] In some variations, coupling and separating the end effectors can be performed by two hands of a single operator. In some variations, controlling the end effectors can be performed by one hand of a single operator. In some variations, coupling and separating the end effectors maintains a sterile field. In some variations, a sterile field can be maintained during the coupling, controlling, and separating steps.

[0017] Also described herein is a method of disconnecting an end effector from a robotic surgical system, the method including providing an end effector connector coupled between the end effector, a sterile drape, and a support arm. The end effector connector may include an arm and a housing with a handle. The method may include grasping the handle of the housing and manually releasing the housing from the arm.

[0018] In some variations, gripping the handle and manually releasing the housing can be performed simultaneously with one hand. In some variations, the method can include pulling the handle away from the patient after releasing the housing from the arm. In some variations, the arm can include a magnetic portion magnetically coupled to the support arm.

[0019] Also described herein is a method of coupling an end effector to a support arm, the method including providing an end effector connector comprising a housing and an arm configured to be releasably coupled to the housing, magnetically coupling the arm to the support arm with a sterile drape disposed therebetween, coupling the end effector to the housing, and coupling the housing to the support arm. In some variations, coupling the housing to the arm can be performed one-handed.

[0020] Also described herein is a method of controlling a support arm, the method including receiving a support arm control signal based on movement of one foot of an operator, and controlling movement of a support arm having at least three degrees of freedom based on the received support arm control signal.

[0021] In some variations, the support arm control signal may include a translational movement of the support arm corresponding to a translational movement of one foot. In some variations, the support arm control signal may include a lateral movement of the support arm corresponding to a lateral or yaw movement of one foot. In some variations, the support arm control signal may include a downward movement of the support arm corresponding to a flexion movement of one foot. In some variations, the support arm control signal may include a support arm switch command corresponding to a heel movement of one foot. In some variations, the method may include receiving an end effector control signal based on the movement of the one foot.

[0022] In some variations, the method may include controlling movement of the end effector based on the end effector control signal. In some variations, the operator may be standing during the single leg movement.

[0023] Also described herein is a support arm controller comprising a base having a first end and a second end and configured to receive a midfoot of an operator. A set of forefoot switches may be coupled to the first end of the base. A set of hindfoot switches may be coupled to the second end of the base. The set of forefoot switches and the set of hindfoot switches may be configured to generate a support arm control signal.

[0024] In some variations, the support arm control signal may be configured to control movement of the support arm, and movement of the operator's foot may correspond to movement of the support arm. In some variations, the set of forefoot switches may include a first switch configured to receive forward movement of the foot and generate a support arm control signal corresponding to the forward movement of the support arm.

[0025] In some variations, the set of front foot switches may include a second switch configured to receive foot extension motion and generate a support arm control signal corresponding to the support arm's downward motion. In some variations, the set of front foot switches may include a third switch configured to receive foot left motion and generate a support arm control signal corresponding to the support arm's left motion. In some variations, the set of front foot switches may include a fourth switch configured to receive foot right motion and generate a support arm control signal corresponding to the support arm's right motion. In some variations, the set of front foot switches may include a fifth switch configured to receive foot flexion motion and generate a support arm control signal corresponding to the support arm's upward motion. In some variations, the set of front foot switches may include a sixth switch configured to receive foot rear motion and generate a support arm control signal corresponding to the support arm's rear motion. In some variations, the set of front foot switches may include a seventh switch configured to receive foot rear motion and generate a device switching signal for the robotic surgery system. In some variations, the set of forefoot switches and the set of rearfoot switches may include one or more of a mechanical switch, an optical sensor, a gyroscope, a motion sensor, a pressure sensor, and a magnetic sensor. In some variations, the base may be elevated relative to one or more of the set of forefoot switches and one or more of the rearfoot switches.

[0026] Also described herein is a method of aligning an end effector, the method including coupling the end effector to a support arm of a robotic surgical system proximate to a patient. The end effector may include a first alignment point and the patient may include a second alignment point. The first alignment point may be aligned to the second alignment point. A location of the first alignment point aligned to the second alignment point may be aligned. The location of the first alignment point may be aligned in a three-dimensional coordinate system of the robotic surgical system. The support arm may be controlled based on the aligned first alignment point.

[0027] In some variations, the second alignment point may correspond to an access site of the patient. In some variations, the second alignment point may correspond to an entrance of a trocar coupled to the patient. In some variations, the first alignment point may intersect with a longitudinal axis of the end effector. In some variations, a visualization indicator of the first alignment point of the end effector may be generated. In some variations, the visualization indicator may comprise illumination directed toward the end effector. In some variations, aligning the first alignment point with the second alignment point may include superimposing the first alignment point with the second alignment point.

[0028] In some variations, the aligned first alignment point may include the pivot point. In some variations, controlling the support arm may include one or more of pitching, yawing, and rolling the end effector within a conical range of motion with an apex at the pivot point. In some variations, the conical range of motion may have a maximum cone angle θ of up to about 50 degrees. In some variations, the conical range of motion may have a maximum cone angle α of up to about 50 degrees. 2 +β 2 ≦θ 2 where α corresponds to the pitch angle of the end effector, β corresponds to the yaw angle of the end effector, and θ corresponds to the maximum cone angle. In some variations, controlling the support arm may include maintaining an intersection of the end effector with the pivot point. In some variations, the second alignment point may correspond to a muscle layer of the patient's abdominal wall. In some variations, the first alignment point may be realigned to the second alignment point upon one or more of movement of the patient relative to the patient platform, movement of the patient platform, movement of the base of the support arm, and movement of the pivot point. In some variations, the aligning is performed manually by an operator.

[0029] Also described herein is a method of controlling an end effector that may include measuring a force applied by a patient to an end effector coupled to a support arm, and moving the end effector relative to the patient in response to the measured force exceeding a predetermined threshold.

[0030] In some variations, the method may include outputting a notification in response to the measured force exceeding a predetermined threshold. In some variations, the method may include moving the end effector relative to the patient, including moving the end effector away from the patient. In some variations, the method may include moving the end effector relative to the patient, including moving a support arm coupled to the end effector. In some variations, the method may include controlling the patient platform in response to the measured force exceeding a predetermined threshold.

[0031] In some variations, the method may include controlling the patient platform including moving the patient platform away from the end effector. In some variations, the method may include preventing operator control of the one or more support arms and the patient platform in response to the measured force exceeding a predetermined threshold. In some variations, the end effector may include a magnetic positioning device configured to control an intraluminal device positioned within the patient.

[0032] Also described herein is a method of controlling an end effector, the method including determining a distance between a patient and an end effector coupled to a support arm, and moving the end effector relative to the patient based on the determined distance to maintain a predetermined distance between the patient and the end effector.

[0033] In some variations, the distance may be determined using one or more of an optical sensor, a patient reference point coupled to the patient, and an end effector reference point coupled to the end effector. In some variations, moving the end effector relative to the patient may include maintaining at least a predetermined distance between the end effector and the patient.

[0034] Also described herein is a method of confirming end effector separation, the method including measuring a first force applied to a support arm using a force sensor, determining end effector detachment based on the measured force exceeding a first predetermined threshold, moving the support arm away from an end effector alignment point while measuring a second force applied to the support arm, and confirming end effector separation based on the measured second force.

[0035] In some variations, the method may include outputting a prompt to move the support arm away from the alignment point. In some variations, the second force may be substantially no force. In some variations, the method may include confirming end effector engagement including generating an end effector separation signal. In some variations, moving the support arm may include one or more of a lateral movement relative to the alignment point and a rotation relative to the alignment point. In some variations, moving the support arm may be prevented if the measured second force exceeds a second predetermined threshold. In some variations, the method may include confirming end effector engagement based on the measured second force exceeding a second predetermined threshold. [Brief description of the drawings]

[0036] [Figure 1] FIG. 1 is a block diagram of an illustrative variation of a robotic surgical system. [Figure 2A] 1 depicts a left side view of an illustrative variation of a robotic surgical system. [Figure 2B]1 depicts a right side view of an illustrative variation of a robotic surgical system. [Figure 2C] 1 depicts a perspective view of an illustrative variation of a robotic surgical system. [Figure 2D] 1 depicts a perspective view of an illustrative variation of a robotic surgical system. [Figure 2E] 1 depicts a perspective view of an illustrative variation of a robotic surgical system. [Figure 3A] 1 depicts a left side view of an illustrative variation of an end effector connector. [Figure 3B] 1 depicts a left side view of an illustrative variation of an end effector connector. [Figure 3C] 1 depicts a perspective view of an illustrative variation of an end effector connector. [Figure 3D] 1 depicts a perspective view of an illustrative variation of an end effector connector. [Figure 3E] 1 depicts a top view of an illustrative variation of an end effector connector. [Figure 4A] 1 depicts an exploded perspective view of an illustrative variation of a robotic surgical system. [Figure 4B] 1 depicts an exploded perspective view of an illustrative variation of a robotic surgical system. [Figure 5A] 1 depicts a perspective view of an illustrative variation of a magnetic portion in a first configuration. [Figure 5B] 1 depicts a perspective view of an illustrative variation of a magnetic portion in a second configuration. [Figure 5C] 1 depicts a perspective view of an illustrative variation of a magnetic portion in a first configuration. [Figure 6A] 1 depicts a perspective view of an illustrative variation of a housing release mechanism for an end effector connector. [Figure 6B] 1 depicts a perspective view of an illustrative variation of a housing release mechanism for an end effector connector. [Figure 6C] 1 depicts a cross-sectional view of an illustrative variation of a housing release mechanism. [Figure 6D] 1 depicts a side view of an illustrative variation of a housing release mechanism. [Figure 7A]1 depicts a perspective view of an illustrative variation of an input device for a robotic surgical system. [Figure 7B] 1 depicts a side view of an illustrative variation of an input device for a robotic surgical system. [Figure 7C] 1 depicts a top view of an illustrative variation of an input device for a robotic surgical system. [Figure 7D] 1 depicts a perspective view of an illustrative variation of an input device for a robotic surgical system. [Figure 8] 1 depicts a flowchart representation of an illustrative variation for performing robotic surgery. [Figure 9] 1 depicts a flowchart representation of another illustrative variation for performing robotic surgery. [Figure 10] 13 depicts a flowchart representation of an illustrative variation for detaching the end effector. [Figure 11] 10 depicts a flowchart representation of an illustrative variation for coupling end effectors. [Figure 12] 1 depicts a flowchart representation of an illustrative variation for performing robotic surgery. [Figure 13] 1A-1C are schematic cross-sectional views of an illustrative variation of a method for performing robotic surgery. [Figure 14A] 13A-13C are schematic side views of illustrative variations of end effector rotation; [Figure 14B] 13A-13C are schematic plan views of illustrative variations of end effector rotation; [Figure 14C] 13A-13C are schematic front views of illustrative variations of end effector motion; [Figure 14D] 13A-13C are schematic side views of illustrative variations of end effector motion; [Figure 14E] 13A-13C are schematic side views of illustrative variations of end effector motion; [Figure 14F] 13A-13C are schematic side views of illustrative variations of end effector motion; [Figure 14G] 13A-13C are schematic perspective views of illustrative variations of end effector movement; [Figure 14H] 13A-13C are schematic perspective views of illustrative variations of end effector movement; [Figure 15] 1 depicts a flowchart representation of an illustrative variation of end effector monitoring. [Figure 16] FIG. 1 is a schematic diagram of an illustrative variation of end effector monitoring for a robotic surgical system. [Figure 17] 13 depicts a flowchart representation of an illustrative variation of end effector detachment confirmation. [Figure 18] 13 is a schematic diagram of an illustrative variation of an end effector detachment confirmation process. [Figure 19A] 1 is a schematic plan view of an illustrative variation of a robotic surgical system. [Figure 19B] 1 is a schematic plan view of an illustrative variation of a robotic surgical system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] Described herein are systems, devices, and methods for use in minimally invasive surgical procedures that are confirmed to be performed by a single operator without additional assistance from another operator. For example, the systems, devices, and methods described herein may improve minimally invasive robotic surgery by enabling single operator operation of a robotic surgical system without a second operator, reducing sterile field management using a magnetic robotic surgical system, facilitating rapid tool (e.g., end effector) exchange, improving operator ergonomics of the robotic surgical system, enhancing single operator control of the robotic arm, facilitating rapid and accurate end effector alignment, providing hands-free control of the support arm, and monitoring patient safety for the robotic surgical system.

[0038] While conventional robotic surgery systems require a first operator to be assisted by a less skilled second operator (e.g., a scrub nurse) to perform various functions during a minimally invasive surgical procedure, the systems and methods disclosed herein may not require a second skilled operator to assist a single operator. For example, the systems, devices, and methods described herein may enable rapid end effector cleaning and port changes with only a single operator without affecting the sterile field, thereby reducing the need for sterile techniques.

[0039] In some variations, the robotic surgery methods described herein allow for single operator end effector exchange and robotic arm control for laparoscopic procedures. In some variations, a method of performing magnetic laparoscopic robotic surgery may include coupling an end effector to a robotic arm in a sterile field using a magnetic portion, controlling the end effector in a patient's body cavity, and decoupling the end effector from the robotic arm in the sterile field. The coupling, controlling, and decoupling steps are performed by a single operator.

[0040] Generally, the systems and devices described herein facilitate rapid end effector exchange with a robotic arm, which may improve the speed and / or efficiency of a robotic surgical procedure. In some variations, the end effector connector may include a housing configured to receive the end effector. The end effector may also include an arm configured to releasably couple the housing to the robot. The arm may include a magnetic portion and a housing release mechanism configured to manually release the housing from the arm. For example, end effector exchange may be performed within and without altering the sterile field. Additionally, the end effector connector may couple a sterile drape to the robot.

[0041] In some variations, the end effector connector may function as a handle to be grasped with only one hand of an operator. For example, the end effector connector can be grasped and moved (e.g., manually guided) by the operator to reposition the end effector as desired. Additionally, the end effector can be released from the robot via the end effector connector to facilitate quick tool changes and / or cleaning.

[0042] In some variations, the physical layout and / or configuration of the robotic surgical system may improve the ergonomics (e.g., geometry) between each of the robotic arm, end effector, single operator, and patient, as well as the ergonomics of the end effector disposed within the patient. In some variations, the geometry of the end effector connector may be configured to provide clearance (e.g., workspace) under the robot for one or more of the patient, end effector, and operator. Additionally, the end effector connector may have a configuration that facilitates physical access to the end effector. Additionally or alternatively, the robotic surgical system may position the robotic arm away from the patient to improve the accessible range of the end effector coupled to the robotic arm.

[0043] In some variations, an intuitive input device (e.g., foot controller, foot pedals) may enable single operator control of one or more robotic arms and end effectors by freeing the operator's hands and visual attention elsewhere. In some variations, a method of performing robotic surgery may include receiving a robotic arm control signal based on movement of one foot of an operator. The foot movement may correspond to movement of the end effector via the robotic arm. Movement of a robotic arm having at least three degrees of freedom may be controlled based on the received robotic arm control signal.

[0044] In some variations, the robotic surgical system may ensure patient safety by positioning (e.g., aligning) and monitoring the position of the end effector relative to the access site to ensure that input motions that would damage tissue (e.g., impact of the end effector against an incision in the abdominal wall) are prevented. The robotic surgical system may also monitor one or more of the position of the external end effector relative to the patient, the end effector attachment status, and the position of the patient platform. In some variations, the end effector may be moved in response to monitored changes in one or more of the patient and the robotic surgical system that may otherwise harm the patient. For example, the end effector may automatically move in synchronization with changes in the height of the patient platform.

[0045] Some of the surgical systems described herein may be used to perform surgical procedures such as cholecystectomy, appendectomy, colectomy, hernia repair, sleeve gastrectomy or other bariatric procedures, nephrectomy, hysterectomy, oophorectomy, lobectomy, salpingectomy, fallopian tubal ligation, hernia repair including inguinal and hiatal.

[0046] I. Systems and Devices Generally, the robotic surgery systems described herein can be operated by a single operator using an intuitive control scheme, improved ergonomics, and patient safety monitoring. A block diagram of an exemplary robotic surgery system 100 is depicted in FIG. 1. The system 100 can include one or more of a support arm 112, a sterile cover 114, an end effector connector 116, an end effector 118, a sensor 120, an input device 122, a processor 124, a memory 126, a communication device 128, and an output device 130, each of which are described in more detail herein. In some variations, the support arm 112 can be configured to movably suspend, hold, and / or operate the end effector relative to a patient (e.g., a patient on a patient platform) based on the control (e.g., control input, manual manipulation) of a single operator. In some variations, a sterile cover 114 can be disposed between the support arm 112 and the end effector 116 to form a sterile field. For example, the sterile cover 114 may be magnetically coupled between the distal end of the support arm 112 and the proximal end of the end effector connector 116 .

[0047] In some variations, the end effector connector 116 may be configured to couple the support arm 112 to the end effector 118 and facilitate single operator operation (e.g., assembly, control, disassembly). For example, the end effector 116 may facilitate single operator control through simplified and rapid end effector exchange, as well as improved surgical procedure ergonomics that may reduce procedure time and improve patient outcomes. As described in more detail herein, the end effector 118 may comprise one or more end effectors used in a surgical procedure. In some variations, the sensor 120 may comprise one or more sensors configured to measure one or more characteristics corresponding to one or more of the patient and the surgical system 100, including, but not limited to, one or more of the support arm 122, the sterile cover 114, the end effector connector 116, and the end effector 118.

[0048] 7A-7E 。 In some variations, the input device 122 may be configured to generate input signals based on operator inputs, as described in more detail with respect to Figures 7A-7E. In some variations, the processor 124 and memory 126 may be configured to control the surgical system 100. In some variations, the communication device 128 may be configured to communicate with one or more components of the system 100 as well as networks and other computer systems. In some variations, the output device 130 may be configured to output data corresponding to the surgical system 100.

[0049] In some variations, the robotic surgical system may include a first support arm coupled to an endoscope via a first end effector connector and a second support arm coupled to a magnetic positioning device via a second end effector connector. Each of the first support arm and the second support arm may be controlled by an operator using an input device, such as input device 700 described herein. In this manner, a single operator may independently control a set of end effectors coupled to the robotic surgical system without assistance from a second operator.

[0050] 2A and 2B depict left and right side views, respectively, of the robotic surgery system 200. FIGS. 2C-2E depict perspective views of the robotic surgery system 200. In some variations, the system 200 may include one or more of an end effector connector 210, an end effector 270, and a support arm 280 (e.g., a robot, a robotic arm). For example, the end effector connector 210 may be configured to releasably couple the end effector 270 to a distal end of the support arm 280. In some variations, the end effector connector 210 may include a housing 220, an arm 230, and a housing release mechanism 250 releasably coupled therebetween.

[0051] In some variations, the housing 220 may be configured to receive the end effector 270. For example, the housing 220 may be configured to hold the end effector 270 in a predetermined position and / or orientation relative to the support arm 280. In some variations, the housing 220 may include a housing handle 222 configured to be grasped and / or manipulated by an operator (e.g., using one hand). For example, an operator may grasp the housing handle 222 with one hand to manipulate the position and / or orientation of the end effector 270. The support arm 280 may generally be controlled by a processor to position the end effector 270 as desired, although manual manipulation by an operator grasping the housing handle 232 may facilitate fine adjustments to the position and / or orientation of the end effector 270.

[0052] In FIGS. 2A-2E, the housing 220 is illustratively configured to receive an endoscope 270, although any end effector may be used. In some variations, the housing 220 may be configured to facilitate operator access to the end effector 270. As shown in FIG. 2B, the housing 210 may define an opening 224 (e.g., a notch) configured for access to the end effector 270. The housing 220 coupled to the end effector 270 may be configured to facilitate unrestricted access to the end effector 270. For example, an operator may insert one hand through the opening 224 to manipulate the focus 272 of the endoscope 270. Additionally or alternatively, as shown in FIG. 2C, the housing 210 may be configured to facilitate access to end effector controls, such as an input device 274 (e.g., a camera control button, a switch). Thus, the housing 220 and the end effector connector 210 may function unobtrusively for the operator. Additionally, the housing 220 may improve the ergonomics of manipulating the end effector 270 by providing a handle 222 .

[0053] In general, the shape and dimensions of the end effector connector 210 may control the positioning and / or orientation of the end effector 270 relative to the support arm 280. For example, as shown in FIG. 2A, the longitudinal axis 276 of the end effector 270 may be angled at a non-perpendicular angle relative to the longitudinal axis 282 of the support arm 280 to provide a preferred approach angle for the end effector 270 used in a surgical procedure. For example, the angle between the longitudinal axis 282 of the support arm 280 and the longitudinal axis 276 of the end effector may be from about 90 degrees to about 130 degrees, from about 105 degrees to about 125 degrees, including all ranges and subvalues ​​therebetween.

[0054] Additionally, the space directly below the support arm 280 (e.g., along the longitudinal axis 282) may include empty space absent the end effector connector 210 and end effector 270, which may be reserved for the patient's anatomy (e.g., the patient's abdomen). This space reservation (e.g., clearance) created by the end effector connector 220 may improve the ergonomics and safety of the surgical procedure. For example, as shown in FIG. 2A, the end effector 270 may be located remotely below the support arm 280. With respect to FIG. 2A, the patient may be positioned below and / or to the left of the support arm 280, and the end effector 270 may be positioned below and / or to the right of the support arm 280.

[0055] In some variations, a proximal portion of arm 230 may be releasably coupled (e.g., magnetically coupled) to a distal end of support arm 280. In some variations, arm 230 may be configured to releasably couple to housing 220. For example, a distal portion of arm 230 may be coupled to a proximal portion of housing 220. In some variations, arm 230 may include a magnetic portion 240. For example, magnetic portion 240 may be coupled to a proximal portion of arm 230.

[0056] In some variations, the arm 230 may include an arm handle 232. For example, the arm handle 232 may be configured to be grasped and / or manipulated by an operator (e.g., using one hand) in a manner similar to the housing handle 222. Thus, the arm 230 may improve the ergonomics of operation of the end effector 270.

[0057] In some variations, the arm 230 may include one or more of a convex and concave shape. In some variations, the arm 230 may include one or more leads (not shown) configured to electrically couple the support arm 280 to the end effector 270. For example, an electrical connection may be formed between the support arm 230 and the end effector 270 via leads that extend through (or parallel to) the magnetic portion 260 and one or more of the arm 280.

[0058] In some variations, the magnetic portion 240 may be configured to magnetically couple the arm 230 to the magnetic coupler 260 of the support arm 280 with a sterile drape 290 (only illustrated diagrammatically in FIG. 2A for clarity) disposed therebetween. That is, the sterile drape 290 may be coupled between the magnetic portion 240 and the arm 230. In some variations, the magnetic coupler 260 may be coupled to a distal end of the support arm 280. Thus, the sterile drape may be disposed between the distal end of the magnetic coupler 260 of the support arm 280 and the proximal end of the magnetic portion 240. The magnetic portion 240 of the arm 230 may be releasably coupled to the magnetic coupler 260 of the support arm 280, as described in more detail herein.

[0059] In some variations, a single operator may single-handedly attach and detach the end effector 270 from the support arm 280 within the sterile field without affecting the sterile field. For example, the housing release mechanism 250 may be configured to manually attach and release the housing 220 from the arm 230. After releasing the housing 220 from the arm 230, the arm 230 may remain magnetically coupled to the support arm 280 to maintain the sterile field, and the end effector 270 may remain coupled to the housing 220 and be operated separately. This may facilitate rapid end effector cleaning and port changes.

[0060] Rapid end effector exchange within a sterile field that maintains sterility may reduce operator strain and surgical procedure time. In some variations, the housing release mechanism 250 may include a first portion 252, a second portion 254, and a switch 256 (e.g., trigger, release). In some variations, the housing release mechanism 250 may include a mechanical actuator. For example, to release the end effector 270 coupled to the support arm 280 via the end effector connector 210, the operator may grasp the housing handle 222 with a first hand to support the housing 222 and end effector 270 while simultaneously using a finger or thumb of the first hand to actuate the switch 256 to release the first portion 252 from the second portion 254. The operator may then use the first hand to move (e.g., pull) the housing 220 and end effector 270 in a direction away from the support arm 280 (and the patient) to complete the release of the end effector 270 from the support arm 280. Patient safety during end effector change can be ensured by withdrawing the end effector 270 in a direction away from the patient (e.g., parallel to the longitudinal axis of the end effector 270). Furthermore, use of one hand of a single operator can be more efficient than having a second operator assist. For example, a second operator provided to either press a switch or grip a handle would be unnecessary and would instead exert pressure (e.g., reduce freedom of movement) on the first operator.

[0061] A. Support arm The surgical systems described herein may include one or more support arms. Generally, one or more end effectors may be releasably coupled to the support arms, which may be configured to movably suspend the end effectors and / or end effector connectors to move and hold the end effectors at a desired location. With the end effectors suspended or held at a desired location by the support arms, an operator and / or controller may move at least a portion of the end effectors outside of the patient. The support arms may be, for example, articulated robotic arms, SCARA robotic arms, and / or linear robotic arms. The support arms may include one or more segments joined together by joints (e.g., shoulder, elbow, wrist) configured to provide a single degree of freedom. A joint is a mechanism that provides a single translational or rotational degree of freedom. For example, the support arms may have six or more degrees of freedom. The set of Cartesian degrees of freedom may be represented by three translational (position) variables (e.g., surge, heave, sway) and three rotational (orientation) variables (e.g., roll, pitch, yaw). In some variations, the support arm may have less than six degrees of freedom.

[0062] The support arm may be configured to move over the entire area of ​​the patient's body in up to three dimensions and may maintain the end effector in an orientation perpendicular to the patient's surface. The support arm may include one or more motors configured to translate and / or rotate joints to move the support arm to a desired location and orientation. In some variations, the position of the support arm may be temporarily locked to fix the position of the end effector. The support arm may be mounted to any suitable object, such as a medical cart, furniture (e.g., a bed rail), a wall, a ceiling, or may be freestanding (e.g., on the ground). Additionally or alternatively, the support arm may be configured to be moved manually by a single operator, for example, without the assistance of a second person. Once moved manually by a single operator, the support arm may be locked in the manually mounted position. The support arm may be configured to carry a payload comprising the support arm, the end effector, and any tissue coupled to the end effector (e.g., a gallbladder held by a grasper). In some variations, the distal end of the support arm may include a magnetic coupler, such as magnetic coupler 260 depicted in Figures 2A-2E. The magnetic coupler may be coupled to an end effector connector (e.g., a magnetic portion of the end effector connector). In some variations, the magnetic coupler may be coupled to a distal end of the robot, the magnetic coupler being releasably coupled to a magnetic portion of the arm with a sterile drape disposed therebetween. The magnetic coupler may be coupled to a distal portion of the support arm.

[0063] In some variations, the relative positions of the patient platform, patient, operator, and support arm may be configured to aid in the ergonomics of the surgical procedure. In some variations, the operator may be located on a first side of the patient platform during the surgical procedure. In variations in which the support arm is mounted on a base, the base may be located on the ground and along a second side of the patient platform adjacent to the first side of the patient platform to maximize the reach of the support arm. The first side of the patient platform may be perpendicular to the second side of the patient platform. For example, the support arm may extend from its base above and across (e.g., across) the patient positioned on the patient platform. The base may be located closer to the midpoint of the second side of the patient platform rather than the intersection of the first and second sides to maximize the adaptability of the support arm to reach the patient's access site. In some variations, the base of the robot (e.g., the support arm) may be coupled to a side of the patient platform.

[0064] 19A and 19B are schematic plan views, respectively, of a robotic surgical system 1900 including a support arm 1910 and corresponding base 1912 disposed on a first side of a patient platform 1920. A patient 1950 may be disposed on the patient platform 1920 and an operator 1960 may be located on a second side of the patient platform 1920, the first side being adjacent to the second side. From the first side of the patient platform 1920, the support arm 1910 may be configured to extend above and across the patient 1950. Thus, the robotic surgical system may position the robotic arm and base away from the operator to improve the accessibility of the end effectors.

[0065] B. Sterile cover The surgical systems described herein may include one or more sterile covers (e.g., sterile drapes) configured to create a sterile barrier around portions of the surgical system. In some variations, the surgical system may include one or more sterile covers to form a sterile field. For example, a sterile cover may be placed between the support arm and the patient to form a barrier between a sterile side including the patient, end effector, end effector connector, and operator, and a non-sterile side including the support arm. Additionally or alternatively, one or more components of the system may be sterilizable. The sterile cover may include, for example, a sterile drape configured to cover at least a portion of the system components.

[0066] For example, a sterile covering (e.g., a sterile bag) may be configured to create a sterile barrier for the support arm. In some variations, the sterile bag may be transparent, allowing an operator to visualize and manually manipulate the position of the end effector, for example, by grasping the handle of the support arm or a handle attached to the end effector through the sterile bag. The sterile covering may fit tightly around one or more system components or may be loosely draped to allow the components to be adjusted within the sterile field (e.g., attachment and release of the end effector from the support arm via the end effector connector).

[0067] C. End effector connector Generally, the end effector connectors described herein can be configured to releasably connect an end effector to a support arm. The end effector connectors described herein can be configured to facilitate rapid single operator operation and / or replacement of an end effector coupled to a support arm, thereby enabling single operator operation without a second operator to improve operator ergonomics and reduce sterile field management and procedure time.

[0068] 3A and 3B depict left and right side views, respectively, of the end effector connector 300. FIGS. 3C and 3D depict perspective views of the end effector connector 300, and FIG. 3E depicts a top view. In some variations, the end effector connector 300 may comprise a magnetic portion 310, an arm 320, a housing release mechanism 330, and a housing 340 comprising a housing handle 342. In some variations, the magnetic portion 310 may be coupled to a proximal portion of the arm 320. The arm 320 may be at an angle relative to the magnetic portion 310 and may comprise a distal portion coupled to the housing release mechanism 330. The housing release mechanism 330 may comprise a first portion 332, a second portion 334, and a switch 336 (e.g., trigger, release) and may operate in a manner similar to that described with respect to the end effector connector 210. The first portion 332 may be coupled to a distal portion of the arm 320 and the second portion 334 may be coupled to a proximal portion of the housing handle 342. In some variations, the switch 336 may be configured to release the first portion 332 from the second portion 334 such that the arm 320 is releasably coupled to the housing handle 342. For example, an operator holding the housing handle 342 with only a first hand may simultaneously actuate a housing release mechanism (e.g., switch 336) with the first hand to release the housing handle 342 (and any end effector coupled thereto) from the arm 320 (and any support arm coupled thereto). In some variations, the housing handle 342 may be above an end effector received within the housing 340. The end effector may be received on a side of the housing handle 342. In some variations, the switch 336 may be located on either the first portion 332 or the second portion 334. In some variations, the switch 336 may be located on a side wall of the housing release mechanism 330 rather than on the top wall.

[0069] The opening 344 defined by the housing 340 may be configured to allow an operator to form a substantially closed fist around the housing handle 342 for a secure grip of the housing handle 342 and any end effector coupled thereto. In some variations, the housing handle 342 may extend away from the magnetic portion in generally the same direction as the arm 320. In some variations, the housing 340 may be configured to receive and hold an end effector (not shown for clarity). In some variations, a proximal portion of the housing may be coupled to a lateral sidewall of the housing release mechanism. For example, as shown in FIG. 3D, the proximal portion of the housing handle 342 may be attached to the right side of the second portion 334 of the housing release mechanism 330 to aid in ergonomics for a right-handed operator. Alternatively, the proximal portion of the housing handle 342 may be attached to the left side of the second portion 334 of the housing release mechanism 330 to aid in ergonomics for a left-handed operator.

[0070] D. Magnetic part Generally, the magnetic portion of the end effector connector described herein can be configured to magnetically couple one or more of an end effector and a sterile drape to a support arm. The magnetic portion can facilitate an easy, predictable, and reliable attachment and release process between the end effector and the support arm. For example, FIGS. 4A and 4B depict an exploded perspective view of a magnetic portion 400 between a support arm 410 and an end effector connector 420. In some variations, the magnetic portion 400 can include one or more magnets 402. In some variations, the magnetic portion 400 can include one or more of a robotic engagement feature 404 and a rotational alignment feature 406.

[0071] In some variations, a first side of the magnetic portion 400 (i.e., the side facing the support arm 410) may be configured to couple (e.g., attach, mechanically mate) with the support arm 410. For example, the first side of the magnetic portion 400 may be configured to mechanically and / or magnetically attach to a flange 412 (e.g., a magnetic coupler) of the support arm 410. In some variations, a second side of the magnetic portion 400 (i.e., facing the end effector connector 420) may be configured to magnetically couple to a proximal portion of the support arm 410. In some variations, a sterile drape (not shown for clarity) may be disposed and secured between the magnetic portion 400 and the end effector connector 420 via the magnetic coupling between the magnetic portion 400 and the end effector connector 420.

[0072] The magnets 402 of the magnetic portion 400 can be configured to generate an attractive axial force to magnetically couple (eg, clamp, attach) the magnetic portion 400 to each of the flange 412 and the end effector connector 420.

[0073] In some variations, the robot engagement feature 404 and the rotational alignment feature 406 can ensure a magnetic coupling between the magnetic portion 400 and the end effector connector 420. In some variations, the robot engagement feature 404 can be configured to reduce a radial shear force applied to the magnetic portion 400 (e.g., applied by the end effector connector 420). For example, the robot engagement feature 404 can include a circular protrusion disposed on the second side of the magnetic portion 400. The circular protrusion can be configured to mate with a circular recess in an arm of the end effector connector 420. In some variations, the rotational alignment feature 406 can be configured to reduce a rotational force applied to the magnetic portion 400 (e.g., via the end effector connector 420). For example, the rotational alignment feature 406 can include a linear protrusion disposed on and extending from the second side of the magnetic portion 400. The linear protrusion can be configured to mate with a linear recess in an arm of the end effector connector 420. In some variations, a first side of the magnetic portion 400 may include a channel 408 configured to receive one or more leads (not shown) configured to electrically couple the support arm 410 to an end effector (not shown). For example, an electrical connection may be formed between the support arm 410 and the end effector via leads disposed in the channel 408.

[0074] 5A, 5B, and 5C depict perspective views of the magnetic portion 500 in a first and second configuration, respectively. The magnetic portion 500 may be coupled between a support arm 510 and an end effector 520. The magnetic portion 500 may include similar elements to the magnetic portion 400, which will not be repeated for brevity. In some variations, the magnetic portion 500 may include a magnetic release mechanism 502 configured to manually release the arm 520 from the support arm 510. For example, the magnetic release mechanism 502 may be configured to be manually actuated (e.g., by an operator) to physically move the magnetic portion 500 away from the end effector connector 520, such that the release mechanism is not necessarily magnetic itself. In some variations, the magnetic release mechanism 502 may include one or more levers.

[0075] In a first configuration of the magnetic release mechanism 502 shown in Figures 5A and 5C, the end effector connector 520 may be magnetically coupled to the magnetic portion 500. In a second configuration of the magnetic release mechanism 502 shown in Figure 5B, the magnetic release mechanism 502 pushes the end effector connector 520 away from the magnetic portion 500 to an extent sufficient to release the magnetic coupling between the magnetic portion 500 and the end effector connector 520. For example, the lever 502 may include one or more cams configured to push the magnetic portion 500 of the end effector connector 520 away from the support arm 510 to facilitate removal of the end effector connector 520 from the arm of the end effector connector 520. One or more of the levers may be coupled to a circumference of the magnetic portion 500.

[0076] E. Arm Generally, the arms of the end effector connectors described herein may be configured to connect the magnetic portion to the housing release mechanism. As shown in FIGS. 2A-3E, the arms may extend at an angle away from the magnetic portion (and support arm) to provide clearance between the support arm, the patient (e.g., the patient's abdomen), and the operator. In some variations, the angle and length of the arms may add clearance (e.g., create more working space) between the support arm and the operator and increase the range of motion of the end effector. In some variations, the arms may include a handle configured to be grasped by a single operator (e.g., with one hand).

[0077] F. Housing Release Mechanism Generally, the housing release mechanisms described herein allow an arm of an end effector connector to be releasably coupled to a housing of the end effector connector. The housing release mechanism may be configured to facilitate single operator attachment and release of an end effector to a support arm via a separable (e.g., releasable) end effector connector. Once an end effector is released from the support arm, another end effector held within a corresponding housing may be coupled to the support arm via the arm using the housing release mechanism. Thus, an end effector may be manually swapped from the support arm quickly and intuitively by a single operator.

[0078] 6A and 6B depict perspective views of a housing release mechanism 600 of an end effector connector. In some variations, the housing release mechanism 600 may be coupled to a distal portion of an arm (not shown in FIGS. 6A and 6B for clarity) and a proximal portion of a housing 660. In some variations, the housing release mechanism 600 may comprise a first portion 610 and a second portion 620. In some variations, the first portion 610 may be coupled to the arm and the second portion 620 may be coupled to the housing 660.

[0079] In some variations, the housing release mechanism 600 may include a housing engagement feature configured to engage the first portion 610 and the second portion 620 of the housing release mechanism 600 with one another. In some variations, the housing release mechanism 600 may include a rotational alignment feature configured to inhibit rotation of the first portion 610 relative to the second portion 620. For example, the first portion 610 may include a first housing engagement feature 630 and a first rotational alignment feature 640. The second portion 620 may include a second housing engagement feature 632 and a second rotational alignment feature 642. The second housing engagement feature 632 may be configured to receive and mate with the first housing engagement feature 630, and the second rotational alignment feature 642 may be configured to receive and mate with the second housing engagement feature 640. The housing engagement feature may engage the first portion 610 to the second portion 620 and the rotational engagement feature may prevent rotation of the first portion 610 relative to the second portion 620.

[0080] In some variations, the first housing engagement feature 630 may be self-guiding (e.g., self-centering) in that the operator has a margin of error to locate and advance the first housing engagement feature 630 into the corresponding second housing engagement feature 632. For example, in FIG. 6B, the first housing engagement feature 630 may include a rounded protrusion (e.g., dowel, pin) and the first rotational alignment feature 640 may include a molded protrusion (e.g., dowel, pin). In FIG. 6A, the second housing engagement feature 632 may include a first recess and the second rotational alignment feature 642 may include a second recess. Although not shown in FIGS. 6A and 6B, the first portion 610 may be coupled (e.g., attached) to a distal portion of an arm of the end effector connector.

[0081] In some variations, one of the first portion 610 and the second portion 620 may include a switch 650 (e.g., trigger, release) configured to release the housing 660 from the arm. In some variations, a finger or thumb may be used to actuate the switch 650 of the first housing release mechanism 630 to release the first portion 610 from the second portion 620. For example, engaging the switch 650 may release the first housing engagement feature 630 from the second housing engagement feature 632, thus releasing the housing of the end effector connector from the arm of the end effector connector.

[0082] FIG 6C depicts a cross-sectional view and FIG 6D depicts a side view of the housing release mechanism 600. In some variations, the second portion 620 may include a spring 660 configured to engage the first housing engagement feature 630 to mechanically couple the first portion 610 to the second portion 620. When the switch 650 is depressed, the spring 660 may be compressed such that the first housing engagement feature 630 may be easily pulled out of the second portion 620.

[0083] In some variations, the housing engagement features of the housing release mechanism may include one or more of a magnet, a dovetail, a latch, and a living hinge. For example, the living hinge may include one or more of a buckle, a clasp, and a fastener. In some variations, at least a portion of the housing release mechanism 600 may be above an end effector received within the housing 660. In some variations, the housing release mechanism 600 may be below and distal to the magnetic portion.

[0084] G. Housing Generally, the housing of the end effector connectors described herein can be configured to receive and hold an end effector for positioning and / or manual manipulation. For example, the housing can include a handle configured to be grasped (e.g., in one hand) by a single operator. The housing can be configured to releasably couple to the end effector. In some variations, the housing can facilitate manual manipulation of the end effector by a single operator. For example, the housing 340 can define an opening 344 configured for access to the end effector (not shown for clarity).

[0085] In some variations, the distal portion of the housing may be configured to receive an end effector. For example, the end effector may be disposed at a distal end of the housing 340 longitudinally offset from the proximal end of the end effector connector, which may add clearance between the support arm and the operator (e.g., creating more working space) and increase the range of motion of the end effector relative to the patient's access site (e.g., trocar). In contrast, an end effector attached directly to the support arm increases the risk of the support arm colliding with (and injuring) the patient as the end effector is being moved in and out of the body.

[0086] 3A, the magnetic portion 310 defines a first longitudinal axis 312 and the housing 340 defines a second longitudinal axis 344 such that the first longitudinal axis 312 and the second longitudinal axis 344 are non-parallel. As one example, the first longitudinal axis 312 can be parallel to the ground (e.g., substantially parallel to the patient platform) and the housing 340 can be angled relative to the patient platform at an angle that is advantageous for the end effector to access access sites (e.g., ports) and body cavities of the patient.

[0087] In some variations, the angle between the first longitudinal axis 312 and the second longitudinal axis 344 can be up to about 40 degrees, including all ranges and subvalues ​​therebetween. For example, the angle between the first longitudinal axis 312 and the second longitudinal axis 344 can be from about 15 degrees to about 35 degrees. In some variations, the magnetic portion 240 can be separated from the housing 220 by a height of up to about 30 cm and a length of up to about 30 cm. The separation height and distance between the magnetic portion 240 and the housing 220 can add clearance between the support arm and the operator (e.g., creating more working space) and increase the range of motion of the end effector relative to the patient's access site (e.g., trocar).

[0088] As shown in FIG. 3E, the housing handle 342 can define a handle longitudinal axis 346 and a handle lateral axis 348. The housing 340 can include a first stiffness along the handle longitudinal axis 346 and a second stiffness along the handle lateral axis 348. The first stiffness can be greater than the second stiffness such that the housing 340 can be vertically stiff and laterally compliant. In some variations, the lateral compliance of the housing 340 (e.g., motion damping, flexion) can dampen lateral forces inadvertently applied by the end effector to the patient's access site, thereby reducing patient injury. In some variations, the housing 340 can include one or more compliant portions configured to dampen predetermined forces (e.g., vibration, lateral forces). For example, the lateral compliance can reduce vibration and enable improved visualization when the end effector is an endoscope. In some variations, one or more of the thickness of the housing handle 342 and the size of the opening 344 can correspond to the lateral compliance of the housing 340. In some variations, the housing handle 342 may have a width that is less than the length or height of the housing 340 .

[0089] H. End effector In general, the end effectors described herein may include, but are not limited to, one or more of a visualization device, a grasper, a retractor, a magnetic positioning device, a sensor, an intraluminal device, a delivery device, a stapler, a clip applier, an electrocautery hook, and other surgical instruments that may be advanced in a minimally invasive manner through an access site. In some variations, the end effector may comprise a magnetic portion.

[0090] In some variations, an end effector (e.g., visualization device, endoluminal device) may be configured to be introduced into a body cavity or lumen through an access site, such as a trocar or other suitable port, or through a natural opening. An end effector advanced into a body cavity or lumen through an access site may be advanced such that the end effector does not interfere with the introduction and / or retrieval of other end effectors using the access site. Thus, multiple end effectors may be positioned and actuated within a patient's body cavity or lumen.

[0091] The end effector may be configured to be attracted to one or more magnets positioned outside the body to move, reposition, and / or hold the intraluminal device (which may provide traction for tissue held by or otherwise in contact with the intraluminal device). Thus, at least a portion of the intraluminal devices described herein may be formed from or otherwise include one or more metallic or magnetic materials that may be attracted to a magnetic field. The materials may include, for example, one or more magnetic or ferromagnetic materials such as stainless steel, iron, cobalt, nickel, neodymium iron boron, samarium cobalt, alnico, ceramic ferrite, alloys thereof, and / or combinations thereof. Thus, the magnetic portion of the intraluminal device may be attracted to a magnetic field generated by an external magnetic positioning device. Additionally, in some variations, the magnetic portion of the intraluminal device may enable coupling to a delivery device, as described in more detail herein.

[0092] The end effector may be used in any suitable body cavity or lumen, such as, but not limited to, the abdominal cavity, the thoracic cavity, the stomach, or the intestines. An end effector advanced into a body cavity or lumen may perform a number of functions, which are described in detail herein.

[0093] In some variations, the end effector may include a visualization device (e.g., an endoscope) configured to visualize a desired field of view during a minimally invasive procedure. In some variations, the end effector may include a grasper used to grasp, retract, or otherwise provide remote manipulation and / or traction to tissue. In particular, a magnetically controlled grasper may be advanced into a patient and releasably engage tissue. Graspers suitable for use in the surgical systems herein are described in U.S. patent application Ser. No. 14 / 019,370, filed Sep. 5, 2013, entitled "Grasper with Magnetically-Controlled Positioning," U.S. patent application Ser. No. 15 / 195,898, filed June 28, 2016, entitled "Laparoscopic Graspers and Systems Therefor," and U.S. patent application Ser. No. 13 / 132,185, filed Aug. 17, 2011, entitled "Remote Traction and Guidance Systems for Mini-Invasive Surgery," as well as International Application No. US2016 / 027390, filed April 13, 2016, entitled "Grasper with Magnetically-Controlled Positioning," each of which is incorporated herein by reference in its entirety.

[0094] In some variations, the end effector may include the described retractor used to retract or otherwise support and / or move internal organs of a patient. In particular, a magnetically controlled retractor may be advanced into a patient to retract tissue to displace tissue from a surgical site within the patient and / or otherwise engage tissue to increase surgical access to the tissue. Additionally, the retractor may be configured to be maintained in place without the need for a handle or grasper. For example, in some variations, the retractor may be configured to form a sling for retracting tissue. The terminal ends may include a magnetic material or have a magnetic mass disposed thereon such that they are configured to be attracted to a magnetic field. When a portion of the retractor is looped under a portion of tissue, at least a portion of the tissue may be suspended by the retractor and moved toward the patient wall. In some variations, the retractor may be configured to transition between a substantially linear configuration and a curved configuration.

[0095] Other retractors suitable for use in the surgical systems herein are described in International Application No. US2016 / 027385, filed April 13, 2016, entitled "Retractor Systems, Devices, and Methods for Use," which is incorporated herein by reference in its entirety. Other suitable retractors may include, for example, one or more of a coiled retractor, a cradle retractor, a lever retractor, a platform retractor, and a J-hook.

[0096] I. Delivery Device The delivery devices described herein are generally configured to releasably carry one or more intraluminal devices. The delivery devices can be used to deliver one or more intraluminal devices into a body cavity or lumen. Because the delivery device can be releasably coupled to the intraluminal device, the delivery device can be removed from the body cavity after delivery of the intraluminal device, which can keep the access site (e.g., a trocar or natural opening) free for delivery of other intraluminal devices or other tools. In some cases, the delivery device can be configured to recouple to the intraluminal device to reposition or remove the intraluminal device from the body cavity or lumen. In other cases, the system can include a separate retrieval device configured to reposition or remove the intraluminal device from the body cavity or lumen. In some variations, the delivery device or retrieval device can be further configured to actuate the intraluminal device.

[0097] When the intraluminal device is a grasper, the delivery device described herein may be configured to releasably carry the grasper and may be further configured to actuate the grasper to selectively connect the grasper to tissue or release the grasper from tissue. The delivery device may typically be further configured to release the grasper from the delivery device (e.g., after the grasper is connected to tissue). In some cases, the delivery device may be configured to recouple to the grasper to reposition or remove it from the body cavity or lumen. In other cases, the system may include a separate retrieval device configured to reposition or remove the grasper from the body cavity or lumen. In some cases, the delivery device or retrieval device may be used with the grasper to remove tissue from the body. For example, the grasper may be connected to tissue such as the gallbladder, the tissue may be severed from the body (e.g., using one or more surgical tools), and the grasper may be retrieved using the delivery device or another retrieval device to remove the grasper and tissue from the body.

[0098] A delivery device suitable for use in the surgical system of the present specification is described in U.S. patent application Ser. No. 14 / 019,370, filed Sep. 5, 2013, and entitled "Grasper with Magnetically-Controlled Positioning," which was previously incorporated by reference in its entirety.

[0099] Although the delivery devices are described herein primarily with reference to use with a grasper, it should be understood that the delivery devices described herein may also be used to reversibly couple to another intraluminal device to deliver, position and reposition, and / or remove the other intraluminal device. For example, in some instances, the delivery device may be used to deliver, position and reposition, and / or remove a visualization device, such as a camera and / or a light source.

[0100] Magnetic Positioning Device The surgical systems described herein may include one or more external magnetic positioning devices, including an external magnet, a support arm, and / or a sensor. The external magnet may generate a magnetic field configured to attract one or more endoluminal devices. By controlling the position and / or strength of the external magnet, and thereby the position and / or strength of the magnetic field, the external magnet may control the position of an endoluminal device disposed within a patient's body cavity or lumen. This may free up space at a patient's access site (e.g., a port) to allow additional endoluminal devices to be advanced into the patient, reducing, if not eliminating, the need for a second operator, such as a skilled surgeon.

[0101] The external magnet may be configured to generate a magnetic field such that a magnetic field may be generated inside the patient when the external magnet is positioned near the patient. This magnetic field may exert a force on the intraluminal device to manipulate it. In some variations, the external magnet may include one or more permanent magnets, one or more electromagnets, and / or one or more permanent electromagnets. The permanent magnets may be formed from suitable magnetic and ferromagnetic materials, such as, but not limited to, rare earth magnets (e.g., samarium cobalt magnets, neodymium magnets), cobalt, gadolinium, iron, nickel, alnico alloys, ferrites, alloys thereof, combinations thereof, and the like. The external magnet may include any number of individual magnets, and in some cases may be formed in an array. The external magnet may have any suitable size and shape, such as a cylindrical shape with a circular, elliptical, or semicircular cross section, a bar magnet with a rectangular or triangular cross section, a spherical magnet, and the like. In some variations, the external magnet may include a permanent magnet, and in other variations, the external magnet may include an electromagnet or an electric permanent magnet. When the external magnets include electromagnets or electro-permanent magnets, the current can be manipulated to change the strength of the external magnets and / or turn them on / off. For example, an increase in the magnetic field generated by the external magnets can bring the intraluminal device into contact with the patient's cavity wall, and a decrease in the magnetic field can reposition the intraluminal device away from the cavity wall. Additionally, a stronger magnetic field may be needed to magnetically couple the intraluminal device with the external magnet through a thicker cavity wall (e.g., a thicker abdominal wall), while a weaker magnetic field may be desired to reduce the attractive force between the intraluminal device and the external magnet through a thinner cavity wall (e.g., a thin abdominal wall).

[0102] When the external magnetic positioning device is magnetically coupled to the intraluminal device, movement of the external magnet via movement of the support arm may then move the intraluminal device disposed within the patient's body cavity or lumen. For example, coronal movement of the external magnet relative to the patient may result in a corresponding coronal movement of the intraluminal device. As another example, moving the external magnet closer to the intraluminal device using the support arm may increase the attractive force between the external magnet and the intraluminal device so as to bring the intraluminal device into contact with the patient's cavity wall, while moving the external magnet further away from the intraluminal device may decrease the magnetic attractive force and reposition the intraluminal device away from the body cavity wall. Thus, by controlling the strength and position of the external magnet using the support arm, and thereby the strength and position of the magnetic field, the magnetic positioning device may control the position of the intraluminal device disposed within the patient's body cavity or lumen. In some variations, the strength and / or position of the external magnet may be used to control the force of the magnetically coupled intraluminal device against the body cavity or lumen wall using sensors as described in detail herein.

[0103] K. Sensor The surgical systems described herein may optionally include one or more sensors for determining the location of one or more support arms, an external magnetic positioning device (e.g., external magnet), a patient body surface (e.g., abdomen, cavity wall, breast), a surgical system component (e.g., end effector, intraluminal device, trocar, control console), and a portion of the operator. For example, the end effector connector may include one or more sensors configured to detect the location of the patient body surface and calculate the proximity of the end effector connector to the patient such that the controller can ensure that the support arm and / or the end effector connector do not contact the patient. For example, each segment of the support arm may include an inductive proximity sensor to calculate the distance between the support arms. As another example, an infrared, radar, or ultrasonic range finder mounted on the support arm and / or the external arm may be configured to calculate the distance to the patient. As yet another example, the end effector connector may include an optical sensor internal and / or external to the support arm configured to visualize the other support arms, the operator, the input / output device, the patient platform, the patient, etc. The controller may be configured to maintain a predetermined distance between the end effector connector and the patient body surface, such as a distance of about 1 mm, about 5 mm, or about 10 mm, and thus may limit the range of motion of the support arm.

[0104] As another example, the position of the end effector may be controlled using a force sensor in the end effector connector, such as for the end effector in contact with an internal cavity wall. The contact force of the end effector with the cavity wall may be reduced if the force sensor detects that the force exceeds a predetermined threshold. The sensor may comprise one or more of a force sensor (e.g., a Hall sensor, a load cell, a spring), a proximity sensor, an optical sensor, a motion sensor, an accelerometer, a gyroscope, a laser range finder, a radar, and a LIDAR.

[0105] L. Input Devices In general, the input devices 122 of the robotic surgical system 100 may serve as a communication interface between an operator and the surgical system 100. The input devices 122 may be configured to receive input data and output data to one or more of the support arm 112, the sensors 120, the end effector 118, and the output devices 130. For example, operator control of the input devices 122 (e.g., foot controller, joystick, keyboard, touch screen) may be processed by the processor 124 and memory 126 for the input devices 122 to output control signals to one or more of the end effector 118, the support arm 120. As another example, images generated by the end effector 118 comprising a visualization device (e.g., an endoscope) may be received by the input devices 122, processed by the processor 124 and memory 126, and displayed by the output devices 130 (e.g., a monitor display). Sensor data from one or more sensors 120 may be received by the input devices 122 and output by one or more of the output devices 130 visually, audibly, and / or via haptic feedback.

[0106] In some variations, a single operator may control one or more components of the surgical system 100 using one or more input devices 122. Some variations of the input device may include at least one switch configured to generate a control signal. The input device may be coupled to a support arm and / or located on a patient platform or medical cart adjacent to the patient and / or operator. However, the input device may be mounted on any suitable object, such as furniture (e.g., a bed rail), a wall, a ceiling, or may be freestanding. The control signal may include, for example, a movement signal, a device switch signal, an activation signal, a magnetic field strength signal, and other signals. In some variations, the input device may include a wired and / or wireless transmitter configured to transmit the control signal to a wired and / or wireless receiver of the controller. The movement signal (e.g., for movement, position, and orientation control) may control movement in at least four degrees of freedom of motion and may include yaw and / or pitch rotation. For example, an input device with a touch surface may be configured to detect contact and movement on the touch surface using any of a number of touch-sensing technologies, including capacitive, resistive, infrared, optical imaging, dispersive signal, acoustic pulse recognition, and surface acoustic wave technologies. Exemplary input control schemes depicted in Figures 7A-7D are discussed in further detail herein.

[0107] In some variations, the foot controller may be configured to operate one or more support arms and end effectors of a robotic surgical system described herein. Figures 7A and 7D depict perspective views of an input device 700 of a robotic surgical system. Figure 7B depicts a side view of the input device 700, and Figure 7C depicts a top view. The input device 700 may include a base 710 (e.g., a midfoot rest), a set of forefoot switches 720, 722, 724, 726, and a set of rearfoot switches 730, 732. In some variations, the set of switches may include a first switch 720, a second switch 722, a third switch 724, a fourth switch 726, a fifth switch 728, a sixth switch 730, and a seventh switch 732. In some variations, the operator may stand on the input device 700 such that in a resting position, neither the forefoot nor the midfoot actuate any of the switches 720, 722, 724, 726, 728, 730, 732. Additionally or alternatively, the operator may operate the input device 700 from a seated position. In some variations, the set of switches 720, 722, 724, 726, 728, 730, 732 may be pressure sensitive.

[0108] In some variations, movement of the operator's foot may correspond to movement of the support arm. In some variations, forward movement (e.g., translation) of the foot may activate a first switch 720 and may correspond to forward movement (e.g., translation) of the support arm and any end effector coupled thereto. In some variations, rearward movement (e.g., translation) of the foot may activate a sixth switch 730 and may correspond to rearward movement of the support arm.

[0109] In some variations, downward movement of the forefoot (e.g., extension) may activate the second switch 722 and correspond to downward movement of the support arm. In some variations, upward movement of the forefoot (e.g., flexion) may activate the fifth switch 728 and correspond to upward movement of the support arm.

[0110] In some variations, movement of the forefoot to the left (e.g., yaw) may activate a third switch 724 and correspond to movement of the support arm to the left. In some variations, movement of the forefoot to the right (e.g., yaw) may activate a fourth switch 726 and correspond to movement of the support arm to the right.

[0111] In some variations, rear foot downward motion (e.g., heel down motion) may actuate the seventh switch 732 and correspond to a device switching signal. For example, actuating the seventh switch 732 may switch input device 700 control between the first support arm, the second support arm, the end effector, etc. Rear foot downward motion is different from other foot motions (forward, back, up, down, left, right) and thus may reduce accidental inputs such as device switches. Thus, one foot of the operator may be configured to control the robotic surgical system while the operator's visual attention and hands remain available for other tasks.

[0112] In some variations, the input device 700 may include additional switches that correspond to additional movements of the support arm (eg, combined movements forward and down, back and to the left, etc.).

[0113] Additionally or alternatively, the set of switches 720, 722, 724, 726, 730, 732 may be programmed with different functions according to operator preferences. In some variations, the set of switches 720, 722, 724, 726, 730, 732 may comprise one or more of mechanical switches, optical sensors, accelerometers (e.g., 3-axis), gyroscopes (e.g., 3-axis), motion sensors, pressure sensors, magnetic sensors, combinations thereof, and the like. In some variations, the operator's feet may be releasably coupled (e.g., strapped) to the input device 700.

[0114] In variations of input devices that include at least one switch, the switch may include at least one of, for example, a button (e.g., hard key, soft key), a touch surface, a keyboard, an analog stick (e.g., joystick), a directional pad, a mouse, a trackball, a jog dial, a step switch, a rocker switch, a pointer device (e.g., stylus), a motion sensor, an image sensor, and a microphone. The motion sensor may receive operator movement data from an optical sensor and classify the operator's gestures as control signals. The microphone may receive audio and recognize the operator's voice as a control signal. In variations of systems that include multiple input devices, different input devices may generate different types of signals. For example, some input devices (e.g., buttons, analog sticks, directional pad, and keyboard) may be configured to generate movement signals, and other input devices (e.g., step switches, rocker switches) may be configured to transition components of the surgical system (e.g., support arms, sensors, intraluminal devices) between first and second configurations (e.g., on and off, extend and retract, open and closed).

[0115] In some variations, a single input device may be configured to control multiple system components (e.g., intraluminal devices, support arms). For example, a touch surface of an input / output device may be configured to control multiple external magnetic positioning devices and / or intraluminal devices through a set of device selector buttons and device control buttons.

[0116] In other variations, multiple input devices may be configured to control a single component of the surgical system (e.g., an intraluminal device) to increase operator flexibility. For example, the operator may choose to control the support arm using a combination of joystick, directional pad, soft keys, audio commands, etc.

[0117] In yet other variations, each input device of the surgical system may be associated with a corresponding component of the surgical system. Some non-limiting examples include a joystick that may be configured to control movement of the support arm, a touch screen that may be configured to pan, tilt, and / or zoom the visualization device, a jog dial that may be configured to control the jaw position of the grasper, and a step switch that may be configured to release the delivery device from the endoluminal device.

[0118] In variations of input devices that include one or more buttons, button presses of various durations may perform different functions. For example, the luminal output level of the light source may be configured to increase with a longer button press. Conversely, button presses of shorter durations may correspond to different functions, such as shutting off the light source.

[0119] In some variations, the surgical system may include multiple input devices provided in separate housings, for example, a first input device may be handheld and / or portable and a second input device may be stationary. In some variations, the first input device may include a tablet including a touch screen display and the second input device may include a step switch or foot pedal. The step switch may in some variations be a safety switch that must be engaged simultaneously with contact with the touch screen before a control signal is transmitted to the surgical system. The output of a control signal upon simultaneous engagement of the first and second input devices may confirm that the operator input to the first input device is intentional.

[0120] M. Processor The surgical system 100 may include a processor 124 and a machine-readable memory 126 (e.g., a controller) in communication with one or more support arms 112 and / or end effectors 118, as depicted in FIG. 1. The processor 124 may be connected to the support arms 112 and / or end effectors 118 by wired or wireless communication channels. The processor 124 may be located in the same room as the patient or in a different room. In some variations, the processor 124 may be coupled to a patient platform or located on a medical cart adjacent to the patient and / or operator. The processor 124 may be configured to control one or more components of the system 100, such as the end effector 118, which may visualize a body cavity or lumen, grasp tissue, retract tissue, hold and / or drive a needle. In some variations, the processor 124 may be configured to coordinate the movement and orientation of the end effector 118 within a body cavity or lumen through corresponding movement and control of the support arm 112.

[0121] The processor 124 may be implemented in accordance with any number of general purpose or special purpose computing systems or configurations. Various exemplary computing systems, environments, and / or configurations that may be suitable for use with the systems and devices disclosed herein may include, but are not limited to, software or other components embodied in or on personal computing devices, network appliances, servers or server computing devices such as routing / connection components, portable (e.g., handheld) or laptop devices, multiprocessor systems, microprocessor-based systems, and distributed computing networks.

[0122] Examples of portable computing devices include smartphones, personal digital assistants (PDAs), mobile phones, tablet PCs, phablets (personal computing devices larger than a smartphone but smaller than a tablet), wearable computers in the form of smart watches, portable music devices, and the like, as well as portable or wearable augmented reality devices that interface with the operator's environment through sensors and may use a head-mounted display for visualization, eye tracking, and user input.

[0123] The processor 124 may incorporate data and operator input received from the memory 126 to control one or more of the support arms 112 and the end effector 118. The memory 114 may further store instructions for causing the processor 124 to execute modules, processes and / or functions associated with the system 100. The processor 124 may be any suitable processing device configured to run and / or execute a set of instructions or code and may comprise one or more data processors, image processors, graphics processing units, physical processing units, digital signal processors, and / or central processing units. The processor 124 may be, for example, a general purpose processor, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), and may be configured to execute application processes and / or modules, processes and / or functions associated with the system and / or their associated networks. The underlying device technologies can be provided in a variety of component types, including metal-oxide semiconductor field-effect transistor (MOSFET) technologies such as complementary metal-oxide semiconductor (CMOS), bipolar technologies such as emitter-coupled logic (ECL), polymer technologies (e.g. silicon-conjugated polymer and metal-conjugated polymer-metal structures), mixed analog-digital, and combinations thereof.

[0124] N.Memory Some variations of memory 126 described herein relate to computer storage products having a non-transitory computer-readable medium (which may also be referred to as a non-transitory processor-readable medium) having thereon instructions or computer code for performing various computer-implemented operations. The computer-readable medium (or processor-readable medium) is non-transitory in the sense that it does not itself include a transitory propagating signal (e.g., a propagating electromagnetic wave that carries information on a transmission medium such as air or cable). The medium and computer code (which may also be referred to as code or algorithms) may be designed and constructed for a specific purpose. Examples of non-transitory computer readable media include, but are not limited to, magnetic storage media such as hard disks, floppy disks, and magnetic tapes, optical storage media such as compact discs / digital video discs (CD / DVDs), compact disc-read only memory (CD-ROM), and holographic devices, magneto-optical storage media such as optical discs, solid state storage devices such as solid state drives (SSDs) and solid state hybrid drives (SSHDs), carrier signal processing modules, and hardware devices specifically configured to store and execute program code, such as application specific integrated circuits (ASICs), programmable logic devices (PLDs), read-only memory (ROMs), and random access memory (RAMs) devices. Other variations described herein relate to computer program products that may include, for example, instructions and / or computer code disclosed herein.

[0125] The systems, devices, and / or methods described herein may be implemented by software (executed on hardware), hardware, or a combination thereof. Software modules (executed on hardware) may be expressed in various software languages ​​(e.g., computer code), including C, C++, Java, Python, Ruby, Visual Basic, and / or other object-oriented, procedural, or other programming languages ​​and development tools. Examples of computer code include, but are not limited to, microcode or microinstructions, machine instructions such as those produced by a compiler, code used to generate web services, and files containing high-level instructions executed by a computer using an interpreter. Further examples of computer code include, but are not limited to, control signals, encryption code, and compression code.

[0126] O. Communication Devices In some variations, the surgical system 100 described herein may communicate with networks and computer systems through the communication device 128. In some variations, the surgical system 100 may communicate with other devices via one or more wired and / or wireless networks. A wireless network may refer to any type of digital network that is not connected by any type of cable. Examples of wireless communication in a wireless network include, but are not limited to, cellular, radio, satellite, and microwave communications. However, a wireless network may connect to a wired network to interface with the Internet, other carrier audio and data networks, business networks, and personal networks. Wired networks are typically carried over copper twisted pairs, coaxial cables, and / or fiber optic cables. There are many different types of wired networks, including wide area networks (WANs), metropolitan area networks (MANs), local area networks (LANs), Internet area networks (IANs), campus area networks (CANs), global area networks (GANs) such as the Internet, and virtual private networks (VPNs). Hereinafter, a network refers to any combination of wireless, wired, public, and private data networks that are typically interconnected through the Internet to provide an integrated network and information access system.

[0127] Cellular communications may include technologies such as GSM, PCS, CDMA or GPRS, W-CDMA, EDGE or CDMA2000, LTE, WiMAX, and 5G network standards. Some wireless network deployments combine multiple cellular networks or use a mix of cellular, Wi-Fi, and satellite communications. In some variations, the network interface 116 may include a radio frequency receiver, transmitter, and / or an optical (e.g., infrared) receiver and transmitter. The communication device 128 may communicate wired and / or wirelessly with one or more of the support arm 112, the end effector 118, the sensor 120, the input device 122, the output device 130, a network, a database, a server, combinations thereof, and the like.

[0128] P. Output Device The output device 130 of the surgical system 100 may be configured to output data corresponding to the surgical system and may comprise one or more of a display device, an audio device, and a haptic device. The output device may be coupled to the patient platform and / or may be located on a medical cart adjacent to the patient and / or operator. In other variations, the output device may be mounted to any suitable object, such as furniture (e.g., a bed rail), a wall, a ceiling, etc., and may be freestanding.

[0129] The display device may allow an operator to view images of one or more end effectors, support arms, body cavities, and tissues. For example, an end effector with a visualization device (e.g., camera, optical sensor) located within a body cavity or lumen of a patient may be configured to image an internal view of the body cavity or lumen and / or intraluminal devices. An external visualization device may be configured to image an external view of the patient and one or more external magnetic positioning devices. Thus, the display device may output one or both of internal and external images of the patient and system components. In some variations, the output device may include a display device including at least one of a light emitting diode (LED), a liquid crystal display (LCD), an electroluminescent display (ELD), a plasma display panel (PDP), a thin film transistor (TFT), an organic light emitting diode (OLED), an e-paper / e-ink display, a laser display, and / or a holographic display.

[0130] The audio device may audibly output patient data, sensor data, system data, alarms, and / or warnings. For example, the audio device may output an audible warning when monitored patient data (e.g., blood pressure) falls outside a predetermined range or when a malfunction of a support arm is detected. As another example, audio may be output when operator input is overridden by the surgical system to prevent potential harm to the patient and / or the surgical system (e.g., collision of support arms with each other, excessive force of an intraluminal device against a patient's cavity wall). In some variations, the audio device may include at least one of a speaker, a piezoelectric audio device, a magnetostrictive speaker, and / or a digital speaker. In some variations, the operator may communicate with other users using the audio device and the communication channel. For example, the operator may form an audio communication channel (e.g., a VoIP call) with a remote operator and / or observer.

[0131] A haptic device may be incorporated into one or more of the input and output devices to provide additional sensory output (e.g., force feedback) to the operator. For example, the haptic device may generate a haptic response (e.g., vibration) to confirm operator input to the input device (e.g., touch surface). The haptic feedback may, in some variations, simulate resistance (e.g., magnetic fields and tissue resistance) encountered by an intraluminal device within a body cavity or lumen. Additionally or alternatively, the haptic feedback may inform the operator that an input has been overridden by the surgical system to prevent potential harm to the patient and / or the system (e.g., collision of support arms with each other). Operator interaction with user interfaces utilizing input and output devices is discussed in more detail herein.

[0132] II. Method Also described herein are methods for treating patients using the surgical system described herein. A single operator may operate a surgical system with multiple endoluminal devices without required assistance from another operator to operate the surgical system. Generally, the methods described herein include using a single operator to perform magnetic laparoscopic robotic surgery, including coupling and decoupling an end effector to a robotic arm in a sterile field. Thus, the robotic surgical method may enable single operator end effector exchange and robotic arm control for laparoscopic procedures. Furthermore, the robotic surgical system may ensure patient safety by positioning and monitoring the position and orientation of the end effector relative to the trocar, monitoring one or more of the position of the external end effector relative to the patient, and monitoring the end effector attachment status. Because multiple components of the surgical system may be electronically or manually controllable via a single operator, the methods described herein may enable a single operator to perform a surgical procedure even when the surgical procedure involves many tools. This may have many advantages, such as reducing the cost of the surgery.

[0133] A. Single Operator Robotic Surgery Single operator robotic surgery may include single operator end effector exchanges that do not affect the sterile field. For example, FIG. 8 is a flow chart generally describing a method 800 of performing robotic surgery, such as performing magnetic laparoscopic robotic surgery, using any of the systems and devices described herein. The method 800 may include magnetically coupling (802) an end effector to a support arm (e.g., a robotic arm) within the sterile field using an end effector connector. The end effector may be controlled (804) by the support arm and / or an operator within the patient's body cavity. For example, an end effector, such as a visualization device (e.g., an endoscope), may be advanced by the support arm through a trocar into the body cavity to provide visualization for the surgical procedure being performed. The support arm may movably suspend an end effector coupled thereto within the body cavity.

[0134] Additionally or alternatively, the end effector may be controlled external to the patient. For example, a magnetic positioning device may be magnetically coupled to the support arm and moved above an exterior surface of the patient to position an intraluminal device (e.g., a grasper) located within the body cavity. In some variations, a portion of the end effector may be controlled within the patient's body cavity and another portion of the end effector may be controlled external to the patient. In some variations, a procedure may be performed using the end effector (806). In some variations, the end effector may be separated from the support arm within and while maintaining the sterile field using the end effector connector (808). For example, a first end effector (e.g., a delivery device) may be withdrawn from the body cavity and the end effector connector may be actuated to physically separate the end effector from the support arm. Another end effector may be coupled to the support arm using the end effector connector (810). For example, a second end effector (eg, a retractor) may be physically coupled to the support arm by a single operator to perform another step of the surgery.

[0135] One or more of the steps of method 800 (e.g., coupling (802), controlling (804), executing (806), separating (808), and coupling (810)) may be performed by a single operator without the assistance of another person. In some variations, one or more of the steps may be performed using one hand of a single operator. For example, controlling the end effector (804) may be performed with one hand of a single operator. Coupling (802, 810) and separating (808) the end effectors may be performed by both hands of a single operator. Coupling, controlling, and separating the end effectors may be performed while maintaining a sterile field.

[0136] In some variations, single operator robotic surgery may include using one of the operator's feet to provide control inputs to a robotic surgical system, thereby freeing the operator's visual attention and hands for other aspects of the procedure. FIG. 9 is an illustrative method 900 of controlling robotic surgery, such as performing magnetic laparoscopic robotic surgery, using any of the systems and devices described herein. The method 900 may include receiving a support arm control signal based on the operator's foot movement (902). In some variations, the support arm control signal may be received based on the operator's foot movement. In some variations, the operator may be standing during the foot movement. In some variations, the support arm control signal may be received based on the foot movement (904).

[0137] The movement of the support arm may be controlled in at least three degrees of freedom based on the received robot arm control signal (906). In some variations, the support arm control signal may include a translational movement of the support arm corresponding to a translational movement of one foot. In some variations, the support arm control signal may include a lateral movement of the support arm corresponding to a lateral or yaw movement of one foot. In some variations, the support arm control signal may include a downward movement of the support arm corresponding to a flexion movement of one foot. In some variations, the support arm control signal may include a support arm switch command corresponding to a heel movement of one foot.

[0138] In some variations, the method 900 may optionally include receiving an end effector control signal based on the movement of the operator's foot (906). In some variations, the movement of the end effector may be controlled based on the end effector control signal (908).

[0139] B. Separating the End Effector Methods of separating an end effector from a support arm may be performed using devices described herein. For example, FIG. 10 is an illustrative method 1000 of separating an end effector from a robotic surgical system. The method 1000 may include providing an end effector connector (1002) coupled between the end effector, a sterile drape, and a robot (e.g., a support arm). In some variations, the end effector connector may include any of the end effectors described in detail herein. For example, the end effector connector may include an arm releasably coupled to a housing. The housing may include a handle. In some variations, the arm may include a magnetic portion configured to magnetically couple to the support arm.

[0140] In some variations, a handle on the housing of the end effector connector may be grasped by an operator (1004). For example, the handle may be grasped in one hand of the operator. Although the end effector may be held and moved automatically using a robot, the handle may improve the ergonomics of using the end effector when manual control is desired by the operator. For example, an operator may quickly and easily perform fine manual adjustments of the position and / or orientation of the end effector by manipulating the handle on the housing of the end effector.

[0141] In some variations, the housing may be manually released from the arm (1006). In some variations, manually releasing the housing from the arm may include pulling the released end effector away from the patient (e.g., so as not to injure the patient as the end effector is withdrawn from the body cavity). Additionally or alternatively, gripping the handle and manually releasing the housing may be performed simultaneously with one hand. Thus, separating the end effector from the robot (e.g., robotic arm, support arm) may be performed quickly and safely by a single operator, as the end effector is withdrawn after releasing the housing from the arm away from the patient without damaging tissue.

[0142] C. Coupling the End Effector Methods of coupling an end effector to a support arm may be performed using devices described herein. For example, FIG. 11 is an illustrative method 1100 of coupling an end effector to a support arm (e.g., a robot, a robotic arm). The method 1100 may include providing an end effector connector comprising a housing and an arm (1102). The arm may be configured to be releasably coupled to the housing. In some variations, the arm of the end effector connector may be magnetically coupled to the support arm with a sterile drape disposed therebetween (1104). In this manner, a sterile field may be set prior to coupling the end effector to the support arm. In some variations, the end effector may be coupled to the housing of the end effector connector (1106). For example, each end effector to be held by the support arm during a procedure may be coupled to a respective housing, thereby facilitating efficient end effector exchange.

[0143] In some variations, the housing of the end effector connector (with the end effector coupled thereto) may be coupled to the arm of the end effector connector (1108). For example, the proximal end of the housing may be mechanically aligned with the distal end of the arm using a housing release mechanism as described herein. In some variations, coupling the housing to the arm may be performed with one hand of an operator. For example, the operator's one hand may grasp the handle of the housing to which the end effector is coupled. The operator may mechanically couple the housing to the arm via the housing release mechanism, thereby coupling the end effector to the support arm via the end effector connector.

[0144] D. End Effector Alignment and Control A method of aligning an end effector in three-dimensional space may facilitate robotic control of the end effector and ensure patient safety. FIG. 12 is an illustrative method 1200 of aligning an end effector. The method 1200 may include coupling (1202) the end effector to a support arm (e.g., robot, robotic arm) of a robotic surgical system proximate to a patient as described herein. For example, FIG. 13 depicts a procedure 1300 in which a trocar 1320 protrudes through a patient's body wall 1310. An end effector 1340 (e.g., endoscope) may be coupled to a robotic arm 1330. The end effector may include a first alignment point and the patient may include a second alignment point. In some variations, the first alignment point may intersect with a longitudinal axis of the end effector. For example, the end effector may include a first alignment point 1350 (e.g., virtual tool center) provided along a longitudinal axis of the end effector 1340. In some variations, the second alignment point may correspond to an access site on the patient. For example, the second alignment point may correspond to the entrance of a trocar 1320 coupled to the patient.

[0145] A first alignment point of the end effector may be aligned 1204 to a second alignment point (e.g., an access site, an incision site, a port, a trocar). Aligning the first alignment point to the second alignment point may include overlapping the first alignment point with the second alignment point. For example, a distal portion of the end effector 1340 may be advanced partway through the trocar 1320 into the patient. In some variations, the first alignment point 1350 may correspond to where the trocar 1320 intersects with the incision in the patient. In some variations, the second alignment point may correspond to a muscle layer of the patient's abdominal wall. An operator may manually manipulate (e.g., guide) the end effector 1340 and the robotic arm 1330 to align the first alignment point 1350 of the end effector 1340 with, for example, the entrance of the trocar 1320. Additionally or alternatively, the support arm may be controlled to align the first and second alignment points.

[0146] In some variations, an illumination source 1360 (e.g., a laser) may be used to virtually mark and highlight the first alignment point 1350 on the end effector 1340 in a sterile, non-contact manner. This allows alignment of the end effector 1340 even when no permanent alignment point exists. In some variations, a visual indicator of the end effector's first alignment point may be generated. In some variations, the visual indicator may comprise illumination directed toward the end effector.

[0147] The location of the first alignment point aligned to the second alignment point may be registered (1206). For example, the location of the first alignment point may be registered in a three-dimensional coordinate system of the robotic surgical system. One or more of the tool center, trocar location, support arm location and / or orientation, end effector location and / or orientation may be stored in memory and may serve as three-dimensional reference points for the robotic arm control. Further movement and / or control of the robotic surgical system may use the end effector alignment point as a reference point. Thus, a single operator may efficiently register the end effector 1340. In some variations, each end effector used in the procedure may be registered with respect to each access site (e.g., port) of the patient.

[0148] The support arm (and the end effector coupled thereto) may be controlled based on the registered first alignment point (1208). In some variations, the registered first alignment point may correspond to a pivot point. The robotic surgical system may be configured to pivot the end effector about the pivot point without applying external forces or displacements to the patient to minimize tissue damage to the access site (e.g., the patient incision), thereby reducing healing time and pain.

[0149] In some variations, controlling the support arm may include one or more of pitching, yawing, rolling, and translating the end effector within a conical range of motion that includes an apex at the pivot point. The pivot point (e.g., the trocar point) may correspond to a point where the trocar intersects with one of the patient's incisions (e.g., the umbilical incision).

[0150] For example, an operator may input control inputs to an input device to control the support arm and the end effector. Additionally or alternatively, the operator may manually manipulate the end effector, for example, using a housing handle of the end effector connector. In some variations, controlling the support arm may include maintaining the intersection of the end effector with a pivot point. In some variations, the operator may input commands to rotate (e.g., pivot) the end effector about an alignment point (e.g., pivot point) to control the orientation and translation of the end effector. For example, FIGS. 14A and 14B are schematic side and top views of the range of motion of the end effector 1410 about an aligned pivot point 1420 (e.g., trocar point) that forms a cone. The end effector 1410 may be rotated through an angle θ 1430 relative to the pivot point to pitch (e.g., FIG. 14A) and yaw (e.g., FIG. 14B).

[0151] In some variations, an operator may input one or more of up, down, left, and right movement commands using an input device (e.g., input device 700) to move the end effector about pivot point 1420 in a corresponding direction while maintaining intersection of the end effector 1410 through the pivot point 1420. For example, up and down input movements may correspond to respective pitch up and pitch down movements at angle α, as shown in FIG. 14D. Similarly, left and right input movements may correspond to respective left and right yaw angles β of the end effector. The combination of pitch angle α and yaw angle β movements is defined by a maximum cone angle θ, expressed as follows: 2+β 2 ≦θ 2 In some variations, the conical range of motion may have a maximum cone angle θ of up to about 50 degrees. This may facilitate movement within a patient's body cavity (e.g., abdomen).

[0152] As shown in FIG. 14C, the proximal portion of the end effector 1410 can have a radius r 1440 formed by a cone with an apex at the pivot point 1420. In some variations, translation of the end effector 1440 in the forward and rearward directions can change the radius r 1440. For example, forward movement of the end effector 1410 in FIG. 14F corresponds to a radius r' 1442 that is smaller than the radius r 1440. While the trocar point 1420 is fixed in space, the point along the end effector 1410 that intersects with the trocar point 1420 does change. That is, translation of the end effector 1410 changes the relative pivot point of the end effector 1410.

[0153] In some variations, realignment may be required when the pivot point changes. For example, the pivot point should be realigned if the end effector is advanced into the patient through a different access site (e.g., a different trocar) or if the coordinate system of the system is changed (e.g., due to base movement). In some variations, the first alignment point may be realigned to the second alignment point when one or more of the following occurs: patient movement relative to the patient platform, patient platform movement, support arm base movement, pivot point movement, or the incision point otherwise undergoes significant displacement.

[0154] In some variations, the aligned first alignment point may serve as a reference default position for the end effector. For example, as the support arm and / or operator moves the end effector 1410 as shown in FIG. 14G, the robotic surgery system may continuously monitor the position and / or orientation of the end effector based on the aligned first alignment point 1420. The operator may optionally manually guide the end effector. In some variations, the operator may manually guide the end effector out of the patient 1450 (e.g., for end effector cleaning) and re-enter the patient 1450 while maintaining the aligned first alignment point. As shown in FIG. 14H, an end effector 1410 that is displaced 1422 within the access site of the patient 1450 due to manually guided movement may be automatically aligned back to the aligned first alignment point 1420 by the support arm of the robotic surgery system.

[0155] E. End-effector monitoring Methods of monitoring the end effector may ensure patient safety by limiting pressure applied to the patient by an end effector, such as a magnetic positioning device. Some end effectors, such as a magnetic positioning device, may be coupled to a support arm and positioned outside the patient during a surgical procedure. If either the patient or the magnetic positioning device inadvertently moves toward one another and applies a traumatic force to the patient, the patient may be injured. For example, FIG. 16 illustrates a patient 1610 positioned on a patient platform 1620. An end effector 1640 (e.g., a magnetic positioning device) may be coupled to a support arm (e.g., a robotic arm) 1630 and held in close proximity to the patient 1610. In some variations, the end effector 1640 may be positioned a predetermined distance away from the patient 1610. Additionally or alternatively, the end effector 1640 may be in contact with the patient 1610 (e.g., positioned in atraumatic contact with the skin of the patient 1610). However, the patient 1610 may be injured, for example, if the patient platform 1620 tilts upward toward the end effector 1640 while the end effector 1640 remains in a stationary position, or if the end effector 1640 moves toward the patient 1610 while the patient platform 1620 remains in a stationary position.

[0156] 15 is an illustrative method of controlling (e.g., monitoring) an end effector 1500. The method 1500 may include measuring (1502) a force applied to a patient by an end effector coupled to a support arm. The measured force may be compared to a predetermined threshold (e.g., a safety threshold). For example, the support arm 1630 and / or the end effector 1640 may include one or more force sensors configured to measure the force applied to the end effector 1640. Optionally, a notification may be output (1504) (e.g., to an operator) in response to the measured force exceeding the predetermined threshold. For example, one or more of an audio alarm, a visual output, and haptic feedback may be output to alert the operator of potential and / or imminent damage. In some variations, operator control of one or more of the support arm and patient platform may be inhibited (1506) in response to the measured force exceeding the predetermined threshold. For example, an operator may provide a control signal to move the end effector 1640 toward the patient 1610 in a manner that would exceed a predetermined force threshold. However, such motion may be prevented by the system to reduce injury to the patient.

[0157] The end effector may be moved (e.g., translated and rotated) relative to the patient (1508) in response to the measured force exceeding a predetermined threshold. For example, the end effector 1640 may be automatically moved away from the patient (e.g., moved upward) a predetermined amount to move the end effector 1640 away from the patient (e.g., disengage). For example, the end effector 1640 may be moved upward a first distance (e.g., about 2 cm) by the support arm 1630 in response to an operator input moving the end effector 1640 downward in a manner that exceeds a predetermined force threshold. Further, if the measured force continues to exceed the predetermined threshold, the end effector 1640 may be moved upward a second distance (e.g., 10 cm). This may occur, for example, if the patient platform 1620 is accidentally tilted upward while the end effector 1640 remains in a stationary position. The greater second distance compared to the first distance may reduce injury to the patient.

[0158] In some variations, moving the end effector relative to the patient may include moving a support arm 1630 coupled to the end effector 1640. In some variations, the patient platform 1620 may be controlled in response to the measured force exceeding a predetermined threshold. For example, the patient platform may be moved away (e.g., downward) from the end effector 1640 to move the patient 1610 away from the end effector 1640. In some variations, the end effector 1640 may include a magnetic positioning device configured to control an intraluminal device (not shown) disposed within the patient 1610.

[0159] Additionally or alternatively, the method of controlling the end effector may include determining a distance between the patient and the end effector coupled to the support arm using a tracking system comprising one or more of an optical sensor, a patient reference point coupled to the patient, and an end effector reference point coupled to the end effector. The tracking system may be configured to monitor a relative position of the patient and the end effector based on patient monitoring positions of the patient reference point and the end effector reference point. The end effector may be moved relative to the patient based on the determined distance to maintain a predetermined distance between the patient and the end effector. In some variations, moving the end effector 1640 relative to the patient 1610 may include maintaining at least a predetermined distance between the end effector 1640 and the patient 1610.

[0160] F. End effector separation confirmation A method for verifying end effector separation may ensure patient safety by checking for operator error. FIG. 17 depicts a flowchart representation of end effector separation verification, and FIG. 18 is a corresponding schematic diagram. FIG. 18 is a cross-sectional schematic diagram of a patient body wall 1810, a trocar 1820, a support arm 1830 (e.g., a robotic arm), and an end effector 1840. In some variations, a first force applied to the support arm may be measured (1702). Detachment of the end effector may be determined (1704) based on the measured force exceeding a first predetermined threshold. For example, a brief and strong force measured by a force sensor (e.g., in the support arm, end effector connector, or end effector) may correspond to a first force applied by an operator to separate the end effector from the support arm 1830. Optionally, the operator may be prompted to move the support arm away from the pre-determined alignment point (1706) to confirm that the end effector is separated from the support arm 1830. The support arm may be moved away from the end effector alignment point (1708) while simultaneously measuring a second force applied to the support arm (1710). If no resistance is measured (e.g., by a force sensor) (1712-no), then end effector separation may be confirmed (1714). In some variations, an end effector separation signal may be generated. If the second measured force exceeds a second pre-determined threshold (1712-yes), then movement of the support arm may be prevented to prevent damage to tissue (1716). End effector coupling to the support arm may be confirmed (1718). In some variations, an end effector coupling signal may be generated.

[0161] For example, rotating the support arm 1830 a predetermined angle θ without meeting resistance from the trocar 1820 and the body wall 1810 effectively confirms that the end effector 1840 is separated from the support arm 1830. Similarly, moving the support arm 1830 a predetermined distance 1870 from the alignment axis 1850 toward the parallel axis 1852 effectively confirms that the end effector 1840 is separated from the support arm 1830. Alternatively, the end effector 1840 will meet resistance from one or more of the trocar 1820 and the body wall 1810, as measured by a force sensor. In some variations, the alignment axis 1850 may correspond to a longitudinal axis of the trocar 1820 that intersects with the alignment point 1880.

[0162] Although the foregoing variations have been described in some detail by way of illustration and example for purposes of clarity and understanding, it is apparent that certain changes and modifications may be implemented and are intended to fall within the scope of the appended claims. Additionally, it should be understood that the components and features of the systems and devices described herein may be used in any combination. The description of a particular element or feature with respect to a particular figure is not intended to be limiting and should not be construed to suggest that the element cannot be used in combination with any of the other described elements. For all of the variations described herein, the steps of the method may not be performed sequentially. Some steps are optional and not all steps of the method may be performed.

Claims

1. 1. An end effector connector, comprising: a housing configured to receive an end effector; an arm configured to releasably couple the housing to a robot; The arm is A magnetic part, a housing release mechanism configured to manually release the housing from the arm.

2. The end effector connector of claim 1 , wherein the magnetic portion is coupled to a proximal portion of the arm.

3. The end effector connector of claim 1 , wherein the magnetic portion is configured to magnetically couple the arm to the robot through a sterile drape.

4. The end effector connector of claim 1 , wherein a first side of the magnetic portion is configured to be mechanically and magnetically attached to a flange of a support arm.

5. The end effector connector of claim 1 , wherein the magnetic portion comprises a robotic engagement feature configured to reduce radial shear forces.

6. The end effector connector of claim 1 , wherein the magnetic portion comprises a rotational alignment feature.

7. The end effector connector of claim 1 , wherein the magnetic portion comprises a magnetic release mechanism configured to manually release the arm from the robot.

8. the magnetic portion defines a first longitudinal axis; The housing defines a second longitudinal axis; The end effector connector of claim 1 , wherein the first longitudinal axis and the second longitudinal axis are non-parallel.

9. The end effector connector of claim 8 , wherein the end effector received within the housing defines a third longitudinal axis parallel to the second longitudinal axis.

10. The end effector connector of claim 9 , wherein the second angle between the first longitudinal axis and the third longitudinal axis is up to about 40 degrees.

11. The end effector connector of claim 1 , wherein the arm comprises an arm handle.

12. the magnetic portion defines a first longitudinal axis; the arm handle defines a fourth longitudinal axis; The end effector connector of claim 11 , wherein the first longitudinal axis and the fourth longitudinal axis are non-parallel.

13. The end effector connector of claim 12 , wherein a third angle between the first longitudinal axis and the fourth longitudinal axis is up to about 75 degrees.

14. The end effector connector of claim 1 , wherein the housing release mechanism comprises a first portion coupled to the arm and a second portion coupled to the housing.

15. The end effector connector of claim 14 , wherein the housing release mechanism comprises a rotational alignment feature configured to inhibit rotation of the first portion relative to the second portion.

16. The end effector connector of claim 1 , wherein the housing release mechanism comprises a switch configured to release the housing from the arm.

17. The end effector connector of claim 1 , wherein a distal portion of the housing is configured to receive the end effector.

18. The end effector connector of claim 1 , wherein the proximal portion of the housing is coupled to a lateral sidewall of the housing release mechanism.

19. The housing includes the housing handle, The housing handle defines a handle longitudinal axis and a handle lateral axis; the housing has a first stiffness along the handle longitudinal axis and a second stiffness along the handle lateral axis; The end effector connector of claim 1 , wherein the first stiffness is greater than the second stiffness.

20. The end effector connector of claim 1 , wherein the housing defines an opening configured for access to the end effector.

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