Steerable overtube assembly and control assembly for a robotic surgical system

Abstract

A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channels and a control hub configured to attach to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to enable manual steering of the steerable shaft by a user's hand, and a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to enable robotic steering of the steerable shaft.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 284,217, filed November 30, 2021, the entire contents of each of which are incorporated herein by reference in their entirety.

[0002] The present disclosure relates to robotic surgical systems for minimally invasive surgery, including but not limited to endoluminal and single-site surgery. [Background technology]

[0003] Minimally invasive procedures such as endoluminal and single-site robotic surgery offer significant advantages over traditional robotic surgery. For example, endoluminal robotic surgery does not require incisions to access difficult to access locations within a patient's natural lumens. This significantly reduces and / or eliminates recovery time and increases the safety of the procedure. Single-site systems reduce incisions to a minimal single site and numerous other incisions that provide access for a particular procedure.

[0004] Certain endoluminal and single-site robotic surgical systems have been proposed. Examples of such systems and associated components can be found in U.S. Patent No. 10,881,422, and U.S. Patent Application Nos. 2021 / 0322046, 2021 / 0322045, 2019 / 0117247, 2021 / 0275266, 2021 / 0267702, 2020 / 0107898, 2020 / 0397457, 2020 / 00397456, 2020 / 0315645, and 2019 / 62914226, all of which are incorporated herein by reference in their entireties.

[0005] Conventional surgical robots and systems have generally been deemed satisfactory for their intended purposes. However, there remains a need in the art for improved robotic surgical systems, devices, methods, controls, and components, particularly those configured for endoluminal and single-site surgery. The present disclosure, for example, provides improvements in such areas. Summary of the Invention

[0006] According to at least one aspect of the present disclosure, a steerable overtube assembly for a robotic surgical system may include a steerable shaft having one or more instrument channels and a control hub configured to attach to the steerable shaft. The assembly may also include a manual actuator extending from the control hub and configured to enable manual steering of the steerable shaft by a user's hand, and a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to enable robotic steering of the steerable shaft.

[0007] The manual actuators are positioned on the control hub such that they are accessible for manual positioning before they are connected to the robot driver, so that a user can manually steer them before connection to the robot driver and can steer the robot after connection to the robot driver. The manual actuators and the robot actuators can be located on opposite sides of the control hub.

[0008] The manual actuator and the robot actuator may be coaxial and connected together such that robotic movement of the robot actuator causes movement of the manual actuator. The robot actuator and the manual actuator may include two independent actuators for control of the steerable shaft in two planes. The two planes may be orthogonal. Any suitable number of independent actuators for control in any suitable number of axes and / or planes is contemplated herein.

[0009] The robotic actuator may include a concentric independent actuator. The robot driver may be configured to mate with the concentric independent actuator for independent robotic steering of the steerable shaft. For example, the robotic actuator may include a concentric independent actuator configured to mate with an independently robotically steered linkage. Any other suitable relative arrangement of the controls of the robotic actuator is contemplated herein.

[0010] The control hub may include an access channel connected to each instrument channel to allow for insertion of a medical device into each instrument channel. Any suitable number of access channels is contemplated herein.

[0011] In certain embodiments, the manual actuator may include a first manual actuator and a second manual actuator. The first manual actuator and the second manual actuator may be concentric. The robotic actuator may include a first robotic actuator and a second robotic actuator. In certain embodiments, the first robotic actuator is not coaxial or concentric with the second robotic actuator.

[0012] In certain embodiments, the assembly may include a first shaft, a first actuating member connected to the first shaft to rotate with the first shaft to actuate one or more first pulling members, a second shaft arranged concentrically with the first shaft and configured to rotate independently of the first shaft, and a second actuating member connected to the second shaft to rotate with the second shaft to actuate one or more second pulling members. The first manual actuator may be connected to the first shaft to rotate the first shaft, and the second manual actuator may be connected to the second shaft to rotate the second shaft. In certain embodiments, the first robotic actuator may be directly connected to the first shaft to rotate the first shaft, and the second robotic actuator may be indirectly connected to the second shaft to rotate the second shaft.

[0013] The second robotic actuator may be indirectly connected to the second shaft, for example, via a transmission assembly. In certain embodiments, the transition assembly may include a transmission shaft directly connected to the second robotic actuator to rotate with the second robotic actuator, a first transmission gear connected to the transmission shaft to rotate with the transmission shaft, a second transmission gear pinned to the hub and meshed with the first transmission gear, and a third transmission gear mounted on the second shaft and meshed with the second transmission gear such that rotation of the transmission shaft by the second robotic actuator causes rotation of the second shaft in the same rotational direction as the transmission shaft.

[0014] In certain embodiments, the first and second actuating members may each include a pulley wheel configured to actuate one or more first and second pulling members, respectively In such embodiments, for example, the one or more first and second pulling members may be, for example, a cable or a wire.

[0015] In certain embodiments, the first and second actuating members may each include a toothed wheel configured to actuate one or more of the first and second pulling members, respectively, In such embodiments, the one or more of the first and second pulling members may be, for example, a chain.

[0016] According to at least one aspect of the present disclosure, a control assembly for a steerable overtube of a robotic surgical system may include a control hub as disclosed herein, a manual actuator as disclosed herein, and a robotic actuator as disclosed herein. The manual actuator may include at least a first manual actuator and a second manual actuator. The robotic actuator may include at least a first robotic actuator and a second robotic actuator.

[0017] In accordance with at least one aspect of the present disclosure, the method may include steering a steerable overtube with a concentric manual control, coupling the steerable overtube to a plurality of non-concentric robotic drivers, and steering the steerable overtube with the plurality of non-concentric robotic drivers. The method may include any other suitable methods and / or portions thereof.

[0018] These and other features of the subject disclosed embodiments will become readily apparent to those skilled in the art from the following detailed description taken in conjunction with the drawings. [Brief description of the drawings]

[0019] Embodiments thereof are described in detail herein with reference to certain figures so that those skilled in the art to which the subject disclosure pertains will readily understand, without undue experimentation, how to make and use the devices and methods of the subject disclosure.

[0020] [Figure 1] FIG. 1 is a top view of one embodiment of an assembly according to the present disclosure. [Diagram 2] FIG. 2 is a rear plan view of the embodiment of FIG. 1. [Diagram 3] 1 is a top view of one embodiment of an assembly according to the present disclosure shown with a medical device inserted therein; FIG. [Figure 4] FIG. 4 is a rear plan view of the embodiment of FIG. 3. [Diagram 5] FIG. 2 is a side elevation view of the embodiment of FIG. 1 shown mounted to a robotic adapter interface on a patient cart and with a medical device inserted into the assembly. [Figure 6] FIG. 2 is a cross-sectional view of one embodiment of a steerable shaft of the assembly of FIG. [Figure 7] FIG. 7 is a perspective view of the distal end of the steerable shaft of FIG. 6 shown having a videoscope and multiple medical devices extending therefrom. [Figure 8A] FIG. 1 is a perspective view of one embodiment of an overtube assembly according to the present disclosure. [Figure 8B] FIG. 8B is an enlarged perspective view of the embodiment of FIG. 8A, showing an embodiment of a hub having a cover thereon. [Figure 8C] FIG. 8B is an enlarged perspective view of the embodiment of FIG. 8A, shown with the cover removed. [Figure 8D] FIG. 8D is a partial plan view of the embodiment of FIG. 8C. [Figure 8E] FIG. 8E is a partial back plan view of the embodiment shown in FIG. 8D. [Figure 8F] FIG. 8D is a partial elevational view of the embodiment of FIG. 8C. [Figure 8G] FIG. 8F is an enlarged perspective view of a portion of the embodiment of FIG. 8F. [Figure 8H] FIG. 8F is an enlarged perspective view of a portion of the embodiment of FIG. 8F shown with the actuation member cover removed. [Figure 8I] FIG. 8B is a partial cross-sectional view of the embodiment of FIG. 8A. [Figure 8J] FIG. 8I is an enlarged view of a portion of the embodiment shown in FIG. 8I. [Figure 8K] FIG. 8J is a perspective cross-sectional view of the portion shown in FIG. 8J. [Figure 8L]FIG. 8B is a cross-sectional view of the embodiment of FIG. 8A shown connected to a robot driver. [Figure 9A] FIG. 1 is a perspective view of an embodiment of a control assembly of an overtube assembly according to the present disclosure, shown having a cover. [Figure 9B] FIG. 9B is another perspective view of the embodiment of FIG. 9A. [Figure 9C] FIG. 9B is a perspective view of the embodiment of FIG. 9A, shown without the cover and channel port. [Figure 9D] FIG. 9D is an elevational view of the embodiment shown in FIG. 9C. [Figure 9E] FIG. 9D is a plan view of the embodiment shown in FIG. 9C. [Figure 9F] FIG. 9F is a plan view of the embodiment shown in FIG. 9E. [Figure 9G] FIG. 9D is an enlarged elevational view of the embodiment shown in FIG. 9C. [Figure 9H] FIG. 9D is an enlarged perspective view of the embodiment shown in FIG. 9C. [Figure 9I] FIG. 9B is a cross-sectional view of the embodiment shown in FIG. 9A taken along the centerline. [Figure 9J] FIG. 9I is an enlarged cross-sectional view of the embodiment shown in FIG. 9I, shown with the cover removed. [Figure 9K] FIG. 9J is a perspective view of the cross section shown in FIG. 9J. [Figure 9L] FIG. 9D is another enlarged cross-sectional view of the embodiment shown in FIG. 9C taken through the chain shaft. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Reference is now made to the drawings, in which like reference numerals identify similar structural features or aspects of the subject disclosure. For purposes of explanation and illustration, and not limitation, an exemplary diagram of one embodiment of an assembly according to the present disclosure is shown in FIG. 1 and generally designated by reference character 100. Other embodiments and / or aspects of the present disclosure are shown in FIGS. 2-9L.

[0022] 1-7, in accordance with at least one embodiment of the present disclosure, a steerable overtube assembly 100 for a robotic surgical system may generally include a steerable shaft 101 having one or more instrument channels (e.g., channel 103 as shown in FIG. 6) and a control hub 105 configured to attach to the steerable shaft 101. The assembly 100 may also include a manual actuator 107 extending from the control hub 105 and configured to enable manual steering of the steerable shaft 101 by a user's hand. The assembly 100 may also include a robotic actuator 109 housed by and / or extending from the control hub 105 configured to connect to a robotic driver 111 (e.g., in an attachment / patient cart 113 as shown in FIG. 5) to enable robotic steering of the steerable shaft 101.

[0023] The manual actuator 107 may be positioned on the control hub 105 such that the robot actuator 109 is accessible for manual positioning before being connected to the robot driver 111 such that a user can manually steer prior to connection to the robot driver 111 and can robotically steer after connection to the robot driver 111. For example, as shown in FIGS. 1-5, the manual actuator 107 and the robot actuator 109 may be positioned on opposite sides of the control hub 105. The robot actuator 109 may be housed within the control hub 105 and may extend from the control hub 105, or may be partially within the control hub 105 and / or may extend partially from the control hub 105. Any suitable configuration complementary to a suitable driver (e.g., robot driver 111) is contemplated herein.

[0024] As shown, the manual actuator 107 and the robot actuator 109 may be coaxial and connected together such that robotic movement of the robot actuator 109 causes movement of the manual actuator 107. Any other suitable configurations are contemplated herein.

[0025] In certain embodiments, the robot actuator 109 may include concentric independent actuators 107a, 107b. The robot driver 111 may be configured to mate with the concentric independent actuators 107a, 107b to robotically steer the steerable shaft 101 independently. In certain embodiments, the robot actuator 109 and the manual actuator 107 may each include two independent actuators 107a, 107b and 109a, 109b for controlling the steerable shaft 101 in two planes (e.g., pitch up / down plane, yaw left / right plane). In certain embodiments, the two planes may be orthogonal. For example, the manual actuator 107 may be a coaxial dual knob manual control (e.g., as shown and as would be understood by one of ordinary skill in the art). Any suitable number of independent actuators for control in any suitable number of axes and / or planes is contemplated herein.

[0026] The robotic actuator 109 may include concentric independent actuators 109a, 109b configured to mate with a joint of a patient cart 113 that is independently robotically steered (e.g., by a driver 111). Any other suitable relative arrangement of the independent actuators 109a, 109b of the robotic actuator 109 is contemplated herein (e.g., as described further below). The independent actuators 109a, 109b may be, for example, splined tubes that, for example, mate with a complementary splined shaft of the driver 111. Any suitable mechanical feature configured to be attached to a driver (e.g., driver 111) is contemplated herein.

[0027] The control hub 105 may include an access channel 115 connected to each instrument channel 103 to allow for insertion of a medical device 117 into each instrument channel 103. Any suitable number of access channels 115 are contemplated herein. Any suitable other access channels and / or channels within the shaft (e.g., as shown in FIG. 6 ) are contemplated herein.

[0028] 8A-8L illustrate another embodiment of assembly 800. Assembly 800 may have similar functionality and / or any suitable similar features as assembly 100 described above. In certain embodiments, manual actuator 807 may include a first manual actuator 807a and a second manual actuator 807b. First manual actuator 807a and second manual actuator 807b may be concentric. Robot actuator 809 may include a first robot actuator 809a and a second robot actuator 809b. In certain embodiments, first robot actuator 809a is not coaxial or concentric with second robot actuator 809b (e.g., different from assembly 100 shown in FIG. 1), as shown, for example, in FIG. 8E.

[0029] In certain embodiments, as best shown in FIG. 8J, assembly 800 may include a first shaft 821a (e.g., in control hub 805) and a first actuating member 823a connected to and rotating with first shaft 821a to actuate one or more first pulling members (e.g., one or more wires, cables, chains, etc., not shown). Assembly 800 may include a second shaft 821b disposed concentrically with first shaft 821a and configured to rotate independently of first shaft 821a. Assembly 800 may also include a second actuating member 823b connected to and rotating with second shaft 821a to actuate one or more second pulling members (e.g., one or more wires, cables, chains, etc., not shown).

[0030] As shown, the first manual actuator 807a may be connected to the first shaft 821a to rotate the first shaft 821a. The second manual actuator 807b may be connected to the second shaft 821b to rotate the second shaft 823b. In certain embodiments, the first robotic actuator 809a may be directly connected to (e.g., fixed relative to) the first shaft 821a to rotate the first shaft 821a. In this regard, the first robotic actuator 809a may be fixed (e.g., pinned, glued, welded, etc.) to the first shaft 821a or may be integrally formed with the first shaft 821a.

[0031] The second robot actuator 809b may be indirectly connected to the second shaft 821b to rotate the second shaft 821b. For example, the second robot actuator 809b may be indirectly connected to the second shaft 821b, for example, via a transmission assembly 825. In certain embodiments, the transition assembly 825 may include a transmission shaft 827 that is directly connected to (e.g., fixed relative to) the second robot actuator 809b and rotates with the second robot actuator 809b. The transmission assembly 825 may include a first transmission gear 829 that is connected to (e.g., fixed to or formed from) the transmission shaft 827 and rotates with the transmission shaft 827. The transmission assembly 825 may include a second transmission gear 831 that is pinned for rotation relative to the hub 805 and meshed with the first transmission gear 829. The second transmission gear 831 may be off-center, for example, as shown.

[0032] The transmission assembly 825 may include a third transmission gear 833 mounted on the second shaft 821b and meshed with the second transmission gear 831 such that rotation of the transmission shaft 827 by the second robot actuator 809b causes rotation of the second shaft 821b in the same rotational direction as the transmission shaft 827. It is contemplated that the first transmission gear 829 may be directly meshed with the third transmission gear 833 and the second transmission gear 831 is not necessary (e.g., the robot control system may input an opposite direction control to the second robot actuator 809b to effect a desired movement of the shaft 821b). Any suitable gear relationship in terms of ratio (e.g., 1 to 1) or direction (e.g., same) is contemplated herein.

[0033] In certain embodiments, the first and second actuating members 823a, 823b may each include a pulley wheel (e.g., actuating members 823a, 823b as shown in FIGS. 8G-8H) configured to actuate one or more first and second pulling members (not shown), respectively. In such embodiments, for example, the one or more first and second pulling members (not shown) may be, for example, a cable or wire (e.g., wound around and / or secured to the pulley wheels 823a, 823b). As shown, each pulley wheel 823a, 823b may include two pulley channels to accommodate two pulling members per pulley wheel.

[0034] 9A-9L, assembly 900 may include similar features as assembly 800. For example, in certain embodiments, manual actuator 907 may include a first manual actuator 907a and a second manual actuator 907b. The first manual actuator 907a and the second manual actuator 907b may be concentric. Robot actuator 909 may include a first robot actuator 909a and a second robot actuator 909b. In certain embodiments, for example, as shown, the first robot actuator 909a is not coaxial or concentric with the second robot actuator 909b.

[0035] 9J, the assembly 900 may include a first shaft 921a (e.g., in the control hub 905) and a first actuating member 923a connected to the first shaft 921a to rotate with the first shaft 921a to actuate one or more first pulling members (e.g., one or more wires, cables, chains, etc., not shown). The assembly 900 may include a second shaft 921b disposed concentrically with the first shaft 921a and configured to rotate independently of the first shaft 921a. The assembly 900 may also include a second actuating member 923b connected to the second shaft 921a to rotate with the second shaft 921a to actuate one or more second pulling members (e.g., one or more wires, cables, chains, etc., not shown).

[0036] As shown, the first manual actuator 907a may be connected to the first shaft 921a to rotate the first shaft 921a. The second manual actuator 907b may be connected to the second shaft 921b to rotate the second shaft 923b. In certain embodiments, the first robotic actuator 909a may be directly connected to (e.g., fixed relative to) the first shaft 921a to rotate the first shaft 921a. In this regard, the first robotic actuator 909b may be fixed (e.g., pinned, glued, welded, etc.) to the first shaft 921a or may be integrally formed with the first shaft 921a.

[0037] The second robot actuator 909b may be indirectly connected to the second shaft 921b to rotate the second shaft 921b. For example, the second robot actuator 909b may be indirectly connected to the second shaft 921b, for example, via a transmission assembly 925. In certain embodiments, the transition assembly 925 may include a transmission shaft 927 that is directly connected to (e.g., fixed relative to) the second robot actuator 909b and rotates with the second robot actuator 909b. The transmission assembly 925 may include a first transmission gear 929 that is connected to (e.g., fixed to or formed from) the transmission shaft 927 and rotates with the transmission shaft 927. The transmission assembly 925 may include a second transmission gear 931 that is pinned for rotation relative to the hub 805 and meshed with the first transmission gear 929. The second transfer gear 931 may be off-center, for example, as shown.

[0038] The transmission assembly 925 may include a third transmission gear 933 mounted on the second shaft 921b and meshed with the second transmission gear 931 such that rotation of the transmission shaft 927 by the second robot actuator 909b causes rotation of the second shaft 921b in the same rotational direction as the transmission shaft 927. It is contemplated that the first transmission gear 929 may be directly meshed with the third transmission gear 933 and the second transmission gear 931 is not necessary (e.g., the robot control system may input an opposite direction control to the second robot actuator 909b to effect a desired movement of the shaft 921b). Any suitable gear relationship in terms of ratio (e.g., 1 to 1) or direction (e.g., same) is contemplated herein.

[0039] In certain embodiments, the first and second actuating members 923a, 923b may each include, for example, a toothed wheel as shown configured to actuate one or more of the first and second pulling members 935a, 935b, respectively. In such embodiments, the one or more of the first and second pulling members 935a, 935b may be, for example, a chain as shown.

[0040] The transmission assembly 925 may be similar to the transmission assembly 825, for example. However, as shown, the second transmission gear 931 may be centrally located and the transmission system 925 may be configured to use a chain to ultimately pull another pulling member (e.g., a wire or cable extending through a steerable shaft). Any suitable location for the second transmission gear 931 (if one is used) and any other suitable type of pulling member is contemplated herein. As shown in FIG. 9L, each pulling member 935a, 935b may be connected at a first end to a respective actuation member and at a second end to a sliding wire or cable connection assembly 937. The assembly 900 may include one or more wire or cable guides 939 distal to each connection assembly 937.

[0041] 8L, the assemblies 800, 900 may be configured to mount to a patient cart 113 (e.g., to an arm extending from a robotic positioning system). The patient cart 113 may include a robot driver 111, for example, as shown in FIG. 8L. The driver 111 may include a first driver 811a configured to operably connect to a first robotic actuator 809a, 909a to operate the first robotic actuator 809a, 909a. The driver 111 may include a second driver 811b configured to operably connect to a first robotic actuator 809b to operate the first robotic actuator 809b, 909b. The patient cart 113 may include any other suitable driver and / or controller associated with the assemblies 100, 800, 900, for example.

[0042] The patient cart 113 to which the assembly 100 can be connected can include any suitable hardware and / or software modules configured to control the driver 111. The patient cart 113 to which the assembly 100 can be connected can be connected to a user console, which can include any suitable hardware and / or software modules configured to control the driver 111 on the patient cart 113. Any suitable connections, control hardware, and / or control software are contemplated herein.

[0043] In accordance with at least one aspect of the present disclosure, a control assembly (e.g., assembly 900) for a steerable overtube of a robotic surgical system may include a control hub as disclosed herein, a manual actuator as disclosed herein, and a robotic actuator as disclosed herein. The manual actuator may include at least a first manual actuator and a second manual actuator. The robotic actuator may include at least a first robotic actuator and a second robotic actuator. The control assembly may be or may include any suitable part of assemblies 100, 800, 900 as disclosed herein.

[0044] In accordance with at least one aspect of the present disclosure, the method may include steering a steerable overtube with a concentric manual control, coupling the steerable overtube to a plurality of non-concentric robotic drivers, and steering the steerable overtube with the plurality of non-concentric robotic drivers. The method may include any other suitable methods and / or portions thereof.

[0045] An embodiment may include a steerable overtube with interfaces for both manual and robotic control. The shaft may be, for example, a multi-lumen tube. An embodiment may include a steerable distal tip. An embodiment may include a manual steering portion on one side of the proximal control hub and a robotic connection control portion on the other side of the proximal control hub, which may also be a concentric connector.

[0046] Any module disclosed herein may include any suitable hardware and / or software modules configured to perform any suitable functions (e.g., as disclosed herein, e.g., as described above). As will be appreciated by one of ordinary skill in the art, aspects of the present disclosure may be embodied as a system, method, or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, microcode, etc.), or an embodiment combining software and hardware aspects, all of which may be referred to herein as a "circuit," "module," or "system." A "circuit," "module," or "system" may include one or more portions of one or more separate physical hardware and / or software components that together may perform the disclosed functions of the "circuit," "module," or "system," or a "circuit," "module," or "system" may be a single self-contained unit (e.g., of hardware and / or software). Additionally, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer-readable medium(s) having computer-readable program code embodied therein.

[0047] Any combination of one or more computer readable media may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0048] A computer-readable signal medium may include a propagated data signal having computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including but not limited to, electrical-magnetic, optical, or any suitable combination thereof. A computer-readable signal medium may not be a computer-readable storage medium but may be any computer-readable medium that can communicate, propagate, or carry a program for use by or in connection with an instruction execution system, apparatus, or device.

[0049] The program code embodied on the computer readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

[0050] Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or partially on a remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or a connection to an external computer may be made (e.g., through the Internet using an Internet Service Provider).

[0051] Aspects of the present disclosure may be described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. Each block of any flowchart illustration and / or block diagram, and combinations of blocks in any flowchart illustration and / or block diagram, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the function / act specified in any flowchart and / or block diagram block or blocks.

[0052] These computer program instructions may also be stored on a computer-readable medium, which may direct a computer, other programmable data processing apparatus, or other device to function in a particular manner to generate an article of manufacture including instructions that implement the functions / acts specified in the flowchart and / or block diagram blocks or blocks.

[0053] Computer program instructions may also be loaded into a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus, or other device to generate computer-implemented processes, such that the instructions, which execute on the computer or other programmable apparatus, result in processes to implement the functions / operations specified herein.

[0054] Those skilled in the art will understand that any numerical value disclosed herein may be an exact value or may be a value within a range. Furthermore, any term of approximation used in this disclosure (e.g., "about," "approximately," "approximately") may refer to a stated value within a range. For example, in certain embodiments, the range may be within 20% (plus or minus), or within 10%, or within 5%, or within 2%, or within any other suitable percentage or number as understood by those skilled in the art (e.g., relative to known tolerance limits or margins of error).

[0055] As used herein and in the appended claims, the articles "a," "an," and "the" are used herein to refer to one or to more than one (i.e., to at least one) of the grammatical object of the article, unless the context clearly indicates otherwise. By way of example, "an element" means one element or more than one element.

[0056] The phrase "and / or" as used in the specification and claims should be understood to mean "either or both" of the elements so conjoined, i.e., elements that are conjointly present in some cases and disjointly present in other cases. Multiple elements marked with "and / or" should be interpreted in the same manner, i.e., "one or more" of the elements so conjoined. Other elements other than the elements specifically identified by the "and / or" clause may optionally be present, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B," when used with open-ended language such as "comprising," may refer in one embodiment to only A (optionally including elements other than B), in another embodiment to only B (optionally including elements other than A), in yet another embodiment to both A and B (optionally including other elements), etc.

[0057] As used in the specification and claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" should be understood as inclusive, i.e., including at least one, but also including more than one number or list element, and optionally including additional unlisted items. Only terms clearly indicated to the contrary, such as "only one of" or "exactly one of," or, when used in the claims, "consisting of," refer to the inclusion of exactly one element of a number or list of elements. In general, the term "or" as used herein should only be interpreted as an exclusive alternative (i.e., "one or the other, but not both") when preceded by an exclusive term, such as "either," "only one of," or "exactly one of."

[0058] Any suitable combination of any of the disclosed embodiments and / or any suitable portions thereof is contemplated herein as would be recognized by one of ordinary skill in the art upon reference to this disclosure.

[0059] The embodiments of the present disclosure described above and illustrated in the drawings represent improvements in the art to which they pertain. While the subject disclosure includes reference to specific embodiments, those skilled in the art will readily appreciate that changes and / or modifications thereto may be made without departing from the spirit and scope of the subject disclosure.

Claims

1. 1. A steerable overtube assembly for a robotic surgical system, comprising: a steerable shaft having one or more instrument channels; a control hub configured to attach to the steerable shaft; a manual actuator extending from the control hub and configured to allow manual steering of the steerable shaft by a user's hand; a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to enable robotic steering of the steerable shaft; A steerable overtube assembly, wherein the manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator.

2. 2. The assembly of claim 1, wherein the manual actuator is positioned on the control hub such that the robot actuator is accessible for manual positioning before being connected to the robot driver such that a user can manually steer the robot before connection to the robot driver and can robotically steer the robot after connection to the robot driver.

3. The assembly of claim 2 , wherein the manual actuator and the robotic actuator are located on opposite sides of the control hub.

4. The assembly of claim 3 , wherein the robotic actuator and the manual actuator each include two independent actuators for controlling the steerable shaft in two planes.

5. The assembly of claim 4 , wherein the two planes are orthogonal to each other.

6. 2. The assembly of claim 1, wherein the robotic actuators include concentric independent actuators, and the robotic drivers are configured to mate with the concentric independent actuators for independent robotic steering of the steerable shafts.

7. The assembly of claim 1 , wherein the control hub includes an access channel connected to each instrument channel to allow insertion of a medical device into the instrument channel.

8. The assembly of claim 4 , wherein the manual actuator comprises a first manual actuator and a second manual actuator, the first manual actuator and the second manual actuator being concentric.

9. The assembly of claim 8 , wherein the robotic actuators include a first robotic actuator and a second robotic actuator, the first robotic actuator not being coaxial or concentric with the second robotic actuator.

10. A first shaft; a first actuation member connected to the first shaft and rotating therewith to actuate one or more first pulling members; a second shaft disposed concentrically with the first shaft and configured to rotate independently of the first shaft; 10. The assembly of claim 9, further comprising: a second actuating member connected to the second shaft to rotate with the second shaft and actuate one or more second pulling members, wherein the first manual actuator is connected to the first shaft to rotate the first shaft and the second manual actuator is connected to the second shaft to rotate the second shaft.

11. 11. The assembly of claim 10, wherein the first robotic actuator is directly connected to the first shaft to rotate the first shaft, and the second robotic actuator is indirectly connected to the second shaft to rotate the second shaft.

12. The assembly of claim 11 , wherein the second robotic actuator is indirectly connected to the second shaft through a transmission assembly.

13. A transmission assembly comprising: a transmission shaft directly connected to the second robot actuator for rotation with the second robot actuator; a first transmission gear connected to the transmission shaft and rotating together with the transmission shaft; a second transmission gear pinned to the control hub and meshed with the first transmission gear; a third transmission gear mounted on the second shaft and meshed with the second transmission gear such that rotation of the transmission shaft by the second robotic actuator causes rotation of the second shaft in the same rotational direction as the transmission shaft.

14. 14. The assembly of claim 13, wherein the first and second actuating members each include a pulley wheel configured to actuate the one or more first and second pulling members, respectively, and the one or more first and second pulling members are cables or wires.

15. 14. The assembly of claim 13, wherein the first and second actuating members each include a toothed wheel configured to actuate the one or more first and second pulling members, respectively, and the one or more first and second pulling members are chains.

16. 1. A control assembly for a steerable overtube of a robotic surgical system, comprising: a control hub configured to attach to the steerable shaft; a manual actuator extending from the control hub and configured to allow manual steering of the steerable shaft by a user's hand; a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to enable robotic steering of the steerable shaft; A control assembly wherein the manual actuator and the robotic actuator are coaxial and connected together such that robotic movement of the robotic actuator causes movement of the manual actuator.

17. A control assembly for a steerable overtube of a robotic surgical system, comprising: a control hub configured to attach to the steerable shaft; a manual actuator extending from the control hub and configured to allow manual steering of the steerable shaft by a user's hand, the manual actuator including a first manual actuator and a second manual actuator, the first manual actuator and the second manual actuator being concentric; a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to enable robotic steering of the steerable shaft.

18. The control assembly of claim 17, wherein the manual actuator is positioned on the control hub so that the robot actuator is accessible for manual positioning before it is connected to the robot driver, such that a user can manually steer it before connection to the robot driver and can steer the robot after connection to the robot driver.

19. A control assembly as described in claim 17, wherein the manual actuator and the robotic actuator are positioned on opposite sides of the control hub.

20. A control assembly as described in claim 17, wherein the robotic actuator includes two independent actuators for controlling the steerable shaft in two planes.

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